+ python -m lidar_slam --no-model /working/9728eb7f-2b66-49fc-a60f-784f8e062227 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/9728eb7f-2b66-49fc-a60f-784f8e062227 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 0.004391418 Adjusted end_distance from 9.223372036854776e+18 to 378.224391418 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004391418 meters Centerline goodness [0,1] 0.9630496500010836 Centerline is valid? [0, True] SLAMing on 0.034391418 meters Centerline goodness [0,1] 0.9565396722023228 Centerline is valid? [True, True] Translation: X:0.03, Y:0.01, Z:0.00 [[ 9.99971391e-01 6.45276906e-03 3.94712712e-03 3.02474003e-02] [-6.45364943e-03 9.99979153e-01 2.10343263e-04 8.66452530e-03] [-3.94568754e-03 -2.35810620e-04 9.99992188e-01 2.58591245e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06439141799999999 meters Centerline goodness [0,1] 0.9514045430899948 Centerline is valid? [True, True] Translation: X:0.06, Y:0.01, Z:0.00 [[ 9.99938395e-01 9.28802952e-03 6.07771013e-03 6.02454808e-02] [-9.29016962e-03 9.99956793e-01 3.23985602e-04 1.41264649e-02] [-6.07443834e-03 -3.80428601e-04 9.99981478e-01 3.55665446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09439141799999999 meters Centerline goodness [0,1] 0.9514045430899948 Centerline is valid? [True, True] Translation: X:0.09, Y:0.02, Z:0.00 [[ 9.99938395e-01 9.28802870e-03 6.07770339e-03 9.02610130e-02] [-9.29016957e-03 9.99956793e-01 3.24112058e-04 1.57270667e-02] [-6.07443043e-03 -3.80554986e-04 9.99981478e-01 3.36057353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12439141799999999 meters Centerline goodness [0,1] 0.9399228167548348 Centerline is valid? [True, False] Translation: X:0.09, Y:0.02, Z:0.00 [[ 0.99990753 0.01237819 0.00563151 0.09142518] [-0.01239584 0.99991833 0.00311147 0.01956158] [-0.00559254 -0.00318099 0.9999793 0.00349232] [ 0. 0. 0. 1. ]] SLAMing on 0.154391418 meters Centerline goodness [0,1] 0.9170731707317074 Centerline is valid? [False, False] Translation: X:0.09, Y:0.02, Z:0.00 [[ 0.999913 0.01211774 0.00521056 0.09278337] [-0.01212854 0.99992436 0.00204483 0.02284959] [-0.00518538 -0.00210784 0.99998433 0.0030089 ] [ 0. 0. 0. 1. ]] SLAMing on 0.184391418 meters Centerline goodness [0,1] 0.9029398954703833 Centerline is valid? [False, False] Translation: X:0.10, Y:0.03, Z:0.00 [[ 9.99916143e-01 1.21436288e-02 4.49883080e-03 9.61613708e-02] [-1.21497991e-02 9.99925282e-01 1.34675489e-03 2.67083881e-02] [-4.48214016e-03 -1.40130185e-03 9.99988973e-01 8.10591819e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.214391418 meters Centerline goodness [0,1] 0.8649801823655541 Centerline is valid? [False, False] Translation: X:0.10, Y:0.03, Z:0.00 [[ 9.99919912e-01 1.19688372e-02 4.11289503e-03 9.76627259e-02] [-1.19721339e-02 9.99928029e-01 7.77860670e-04 2.89419333e-02] [-4.10328894e-03 -8.27038503e-04 9.99991239e-01 1.70512948e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.244391418 meters Centerline goodness [0,1] 0.819600078330686 Centerline is valid? [False, False] Translation: X:0.10, Y:0.03, Z:0.00 [[ 9.99927492e-01 1.13681542e-02 3.97179329e-03 9.80286541e-02] [-1.13664350e-02 9.99935296e-01 -4.55163573e-04 3.23681220e-02] [-3.97671067e-03 4.09985440e-04 9.99992009e-01 1.81170965e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.274391418 meters Centerline goodness [0,1] 0.8716144074259691 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:0.00 [[ 9.99936772e-01 1.06211175e-02 3.69370237e-03 9.84374331e-02] [-1.06147126e-02 9.99942132e-01 -1.74928386e-03 3.58430259e-02] [-3.71206797e-03 1.70996567e-03 9.99991648e-01 6.17176440e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30439141799999997 meters Centerline goodness [0,1] 0.8452846683422577 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:0.00 [[ 9.99947767e-01 9.71416288e-03 3.17770714e-03 1.00051160e-01] [-9.70512886e-03 9.99948854e-01 -2.84610986e-03 3.94509380e-02] [-3.20519219e-03 2.81512114e-03 9.99990901e-01 3.31725438e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33439141799999994 meters Centerline goodness [0,1] 0.8302630432889121 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:-0.00 [[ 9.99954065e-01 9.17191238e-03 2.78262417e-03 1.01184931e-01] [-9.16317897e-03 9.99953102e-01 -3.13523226e-03 4.01044735e-02] [-2.81124975e-03 3.10959056e-03 9.99991214e-01 -5.89196568e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36439141799999997 meters Centerline goodness [0,1] 0.8412174711036337 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:-0.00 [[ 9.99961602e-01 8.39448280e-03 2.51539210e-03 1.01822288e-01] [-8.38538883e-03 9.99958346e-01 -3.60432429e-03 4.06797191e-02] [-2.54554376e-03 3.58309335e-03 9.99990341e-01 -7.42695400e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.394391418 meters Centerline goodness [0,1] 0.8395169567401131 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:-0.00 [[ 9.99983391e-01 5.64414107e-03 1.16648849e-03 1.04702210e-01] [-5.63799179e-03 9.99970538e-01 -5.20933191e-03 4.27467192e-02] [-1.19585632e-03 5.20266874e-03 9.99985751e-01 -9.66278804e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42439141799999996 meters Centerline goodness [0,1] 0.8478831350594822 Centerline is valid? [False, False] Translation: X:0.11, Y:0.04, Z:0.00 [[ 9.99986414e-01 5.10683809e-03 1.04531463e-03 1.05027921e-01] [-5.10124177e-03 9.99973006e-01 -5.28814045e-03 4.30145078e-02] [-1.07229209e-03 5.28273620e-03 9.99985471e-01 8.38938708e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45439141799999994 meters Centerline goodness [0,1] 0.8441686367218282 Centerline is valid? [False, False] Translation: X:0.11, Y:0.04, Z:0.00 [[ 9.99988663e-01 4.72163739e-03 6.15939309e-04 1.06142800e-01] [-4.71827807e-03 9.99974579e-01 -5.34594908e-03 4.37725263e-02] [-6.41165284e-04 5.34298230e-03 9.99985521e-01 1.62836386e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48439141799999996 meters Centerline goodness [0,1] 0.8414959733893558 Centerline is valid? [False, False] Translation: X:0.11, Y:0.04, Z:-0.00 [[ 9.99989520e-01 4.56663785e-03 3.24499851e-04 1.07374303e-01] [-4.56487024e-03 9.99975780e-01 -5.25373423e-03 4.46092217e-02] [-3.48483893e-04 5.25219788e-03 9.99986146e-01 -1.74457002e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.514391418 meters Centerline goodness [0,1] 0.8145632775067035 Centerline is valid? [False, False] Translation: X:0.11, Y:0.05, Z:0.00 [[ 9.99990878e-01 4.25557106e-03 3.65465891e-04 1.08013152e-01] [-4.25341132e-03 9.99974595e-01 -5.71988970e-03 4.78383144e-02] [-3.89798004e-04 5.71828305e-03 9.99983575e-01 6.17702843e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.544391418 meters Centerline goodness [0,1] 0.7959506693926004 Centerline is valid? [False, False] Translation: X:0.11, Y:0.05, Z:0.00 [[ 9.99990873e-01 4.27224665e-03 -3.86482991e-05 1.09598267e-01] [-4.27240031e-03 9.99973474e-01 -5.89897130e-03 5.02946995e-02] [ 1.34454135e-05 5.89908259e-03 9.99982600e-01 3.69197703e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5743914179999999 meters Centerline goodness [0,1] 0.7692612485691643 Centerline is valid? [False, False] Translation: X:0.11, Y:0.06, Z:-0.00 [[ 9.99984782e-01 5.48987810e-03 -5.45273572e-04 1.12433605e-01] [-5.49227108e-03 9.99974844e-01 -4.48856959e-03 5.57456321e-02] [ 5.20618155e-04 4.49149607e-03 9.99989778e-01 -1.16381998e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.604391418 meters Centerline goodness [0,1] 0.7726549728272876 Centerline is valid? [False, False] Translation: X:0.11, Y:0.06, Z:0.00 [[ 9.99987675e-01 4.89370602e-03 -8.37669669e-04 1.13350538e-01] [-4.89814252e-03 9.99973538e-01 -5.37875559e-03 5.90202436e-02] [ 8.11325454e-04 5.38279232e-03 9.99985184e-01 2.38803954e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.634391418 meters Centerline goodness [0,1] 0.7424580142563943 Centerline is valid? [False, False] Translation: X:0.12, Y:0.06, Z:-0.00 [[ 9.99987290e-01 4.85546841e-03 -1.35792312e-03 1.15811383e-01] [-4.86247344e-03 9.99974638e-01 -5.20381138e-03 6.06611723e-02] [ 1.33262174e-03 5.21034810e-03 9.99985538e-01 -8.99143430e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6643914179999999 meters Centerline goodness [0,1] 0.7565575403413242 Centerline is valid? [False, False] Translation: X:0.12, Y:0.06, Z:-0.00 [[ 0.99999239 0.00331217 -0.00206371 0.11914283] [-0.00332404 0.99997779 -0.0057774 0.06282463] [ 0.00204453 0.00578422 0.99998118 -0.00212506] [ 0. 0. 0. 1. ]] SLAMing on 0.6943914179999999 meters Centerline goodness [0,1] 0.6139529125312093 Centerline is valid? [False, False] Translation: X:0.14, Y:0.06, Z:-0.01 [[ 9.99998734e-01 1.58308039e-03 1.61002735e-04 1.41216508e-01] [-1.58294754e-03 9.99998409e-01 -8.21937639e-04 6.31119416e-02] [-1.62303673e-04 8.21681739e-04 9.99999649e-01 -7.52140762e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.724391418 meters Centerline goodness [0,1] 0.6447244490026582 Centerline is valid? [False, False] Translation: X:0.14, Y:0.06, Z:-0.01 [[ 9.99999916e-01 4.07561969e-04 3.71986976e-05 1.42141439e-01] [-4.07509568e-04 9.99998940e-01 -1.39796146e-03 6.43706087e-02] [-3.77684141e-05 1.39794618e-03 9.99999022e-01 -7.56987093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.754391418 meters Centerline goodness [0,1] 0.6181908220534831 Centerline is valid? [False, False] Translation: X:0.16, Y:0.07, Z:-0.01 [[ 9.99996679e-01 -2.47932101e-03 7.03929219e-04 1.63613389e-01] [ 2.47758555e-03 9.99993916e-01 2.45564304e-03 6.55197661e-02] [-7.10013264e-04 -2.45389084e-03 9.99996737e-01 -1.08497945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.784391418 meters Centerline goodness [0,1] 0.7030190184865008 Centerline is valid? [False, False] Translation: X:0.16, Y:0.07, Z:-0.01 [[ 0.99995503 -0.0090822 0.0027286 0.15776654] [ 0.00909232 0.99995175 -0.00371747 0.07113594] [-0.00269471 0.00374212 0.99998937 -0.00851283] [ 0. 0. 0. 1. ]] SLAMing on 0.8143914179999999 meters Centerline goodness [0,1] 0.6595682185342928 Centerline is valid? [False, False] Translation: X:0.21, Y:0.08, Z:-0.01 [[ 0.99988629 -0.01468739 0.00341838 0.20738288] [ 0.01469651 0.99988847 -0.0026588 0.07584618] [-0.00337895 0.00270873 0.99999062 -0.01055629] [ 0. 0. 0. 1. ]] SLAMing on 0.844391418 meters Centerline goodness [0,1] 0.6358315019819671 Centerline is valid? [False, False] Translation: X:0.23, Y:0.08, Z:-0.01 [[ 0.9998186 -0.01826943 0.00538401 0.22744067] [ 0.01826043 0.99983179 0.00171526 0.0758841 ] [-0.00541444 -0.00161664 0.99998404 -0.01404042] [ 0. 0. 0. 1. ]] SLAMing on 0.874391418 meters Centerline goodness [0,1] 0.6717206380898899 Centerline is valid? [False, False] Translation: X:0.23, Y:0.08, Z:-0.01 [[ 0.99978633 -0.02001187 0.00517962 0.22835724] [ 0.020005 0.99979894 0.00137405 0.07600414] [-0.00520607 -0.00127014 0.99998564 -0.01385613] [ 0. 0. 0. 1. ]] SLAMing on 0.9043914179999999 meters Centerline goodness [0,1] 0.6619205921093897 Centerline is valid? [False, False] Translation: X:0.23, Y:0.08, Z:-0.01 [[ 0.99965997 -0.02565308 0.00467667 0.23170307] [ 0.02566372 0.99966815 -0.00222865 0.0805884 ] [-0.00461795 0.00234791 0.99998658 -0.01392412] [ 0. 0. 0. 1. ]] SLAMing on 0.9343914179999999 meters Centerline goodness [0,1] 0.7127747165748306 Centerline is valid? [False, False] Translation: X:0.23, Y:0.08, Z:-0.01 [[ 0.99963303 -0.02671029 0.0045135 0.23266617] [ 0.02672161 0.99963987 -0.00246853 0.0821947 ] [-0.00444594 0.00258823 0.99998677 -0.01353363] [ 0. 0. 0. 1. ]] SLAMing on 0.964391418 meters Centerline goodness [0,1] 0.7529228204415757 Centerline is valid? [False, False] Translation: X:0.23, Y:0.08, Z:-0.01 [[ 0.99961113 -0.02755308 0.00429131 0.23382813] [ 0.02756461 0.99961651 -0.00265109 0.08405804] [-0.00421662 0.00276834 0.99998728 -0.01336785] [ 0. 0. 0. 1. ]] SLAMing on 0.994391418 meters Centerline goodness [0,1] 0.7801321336984396 Centerline is valid? [False, False] Translation: X:0.24, Y:0.09, Z:-0.01 [[ 0.99957951 -0.02874641 0.00380018 0.23745227] [ 0.02875742 0.99958228 -0.00287579 0.08863843] [-0.00371592 0.00298386 0.99998864 -0.01459145] [ 0. 0. 0. 1. ]] SLAMing on 1.024391418 meters Centerline goodness [0,1] 0.7942625643271652 Centerline is valid? [False, False] Translation: X:0.24, Y:0.09, Z:-0.02 [[ 0.99959421 -0.02830855 0.00316865 0.24082053] [ 0.02831622 0.99959613 -0.00240119 0.09119556] [-0.00309939 0.00248994 0.9999921 -0.01631546] [ 0. 0. 0. 1. ]] SLAMing on 1.054391418 meters Centerline goodness [0,1] 0.6751758879418455 Centerline is valid? [False, False] Translation: X:0.26, Y:0.09, Z:-0.02 [[ 0.99958123 -0.02851887 0.00490214 0.26180026] [ 0.02850973 0.99959166 0.00192534 0.09478011] [-0.00495505 -0.00178478 0.99998613 -0.01918492] [ 0. 0. 0. 1. ]] SLAMing on 1.084391418 meters Centerline goodness [0,1] 0.7911321129684015 Centerline is valid? [False, False] Translation: X:0.27, Y:0.10, Z:-0.02 [[ 0.9996581 -0.02570793 0.00477414 0.26529098] [ 0.02568783 0.99966109 0.00422394 0.10172594] [-0.00488111 -0.00409986 0.99997968 -0.02104424] [ 0. 0. 0. 1. ]] SLAMing on 1.1143914179999999 meters Centerline goodness [0,1] 0.7138536929936868 Centerline is valid? [False, False] Translation: X:0.27, Y:0.11, Z:-0.02 [[ 0.99970991 -0.02371057 0.00423254 0.26900213] [ 0.02368631 0.99970323 0.00569225 0.10554472] [-0.00436625 -0.00559034 0.99997484 -0.02338222] [ 0. 0. 0. 1. ]] SLAMing on 1.1443914179999999 meters Centerline goodness [0,1] 0.7438806901778947 Centerline is valid? [False, False] Translation: X:0.27, Y:0.11, Z:-0.02 [[ 0.99974409 -0.02225182 0.00407659 0.27109497] [ 0.02222504 0.99973186 0.00650005 0.10990744] [-0.00422014 -0.00640778 0.99997056 -0.02464161] [ 0. 0. 0. 1. ]] SLAMing on 1.174391418 meters Centerline goodness [0,1] 0.7041658281344335 Centerline is valid? [False, False] Translation: X:0.27, Y:0.11, Z:-0.03 [[ 0.99977428 -0.02094377 0.00357055 0.2737024 ] [ 0.02091776 0.99975546 0.00717342 0.11480403] [-0.00371991 -0.00709711 0.9999679 -0.02579056] [ 0. 0. 0. 1. ]] SLAMing on 1.204391418 meters Centerline goodness [0,1] 0.7041658281344335 Centerline is valid? [False, False] Translation: X:0.27, Y:0.11, Z:-0.03 [[ 0.99977428 -0.02094377 0.00357055 0.2737024 ] [ 0.02091776 0.99975546 0.00717342 0.11480403] [-0.00371991 -0.00709711 0.9999679 -0.02579056] [ 0. 0. 0. 1. ]] SLAMing on 1.234391418 meters Centerline goodness [0,1] 0.7328215228971753 Centerline is valid? [False, False] Translation: X:0.28, Y:0.12, Z:-0.03 [[ 0.99969557 -0.02446794 0.0031774 0.27597919] [ 0.02445389 0.99969132 0.00438921 0.11846034] [-0.00328381 -0.00431017 0.99998532 -0.02507182] [ 0. 0. 0. 1. ]] SLAMing on 1.264391418 meters Centerline goodness [0,1] 0.7414470745868691 Centerline is valid? [False, False] Translation: X:0.28, Y:0.12, Z:-0.03 [[ 0.9996689 -0.02559659 0.00262928 0.2781221 ] [ 0.02558437 0.99966217 0.00458119 0.11674294] [-0.00274565 -0.00451241 0.99998605 -0.02594891] [ 0. 0. 0. 1. ]] SLAMing on 1.294391418 meters Centerline goodness [0,1] 0.7480607232557623 Centerline is valid? [False, False] Translation: X:0.28, Y:0.12, Z:-0.03 [[ 0.99963934 -0.02680978 0.00155927 0.28195354] [ 0.02680354 0.99963313 0.0038947 0.11820782] [-0.00166311 -0.0038515 0.9999912 -0.02788006] [ 0. 0. 0. 1. ]] SLAMing on 1.3243914179999998 meters Centerline goodness [0,1] 0.7679328641520324 Centerline is valid? [False, False] Translation: X:0.29, Y:0.12, Z:-0.03 [[ 9.99509468e-01 -3.13065240e-02 8.50856190e-04 2.86436199e-01] [ 3.13061938e-02 9.99509761e-01 3.98667509e-04 1.21367929e-01] [-8.62919962e-04 -3.71834881e-04 9.99999559e-01 -3.01103732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3543914179999998 meters Centerline goodness [0,1] 0.7702640617821436 Centerline is valid? [False, False] Translation: X:0.29, Y:0.12, Z:-0.03 [[ 9.99466133e-01 -3.26705462e-02 2.90091803e-04 2.89866331e-01] [ 3.26707412e-02 9.99465927e-01 -6.95016634e-04 1.23550234e-01] [-2.67230300e-04 7.04123102e-04 9.99999716e-01 -3.21729965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3843914179999999 meters Centerline goodness [0,1] 0.8623371399199946 Centerline is valid? [False, False] Translation: X:0.29, Y:0.13, Z:-0.03 [[ 9.99323516e-01 -3.67765044e-02 -6.18287069e-06 2.92485719e-01] [ 3.67761264e-02 9.99313978e-01 -4.36918319e-03 1.26278422e-01] [ 1.66861914e-04 4.36600012e-03 9.99990455e-01 -3.29427826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.414391418 meters Centerline goodness [0,1] 0.8714225449055263 Centerline is valid? [False, False] Translation: X:0.29, Y:0.13, Z:-0.03 [[ 9.99322468e-01 -3.68002199e-02 -5.90124867e-04 2.94999103e-01] [ 3.67976607e-02 9.99315202e-01 -3.88068255e-03 1.25528499e-01] [ 7.32530721e-04 3.85633805e-03 9.99992296e-01 -3.44302232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.444391418 meters Centerline goodness [0,1] 0.7797056411584444 Centerline is valid? [False, False] Translation: X:0.32, Y:0.13, Z:-0.03 [[ 0.99929468 -0.03725609 -0.0047029 0.31909016] [ 0.03724398 0.99930272 -0.00263768 0.12759154] [ 0.00479789 0.00246066 0.99998546 -0.03418123] [ 0. 0. 0. 1. ]] SLAMing on 1.474391418 meters Centerline goodness [0,1] 0.7873120645397873 Centerline is valid? [False, False] Translation: X:0.32, Y:0.13, Z:-0.03 [[ 0.99929403 -0.03722863 -0.00504686 0.32061528] [ 0.0372155 0.99930369 -0.00267222 0.12870973] [ 0.00514282 0.00248251 0.99998369 -0.03474183] [ 0. 0. 0. 1. ]] SLAMing on 1.504391418 meters Centerline goodness [0,1] 0.73969083110375 Centerline is valid? [False, False] Translation: X:0.35, Y:0.13, Z:-0.04 [[ 9.99403993e-01 -3.45175163e-02 4.45998100e-04 3.47133375e-01] [ 3.45174225e-02 9.99404073e-01 2.16512432e-04 1.32810752e-01] [-4.53205789e-04 -2.00988685e-04 9.99999877e-01 -3.72753082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.534391418 meters Centerline goodness [0,1] 0.6549997914146259 Centerline is valid? [False, False] Translation: X:0.35, Y:0.14, Z:-0.04 [[ 9.99405720e-01 -3.44702443e-02 9.87077645e-05 3.49183152e-01] [ 3.44702563e-02 9.99405717e-01 -1.21927275e-04 1.35396266e-01] [-9.44462411e-05 1.25257298e-04 9.99999988e-01 -3.82831266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.564391418 meters Centerline goodness [0,1] 0.6303161128292409 Centerline is valid? [False, False] Translation: X:0.35, Y:0.14, Z:-0.04 [[ 9.99408998e-01 -3.43746689e-02 -1.90939363e-04 3.51065687e-01] [ 3.43746012e-02 9.99408958e-01 -3.47262072e-04 1.37628146e-01] [ 2.02763528e-04 3.40493375e-04 9.99999921e-01 -3.93355502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5943914179999998 meters Centerline goodness [0,1] 0.6217946062388666 Centerline is valid? [False, False] Translation: X:0.35, Y:0.14, Z:-0.04 [[ 9.99417675e-01 -3.41214562e-02 -1.94633290e-04 3.54303143e-01] [ 3.41215132e-02 9.99417647e-01 2.97721964e-04 1.40884226e-01] [ 1.84361238e-04 -3.04189775e-04 9.99999937e-01 -4.15082615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6243914179999999 meters Centerline goodness [0,1] 0.6070074977342013 Centerline is valid? [False, False] Translation: X:0.36, Y:0.14, Z:-0.04 [[ 9.99417510e-01 -3.41236396e-02 -4.65763750e-04 3.56502864e-01] [ 3.41237008e-02 9.99417609e-01 1.24191609e-04 1.42585440e-01] [ 4.61254623e-04 -1.40012852e-04 9.99999884e-01 -4.30556611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.654391418 meters Centerline goodness [0,1] 0.6202621177449552 Centerline is valid? [False, False] Translation: X:0.36, Y:0.14, Z:-0.04 [[ 9.99408485e-01 -3.43835606e-02 -6.71000649e-04 3.57691059e-01] [ 3.43833708e-02 9.99408674e-01 -2.92452343e-04 1.43845944e-01] [ 6.80659422e-04 2.69208089e-04 9.99999732e-01 -4.36906321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.684391418 meters Centerline goodness [0,1] 0.8888214125056231 Centerline is valid? [False, False] Translation: X:0.36, Y:0.15, Z:-0.04 [[ 9.99296561e-01 -3.74963019e-02 -6.41372304e-04 3.59148297e-01] [ 3.74934436e-02 9.99288856e-01 -4.00297283e-03 1.48833952e-01] [ 7.91012874e-04 3.97610972e-03 9.99991782e-01 -4.38002360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.714391418 meters Centerline goodness [0,1] 0.8962692948112146 Centerline is valid? [False, False] Translation: X:0.36, Y:0.15, Z:-0.04 [[ 0.99928844 -0.03769703 -0.00124146 0.36073212] [ 0.03769147 0.99928045 -0.00423409 0.15044689] [ 0.00140018 0.00418429 0.99999027 -0.04397425] [ 0. 0. 0. 1. ]] SLAMing on 1.744391418 meters Centerline goodness [0,1] 0.8974266771547365 Centerline is valid? [False, False] Translation: X:0.36, Y:0.15, Z:-0.04 [[ 0.9992782 -0.03794195 -0.00186989 0.36232221] [ 0.03793314 0.99926997 -0.00453872 0.1522021 ] [ 0.00204073 0.00446451 0.99998795 -0.04410126] [ 0. 0. 0. 1. ]] SLAMing on 1.774391418 meters Centerline goodness [0,1] 0.9235013286492816 Centerline is valid? [False, False] Translation: X:0.36, Y:0.15, Z:-0.04 [[ 0.99926705 -0.03819233 -0.0025885 0.36414629] [ 0.03817986 0.99925981 -0.00470531 0.15324679] [ 0.00276629 0.00460304 0.99998558 -0.04447342] [ 0. 0. 0. 1. ]] SLAMing on 1.8043914179999998 meters Centerline goodness [0,1] 0.9264722415847818 Centerline is valid? [False, False] Translation: X:0.37, Y:0.15, Z:-0.05 [[ 0.99921092 -0.03960327 -0.00301999 0.36630655] [ 0.03958837 0.99920432 -0.00484591 0.1535137 ] [ 0.0032095 0.00472253 0.9999837 -0.04522803] [ 0. 0. 0. 1. ]] SLAMing on 1.8343914179999998 meters Centerline goodness [0,1] 0.9255070378198498 Centerline is valid? [False, False] Translation: X:0.37, Y:0.15, Z:-0.05 [[ 0.99919693 -0.03989105 -0.00376941 0.36822637] [ 0.03987273 0.99919315 -0.00481835 0.15335019] [ 0.00395858 0.00466419 0.99998129 -0.04586157] [ 0. 0. 0. 1. ]] SLAMing on 1.8643914179999999 meters Centerline goodness [0,1] 0.9402531303486172 Centerline is valid? [False, False] Translation: X:0.37, Y:0.15, Z:-0.05 [[ 0.99919228 -0.03992964 -0.00451821 0.37050782] [ 0.03990973 0.99919354 -0.00441433 0.15296649] [ 0.00469083 0.00423044 0.99998005 -0.0470637 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8943914179999999 meters Centerline goodness [0,1] 0.9534165690074822 Centerline is valid? [False, True] Translation: X:0.37, Y:0.15, Z:-0.05 [[ 0.99916245 -0.04062092 -0.00493269 0.3728619 ] [ 0.04060105 0.99916717 -0.00406367 0.15298972] [ 0.00509365 0.00385999 0.99997958 -0.04828592] [ 0. 0. 0. 1. ]] SLAMing on 1.924391418 meters Centerline goodness [0,1] 0.957255877034358 Centerline is valid? [True, True] Translation: X:0.41, Y:0.15, Z:-0.05 [[ 9.99142641e-01 -4.09114835e-02 -6.34296554e-03 4.05655177e-01] [ 4.09079550e-02 9.99162684e-01 -6.85082352e-04 1.53283243e-01] [ 6.36568221e-03 4.25017242e-04 9.99979649e-01 -4.94362027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.954391418 meters Centerline goodness [0,1] 0.9580632777037555 Centerline is valid? [True, True] Translation: X:0.44, Y:0.16, Z:-0.05 [[ 9.99141543e-01 -4.09583513e-02 -6.21211715e-03 4.37853373e-01] [ 4.09549709e-02 9.99160768e-01 -6.70447116e-04 1.57757919e-01] [ 6.23436415e-03 4.15454489e-04 9.99980480e-01 -4.89715926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.984391418 meters Centerline goodness [0,1] 0.9472890549391191 Centerline is valid? [True, False] Translation: X:0.44, Y:0.16, Z:-0.05 [[ 9.99191898e-01 -3.96277423e-02 -6.72262044e-03 4.40886320e-01] [ 3.96325297e-02 9.99214154e-01 5.80360461e-04 1.60372624e-01] [ 6.69433912e-03 -8.46325925e-04 9.99977235e-01 -5.04330474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0143914179999998 meters Centerline goodness [0,1] 0.9559970167468981 Centerline is valid? [False, True] Translation: X:0.44, Y:0.16, Z:-0.05 [[ 9.99204906e-01 -3.91605651e-02 -7.48368209e-03 4.42970678e-01] [ 3.91662764e-02 9.99232516e-01 6.18083914e-04 1.61833984e-01] [ 7.45373397e-03 -9.10700441e-04 9.99971806e-01 -5.11520606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.044391418 meters Centerline goodness [0,1] 0.9422113400893242 Centerline is valid? [True, False] Translation: X:0.45, Y:0.16, Z:-0.05 [[ 9.99217588e-01 -3.86662663e-02 -8.31449277e-03 4.45481858e-01] [ 3.86752526e-02 9.99251407e-01 9.22681765e-04 1.62556512e-01] [ 8.27259194e-03 -1.24352496e-03 9.99965008e-01 -5.24101106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.074391418 meters Centerline goodness [0,1] 0.9617633726201269 Centerline is valid? [False, True] Translation: X:0.45, Y:0.16, Z:-0.05 [[ 0.99922089 -0.0383406 -0.00935989 0.44934942] [ 0.03835774 0.9992627 0.00165808 0.16255671] [ 0.00928942 -0.00201581 0.99995482 -0.05456658] [ 0. 0. 0. 1. ]] SLAMing on 2.104391418 meters Centerline goodness [0,1] 0.9680747119907291 Centerline is valid? [True, True] Translation: X:0.48, Y:0.16, Z:-0.05 [[ 9.99185443e-01 -3.91379498e-02 -9.83215376e-03 4.81928024e-01] [ 3.91291938e-02 9.99233575e-01 -1.08141983e-03 1.62551295e-01] [ 9.86694271e-03 6.95814706e-04 9.99951078e-01 -5.29993547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.134391418 meters Centerline goodness [0,1] 0.9696376992881348 Centerline is valid? [True, True] Translation: X:0.51, Y:0.17, Z:-0.05 [[ 9.99145672e-01 -3.99266444e-02 -1.06671660e-02 5.13720377e-01] [ 3.99163899e-02 9.99202335e-01 -1.17257692e-03 1.65763032e-01] [ 1.07054743e-02 7.45780398e-04 9.99942417e-01 -5.46634260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.164391418 meters Centerline goodness [0,1] 0.969810634476801 Centerline is valid? [True, True] Translation: X:0.54, Y:0.18, Z:-0.06 [[ 9.99043596e-01 -4.16868235e-02 -1.31947641e-02 5.43686590e-01] [ 4.16712859e-02 9.99130322e-01 -1.45042827e-03 1.75912739e-01] [ 1.32437527e-02 8.99198289e-04 9.99911893e-01 -5.91213689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.194391418 meters Centerline goodness [0,1] 0.972320859510152 Centerline is valid? [True, True] Translation: X:0.58, Y:0.18, Z:-0.06 [[ 9.99035040e-01 -4.18193311e-02 -1.34213671e-02 5.76120485e-01] [ 4.18032840e-02 9.99124773e-01 -1.47408585e-03 1.78826919e-01] [ 1.34712657e-02 9.11606193e-04 9.99908843e-01 -5.91350022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2243914179999997 meters Centerline goodness [0,1] 0.9747996721908577 Centerline is valid? [True, True] Translation: X:0.61, Y:0.18, Z:-0.06 [[ 9.99016683e-01 -4.24248619e-02 -1.28762772e-02 6.09056999e-01] [ 4.24101564e-02 9.99099285e-01 -1.41310255e-03 1.76046363e-01] [ 1.29246300e-02 8.65628089e-04 9.99916099e-01 -5.53388323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.254391418 meters Centerline goodness [0,1] 0.975791264889393 Centerline is valid? [True, True] Translation: X:0.64, Y:0.18, Z:-0.05 [[ 9.98964147e-01 -4.37580661e-02 -1.24846078e-02 6.40302201e-01] [ 4.37443422e-02 9.99041818e-01 -1.37036039e-03 1.78813659e-01] [ 1.25326096e-02 8.22809938e-04 9.99921125e-01 -5.35594324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.284391418 meters Centerline goodness [0,1] 0.9770224337185588 Centerline is valid? [True, True] Translation: X:0.67, Y:0.18, Z:-0.05 [[ 9.98854789e-01 -4.68446053e-02 -9.73110694e-03 6.70758145e-01] [ 4.68364088e-02 9.98902002e-01 -1.06861549e-03 1.79687923e-01] [ 9.77048107e-03 6.11621592e-04 9.99952081e-01 -5.02301119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.314391418 meters Centerline goodness [0,1] 0.9771736921722246 Centerline is valid? [True, True] Translation: X:0.70, Y:0.18, Z:-0.05 [[ 9.98794517e-01 -4.83220648e-02 -8.63080583e-03 7.00860519e-01] [ 4.83156763e-02 9.98831667e-01 -9.47299667e-04 1.83605870e-01] [ 8.66649765e-03 5.29154492e-04 9.99962305e-01 -4.96222196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.344391418 meters Centerline goodness [0,1] 0.9796994523152129 Centerline is valid? [True, True] Translation: X:0.73, Y:0.18, Z:-0.05 [[ 9.98718427e-01 -5.02194937e-02 -6.28539196e-03 7.31703843e-01] [ 5.02161444e-02 9.98738135e-01 -6.89651931e-04 1.84832472e-01] [ 6.31209462e-03 3.73139941e-04 9.99980009e-01 -4.86153703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.374391418 meters Centerline goodness [0,1] 0.9810487414651734 Centerline is valid? [True, True] Translation: X:0.76, Y:0.19, Z:-0.05 [[ 9.98523909e-01 -5.40390479e-02 -5.45757966e-03 7.61244734e-01] [ 5.40365778e-02 9.98538777e-01 -5.99155226e-04 1.89651971e-01] [ 5.48198270e-03 3.03361890e-04 9.99984928e-01 -5.01516420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.404391418 meters Centerline goodness [0,1] 0.9826232171872179 Centerline is valid? [True, True] Translation: X:0.79, Y:0.19, Z:-0.05 [[ 9.98482500e-01 -5.47962662e-02 -5.48321232e-03 7.93923712e-01] [ 5.47938223e-02 9.98497513e-01 -5.95054771e-04 1.86550959e-01] [ 5.50758065e-03 2.93705614e-04 9.99984790e-01 -4.84851231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4343914179999997 meters Centerline goodness [0,1] 0.9837601639750434 Centerline is valid? [True, True] Translation: X:0.82, Y:0.19, Z:-0.05 [[ 9.98379425e-01 -5.66941151e-02 -4.92964918e-03 8.24569822e-01] [ 5.66921433e-02 9.98391562e-01 -5.38907200e-04 1.89471541e-01] [ 4.95227301e-03 2.58561483e-04 9.99987704e-01 -5.07937207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.464391418 meters Centerline goodness [0,1] 0.9857451695716795 Centerline is valid? [True, True] Translation: X:0.86, Y:0.19, Z:-0.05 [[ 9.98285270e-01 -5.83021940e-02 -5.23194147e-03 8.56307767e-01] [ 5.83000259e-02 9.98298946e-01 -5.66093028e-04 1.92033475e-01] [ 5.25604612e-03 2.60100008e-04 9.99986153e-01 -5.32672266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4943914179999997 meters Centerline goodness [0,1] 0.9865777857850644 Centerline is valid? [True, True] Translation: X:0.89, Y:0.20, Z:-0.05 [[ 9.98312886e-01 -5.77736558e-02 -5.79542694e-03 8.88488130e-01] [ 5.77709924e-02 9.98329665e-01 -6.26072731e-04 1.95135744e-01] [ 5.82191715e-03 2.90208909e-04 9.99983010e-01 -5.49216448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.524391418 meters Centerline goodness [0,1] 0.9875174935668819 Centerline is valid? [True, True] Translation: X:0.92, Y:0.20, Z:-0.06 [[ 9.98379657e-01 -5.64977517e-02 -6.78708563e-03 9.20156475e-01] [ 5.64940722e-02 9.98402666e-01 -7.32784727e-04 1.99279122e-01] [ 6.81764508e-03 3.48167259e-04 9.99976699e-01 -5.57890727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.554391418 meters Centerline goodness [0,1] 0.9893037244747971 Centerline is valid? [True, True] Translation: X:0.95, Y:0.21, Z:-0.06 [[ 9.98547593e-01 -5.33222261e-02 -7.71005527e-03 9.49539581e-01] [ 5.33173492e-02 9.98577268e-01 -8.36852292e-04 2.09801213e-01] [ 7.74370875e-03 4.24557133e-04 9.99969927e-01 -5.88844246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.584391418 meters Centerline goodness [0,1] 0.9897365022543444 Centerline is valid? [True, True] Translation: X:0.98, Y:0.22, Z:-0.06 [[ 9.98675190e-01 -5.08985261e-02 -7.56337544e-03 9.79983939e-01] [ 5.08937607e-02 9.98703735e-01 -8.21314354e-04 2.15856601e-01] [ 7.59537500e-03 4.35297649e-04 9.99971060e-01 -5.98085631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.614391418 meters Centerline goodness [0,1] 0.990545075276619 Centerline is valid? [True, True] Translation: X:1.01, Y:0.22, Z:-0.06 [[ 9.98797641e-01 -4.85877702e-02 -6.51934495e-03 1.01203093e+00] [ 4.85841919e-02 9.98818841e-01 -7.06220636e-04 2.18228623e-01] [ 6.54595826e-03 3.88634399e-04 9.99978499e-01 -5.86621624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6443914179999997 meters Centerline goodness [0,1] 0.9910977211978436 Centerline is valid? [True, True] Translation: X:1.04, Y:0.23, Z:-0.06 [[ 9.99007333e-01 -4.43872340e-02 -3.75801012e-03 1.04124723e+00] [ 4.43860197e-02 9.99014372e-01 -4.05959381e-04 2.26983805e-01] [ 3.77232553e-03 2.38753288e-04 9.99992856e-01 -5.74867627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.674391418 meters Centerline goodness [0,1] 0.9922222222222222 Centerline is valid? [True, True] Translation: X:1.07, Y:0.23, Z:-0.06 [[ 9.99026717e-01 -4.40846152e-02 -1.47127631e-03 1.07345482e+00] [ 4.40844301e-02 9.99027796e-01 -1.57971518e-04 2.32112084e-01] [ 1.47681004e-03 9.29573897e-05 9.99998905e-01 -5.68565906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7043914179999997 meters Centerline goodness [0,1] 0.9918605178433774 Centerline is valid? [True, True] Translation: X:1.10, Y:0.24, Z:-0.06 [[ 9.99041440e-01 -4.37715065e-02 5.06837943e-04 1.10400618e+00] [ 4.37714818e-02 9.99041568e-01 5.97134203e-05 2.41796604e-01] [-5.08965920e-04 -3.74711336e-05 9.99999870e-01 -5.65266008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.734391418 meters Centerline goodness [0,1] 0.9932311593054581 Centerline is valid? [True, True] Translation: X:1.14, Y:0.24, Z:-0.05 [[ 9.99015714e-01 -4.42990168e-02 2.28037860e-03 1.13611971e+00] [ 4.42985656e-02 9.99018306e-01 2.47981069e-04 2.42217012e-01] [-2.28912528e-03 -1.46719484e-04 9.99997369e-01 -5.34373198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7643914179999998 meters Centerline goodness [0,1] 0.9936817790660809 Centerline is valid? [True, True] Translation: X:1.17, Y:0.24, Z:-0.05 [[ 9.98931345e-01 -4.60972441e-02 3.34844992e-03 1.16722607e+00] [ 4.60962868e-02 9.98936935e-01 3.62553304e-04 2.44982134e-01] [-3.36160301e-03 -2.07814752e-04 9.99994328e-01 -5.43844750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.794391418 meters Centerline goodness [0,1] 0.9938507449189519 Centerline is valid? [True, True] Translation: X:1.20, Y:0.25, Z:-0.06 [[ 9.98900764e-01 -4.67859898e-02 2.88692952e-03 1.19934693e+00] [ 4.67852700e-02 9.98904920e-01 3.16375921e-04 2.47668180e-01] [-2.89857006e-03 -1.80962372e-04 9.99995783e-01 -5.58266903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.824391418 meters Centerline goodness [0,1] 0.9942132507515993 Centerline is valid? [True, True] Translation: X:1.23, Y:0.25, Z:-0.06 [[ 9.98849908e-01 -4.78330981e-02 3.29491303e-03 1.23184007e+00] [ 4.78321716e-02 9.98855322e-01 3.59486526e-04 2.49673774e-01] [-3.30833677e-03 -2.01470237e-04 9.99994507e-01 -5.75792202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.854391418 meters Centerline goodness [0,1] 0.9951476031416449 Centerline is valid? [True, True] Translation: X:1.26, Y:0.25, Z:-0.06 [[ 9.98806252e-01 -4.88231851e-02 1.53871806e-03 1.26329102e+00] [ 4.88229812e-02 9.98807433e-01 1.69856364e-04 2.51612851e-01] [-1.54517596e-03 -9.45287958e-05 9.99998802e-01 -6.08564773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.884391418 meters Centerline goodness [0,1] 0.9953102453102453 Centerline is valid? [True, True] Translation: X:1.29, Y:0.26, Z:-0.06 [[ 9.98862866e-01 -4.76546818e-02 1.41636557e-03 1.29391832e+00] [ 4.76545079e-02 9.98863866e-01 1.56341942e-04 2.56341565e-01] [-1.42220682e-03 -8.86679560e-05 9.99998985e-01 -6.14510861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9143914179999997 meters Centerline goodness [0,1] 0.9956306306306306 Centerline is valid? [True, True] Translation: X:1.33, Y:0.26, Z:-0.06 [[ 9.98913089e-01 -4.65773271e-02 1.78723813e-03 1.32613570e+00] [ 4.65770508e-02 9.98914681e-01 1.95941726e-04 2.60995980e-01] [-1.79442485e-03 -1.12484473e-04 9.99998384e-01 -6.19378250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.944391418 meters Centerline goodness [0,1] 0.9959233316065678 Centerline is valid? [True, True] Translation: X:1.36, Y:0.27, Z:-0.06 [[ 9.98973500e-01 -4.52252765e-02 2.57291475e-03 1.35808099e+00] [ 4.52247068e-02 9.98976801e-01 2.79206433e-04 2.65320070e-01] [-2.58290933e-03 -1.62560512e-04 9.99996651e-01 -6.26653447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9743914179999997 meters Centerline goodness [0,1] 0.9956607761140339 Centerline is valid? [True, True] Translation: X:1.39, Y:0.27, Z:-0.06 [[ 9.99037631e-01 -4.37615272e-02 2.95659406e-03 1.38983771e+00] [ 4.37607818e-02 9.99041988e-01 3.16336835e-04 2.68832299e-01] [-2.96760499e-03 -1.86649534e-04 9.99995579e-01 -6.32353760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.004391418 meters Centerline goodness [0,1] 0.9958535054688901 Centerline is valid? [True, True] Translation: X:1.42, Y:0.27, Z:-0.06 [[ 9.99127767e-01 -4.16171058e-02 3.42362463e-03 1.41965892e+00] [ 4.16160966e-02 9.99133608e-01 3.65519698e-04 2.73712549e-01] [-3.43587030e-03 -2.22722986e-04 9.99994073e-01 -6.23375767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.034391418 meters Centerline goodness [0,1] 0.995363734097832 Centerline is valid? [True, True] Translation: X:1.45, Y:0.28, Z:-0.06 [[ 9.99154419e-01 -4.08176079e-02 4.93657706e-03 1.45291678e+00] [ 4.08154863e-02 9.99166560e-01 5.29785798e-04 2.77001737e-01] [-4.95408731e-03 -3.27849028e-04 9.99987675e-01 -6.12772111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.064391418 meters Centerline goodness [0,1] 0.9951684337672796 Centerline is valid? [True, True] Translation: X:1.49, Y:0.28, Z:-0.06 [[ 9.99160934e-01 -4.05417934e-02 5.81307294e-03 1.48525256e+00] [ 4.05388652e-02 9.99177770e-01 6.20724807e-04 2.80246166e-01] [-5.83345855e-03 -3.84548597e-04 9.99982911e-01 -6.08856683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.094391418 meters Centerline goodness [0,1] 0.9951684337672796 Centerline is valid? [True, True] Translation: X:1.52, Y:0.28, Z:-0.06 [[ 9.99171916e-01 -4.02702164e-02 5.81316670e-03 1.51779646e+00] [ 4.02672887e-02 9.99188752e-01 6.19844956e-04 2.83520738e-01] [-5.83341207e-03 -3.85251210e-04 9.99982911e-01 -6.15496737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.124391418 meters Centerline goodness [0,1] 0.9938951027137828 Centerline is valid? [True, True] Translation: X:1.55, Y:0.28, Z:-0.06 [[ 9.99131852e-01 -4.09233782e-02 7.79864446e-03 1.54928265e+00] [ 4.09181657e-02 9.99162159e-01 8.26832275e-04 2.84081305e-01] [-7.82594720e-03 -5.07008236e-04 9.99969248e-01 -6.08125500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.154391418 meters Centerline goodness [0,1] 0.9944511031206996 Centerline is valid? [True, True] Translation: X:1.58, Y:0.29, Z:-0.06 [[ 9.99106678e-01 -4.15443888e-02 7.74015839e-03 1.58187060e+00] [ 4.15392843e-02 9.99136536e-01 8.19150868e-04 2.85260339e-01] [-7.76750616e-03 -4.96898463e-04 9.99969709e-01 -6.16677942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1843914179999997 meters Centerline goodness [0,1] 0.9940585718402909 Centerline is valid? [True, True] Translation: X:1.61, Y:0.29, Z:-0.06 [[ 9.99048605e-01 -4.26143299e-02 9.26847876e-03 1.61383535e+00] [ 4.26071044e-02 9.99091429e-01 9.75728340e-04 2.85333939e-01] [-9.30163770e-03 -5.79896994e-04 9.99956571e-01 -6.14988857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.214391418 meters Centerline goodness [0,1] 0.9958904109589041 Centerline is valid? [True, True] Translation: X:1.64, Y:0.28, Z:-0.06 [[ 9.98848690e-01 -4.68610115e-02 1.02635341e-02 1.64434945e+00] [ 4.68523860e-02 9.98901241e-01 1.07936689e-03 2.82592608e-01] [-1.03028371e-02 -5.97253149e-04 9.99946746e-01 -6.08835126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2443914179999997 meters Centerline goodness [0,1] 0.9964552279882868 Centerline is valid? [True, True] Translation: X:1.68, Y:0.28, Z:-0.06 [[ 9.98724322e-01 -4.95005896e-02 9.97096702e-03 1.67634804e+00] [ 4.94925729e-02 9.98773940e-01 1.04930202e-03 2.82237677e-01] [-1.00106831e-02 -5.54474632e-04 9.99949738e-01 -6.16236601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.274391418 meters Centerline goodness [0,1] 0.9973537973008733 Centerline is valid? [True, True] Translation: X:1.71, Y:0.28, Z:-0.06 [[ 9.98602815e-01 -5.19729504e-02 9.55148539e-03 1.70816959e+00] [ 5.19657130e-02 9.98648364e-01 1.00451731e-03 2.82038061e-01] [-9.59078299e-03 -5.06764061e-04 9.99953879e-01 -6.35058857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.304391418 meters Centerline goodness [0,1] 0.9979541104780342 Centerline is valid? [True, True] Translation: X:1.74, Y:0.28, Z:-0.07 [[ 9.98459270e-01 -5.47905472e-02 8.77966310e-03 1.74050704e+00] [ 5.47845476e-02 9.98497773e-01 9.22572944e-04 2.80581088e-01] [-8.81702233e-03 -4.40161637e-04 9.99961032e-01 -6.57512031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.334391418 meters Centerline goodness [0,1] 0.9979841360269951 Centerline is valid? [True, True] Translation: X:1.77, Y:0.27, Z:-0.07 [[ 9.98108965e-01 -6.09546213e-02 7.93908552e-03 1.77046862e+00] [ 6.09499188e-02 9.98140478e-01 8.33146227e-04 2.73887795e-01] [-7.97510672e-03 -3.47684101e-04 9.99968138e-01 -6.89358230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.364391418 meters Centerline goodness [0,1] 0.9984699787982776 Centerline is valid? [True, True] Translation: X:1.80, Y:0.27, Z:-0.07 [[ 9.97889978e-01 -6.45852922e-02 6.65823015e-03 1.80204810e+00] [ 6.45820607e-02 9.97912155e-01 6.99437423e-04 2.72782557e-01] [-6.68950216e-03 -2.67959371e-04 9.99977589e-01 -7.03019569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3943914179999997 meters Centerline goodness [0,1] 0.9984052778748689 Centerline is valid? [True, True] Translation: X:1.83, Y:0.27, Z:-0.07 [[ 9.97717290e-01 -6.70896015e-02 7.69382816e-03 1.83421426e+00] [ 6.70853599e-02 9.97746912e-01 8.08338314e-04 2.71807163e-01] [-7.73072439e-03 -2.90349881e-04 9.99970075e-01 -7.09472787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.424391418 meters Centerline goodness [0,1] 0.9985177434824309 Centerline is valid? [True, True] Translation: X:1.87, Y:0.27, Z:-0.07 [[ 9.97373426e-01 -7.19402243e-02 8.41745127e-03 1.86552315e+00] [ 7.19353309e-02 9.97408907e-01 8.83055488e-04 2.67409554e-01] [-8.45916808e-03 -2.75223935e-04 9.99964183e-01 -7.15702827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4543914179999997 meters Centerline goodness [0,1] 0.9986551851289504 Centerline is valid? [True, True] Translation: X:1.90, Y:0.27, Z:-0.07 [[ 9.97221892e-01 -7.40224725e-02 8.31689551e-03 1.89818577e+00] [ 7.40177487e-02 9.97256541e-01 8.74769400e-04 2.67481206e-01] [-8.35883104e-03 -2.56741314e-04 9.99965031e-01 -7.21704411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.484391418 meters Centerline goodness [0,1] 0.9989349446823309 Centerline is valid? [True, True] Translation: X:1.93, Y:0.26, Z:-0.07 [[ 9.97084535e-01 -7.56686142e-02 9.83316906e-03 1.93158468e+00] [ 7.56621172e-02 9.97132980e-01 1.03159073e-03 2.59734495e-01] [-9.88303621e-03 -2.84584775e-04 9.99951121e-01 -6.70018604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5143914179999998 meters Centerline goodness [0,1] 0.9991073372523405 Centerline is valid? [True, True] Translation: X:1.96, Y:0.26, Z:-0.07 [[ 9.97133809e-01 -7.45559396e-02 1.28677634e-02 1.96457965e+00] [ 7.45447817e-02 9.97216760e-01 1.34525313e-03 2.63287273e-01] [-1.29322459e-02 -3.82172765e-04 9.99916302e-01 -6.57313582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.544391418 meters Centerline goodness [0,1] 0.9990864004176455 Centerline is valid? [True, True] Translation: X:2.00, Y:0.27, Z:-0.07 [[ 9.97189798e-01 -7.35848917e-02 1.40631178e-02 1.99615146e+00] [ 7.35715394e-02 9.97288866e-01 1.46515599e-03 2.67215061e-01] [-1.41328042e-02 -4.26393383e-04 9.99900036e-01 -6.53864293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.574391418 meters Centerline goodness [0,1] 0.9990212710426726 Centerline is valid? [True, True] Translation: X:2.03, Y:0.27, Z:-0.07 [[ 9.97342176e-01 -7.13806977e-02 1.46075429e-02 2.02716463e+00] [ 7.13661095e-02 9.97449033e-01 1.51818853e-03 2.73267467e-01] [-1.46786489e-02 -4.71669948e-04 9.99892152e-01 -6.57667235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6043914179999996 meters Centerline goodness [0,1] 0.999040286169215 Centerline is valid? [True, True] Translation: X:2.06, Y:0.28, Z:-0.07 [[ 9.97432902e-01 -7.01500296e-02 1.43728913e-02 2.05869688e+00] [ 7.01358255e-02 9.97536337e-01 1.49056046e-03 2.78000948e-01] [-1.44420442e-02 -4.78679446e-04 9.99895594e-01 -6.66947818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.634391418 meters Centerline goodness [0,1] 0.9989285167610592 Centerline is valid? [True, True] Translation: X:2.09, Y:0.28, Z:-0.07 [[ 9.97541525e-01 -6.85618315e-02 1.44976262e-02 2.09020174e+00] [ 6.85472675e-02 9.97646743e-01 1.49970293e-03 2.82374332e-01] [-1.45663319e-02 -5.02243287e-04 9.99893779e-01 -6.79971936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6643914179999997 meters Centerline goodness [0,1] 0.9991058967201675 Centerline is valid? [True, True] Translation: X:2.12, Y:0.29, Z:-0.07 [[ 9.97691569e-01 -6.64960234e-02 1.37772234e-02 2.12252821e+00] [ 6.64827139e-02 9.97786563e-01 1.42231306e-03 2.87116188e-01] [-1.38413065e-02 -5.03082552e-04 9.99904078e-01 -6.97708886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.694391418 meters Centerline goodness [0,1] 0.9993224339919566 Centerline is valid? [True, True] Translation: X:2.15, Y:0.30, Z:-0.07 [[ 9.98067750e-01 -6.08541510e-02 1.25514541e-02 2.15113255e+00] [ 6.08427176e-02 9.98146531e-01 1.29111759e-03 2.96951129e-01] [-1.26067602e-02 -5.24958252e-04 9.99920394e-01 -7.06745368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7243914179999997 meters Centerline goodness [0,1] 0.999344032885818 Centerline is valid? [True, True] Translation: X:2.18, Y:0.31, Z:-0.07 [[ 9.98290908e-01 -5.68377016e-02 1.35918324e-02 2.18035613e+00] [ 5.68239206e-02 9.98383236e-01 1.39827444e-03 3.05394111e-01] [-1.36493323e-02 -6.23543456e-04 9.99906649e-01 -7.03847635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.754391418 meters Centerline goodness [0,1] 0.9991871883306606 Centerline is valid? [True, True] Translation: X:2.21, Y:0.32, Z:-0.07 [[ 9.98757544e-01 -4.80224453e-02 1.33121544e-02 2.20915489e+00] [ 4.80084425e-02 9.98845991e-01 1.36963819e-03 3.19685210e-01] [-1.33625655e-02 -7.28840678e-04 9.99910451e-01 -7.07725715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.784391418 meters Centerline goodness [0,1] 0.9964791831704956 Centerline is valid? [True, True] Translation: X:2.24, Y:0.33, Z:-0.07 [[ 9.98993968e-01 -4.28478041e-02 1.32332280e-02 2.23937569e+00] [ 4.28335190e-02 9.99081296e-01 1.36116111e-03 3.28429208e-01] [-1.32793934e-02 -7.92966012e-04 9.99911511e-01 -7.18179696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.814391418 meters Centerline goodness [0,1] 0.9828528607952041 Centerline is valid? [True, True] Translation: X:2.27, Y:0.34, Z:-0.07 [[ 9.99177803e-01 -3.77569783e-02 1.47691878e-02 2.26838280e+00] [ 3.77386329e-02 9.99286490e-01 1.51897313e-03 3.37579610e-01] [-1.48160016e-02 -9.60355283e-04 9.99889776e-01 -7.24619545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.844391418 meters Centerline goodness [0,1] 0.9208332411932509 Centerline is valid? [True, False] Translation: X:2.26, Y:0.34, Z:-0.07 [[ 9.99506803e-01 -2.65130073e-02 1.68288844e-02 2.26107624e+00] [ 2.65345636e-02 9.99647336e-01 -1.05887720e-03 3.38919962e-01] [-1.67948754e-02 1.50490207e-03 9.99857824e-01 -7.45977844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8743914179999996 meters Centerline goodness [0,1] 0.888650821699947 Centerline is valid? [False, False] Translation: X:2.26, Y:0.34, Z:-0.08 [[ 0.99960885 -0.02238046 0.01677066 2.26123089] [ 0.02232672 0.999745 0.00338508 0.33777134] [-0.01684214 -0.00300932 0.99985363 -0.07503344] [ 0. 0. 0. 1. ]] SLAMing on 3.904391418 meters Centerline goodness [0,1] 0.8578432460012867 Centerline is valid? [False, False] Translation: X:2.26, Y:0.34, Z:-0.08 [[ 0.99962468 -0.02166426 0.01676766 2.26157812] [ 0.02161123 0.99976088 0.00333773 0.33939237] [-0.01683596 -0.00297411 0.99985384 -0.07515281] [ 0. 0. 0. 1. ]] SLAMing on 3.9343914179999997 meters Centerline goodness [0,1] 0.8055512379260575 Centerline is valid? [False, False] Translation: X:2.25, Y:0.34, Z:-0.08 [[ 9.99713309e-01 -1.35694164e-02 1.97274319e-02 2.25229723e+00] [ 1.36115873e-02 9.99905348e-01 -2.00497319e-03 3.40012558e-01] [-1.96983583e-02 2.27292004e-03 9.99803385e-01 -7.55505201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.964391418 meters Centerline goodness [0,1] 0.7852282267685917 Centerline is valid? [False, False] Translation: X:2.25, Y:0.34, Z:-0.08 [[ 0.99976651 -0.00933357 0.01948857 2.25303255] [ 0.00927207 0.99995175 0.00324361 0.3369593 ] [-0.0195179 -0.00306215 0.99980482 -0.0764276 ] [ 0. 0. 0. 1. ]] SLAMing on 3.9943914179999997 meters Centerline goodness [0,1] 0.7636968085106383 Centerline is valid? [False, False] Translation: X:2.24, Y:0.34, Z:-0.07 [[ 0.99985876 -0.00400224 0.01632295 2.24298948] [ 0.00408486 0.999979 -0.0050315 0.33715077] [-0.01630247 0.00509747 0.99985411 -0.07166808] [ 0. 0. 0. 1. ]] SLAMing on 4.0243914179999996 meters Centerline goodness [0,1] 0.7281216884493111 Centerline is valid? [False, False] Translation: X:2.25, Y:0.33, Z:-0.07 [[ 0.99986962 -0.00259156 0.01593829 2.24501869] [ 0.0026383 0.99999228 -0.00291236 0.33300528] [-0.01593062 0.00295403 0.99986874 -0.0736258 ] [ 0. 0. 0. 1. ]] SLAMing on 4.054391418 meters Centerline goodness [0,1] 0.7250423570312672 Centerline is valid? [False, False] Translation: X:2.25, Y:0.33, Z:-0.08 [[ 9.99877079e-01 -1.78830316e-03 1.55765191e-02 2.24663966e+00] [ 1.81135953e-03 9.99997285e-01 -1.46621850e-03 3.29740995e-01] [-1.55738548e-02 1.49425295e-03 9.99877604e-01 -7.50822839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.084391418 meters Centerline goodness [0,1] 0.9485494505494505 Centerline is valid? [False, False] Translation: X:2.25, Y:0.33, Z:-0.08 [[ 9.99881343e-01 -1.41260383e-03 1.53396482e-02 2.24740434e+00] [ 1.42057181e-03 9.99998862e-01 -5.08552855e-04 3.26879003e-01] [-1.53389123e-02 5.30283583e-04 9.99882211e-01 -7.56843319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.114391417999999 meters Centerline goodness [0,1] 0.9710100434191483 Centerline is valid? [False, True] Translation: X:2.25, Y:0.32, Z:-0.08 [[ 9.99886038e-01 -1.11499101e-03 1.50554662e-02 2.24784155e+00] [ 1.09820167e-03 9.99998766e-01 1.12338708e-03 3.20918399e-01] [-1.50567002e-02 -1.10672512e-03 9.99886029e-01 -7.58156501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.144391418 meters Centerline goodness [0,1] 0.9830971748447477 Centerline is valid? [True, True] Translation: X:2.28, Y:0.32, Z:-0.08 [[ 9.99868159e-01 -1.53273173e-03 1.61652266e-02 2.28037889e+00] [ 1.50787176e-03 9.99997662e-01 1.54994352e-03 3.17571010e-01] [-1.61675644e-02 -1.52536408e-03 9.99868133e-01 -7.65121796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.174391418 meters Centerline goodness [0,1] 0.7084424655142308 Centerline is valid? [True, False] Translation: X:2.28, Y:0.31, Z:-0.08 [[ 9.99873197e-01 -1.14829275e-03 1.58830209e-02 2.28109335e+00] [ 1.10387117e-03 9.99995456e-01 2.80528134e-03 3.13646298e-01] [-1.58861700e-02 -2.78739282e-03 9.99869922e-01 -7.68792337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.204391418 meters Centerline goodness [0,1] 0.9868681378410696 Centerline is valid? [False, True] Translation: X:2.28, Y:0.31, Z:-0.08 [[ 9.99869297e-01 -2.47774451e-03 1.59765565e-02 2.28002160e+00] [ 2.44386041e-03 9.99994724e-01 2.14003887e-03 3.07811314e-01] [-1.59817746e-02 -2.10071468e-03 9.99870076e-01 -7.54514933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2343914179999995 meters Centerline goodness [0,1] 0.975895019024559 Centerline is valid? [True, True] Translation: X:2.31, Y:0.31, Z:-0.08 [[ 9.99856028e-01 -1.11937721e-03 1.69313463e-02 2.31146115e+00] [ 1.09172293e-03 9.99998055e-01 1.64247313e-03 3.09860228e-01] [-1.69331519e-02 -1.62375232e-03 9.99855305e-01 -7.59556765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.264391418 meters Centerline goodness [0,1] 0.8247024836150396 Centerline is valid? [True, False] Translation: X:2.31, Y:0.31, Z:-0.08 [[ 9.99861679e-01 -5.44870606e-04 1.66230299e-02 2.31238493e+00] [ 4.96990398e-04 9.99995717e-01 2.88434896e-03 3.06349192e-01] [-1.66245303e-02 -2.87568851e-03 9.99857668e-01 -7.64980357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.294391418 meters Centerline goodness [0,1] 0.7841033689506159 Centerline is valid? [False, False] Translation: X:2.31, Y:0.30, Z:-0.08 [[ 9.99859252e-01 -2.54655542e-03 1.65828884e-02 2.31299544e+00] [ 2.52259298e-03 9.99995744e-01 1.46576721e-03 3.00632563e-01] [-1.65865504e-02 -1.42372902e-03 9.99861420e-01 -7.69277168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.324391418 meters Centerline goodness [0,1] 0.8098686606817647 Centerline is valid? [False, False] Translation: X:2.31, Y:0.30, Z:-0.08 [[ 9.99865022e-01 -1.77356051e-03 1.63337566e-02 2.31413231e+00] [ 1.71953603e-03 9.99993007e-01 3.32098567e-03 2.95432954e-01] [-1.63395323e-02 -3.29245093e-03 9.99861080e-01 -7.79980648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.354391418 meters Centerline goodness [0,1] 0.8057677085338981 Centerline is valid? [False, False] Translation: X:2.31, Y:0.29, Z:-0.08 [[ 9.99864683e-01 -1.35754070e-03 1.63943005e-02 2.31430322e+00] [ 1.27744231e-03 9.99987202e-01 4.89523025e-03 2.89776627e-01] [-1.64007361e-02 -4.87362507e-03 9.99853621e-01 -7.85410343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.384391418 meters Centerline goodness [0,1] 0.7823945763868162 Centerline is valid? [False, False] Translation: X:2.31, Y:0.28, Z:-0.08 [[ 9.99915005e-01 1.99758551e-03 1.28837684e-02 2.30587856e+00] [-1.94072353e-03 9.99988329e-01 -4.42445276e-03 2.81792492e-01] [-1.28924563e-02 4.39907287e-03 9.99907212e-01 -7.50860622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.414391418 meters Centerline goodness [0,1] 0.7653763395044633 Centerline is valid? [False, False] Translation: X:2.31, Y:0.28, Z:-0.08 [[ 0.99991714 0.00287835 0.01254682 2.30693006] [-0.00284543 0.99999247 -0.00264061 0.27723106] [-0.01255432 0.00260469 0.9999178 -0.0758112 ] [ 0. 0. 0. 1. ]] SLAMing on 4.4443914179999995 meters Centerline goodness [0,1] 0.7674645408866368 Centerline is valid? [False, False] Translation: X:2.31, Y:0.27, Z:-0.08 [[ 9.99918510e-01 3.78585189e-03 1.21918132e-02 2.30820869e+00] [-3.77630517e-03 9.99992545e-01 -8.05969294e-04 2.72695104e-01] [-1.21947736e-02 7.59863608e-04 9.99925352e-01 -7.67519666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.474391418 meters Centerline goodness [0,1] 0.7427038898509102 Centerline is valid? [False, False] Translation: X:2.31, Y:0.27, Z:-0.08 [[ 9.99919944e-01 4.53989688e-03 1.18107871e-02 2.30918317e+00] [-4.55073234e-03 9.99989249e-01 8.90706997e-04 2.68026496e-01] [-1.18066164e-02 -9.44383421e-04 9.99929854e-01 -7.71792973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.504391418 meters Centerline goodness [0,1] 0.7585588626152255 Centerline is valid? [False, False] Translation: X:2.31, Y:0.26, Z:-0.08 [[ 9.99927367e-01 2.33400617e-03 1.18242546e-02 2.30908610e+00] [-2.33147624e-03 9.99997256e-01 -2.27741244e-04 2.60094176e-01] [-1.18247537e-02 2.00156734e-04 9.99930065e-01 -7.69233333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.534391418 meters Centerline goodness [0,1] 0.7156777962919998 Centerline is valid? [False, False] Translation: X:2.31, Y:0.25, Z:-0.08 [[ 9.99931948e-01 -3.72079793e-04 1.16602031e-02 2.30949844e+00] [ 3.83386896e-04 9.99999458e-01 -9.67497249e-04 2.48651404e-01] [-1.16598368e-02 9.71901778e-04 9.99931549e-01 -7.70958272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.564391418 meters Centerline goodness [0,1] 0.7534269615675722 Centerline is valid? [False, False] Translation: X:2.31, Y:0.24, Z:-0.08 [[ 9.99935007e-01 2.50361030e-06 1.14009236e-02 2.31059269e+00] [-1.44105308e-05 9.99999455e-01 1.04430006e-03 2.41181143e-01] [-1.14009148e-02 -1.04439649e-03 9.99934462e-01 -7.81235595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.594391418 meters Centerline goodness [0,1] 0.713076615365181 Centerline is valid? [False, False] Translation: X:2.31, Y:0.24, Z:-0.08 [[ 9.99936426e-01 -6.74409595e-04 1.12556169e-02 2.31052852e+00] [ 6.57874544e-04 9.99998699e-01 1.47268671e-03 2.35163611e-01] [-1.12565954e-02 -1.46518830e-03 9.99935569e-01 -7.78032201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.624391418 meters Centerline goodness [0,1] 0.712736613816773 Centerline is valid? [False, False] Translation: X:2.31, Y:0.23, Z:-0.08 [[ 9.99936974e-01 -6.28563665e-04 1.12095350e-02 2.31069649e+00] [ 5.96317205e-04 9.99995676e-01 2.87980950e-03 2.29048868e-01] [-1.12112967e-02 -2.87294355e-03 9.99933024e-01 -7.80383935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6543914179999994 meters Centerline goodness [0,1] 0.7047286348618447 Centerline is valid? [False, False] Translation: X:2.31, Y:0.22, Z:-0.08 [[ 9.99938431e-01 -2.69895586e-03 1.07633453e-02 2.31187262e+00] [ 2.67531179e-03 9.99993978e-01 2.21051463e-03 2.20048099e-01] [-1.07692465e-02 -2.18158323e-03 9.99939630e-01 -7.82313138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684391418 meters Centerline goodness [0,1] 0.7015329693406132 Centerline is valid? [False, False] Translation: X:2.31, Y:0.21, Z:-0.08 [[ 9.99943691e-01 -1.75181627e-03 1.04664268e-02 2.31300119e+00] [ 1.70480620e-03 9.99988427e-01 4.49874536e-03 2.13872313e-01] [-1.04741866e-02 -4.48064881e-03 9.99935105e-01 -7.90725290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.714391418 meters Centerline goodness [0,1] 0.6971064061942631 Centerline is valid? [False, False] Translation: X:2.31, Y:0.21, Z:-0.08 [[ 0.99994035 -0.00408234 0.01013022 2.31466381] [ 0.00405814 0.99998886 0.0024089 0.21038907] [-0.01013994 -0.00236765 0.99994579 -0.08021175] [ 0. 0. 0. 1. ]] SLAMing on 4.744391418 meters Centerline goodness [0,1] 0.7489124724177787 Centerline is valid? [False, False] Translation: X:2.32, Y:0.20, Z:-0.08 [[ 0.99994414 -0.0050738 0.00927238 2.31742905] [ 0.00505106 0.99998418 0.0024751 0.20035333] [-0.00928479 -0.00242813 0.99995395 -0.08131696] [ 0. 0. 0. 1. ]] SLAMing on 4.7743914179999996 meters Centerline goodness [0,1] 0.7611993687532878 Centerline is valid? [False, False] Translation: X:2.32, Y:0.19, Z:-0.08 [[ 0.99995002 -0.00426907 0.00904105 2.31814732] [ 0.00422885 0.9999811 0.00446301 0.19459765] [-0.00905993 -0.00442456 0.99994917 -0.08173728] [ 0. 0. 0. 1. ]] SLAMing on 4.804391418 meters Centerline goodness [0,1] 0.7598753474269351 Centerline is valid? [False, False] Translation: X:2.32, Y:0.19, Z:-0.08 [[ 0.99995451 -0.00362028 0.00882489 2.31867663] [ 0.0035647 0.99997377 0.00630492 0.18904226] [-0.00884748 -0.00627318 0.99994118 -0.08184524] [ 0. 0. 0. 1. ]] SLAMing on 4.834391418 meters Centerline goodness [0,1] 0.7514330270589227 Centerline is valid? [False, False] Translation: X:2.32, Y:0.18, Z:-0.08 [[ 0.99994536 -0.00577267 0.00871472 2.3180127 ] [ 0.00572395 0.99996791 0.00560487 0.1800147 ] [-0.0087468 -0.00555468 0.99994632 -0.08026072] [ 0. 0. 0. 1. ]] SLAMing on 4.864391417999999 meters Centerline goodness [0,1] 0.7473608799174024 Centerline is valid? [False, False] Translation: X:2.32, Y:0.18, Z:-0.08 [[ 0.99992438 -0.00879886 0.00859123 2.31848154] [ 0.00877284 0.99995683 0.00306256 0.17650481] [-0.00861781 -0.00298696 0.9999584 -0.08030369] [ 0. 0. 0. 1. ]] SLAMing on 4.894391418 meters Centerline goodness [0,1] 0.7669769989047097 Centerline is valid? [False, False] Translation: X:2.32, Y:0.17, Z:-0.08 [[ 9.99855290e-01 -1.48521149e-02 8.29546351e-03 2.31980604e+00] [ 1.48641518e-02 9.99888554e-01 -1.39126481e-03 1.67404262e-01] [-8.27387580e-03 1.51436851e-03 9.99964624e-01 -8.09851221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.924391418 meters Centerline goodness [0,1] 0.767855638844437 Centerline is valid? [False, False] Translation: X:2.32, Y:0.16, Z:-0.08 [[ 9.99864412e-01 -1.44857572e-02 7.83068996e-03 2.32153049e+00] [ 1.44790491e-02 9.99894757e-01 9.12660593e-04 1.60485642e-01] [-7.84308641e-03 -7.99155904e-04 9.99968923e-01 -8.24392171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.954391418 meters Centerline goodness [0,1] 0.7825894457211529 Centerline is valid? [False, False] Translation: X:2.32, Y:0.15, Z:-0.08 [[ 0.99987306 -0.01420225 0.00722269 2.32316376] [ 0.01418126 0.99989509 0.00294855 0.15436692] [-0.0072638 -0.00284575 0.99996957 -0.08331601] [ 0. 0. 0. 1. ]] SLAMing on 4.9843914179999995 meters Centerline goodness [0,1] 0.7945525783619818 Centerline is valid? [False, False] Translation: X:2.32, Y:0.15, Z:-0.08 [[ 0.99987686 -0.01417475 0.00673296 2.32452234] [ 0.01414365 0.99988919 0.00464371 0.14882795] [-0.00679804 -0.0045479 0.99996655 -0.08409648] [ 0. 0. 0. 1. ]] SLAMing on 5.014391418 meters Centerline goodness [0,1] 0.7945525783619818 Centerline is valid? [False, False] Translation: X:2.32, Y:0.15, Z:-0.08 [[ 0.99987686 -0.01417475 0.00673296 2.32452234] [ 0.01414365 0.99988919 0.00464371 0.14882795] [-0.00679804 -0.0045479 0.99996655 -0.08409648] [ 0. 0. 0. 1. ]] SLAMing on 5.044391418 meters Centerline goodness [0,1] 0.9722251490948939 Centerline is valid? [False, True] Translation: X:2.33, Y:0.14, Z:-0.08 [[ 0.99981841 -0.01796586 0.00635346 2.32576336] [ 0.01794866 0.99983512 0.00275303 0.14189685] [-0.00640187 -0.00263849 0.99997603 -0.08478354] [ 0. 0. 0. 1. ]] SLAMing on 5.074391417999999 meters Centerline goodness [0,1] 0.8812342569269521 Centerline is valid? [True, False] Translation: X:2.33, Y:0.14, Z:-0.09 [[ 0.99981866 -0.01810685 0.00589904 2.32699934] [ 0.0180824 0.99982779 0.0041726 0.13690332] [-0.00597358 -0.00406518 0.9999739 -0.08543492] [ 0. 0. 0. 1. ]] SLAMing on 5.104391418 meters Centerline goodness [0,1] 0.9819133946034617 Centerline is valid? [False, True] Translation: X:2.33, Y:0.13, Z:-0.09 [[ 0.9998116 -0.01855298 0.00570478 2.32719185] [ 0.01852363 0.99981514 0.00515451 0.13194902] [-0.00579936 -0.00504787 0.99997044 -0.08522725] [ 0. 0. 0. 1. ]] SLAMing on 5.134391418 meters Centerline goodness [0,1] 0.9975157894736842 Centerline is valid? [True, True] Translation: X:2.36, Y:0.12, Z:-0.09 [[ 9.99691010e-01 -2.38593502e-02 6.97250634e-03 2.35908822e+00] [ 2.38551634e-02 9.99715192e-01 6.83042896e-04 1.21565627e-01] [-6.98681747e-03 -5.16501565e-04 9.99975459e-01 -8.53512654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.164391418 meters Centerline goodness [0,1] 0.9969010877814318 Centerline is valid? [True, True] Translation: X:2.39, Y:0.12, Z:-0.08 [[ 9.99624211e-01 -2.62758253e-02 7.81142328e-03 2.39000043e+00] [ 2.62706427e-02 9.99654574e-01 7.65347177e-04 1.23613940e-01] [-7.82883514e-03 -5.59848457e-04 9.99969197e-01 -8.47147643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1943914179999995 meters Centerline goodness [0,1] 0.9978241122166592 Centerline is valid? [True, True] Translation: X:2.42, Y:0.12, Z:-0.08 [[ 9.99547819e-01 -2.90310324e-02 7.83304865e-03 2.42206584e+00] [ 2.90259076e-02 9.99578365e-01 7.67157901e-04 1.22285863e-01] [-7.85201735e-03 -5.39449660e-04 9.99969027e-01 -8.32386444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.224391418 meters Centerline goodness [0,1] 0.9983579984422036 Centerline is valid? [True, True] Translation: X:2.46, Y:0.12, Z:-0.08 [[ 9.99556380e-01 -2.89943337e-02 6.80974654e-03 2.45526325e+00] [ 2.89904605e-02 9.99579466e-01 6.66826235e-04 1.24248012e-01] [-6.82621699e-03 -4.69112730e-04 9.99976591e-01 -8.48872913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.254391418 meters Centerline goodness [0,1] 0.9984253952257983 Centerline is valid? [True, True] Translation: X:2.49, Y:0.13, Z:-0.09 [[ 9.99583333e-01 -2.83184657e-02 5.58783961e-03 2.48693193e+00] [ 2.83158519e-02 9.99598877e-01 5.46346170e-04 1.26495388e-01] [-5.60106989e-03 -3.87894087e-04 9.99984239e-01 -8.71064569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.284391417999999 meters Centerline goodness [0,1] 0.9982092445118611 Centerline is valid? [True, True] Translation: X:2.52, Y:0.13, Z:-0.09 [[ 9.99660063e-01 -2.59771948e-02 2.22350791e-03 2.51656156e+00] [ 2.59767758e-02 9.99662523e-01 2.17119001e-04 1.32445155e-01] [-2.22839767e-03 -1.59285628e-04 9.99997504e-01 -9.19336820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.314391418 meters Centerline goodness [0,1] 0.99642165530016 Centerline is valid? [True, True] Translation: X:2.55, Y:0.14, Z:-0.09 [[ 9.99702979e-01 -2.43290175e-02 1.43247578e-03 2.54808263e+00] [ 2.43288411e-02 9.99704000e-01 1.40471853e-04 1.37083249e-01] [-1.43546931e-03 -1.05579655e-04 9.99998964e-01 -9.08072974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.344391418 meters Centerline goodness [0,1] 0.9965294575436973 Centerline is valid? [True, True] Translation: X:2.58, Y:0.14, Z:-0.09 [[ 9.99744499e-01 -2.25924094e-02 7.20943146e-04 2.57829019e+00] [ 2.25923634e-02 9.99744757e-01 7.18318231e-05 1.42514495e-01] [-7.22381985e-04 -5.55256604e-05 9.99999738e-01 -9.45304488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.374391418 meters Centerline goodness [0,1] 0.9943627605645653 Centerline is valid? [True, True] Translation: X:2.61, Y:0.15, Z:-0.09 [[ 9.99804020e-01 -1.97838111e-02 7.22130561e-04 2.60955769e+00] [ 1.97837651e-02 9.99804280e-01 7.07870544e-05 1.46580623e-01] [-7.23389663e-04 -5.64867201e-05 9.99999737e-01 -9.22246280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4043914179999994 meters Centerline goodness [0,1] 0.9951823957588253 Centerline is valid? [True, True] Translation: X:2.64, Y:0.15, Z:-0.09 [[ 9.99829378e-01 -1.84450124e-02 9.97899795e-04 2.64175113e+00] [ 1.84449236e-02 9.99829873e-01 9.80306244e-05 1.49971918e-01] [-9.99538201e-04 -7.96077127e-05 9.99999497e-01 -9.12377119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.434391418 meters Centerline goodness [0,1] 0.9353941462797901 Centerline is valid? [True, False] Translation: X:2.64, Y:0.15, Z:-0.09 [[ 9.99877089e-01 -1.56391449e-02 1.10604221e-03 2.64023814e+00] [ 1.56352712e-02 9.99871885e-01 3.42822362e-03 1.48156122e-01] [-1.15951499e-03 -3.41050899e-03 9.99993512e-01 -8.97815097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464391418 meters Centerline goodness [0,1] 0.9921902957583413 Centerline is valid? [False, True] Translation: X:2.64, Y:0.15, Z:-0.09 [[ 9.99885444e-01 -1.50968495e-02 1.08825201e-03 2.64017738e+00] [ 1.50925422e-02 9.99878638e-01 3.86313113e-03 1.47957791e-01] [-1.14644105e-03 -3.84626409e-03 9.99991946e-01 -8.95263721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.494391418 meters Centerline goodness [0,1] 0.9801141749699817 Centerline is valid? [True, True] Translation: X:2.67, Y:0.16, Z:-0.09 [[ 9.99926551e-01 -1.16840168e-02 3.22111451e-03 2.67086317e+00] [ 1.16830679e-02 9.99931702e-01 3.13252913e-04 1.56095045e-01] [-3.22455457e-03 -2.75597405e-04 9.99994763e-01 -8.75372191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5243914179999996 meters Centerline goodness [0,1] 0.950148965632999 Centerline is valid? [True, True] Translation: X:2.70, Y:0.16, Z:-0.08 [[ 9.99938094e-01 -1.05807202e-02 3.44324281e-03 2.70146813e+00] [ 1.05796297e-02 9.99943978e-01 3.34779373e-04 1.62929139e-01] [-3.44659212e-03 -2.98330415e-04 9.99994016e-01 -8.47413867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.554391418 meters Centerline goodness [0,1] 0.9548510844592458 Centerline is valid? [True, True] Translation: X:2.73, Y:0.17, Z:-0.09 [[ 9.99947345e-01 -9.43008991e-03 4.04729750e-03 2.73355689e+00] [ 9.42857497e-03 9.99955473e-01 3.93226266e-04 1.67290802e-01] [-4.05082544e-03 -3.55045313e-04 9.99991732e-01 -8.70910921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.584391418 meters Centerline goodness [0,1] 0.8276731144855396 Centerline is valid? [True, False] Translation: X:2.73, Y:0.17, Z:-0.09 [[ 9.99949831e-01 -9.31525447e-03 3.68272581e-03 2.73449205e+00] [ 9.31476263e-03 9.99956605e-01 1.50683268e-04 1.68739327e-01] [-3.68396965e-03 -1.16371992e-04 9.99993207e-01 -8.74918970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.614391417999999 meters Centerline goodness [0,1] 0.968367626308363 Centerline is valid? [False, True] Translation: X:2.74, Y:0.17, Z:-0.09 [[ 9.99950260e-01 -9.36761956e-03 3.42434182e-03 2.73520542e+00] [ 9.36674693e-03 9.99956094e-01 2.70781265e-04 1.68470353e-01] [-3.42672805e-03 -2.38692853e-04 9.99994100e-01 -8.78886716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.644391418 meters Centerline goodness [0,1] 0.9937965260545906 Centerline is valid? [True, True] Translation: X:2.77, Y:0.16, Z:-0.09 [[ 9.99886503e-01 -1.48665584e-02 2.44254439e-03 2.76669722e+00] [ 1.48660320e-02 9.99889467e-01 2.33494933e-04 1.63856741e-01] [-2.44574568e-03 -1.97157489e-04 9.99996990e-01 -8.70887748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.674391418 meters Centerline goodness [0,1] 0.9954691334717765 Centerline is valid? [True, True] Translation: X:2.80, Y:0.17, Z:-0.09 [[ 9.99834805e-01 -1.80481843e-02 2.15098777e-03 2.79622333e+00] [ 1.80477838e-02 9.99837104e-01 2.05441334e-04 1.68196203e-01] [-2.15434523e-03 -1.66586834e-04 9.99997666e-01 -8.96660867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.704391418 meters Centerline goodness [0,1] 0.9987366825283194 Centerline is valid? [True, True] Translation: X:2.83, Y:0.16, Z:-0.09 [[ 9.99764851e-01 -2.15492378e-02 2.42345044e-03 2.82804776e+00] [ 2.15487392e-02 9.99767772e-01 2.31682752e-04 1.64438901e-01] [-2.42788023e-03 -1.79405971e-04 9.99997037e-01 -8.90665835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7343914179999995 meters Centerline goodness [0,1] 0.9989065522752124 Centerline is valid? [True, True] Translation: X:2.86, Y:0.17, Z:-0.09 [[ 9.99620394e-01 -2.74282704e-02 2.59940551e-03 2.85770731e+00] [ 2.74277173e-02 9.99623759e-01 2.48188068e-04 1.68502068e-01] [-2.60523488e-03 -1.76798095e-04 9.99996591e-01 -8.66379797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764391418 meters Centerline goodness [0,1] 0.9995808885163453 Centerline is valid? [True, True] Translation: X:2.89, Y:0.17, Z:-0.09 [[ 9.99564278e-01 -2.93874941e-02 2.76227729e-03 2.88945775e+00] [ 2.93868756e-02 9.99568078e-01 2.64220497e-04 1.68744280e-01] [-2.76884898e-03 -1.82930671e-04 9.99996150e-01 -8.77065802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.794391418 meters Centerline goodness [0,1] 0.9994326539188905 Centerline is valid? [True, True] Translation: X:2.92, Y:0.18, Z:-0.09 [[ 9.99533141e-01 -3.04043271e-02 3.01278906e-03 2.92045525e+00] [ 3.04035968e-02 9.99537662e-01 2.87907655e-04 1.75387529e-01] [-3.02014977e-03 -1.96173619e-04 9.99995420e-01 -8.88914541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824391417999999 meters Centerline goodness [0,1] 0.9994739500042084 Centerline is valid? [True, True] Translation: X:2.95, Y:0.18, Z:-0.09 [[ 9.99526338e-01 -3.05413339e-02 3.78500918e-03 2.95235247e+00] [ 3.05401834e-02 9.99533474e-01 3.61395779e-04 1.80049479e-01] [-3.79428089e-03 -2.45629725e-04 9.99992772e-01 -8.77863126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.854391418 meters Centerline goodness [0,1] 0.9990751639482092 Centerline is valid? [True, True] Translation: X:2.98, Y:0.19, Z:-0.09 [[ 9.99638934e-01 -2.67573980e-02 2.45839091e-03 2.98169741e+00] [ 2.67569012e-02 9.99641942e-01 2.34748724e-04 1.89981885e-01] [-2.46379193e-03 -1.68885041e-04 9.99996951e-01 -9.01842280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884391418 meters Centerline goodness [0,1] 0.9967061094326956 Centerline is valid? [True, True] Translation: X:3.01, Y:0.20, Z:-0.09 [[ 9.99717295e-01 -2.36923089e-02 2.00097786e-03 3.01056771e+00] [ 2.36919749e-02 9.99719288e-01 1.90441931e-04 1.99598595e-01] [-2.00492817e-03 -1.42980975e-04 9.99997980e-01 -8.95085780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.914391418 meters Centerline goodness [0,1] 0.9925578080124107 Centerline is valid? [True, True] Translation: X:3.04, Y:0.21, Z:-0.09 [[ 9.99801617e-01 -1.98168289e-02 2.00509189e-03 3.04102465e+00] [ 1.98164856e-02 9.99803616e-01 1.90942112e-04 2.07230973e-01] [-2.00848199e-03 -1.51170358e-04 9.99997972e-01 -8.92838773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9443914179999995 meters Centerline goodness [0,1] 0.9954736908279374 Centerline is valid? [True, True] Translation: X:3.07, Y:0.21, Z:-0.09 [[ 9.99884023e-01 -1.51489513e-02 1.56521126e-03 3.07097575e+00] [ 1.51487365e-02 9.99885240e-01 1.48994527e-04 2.11841965e-01] [-1.56728875e-03 -1.25266275e-04 9.99998764e-01 -9.01371928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.974391418 meters Centerline goodness [0,1] 0.9409603392890886 Centerline is valid? [True, False] Translation: X:3.06, Y:0.22, Z:-0.09 [[ 9.99989619e-01 -3.94070916e-03 2.28734835e-03 3.06249574e+00] [ 3.94530943e-03 9.99990197e-01 -2.01016161e-03 2.17232421e-01] [-2.27940446e-03 2.01916504e-03 9.99995364e-01 -9.12714777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.004391418 meters Centerline goodness [0,1] 0.854171486256283 Centerline is valid? [False, False] Translation: X:3.06, Y:0.22, Z:-0.09 [[ 9.99997519e-01 2.19671928e-04 2.21653769e-03 3.06270581e+00] [-2.24305194e-04 9.99997790e-01 2.09028459e-03 2.17311618e-01] [-2.21607361e-03 -2.09077659e-03 9.99995359e-01 -9.14452480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.034391417999999 meters Centerline goodness [0,1] 0.7900643046274114 Centerline is valid? [False, False] Translation: X:3.06, Y:0.22, Z:-0.09 [[ 9.99985019e-01 5.03162175e-03 2.15516705e-03 3.06338212e+00] [-5.04535820e-03 9.99966686e-01 6.41643181e-03 2.17884905e-01] [-2.12281019e-03 -6.42720927e-03 9.99977092e-01 -9.21477544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.064391418 meters Centerline goodness [0,1] 0.7974363831533751 Centerline is valid? [False, False] Translation: X:3.06, Y:0.22, Z:-0.09 [[ 9.99982872e-01 5.41689633e-03 2.21635385e-03 3.06319575e+00] [-5.43035245e-03 9.99966583e-01 6.11099710e-03 2.19264259e-01] [-2.18317715e-03 -6.12292802e-03 9.99978872e-01 -9.19287887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.094391418 meters Centerline goodness [0,1] 0.7640217871338142 Centerline is valid? [False, False] Translation: X:3.06, Y:0.22, Z:-0.09 [[ 9.99981642e-01 5.60309451e-03 2.30669090e-03 3.06286806e+00] [-5.61639254e-03 9.99967411e-01 5.79944361e-03 2.20408153e-01] [-2.27412089e-03 -5.81229243e-03 9.99980523e-01 -9.15738657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.124391418 meters Centerline goodness [0,1] 0.7426952141057934 Centerline is valid? [False, False] Translation: X:3.06, Y:0.22, Z:-0.09 [[ 9.99981534e-01 5.63371890e-03 2.27886810e-03 3.06281034e+00] [-5.64611877e-03 9.99969089e-01 5.47190580e-03 2.21251989e-01] [-2.24797048e-03 -5.48467151e-03 9.99982432e-01 -9.13345887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1543914179999994 meters Centerline goodness [0,1] 0.7248733951123159 Centerline is valid? [False, False] Translation: X:3.06, Y:0.22, Z:-0.09 [[ 9.99993656e-01 2.69763650e-03 2.32620242e-03 3.06277302e+00] [-2.70060926e-03 9.99995540e-01 1.27575426e-03 2.24192468e-01] [-2.32275052e-03 -1.28202833e-03 9.99996481e-01 -9.11356624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184391418 meters Centerline goodness [0,1] 0.7151559710114483 Centerline is valid? [False, False] Translation: X:3.06, Y:0.22, Z:-0.09 [[ 9.99994421e-01 2.62898956e-03 2.06053514e-03 3.06328642e+00] [-2.63201227e-03 9.99995462e-01 1.46562022e-03 2.22945439e-01] [-2.05667269e-03 -1.47103540e-03 9.99996803e-01 -9.12128734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.214391418 meters Centerline goodness [0,1] 0.7403688265757231 Centerline is valid? [False, False] Translation: X:3.06, Y:0.22, Z:-0.09 [[ 9.99994999e-01 2.41718920e-03 2.03938459e-03 3.06312543e+00] [-2.42103684e-03 9.99995290e-01 1.88631289e-03 2.20780258e-01] [-2.03481541e-03 -1.89124088e-03 9.99996141e-01 -9.09732785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.244391418 meters Centerline goodness [0,1] 0.6992940879868902 Centerline is valid? [False, False] Translation: X:3.06, Y:0.22, Z:-0.09 [[ 9.99997664e-01 -1.05568500e-03 1.88615915e-03 3.06332807e+00] [ 1.05901376e-03 9.99997882e-01 -1.76470437e-03 2.20304806e-01] [-1.88429219e-03 1.76669771e-03 9.99996664e-01 -9.07031380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2743914179999996 meters Centerline goodness [0,1] 0.7688076091292754 Centerline is valid? [False, False] Translation: X:3.06, Y:0.22, Z:-0.09 [[ 9.99986777e-01 -4.77546932e-03 1.90800038e-03 3.06314136e+00] [ 4.78395400e-03 9.99978578e-01 -4.46735997e-03 2.16084208e-01] [-1.88662577e-03 4.47642869e-03 9.99988201e-01 -9.03988329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.304391418 meters Centerline goodness [0,1] 0.8029987592791201 Centerline is valid? [False, False] Translation: X:3.06, Y:0.21, Z:-0.09 [[ 9.99986898e-01 -4.82121725e-03 1.72013166e-03 3.06346391e+00] [ 4.82733369e-03 9.99981977e-01 -3.56954344e-03 2.13101454e-01] [-1.70289111e-03 3.57780032e-03 9.99992150e-01 -9.03691378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.334391418 meters Centerline goodness [0,1] 0.8449225980144708 Centerline is valid? [False, False] Translation: X:3.06, Y:0.21, Z:-0.09 [[ 9.99961124e-01 -8.66285376e-03 1.64498124e-03 3.06317471e+00] [ 8.67380299e-03 9.99939465e-01 -6.76994106e-03 2.10339810e-01] [-1.58623465e-03 6.78394611e-03 9.99975731e-01 -8.95888853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.364391417999999 meters Centerline goodness [0,1] 0.8566713616010427 Centerline is valid? [False, False] Translation: X:3.06, Y:0.21, Z:-0.09 [[ 9.99965588e-01 -8.17776214e-03 1.39525966e-03 3.06380752e+00] [ 8.18497073e-03 9.99952766e-01 -5.24145738e-03 2.06261788e-01] [-1.35233037e-03 5.25269717e-03 9.99985290e-01 -8.98327996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.394391418 meters Centerline goodness [0,1] 0.8739787753726944 Centerline is valid? [False, False] Translation: X:3.06, Y:0.20, Z:-0.09 [[ 9.99971232e-01 -7.49171536e-03 1.18758750e-03 3.06435212e+00] [ 7.49589348e-03 9.99965591e-01 -3.55364004e-03 2.01990168e-01] [-1.16092378e-03 3.56243983e-03 9.99992981e-01 -9.00503887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.424391418 meters Centerline goodness [0,1] 0.8662142001638965 Centerline is valid? [False, False] Translation: X:3.06, Y:0.20, Z:-0.09 [[ 9.99981576e-01 -5.97761496e-03 1.05627059e-03 3.06473412e+00] [ 5.97868119e-03 9.99981618e-01 -1.00916510e-03 1.96194160e-01] [-1.05021877e-03 1.01546161e-03 9.99998933e-01 -9.00908276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.454391418 meters Centerline goodness [0,1] 0.806658534533524 Centerline is valid? [False, False] Translation: X:3.07, Y:0.19, Z:-0.09 [[ 9.99986414e-01 -5.10781806e-03 1.04026715e-03 3.06506823e+00] [ 5.10783705e-03 9.99986955e-01 -1.55926356e-05 1.94628073e-01] [-1.04017394e-03 2.09059389e-05 9.99999459e-01 -9.04552693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4843914179999995 meters Centerline goodness [0,1] 0.7997980095524649 Centerline is valid? [False, False] Translation: X:3.07, Y:0.19, Z:-0.09 [[ 9.99990966e-01 -4.16289843e-03 8.59168956e-04 3.06576307e+00] [ 4.16202313e-03 9.99990821e-01 1.01805889e-03 1.93159396e-01] [-8.63399145e-04 -1.01447381e-03 9.99999113e-01 -9.08955994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.514391418 meters Centerline goodness [0,1] 0.7730171089458953 Centerline is valid? [False, False] Translation: X:3.07, Y:0.19, Z:-0.09 [[ 9.99996744e-01 -2.39668376e-03 8.76622776e-04 3.06612070e+00] [ 2.39419270e-03 9.99993125e-01 2.83174349e-03 1.89742641e-01] [-8.83403542e-04 -2.82963547e-03 9.99995606e-01 -9.12808706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.544391418 meters Centerline goodness [0,1] 0.767906741856746 Centerline is valid? [False, False] Translation: X:3.07, Y:0.19, Z:-0.09 [[ 9.99998096e-01 -1.74940681e-03 8.65057945e-04 3.06644642e+00] [ 1.74631267e-03 9.99992122e-01 3.56472079e-03 1.87956654e-01] [-8.71287277e-04 -3.56320334e-03 9.99993272e-01 -9.16051661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.574391417999999 meters Centerline goodness [0,1] 0.7243626241538559 Centerline is valid? [False, False] Translation: X:3.07, Y:0.19, Z:-0.09 [[ 9.99999050e-01 -1.07771886e-03 8.58877726e-04 3.06654069e+00] [ 1.07384979e-03 9.99989332e-01 4.49259930e-03 1.85511318e-01] [-8.63710322e-04 -4.49167273e-03 9.99989539e-01 -9.16423872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604391418 meters Centerline goodness [0,1] 0.7212292386813928 Centerline is valid? [False, False] Translation: X:3.07, Y:0.18, Z:-0.09 [[ 9.99999579e-01 -4.44727723e-04 8.02613061e-04 3.06676186e+00] [ 4.40272428e-04 9.99984542e-01 5.54265398e-03 1.82527351e-01] [-8.05065627e-04 -5.54229828e-03 9.99984317e-01 -9.17361977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.634391418 meters Centerline goodness [0,1] 0.6997780941215876 Centerline is valid? [False, False] Translation: X:3.07, Y:0.18, Z:-0.09 [[ 9.99999463e-01 -8.05854955e-04 6.51772803e-04 3.06726731e+00] [ 8.02013106e-04 9.99982430e-01 5.87339737e-03 1.75173005e-01] [-6.56494457e-04 -5.87287148e-03 9.99982539e-01 -9.16852164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.664391418 meters Centerline goodness [0,1] 0.7135369524491127 Centerline is valid? [False, False] Translation: X:3.07, Y:0.17, Z:-0.09 [[ 9.99995670e-01 -2.72515081e-03 1.11054812e-03 3.06572418e+00] [ 2.72046335e-03 9.99987476e-01 4.20072454e-03 1.71919758e-01] [-1.12198182e-03 -4.19768515e-03 9.99990560e-01 -9.06624734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6943914179999995 meters Centerline goodness [0,1] 0.7006892783591813 Centerline is valid? [False, False] Translation: X:3.07, Y:0.17, Z:-0.09 [[ 9.99997051e-01 -2.29313504e-03 8.00042064e-04 3.06646095e+00] [ 2.28854488e-03 9.99981182e-01 5.69190264e-03 1.67160742e-01] [-8.13079310e-04 -5.69005492e-03 9.99983481e-01 -9.08242046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724391418 meters Centerline goodness [0,1] 0.7287569339384771 Centerline is valid? [False, False] Translation: X:3.07, Y:0.16, Z:-0.09 [[ 9.99993363e-01 -3.59272165e-03 6.05725695e-04 3.06784448e+00] [ 3.58993362e-03 9.99983238e-01 4.54271590e-03 1.64334503e-01] [-6.22036256e-04 -4.54051123e-03 9.99989498e-01 -9.18219661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.754391418 meters Centerline goodness [0,1] 0.7374353366698911 Centerline is valid? [False, False] Translation: X:3.07, Y:0.16, Z:-0.09 [[ 9.99985743e-01 -5.30517417e-03 6.07015890e-04 3.06782726e+00] [ 5.30278530e-03 9.99978445e-01 3.87160716e-03 1.57478070e-01] [-6.27542356e-04 -3.86833309e-03 9.99992321e-01 -9.15925780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784391417999999 meters Centerline goodness [0,1] 0.7505466778805719 Centerline is valid? [False, False] Translation: X:3.07, Y:0.15, Z:-0.09 [[ 9.99988408e-01 -4.81138893e-03 1.88008365e-04 3.06893823e+00] [ 4.81028453e-03 9.99973365e-01 5.48914904e-03 1.52517490e-01] [-2.14413789e-04 -5.48818103e-03 9.99984917e-01 -9.20124487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.814391418 meters Centerline goodness [0,1] 0.7355677355677356 Centerline is valid? [False, False] Translation: X:3.07, Y:0.14, Z:-0.09 [[ 9.99977265e-01 -6.73036677e-03 -4.15288325e-04 3.07132572e+00] [ 6.73244747e-03 9.99963656e-01 5.23067707e-03 1.43049611e-01] [ 3.80068856e-04 -5.23335406e-03 9.99986234e-01 -9.34342849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844391418 meters Centerline goodness [0,1] 0.7401637623346631 Centerline is valid? [False, False] Translation: X:3.07, Y:0.14, Z:-0.09 [[ 9.99979740e-01 -6.32595722e-03 -7.08091031e-04 3.07228027e+00] [ 6.33071316e-03 9.99955955e-01 6.92892213e-03 1.37225695e-01] [ 6.64227778e-04 -6.93326447e-03 9.99975744e-01 -9.38648487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.874391418 meters Centerline goodness [0,1] 0.7731796422272612 Centerline is valid? [False, False] Translation: X:3.07, Y:0.13, Z:-0.09 [[ 9.99958170e-01 -9.11995172e-03 -6.95819920e-04 3.07254368e+00] [ 9.12297868e-03 9.99948355e-01 4.47868042e-03 1.34028294e-01] [ 6.54938635e-04 -4.48484103e-03 9.99989729e-01 -9.39925258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9043914179999994 meters Centerline goodness [0,1] 0.7731796422272612 Centerline is valid? [False, False] Translation: X:3.07, Y:0.13, Z:-0.09 [[ 9.99958170e-01 -9.11995172e-03 -6.95819920e-04 3.07254368e+00] [ 9.12297868e-03 9.99948355e-01 4.47868042e-03 1.34028294e-01] [ 6.54938635e-04 -4.48484103e-03 9.99989729e-01 -9.39925258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.934391418 meters Centerline goodness [0,1] 0.7257844474761255 Centerline is valid? [False, False] Translation: X:3.07, Y:0.12, Z:-0.09 [[ 9.99939791e-01 -1.09593225e-02 -5.54590880e-04 3.07149559e+00] [ 1.09617854e-02 9.99929097e-01 4.65192273e-03 1.24028463e-01] [ 5.03569636e-04 -4.65772195e-03 9.99989026e-01 -9.24050422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964391418 meters Centerline goodness [0,1] 0.7732361528282468 Centerline is valid? [False, False] Translation: X:3.07, Y:0.12, Z:-0.09 [[ 9.99943170e-01 -1.06429630e-02 -6.19063011e-04 3.07145492e+00] [ 1.06467180e-02 9.99922734e-01 6.41658215e-03 1.17702659e-01] [ 5.50723732e-04 -6.42280849e-03 9.99979222e-01 -9.18687934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.994391417999999 meters Centerline goodness [0,1] 0.7986173856401421 Centerline is valid? [False, False] Translation: X:3.07, Y:0.11, Z:-0.09 [[ 9.99942642e-01 -1.06836194e-02 -7.57448844e-04 3.07181842e+00] [ 1.06889770e-02 9.99915026e-01 7.46234496e-03 1.11389573e-01] [ 6.77659627e-04 -7.47001328e-03 9.99971869e-01 -9.17327777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0243914179999996 meters Centerline goodness [0,1] 0.8566057550934678 Centerline is valid? [False, False] Translation: X:3.07, Y:0.10, Z:-0.09 [[ 9.99917082e-01 -1.28337892e-02 -1.05975573e-03 3.07301522e+00] [ 1.28410755e-02 9.99891760e-01 7.18156602e-03 1.01563219e-01] [ 9.67474319e-04 -7.19457894e-03 9.99973651e-01 -9.20998061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.054391418 meters Centerline goodness [0,1] 0.911362920994649 Centerline is valid? [False, False] Translation: X:3.07, Y:0.10, Z:-0.09 [[ 9.99921289e-01 -1.24688812e-02 -1.39381130e-03 3.07407652e+00] [ 1.24805319e-02 9.99884366e-01 8.68849713e-03 9.64920502e-02] [ 1.28531429e-03 -8.70520876e-03 9.99961283e-01 -9.25401668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084391418 meters Centerline goodness [0,1] 0.9347073267991689 Centerline is valid? [False, False] Translation: X:3.08, Y:0.09, Z:-0.09 [[ 9.99899691e-01 -1.40681247e-02 -1.64188258e-03 3.07582436e+00] [ 1.40798896e-02 9.99873575e-01 7.38855907e-03 9.28963007e-02] [ 1.53773183e-03 -7.41093545e-03 9.99971356e-01 -9.38681119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.114391417999999 meters Centerline goodness [0,1] 0.7384663667747673 Centerline is valid? [False, False] Translation: X:3.08, Y:0.08, Z:-0.09 [[ 9.99873679e-01 -1.57935100e-02 -1.78613798e-03 3.07730013e+00] [ 1.58055646e-02 9.99850935e-01 6.94918672e-03 8.49698598e-02] [ 1.67611968e-03 -6.97653982e-03 9.99974259e-01 -9.49355305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144391418 meters Centerline goodness [0,1] 0.7113678780380397 Centerline is valid? [False, False] Translation: X:3.08, Y:0.08, Z:-0.10 [[ 9.99882662e-01 -1.52011066e-02 -1.89435198e-03 3.07775859e+00] [ 1.52168423e-02 9.99847325e-01 8.58919283e-03 7.99723697e-02] [ 1.76349753e-03 -8.61701104e-03 9.99961318e-01 -9.51124727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.174391418 meters Centerline goodness [0,1] 0.8304836448109161 Centerline is valid? [False, False] Translation: X:3.08, Y:0.08, Z:-0.10 [[ 9.99890873e-01 -1.46127380e-02 -2.17032486e-03 3.07856613e+00] [ 1.46339936e-02 9.99841663e-01 1.01240017e-02 7.51804273e-02] [ 2.02204183e-03 -1.01546575e-02 9.99946396e-01 -9.52634806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.204391417999999 meters Centerline goodness [0,1] 0.8429545693001783 Centerline is valid? [False, False] Translation: X:3.08, Y:0.07, Z:-0.10 [[ 9.99863812e-01 -1.63385000e-02 -2.32632650e-03 3.07927879e+00] [ 1.63575725e-02 9.99830666e-01 8.43020145e-03 7.19100678e-02] [ 2.18819573e-03 -8.46710641e-03 9.99961759e-01 -9.55026170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2343914179999995 meters Centerline goodness [0,1] 0.7735789672464802 Centerline is valid? [False, False] Translation: X:3.08, Y:0.06, Z:-0.09 [[ 9.99845652e-01 -1.74341523e-02 -2.17296602e-03 3.07882098e+00] [ 1.74522458e-02 9.99810659e-01 8.60612846e-03 6.31833203e-02] [ 2.02251404e-03 -8.64272326e-03 9.99960606e-01 -9.46871959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.264391418 meters Centerline goodness [0,1] 0.7549122512385591 Centerline is valid? [False, False] Translation: X:3.08, Y:0.06, Z:-0.09 [[ 9.99853979e-01 -1.69221909e-02 -2.37914816e-03 3.07940796e+00] [ 1.69454575e-02 9.99805146e-01 1.01252772e-02 5.82979826e-02] [ 2.20734270e-03 -1.01641144e-02 9.99945908e-01 -9.47025949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.294391418 meters Centerline goodness [0,1] 0.6951199060875398 Centerline is valid? [False, False] Translation: X:3.08, Y:0.06, Z:-0.10 [[ 9.99816748e-01 -1.89732874e-02 -2.54658271e-03 3.08053707e+00] [ 1.89935673e-02 9.99786055e-01 8.19079153e-03 5.55314584e-02] [ 2.39063164e-03 -8.23765924e-03 9.99963212e-01 -9.53956290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.324391417999999 meters Centerline goodness [0,1] 0.6662768601081713 Centerline is valid? [False, False] Translation: X:3.08, Y:0.05, Z:-0.10 [[ 9.99770233e-01 -2.12901324e-02 -2.49226413e-03 3.08094160e+00] [ 2.13070296e-02 9.99748739e-01 6.96193514e-03 4.89473471e-02] [ 2.34341741e-03 -7.01343826e-03 9.99972660e-01 -9.54967837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.354391418 meters Centerline goodness [0,1] 0.6654714503116597 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-0.10 [[ 9.99775179e-01 -2.10027995e-02 -2.91088189e-03 3.08211505e+00] [ 2.10262132e-02 9.99744795e-01 8.26094215e-03 4.45088031e-02] [ 2.73663611e-03 -8.32028974e-03 9.99961641e-01 -9.58309170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.384391418 meters Centerline goodness [0,1] 0.6439081566444105 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-0.10 [[ 9.99722548e-01 -2.33839148e-02 -2.83174490e-03 3.08261550e+00] [ 2.34036658e-02 9.99700492e-01 7.15506979e-03 3.72653769e-02] [ 2.66358323e-03 -7.21935782e-03 9.99970393e-01 -9.61634915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.414391418 meters Centerline goodness [0,1] 0.665480278905193 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-0.10 [[ 9.99706870e-01 -2.39940249e-02 -3.23424417e-03 3.08493531e+00] [ 2.40162194e-02 9.99687008e-01 7.00767306e-03 3.43519019e-02] [ 3.06508960e-03 -7.08329322e-03 9.99970216e-01 -9.78460490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4443914179999995 meters Centerline goodness [0,1] 0.6200012542592555 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-0.10 [[ 0.99971203 -0.02374818 -0.00344778 3.08567994] [ 0.02377504 0.99968556 0.00797002 0.03106385] [ 0.00325742 -0.0080497 0.9999623 -0.09817004] [ 0. 0. 0. 1. ]] SLAMing on 7.474391418 meters Centerline goodness [0,1] 0.7163309367598046 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-0.10 [[ 0.99971406 -0.02359237 -0.00389795 3.08705567] [ 0.02362595 0.9996821 0.00880463 0.0280258 ] [ 0.00368899 -0.0088942 0.99995364 -0.09876798] [ 0. 0. 0. 1. ]] SLAMing on 7.504391418 meters Centerline goodness [0,1] 0.6300486338683755 Centerline is valid? [False, False] Translation: X:3.09, Y:0.02, Z:-0.10 [[ 0.99965237 -0.02604687 -0.00408662 3.08866397] [ 0.0260768 0.99963217 0.00745157 0.02168155] [ 0.00389103 -0.00755554 0.99996389 -0.09986935] [ 0. 0. 0. 1. ]] SLAMing on 7.534391417999999 meters Centerline goodness [0,1] 0.7078498722406066 Centerline is valid? [False, False] Translation: X:3.09, Y:0.02, Z:-0.10 [[ 0.99965089 -0.02606808 -0.00430786 3.08929242] [ 0.02610407 0.99962291 0.00852107 0.01727152] [ 0.00408411 -0.00863055 0.99995442 -0.09984483] [ 0. 0. 0. 1. ]] SLAMing on 7.564391418 meters Centerline goodness [0,1] 0.6871343807454454 Centerline is valid? [False, False] Translation: X:3.09, Y:0.01, Z:-0.10 [[ 0.99956229 -0.02926788 -0.00431543 3.08917772] [ 0.02929455 0.99955127 0.00625151 0.01263839] [ 0.00413052 -0.00637519 0.99997115 -0.09905309] [ 0. 0. 0. 1. ]] SLAMing on 7.594391418 meters Centerline goodness [0,1] 0.6950746862757422 Centerline is valid? [False, False] Translation: X:3.09, Y:0.01, Z:-0.10 [[ 0.999566 -0.02911376 -0.00449408 3.08943696] [ 0.02914585 0.99954889 0.00724805 0.00943519] [ 0.00428103 -0.00737588 0.99996363 -0.09873326] [ 0. 0. 0. 1. ]] SLAMing on 7.624391418 meters Centerline goodness [0,1] 0.6337193474755513 Centerline is valid? [False, False] Translation: X:3.09, Y:0.01, Z:-0.10 [[ 0.9995615 -0.02920391 -0.00489196 3.09048078] [ 0.02924178 0.99954149 0.00785673 0.0068383 ] [ 0.00466027 -0.00799634 0.99995717 -0.09894931] [ 0. 0. 0. 1. ]] SLAMing on 7.6543914179999994 meters Centerline goodness [0,1] 0.6238370999101039 Centerline is valid? [False, False] Translation: X:3.09, Y:0.00, Z:-0.10 [[ 0.99955963 -0.02920258 -0.0052688 3.0915273 ] [ 0.02924643 0.99953654 0.00844695 0.00446492] [ 0.00501968 -0.00859732 0.99995044 -0.09926216] [ 0. 0. 0. 1. ]] SLAMing on 7.684391418 meters Centerline goodness [0,1] 0.6722344322344322 Centerline is valid? [False, False] Translation: X:3.09, Y:0.00, Z:-0.10 [[ 9.99507496e-01 -3.08882683e-02 -5.53906738e-03 3.09342879e+00] [ 3.09286369e-02 9.99494521e-01 7.35674881e-03 3.83220543e-04] [ 5.30903026e-03 -7.52444138e-03 9.99957598e-01 -1.00567356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.714391418 meters Centerline goodness [0,1] 0.6756541595960865 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.00, Z:-0.10 [[ 9.99511138e-01 -3.07025922e-02 -5.90226880e-03 3.09444020e+00] [ 3.07501809e-02 9.99493886e-01 8.14857076e-03 -2.43828589e-03] [ 5.64909933e-03 -8.32608306e-03 9.99949381e-01 -1.00847737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.744391417999999 meters Centerline goodness [0,1] 0.8020606466744848 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.01, Z:-0.10 [[ 0.9994881 -0.0313708 -0.00627711 3.0965186 ] [ 0.03142072 0.99947407 0.00801994 -0.00580602] [ 0.00602222 -0.00821307 0.99994814 -0.10223026] [ 0. 0. 0. 1. ]] SLAMing on 7.7743914179999996 meters Centerline goodness [0,1] 0.6590737794154593 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.01, Z:-0.10 [[ 0.99949113 -0.03122892 -0.00649896 3.09723108] [ 0.03128367 0.99947439 0.00850111 -0.00739318] [ 0.00623007 -0.0087001 0.99994275 -0.10252844] [ 0. 0. 0. 1. ]] SLAMing on 7.804391418 meters Centerline goodness [0,1] 0.6165451345235102 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.01, Z:-0.10 [[ 0.99949094 -0.03118358 -0.00674134 3.097831 ] [ 0.03124259 0.9994728 0.00883321 -0.00871746] [ 0.00646234 -0.00903933 0.99993826 -0.10261883] [ 0. 0. 0. 1. ]] SLAMing on 7.834391418 meters Centerline goodness [0,1] 0.6565982404692082 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.01, Z:-0.10 [[ 0.99938407 -0.03450084 -0.0064162 3.09731525] [ 0.03453612 0.99938847 0.00547267 -0.0096213 ] [ 0.00622347 -0.00569089 0.99996444 -0.1024209 ] [ 0. 0. 0. 1. ]] SLAMing on 7.864391417999999 meters Centerline goodness [0,1] 0.8470279903553832 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.01, Z:-0.10 [[ 0.9993782 -0.03458158 -0.00688019 3.09831414] [ 0.03462144 0.9993839 0.0057605 -0.01091926] [ 0.00667675 -0.00599512 0.99995974 -0.10250671] [ 0. 0. 0. 1. ]] SLAMing on 7.894391418 meters Centerline goodness [0,1] 0.649269529858098 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.01, Z:-0.10 [[ 0.99936945 -0.03477084 -0.00719002 3.09909291] [ 0.03481348 0.99937645 0.00589311 -0.01177276] [ 0.00698062 -0.0061397 0.99995679 -0.10271778] [ 0. 0. 0. 1. ]] SLAMing on 7.924391418 meters Centerline goodness [0,1] 0.6569883230959519 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.01, Z:-0.10 [[ 0.9993553 -0.03507026 -0.00768493 3.10033817] [ 0.03511607 0.99936577 0.00590874 -0.01258599] [ 0.00747284 -0.0061748 0.99995301 -0.10309184] [ 0. 0. 0. 1. ]] SLAMing on 7.954391417999999 meters Centerline goodness [0,1] 0.7545323077567958 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.01, Z:-0.10 [[ 0.99932696 -0.03579675 -0.00801317 3.1013644 ] [ 0.03584558 0.99933912 0.00603456 -0.01461093] [ 0.00779186 -0.00631774 0.99994969 -0.10337734] [ 0. 0. 0. 1. ]] SLAMing on 7.9843914179999995 meters Centerline goodness [0,1] 0.8507091160105427 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.02, Z:-0.10 [[ 0.99931017 -0.03617581 -0.00839659 3.10237817] [ 0.03622629 0.99932596 0.00593923 -0.01520508] [ 0.00817607 -0.00623931 0.99994711 -0.10369188] [ 0. 0. 0. 1. ]] SLAMing on 8.014391418 meters Centerline goodness [0,1] 0.8492265886287625 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.02, Z:-0.10 [[ 0.99929272 -0.03654777 -0.00884991 3.10352627] [ 0.03659991 0.99931315 0.0058034 -0.01561335] [ 0.00863173 -0.0061232 0.999944 -0.10405571] [ 0. 0. 0. 1. ]] SLAMing on 8.044391418 meters Centerline goodness [0,1] 0.907582044511505 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.02, Z:-0.10 [[ 0.9992604 -0.03728559 -0.00940374 3.1052866 ] [ 0.03733863 0.99928737 0.00552915 -0.01628651] [ 0.00919088 -0.00587619 0.9999405 -0.10497564] [ 0. 0. 0. 1. ]] SLAMing on 8.074391418000001 meters Centerline goodness [0,1] 0.8582033530736508 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.02, Z:-0.11 [[ 0.99924986 -0.03749039 -0.00970535 3.10630053] [ 0.03754415 0.99928028 0.00541774 -0.01651767] [ 0.00949525 -0.00577805 0.99993823 -0.10554455] [ 0. 0. 0. 1. ]] SLAMing on 8.104391418 meters Centerline goodness [0,1] 0.8845136644137526 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.02, Z:-0.11 [[ 0.99925117 -0.03745349 -0.00971282 3.1063549 ] [ 0.0375089 0.99928068 0.00558676 -0.01681448] [ 0.00949659 -0.00594689 0.99993722 -0.10557834] [ 0. 0. 0. 1. ]] SLAMing on 8.134391418 meters Centerline goodness [0,1] 0.9781148655717126 Centerline is valid? [False, True] Translation: X:3.11, Y:-0.02, Z:-0.11 [[ 0.99924294 -0.03762295 -0.00990225 3.10654854] [ 0.03767919 0.99927444 0.00555547 -0.01705476] [ 0.00968605 -0.00592437 0.99993554 -0.1052588 ] [ 0. 0. 0. 1. ]] SLAMing on 8.164391418000001 meters Centerline goodness [0,1] 0.9550020929259104 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.01, Z:-0.11 [[ 9.99249511e-01 -3.77791601e-02 -8.55271858e-03 3.13325873e+00] [ 3.77711572e-02 9.99285815e-01 -1.09537873e-03 -7.26982519e-03] [ 8.58799284e-03 7.71510586e-04 9.99962825e-01 -1.05230749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.194391418 meters Centerline goodness [0,1] 0.9748227766044206 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.00, Z:-0.10 [[ 9.99271437e-01 -3.76479366e-02 -6.26324183e-03 3.16030273e+00] [ 3.76436383e-02 9.99290905e-01 -8.02800440e-04 -3.46540271e-04] [ 6.28902437e-03 5.66444339e-04 9.99980063e-01 -1.01269347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224391418 meters Centerline goodness [0,1] 0.9753597724230254 Centerline is valid? [True, True] Translation: X:3.19, Y:0.00, Z:-0.10 [[ 9.99277455e-01 -3.76494099e-02 -5.20472256e-03 3.18871798e+00] [ 3.76464348e-02 9.99290898e-01 -6.68431603e-04 4.11608803e-03] [ 5.22619794e-03 4.72009382e-04 9.99986232e-01 -1.01998738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.254391418 meters Centerline goodness [0,1] 0.9909476721092133 Centerline is valid? [True, True] Translation: X:3.22, Y:0.01, Z:-0.10 [[ 9.99313546e-01 -3.68644054e-02 -3.66773379e-03 3.21688117e+00] [ 3.68629209e-02 9.99320220e-01 -4.71562620e-04 7.94529391e-03] [ 3.68262442e-03 3.36035533e-04 9.99993163e-01 -9.92374970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.284391418 meters Centerline goodness [0,1] 0.8374585728069808 Centerline is valid? [True, False] Translation: X:3.22, Y:0.00, Z:-0.10 [[ 0.99944673 -0.03303875 -0.00383028 3.21688524] [ 0.03305585 0.99944342 0.00449029 0.00471769] [ 0.00367979 -0.00461442 0.99998258 -0.09881016] [ 0. 0. 0. 1. ]] SLAMing on 8.314391418000001 meters Centerline goodness [0,1] 0.9843576588838865 Centerline is valid? [False, True] Translation: X:3.22, Y:0.00, Z:-0.10 [[ 0.99945966 -0.03264303 -0.0038486 3.2171616 ] [ 0.03266171 0.99945447 0.00489605 0.00418441] [ 0.00368667 -0.0050191 0.99998061 -0.09916443] [ 0. 0. 0. 1. ]] SLAMing on 8.344391418 meters Centerline goodness [0,1] 0.9290407633715577 Centerline is valid? [True, False] Translation: X:3.22, Y:0.00, Z:-0.10 [[ 0.99946125 -0.03257158 -0.00403725 3.21779441] [ 0.03259083 0.99945726 0.00479918 0.00478873] [ 0.00387874 -0.00492817 0.99998033 -0.09961416] [ 0. 0. 0. 1. ]] SLAMing on 8.374391418 meters Centerline goodness [0,1] 0.745690287174546 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:-0.10 [[ 0.99946178 -0.03254502 -0.0041206 3.21829309] [ 0.03256362 0.9994594 0.00452961 0.00591749] [ 0.00397096 -0.00466136 0.99998125 -0.100186 ] [ 0. 0. 0. 1. ]] SLAMing on 8.404391418000001 meters Centerline goodness [0,1] 0.8479398095079302 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:-0.10 [[ 0.99946267 -0.03250426 -0.00422335 3.21869264] [ 0.03252178 0.99946242 0.00414818 0.00757973] [ 0.00408625 -0.0042833 0.99998248 -0.1005892 ] [ 0. 0. 0. 1. ]] SLAMing on 8.434391418 meters Centerline goodness [0,1] 0.8622057157245373 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:-0.10 [[ 0.99947078 -0.03229235 -0.0039205 3.21813915] [ 0.03230548 0.99947248 0.00333298 0.01120315] [ 0.0038108 -0.00345787 0.99998676 -0.10092245] [ 0. 0. 0. 1. ]] SLAMing on 8.464391418 meters Centerline goodness [0,1] 0.9736919459141682 Centerline is valid? [False, True] Translation: X:3.22, Y:0.01, Z:-0.10 [[ 0.99952735 -0.0304045 -0.00454366 3.22044197] [ 0.03042755 0.999524 0.00509322 0.01153801] [ 0.00438664 -0.00522906 0.99997671 -0.10238379] [ 0. 0. 0. 1. ]] SLAMing on 8.494391418000001 meters Centerline goodness [0,1] 0.9964504746702512 Centerline is valid? [True, True] Translation: X:3.25, Y:0.01, Z:-0.10 [[ 9.99567368e-01 -2.91830164e-02 -3.66444293e-03 3.24991553e+00] [ 2.91814707e-02 9.99574018e-01 -4.74583373e-04 1.38309154e-02] [ 3.67673172e-03 3.67444219e-04 9.99993173e-01 -1.02296733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.524391418 meters Centerline goodness [0,1] 0.9859536407155455 Centerline is valid? [True, True] Translation: X:3.28, Y:0.02, Z:-0.10 [[ 9.99585852e-01 -2.85508568e-02 -3.60167559e-03 3.27699994e+00] [ 2.85493586e-02 9.99592275e-01 -4.66717111e-04 2.17484622e-02] [ 3.61353227e-03 3.63698294e-04 9.99993405e-01 -1.02483668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.554391418 meters Centerline goodness [0,1] 0.9839943016361846 Centerline is valid? [True, True] Translation: X:3.31, Y:0.03, Z:-0.10 [[ 9.99564728e-01 -2.91995881e-02 -4.21177972e-03 3.30538776e+00] [ 2.91975412e-02 9.99573511e-01 -5.46687692e-04 2.54224069e-02] [ 4.22594650e-03 4.23476122e-04 9.99990981e-01 -1.03067057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.584391418000001 meters Centerline goodness [0,1] 0.9752479408303917 Centerline is valid? [True, True] Translation: X:3.33, Y:0.03, Z:-0.10 [[ 9.99532428e-01 -3.03565650e-02 -3.66130429e-03 3.33306202e+00] [ 3.03550236e-02 9.99539067e-01 -4.75838941e-04 3.16165617e-02] [ 3.67406150e-03 3.64477473e-04 9.99993184e-01 -1.02989733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.614391418 meters Centerline goodness [0,1] 0.9270184707633604 Centerline is valid? [True, False] Translation: X:3.33, Y:0.03, Z:-0.10 [[ 9.99598175e-01 -2.80719084e-02 -3.93159088e-03 3.33366009e+00] [ 2.80833812e-02 9.99601395e-01 2.89395530e-03 3.03190195e-02] [ 3.84878488e-03 -3.00320480e-03 9.99988084e-01 -1.02891966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.644391418000001 meters Centerline goodness [0,1] 0.929096793174463 Centerline is valid? [False, False] Translation: X:3.33, Y:0.03, Z:-0.10 [[ 9.99598812e-01 -2.80226147e-02 -4.11691680e-03 3.33382154e+00] [ 2.80356512e-02 9.99601980e-01 3.14372418e-03 3.00000184e-02] [ 4.02718281e-03 -3.25788340e-03 9.99986584e-01 -1.02603324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.674391418 meters Centerline goodness [0,1] 0.9135223418066083 Centerline is valid? [False, False] Translation: X:3.33, Y:0.03, Z:-0.10 [[ 9.99595244e-01 -2.81001043e-02 -4.44216687e-03 3.33459206e+00] [ 2.81149900e-02 9.99599166e-01 3.32483421e-03 2.91789730e-02] [ 4.34695811e-03 -3.44837994e-03 9.99984606e-01 -1.02749941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704391418 meters Centerline goodness [0,1] 0.9021559910671425 Centerline is valid? [False, False] Translation: X:3.34, Y:0.03, Z:-0.10 [[ 0.99959309 -0.02808558 -0.00498498 3.33614118] [ 0.02810642 0.99959628 0.00416053 0.02613057] [ 0.00486612 -0.00429895 0.99997892 -0.10330128] [ 0. 0. 0. 1. ]] SLAMing on 8.734391418000001 meters Centerline goodness [0,1] 0.9697839014992881 Centerline is valid? [False, True] Translation: X:3.34, Y:0.03, Z:-0.10 [[ 0.99959879 -0.02786437 -0.00508316 3.336409 ] [ 0.02788767 0.99960061 0.00457184 0.02533558] [ 0.00495374 -0.00471177 0.99997663 -0.10338087] [ 0. 0. 0. 1. ]] SLAMing on 8.764391418 meters Centerline goodness [0,1] 0.9874785376272038 Centerline is valid? [True, True] Translation: X:3.37, Y:0.03, Z:-0.10 [[ 9.99636327e-01 -2.65854571e-02 -4.51962761e-03 3.36553016e+00] [ 2.65832566e-02 9.99646454e-01 -5.46279815e-04 2.73867872e-02] [ 4.53255281e-03 4.25934727e-04 9.99989637e-01 -1.04261949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.794391418 meters Centerline goodness [0,1] 0.8336579338652593 Centerline is valid? [True, False] Translation: X:3.37, Y:0.03, Z:-0.10 [[ 0.99972705 -0.02280785 -0.00506236 3.36646162] [ 0.02282821 0.9997314 0.00400051 0.02518949] [ 0.00496976 -0.00411498 0.99997918 -0.10415893] [ 0. 0. 0. 1. ]] SLAMing on 8.824391418000001 meters Centerline goodness [0,1] 0.8734773902886701 Centerline is valid? [False, False] Translation: X:3.37, Y:0.03, Z:-0.10 [[ 0.99973508 -0.0224566 -0.00504763 3.36646391] [ 0.0224768 0.99973944 0.00398042 0.02617948] [ 0.00495693 -0.00409282 0.99997934 -0.10423356] [ 0. 0. 0. 1. ]] SLAMing on 8.854391418 meters Centerline goodness [0,1] 0.8734773902886701 Centerline is valid? [False, False] Translation: X:3.37, Y:0.03, Z:-0.10 [[ 0.99973508 -0.0224566 -0.00504763 3.36646391] [ 0.0224768 0.99973944 0.00398042 0.02617948] [ 0.00495693 -0.00409282 0.99997934 -0.10423356] [ 0. 0. 0. 1. ]] SLAMing on 8.884391418 meters Centerline goodness [0,1] 0.9444036966407511 Centerline is valid? [False, False] Translation: X:3.37, Y:0.03, Z:-0.10 [[ 0.99974445 -0.02202205 -0.00510467 3.36634391] [ 0.02204288 0.99974878 0.00405992 0.02702562] [ 0.00501398 -0.00417141 0.99997873 -0.10398123] [ 0. 0. 0. 1. ]] SLAMing on 8.914391418000001 meters Centerline goodness [0,1] 0.9374527430059649 Centerline is valid? [False, False] Translation: X:3.37, Y:0.03, Z:-0.10 [[ 0.99988202 -0.01432821 -0.00553614 3.36803384] [ 0.01430252 0.9998869 -0.00465128 0.03030598] [ 0.00560216 0.00457155 0.99997386 -0.10379673] [ 0. 0. 0. 1. ]] SLAMing on 8.944391418 meters Centerline goodness [0,1] 0.8954920608320416 Centerline is valid? [False, False] Translation: X:3.37, Y:0.03, Z:-0.10 [[ 9.99927660e-01 -1.03400423e-02 -6.14474844e-03 3.36948821e+00] [ 1.03412745e-02 9.99946513e-01 1.68793534e-04 2.76983833e-02] [ 6.14267444e-03 -2.32325854e-04 9.99981107e-01 -1.04215902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.974391418 meters Centerline goodness [0,1] 0.8355810978039726 Centerline is valid? [False, False] Translation: X:3.37, Y:0.03, Z:-0.11 [[ 0.99995087 -0.0073974 -0.00659778 3.37142911] [ 0.00742121 0.99996601 0.00359243 0.02623572] [ 0.00657098 -0.00364122 0.99997178 -0.10550794] [ 0. 0. 0. 1. ]] SLAMing on 9.004391418 meters Centerline goodness [0,1] 0.8885696308724832 Centerline is valid? [False, False] Translation: X:3.37, Y:0.03, Z:-0.11 [[ 0.99995344 -0.00694682 -0.00669741 3.37225915] [ 0.0069705 0.99996951 0.00351902 0.02725541] [ 0.00667276 -0.00356554 0.99997138 -0.10658213] [ 0. 0. 0. 1. ]] SLAMing on 9.034391418 meters Centerline goodness [0,1] 0.725124222305733 Centerline is valid? [False, False] Translation: X:3.37, Y:0.03, Z:-0.11 [[ 0.99995333 -0.00684903 -0.00681407 3.3728141 ] [ 0.00687234 0.99997059 0.00340332 0.02774311] [ 0.00679056 -0.00344999 0.99997099 -0.10704744] [ 0. 0. 0. 1. ]] SLAMing on 9.064391418000001 meters Centerline goodness [0,1] 0.9133274529569892 Centerline is valid? [False, False] Translation: X:3.37, Y:0.03, Z:-0.11 [[ 0.99995629 -0.00648054 -0.00673889 3.37198241] [ 0.00650708 0.99997113 0.00392345 0.02697375] [ 0.00671327 -0.00396713 0.9999696 -0.10601013] [ 0. 0. 0. 1. ]] SLAMing on 9.094391418 meters Centerline goodness [0,1] 0.9753921095177105 Centerline is valid? [False, True] Translation: X:3.37, Y:0.03, Z:-0.11 [[ 0.99995599 -0.00647297 -0.00679166 3.37180441] [ 0.00650203 0.99996976 0.00426545 0.02587976] [ 0.00676385 -0.00430942 0.99996784 -0.10547602] [ 0. 0. 0. 1. ]] SLAMing on 9.124391418 meters Centerline goodness [0,1] 0.9912332338224782 Centerline is valid? [True, True] Translation: X:3.40, Y:0.03, Z:-0.10 [[ 9.99952872e-01 -8.31722387e-03 -5.00766339e-03 3.40169807e+00] [ 8.31440906e-03 9.99965265e-01 -5.82655867e-04 2.77086003e-02] [ 5.01233553e-03 5.40992646e-04 9.99987292e-01 -1.04300186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.154391418000001 meters Centerline goodness [0,1] 0.9222614840989399 Centerline is valid? [True, False] Translation: X:3.40, Y:0.02, Z:-0.10 [[ 9.99952642e-01 -8.27878586e-03 -5.11622310e-03 3.40174141e+00] [ 8.28075704e-03 9.99965648e-01 3.64216412e-04 2.47980755e-02] [ 5.11303208e-03 -4.06565364e-04 9.99986846e-01 -1.03871057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184391418 meters Centerline goodness [0,1] 0.9969727547931383 Centerline is valid? [False, True] Translation: X:3.40, Y:0.02, Z:-0.10 [[ 9.99906032e-01 -1.26485301e-02 -5.28608414e-03 3.40223947e+00] [ 1.26312009e-02 9.99914781e-01 -3.29890112e-03 2.29886797e-02] [ 5.32735992e-03 3.23182154e-03 9.99980587e-01 -1.03893965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.214391418 meters Centerline goodness [0,1] 0.9981498612395929 Centerline is valid? [True, True] Translation: X:3.43, Y:0.02, Z:-0.10 [[ 9.99848119e-01 -1.68082339e-02 -4.60672392e-03 3.43105413e+00] [ 1.68060414e-02 9.99858636e-01 -5.14247934e-04 2.32819923e-02] [ 4.61471630e-03 4.36749037e-04 9.99989257e-01 -1.02643667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244391418000001 meters Centerline goodness [0,1] 0.9926226407162975 Centerline is valid? [True, True] Translation: X:3.46, Y:0.02, Z:-0.11 [[ 9.99694125e-01 -2.36179846e-02 -7.33800349e-03 3.46176528e+00] [ 2.36125990e-02 9.99720848e-01 -8.19711962e-04 2.42969930e-02] [ 7.35531502e-03 6.46191899e-04 9.99972741e-01 -1.06285660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.274391418 meters Centerline goodness [0,1] 0.9909470022422934 Centerline is valid? [True, True] Translation: X:3.49, Y:0.02, Z:-0.11 [[ 9.99600385e-01 -2.66078410e-02 -9.54430956e-03 3.49119444e+00] [ 2.65988657e-02 9.99645619e-01 -1.06611174e-03 2.42666980e-02] [ 9.56929417e-03 8.11817899e-04 9.99953884e-01 -1.08965944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304391418 meters Centerline goodness [0,1] 0.9970246825629636 Centerline is valid? [True, True] Translation: X:3.52, Y:0.02, Z:-0.11 [[ 9.99530952e-01 -2.91569686e-02 -9.36738964e-03 3.52160777e+00] [ 2.91484303e-02 9.99574546e-01 -1.04675473e-03 2.32550013e-02] [ 9.39392444e-03 7.73219051e-04 9.99955577e-01 -1.08808482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.334391418000001 meters Centerline goodness [0,1] 0.9906732059020792 Centerline is valid? [True, True] Translation: X:3.55, Y:0.02, Z:-0.11 [[ 9.99450063e-01 -3.12286246e-02 -1.11509612e-02 3.55039838e+00] [ 3.12166456e-02 9.99511864e-01 -1.24673797e-03 2.46959509e-02] [ 1.11844520e-02 8.97956742e-04 9.99937049e-01 -1.11097736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.364391418 meters Centerline goodness [0,1] 0.9987878281223875 Centerline is valid? [True, True] Translation: X:3.58, Y:0.02, Z:-0.11 [[ 9.99383739e-01 -3.38680645e-02 -9.22481323e-03 3.58050024e+00] [ 3.38599745e-02 9.99426054e-01 -1.03179538e-03 2.41159635e-02] [ 9.25446359e-03 7.18807586e-04 9.99956918e-01 -1.08221337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.394391418 meters Centerline goodness [0,1] 0.9954768186958161 Centerline is valid? [True, True] Translation: X:3.61, Y:0.03, Z:-0.11 [[ 9.99348282e-01 -3.48350550e-02 -9.46202289e-03 3.60776862e+00] [ 3.48265819e-02 9.99392810e-01 -1.05883044e-03 2.86105145e-02] [ 9.49316206e-03 7.28610462e-04 9.99954673e-01 -1.08751972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.424391418 meters Centerline goodness [0,1] 0.9996438597226296 Centerline is valid? [True, True] Translation: X:3.64, Y:0.02, Z:-0.11 [[ 9.99316199e-01 -3.56174630e-02 -9.92628967e-03 3.63683601e+00] [ 3.56081567e-02 9.99365209e-01 -1.11275345e-03 2.43400400e-02] [ 9.95962200e-03 7.58535666e-04 9.99950114e-01 -1.09227482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.454391418 meters Centerline goodness [0,1] 0.9996855279984905 Centerline is valid? [True, True] Translation: X:3.66, Y:0.03, Z:-0.11 [[ 9.99312764e-01 -3.59530429e-02 -9.02096418e-03 3.66491924e+00] [ 3.59453469e-02 9.99353243e-01 -1.01385588e-03 2.67993323e-02] [ 9.05158101e-03 6.88897433e-04 9.99958796e-01 -1.07867344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.484391418000001 meters Centerline goodness [0,1] 0.9986038758074599 Centerline is valid? [True, True] Translation: X:3.69, Y:0.03, Z:-0.11 [[ 9.99313141e-01 -3.60767102e-02 -8.46856837e-03 3.69091221e+00] [ 3.60699111e-02 9.99348813e-01 -9.54269178e-04 3.32638291e-02] [ 8.49748065e-03 6.48153221e-04 9.99963686e-01 -1.07623352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.514391418 meters Centerline goodness [0,1] 0.9998113682092555 Centerline is valid? [True, True] Translation: X:3.72, Y:0.03, Z:-0.11 [[ 9.99303132e-01 -3.68623460e-02 -5.86659379e-03 3.72007174e+00] [ 3.68590946e-02 9.99320254e-01 -6.61411055e-04 2.95779287e-02] [ 5.88698716e-03 4.44712804e-04 9.99982573e-01 -1.05246909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544391418 meters Centerline goodness [0,1] 0.999287987937678 Centerline is valid? [True, True] Translation: X:3.75, Y:0.04, Z:-0.11 [[ 9.99245503e-01 -3.83746102e-02 -5.98453738e-03 3.74716972e+00] [ 3.83712411e-02 9.99263324e-01 -6.76811842e-04 3.64371174e-02] [ 6.00610110e-03 4.46667062e-04 9.99981863e-01 -1.05563573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.574391418000001 meters Centerline goodness [0,1] 0.9998953953011569 Centerline is valid? [True, True] Translation: X:3.78, Y:0.03, Z:-0.11 [[ 9.99095731e-01 -4.19914926e-02 -6.66594702e-03 3.77821857e+00] [ 4.19873869e-02 9.99117856e-01 -7.54725814e-04 2.92243248e-02] [ 6.69175875e-03 4.74157642e-04 9.99977498e-01 -1.06638819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604391418 meters Centerline goodness [0,1] 0.9998954609128353 Centerline is valid? [True, True] Translation: X:3.81, Y:0.03, Z:-0.11 [[ 9.98956288e-01 -4.49438853e-02 -8.14749883e-03 3.80694651e+00] [ 4.49378476e-02 9.98989359e-01 -9.22703723e-04 3.32729712e-02] [ 8.18073452e-03 5.55609625e-04 9.99966383e-01 -1.08357949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.634391418 meters Centerline goodness [0,1] 0.9998954849498328 Centerline is valid? [True, True] Translation: X:3.84, Y:0.03, Z:-0.11 [[ 9.98842309e-01 -4.76151056e-02 -6.84425076e-03 3.83752870e+00] [ 4.76109058e-02 9.98865657e-01 -7.75355336e-04 3.23155712e-02] [ 6.87340566e-03 4.48596736e-04 9.99976277e-01 -1.07130935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.664391418000001 meters Centerline goodness [0,1] 0.9997282097384541 Centerline is valid? [True, True] Translation: X:3.87, Y:0.03, Z:-0.11 [[ 9.98677516e-01 -5.08061355e-02 -7.87118629e-03 3.86610641e+00] [ 5.08006753e-02 9.98708414e-01 -8.92202425e-04 3.31957445e-02] [ 7.90634933e-03 4.91160923e-04 9.99968624e-01 -1.08233494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.694391418 meters Centerline goodness [0,1] 0.9998534491782686 Centerline is valid? [True, True] Translation: X:3.90, Y:0.03, Z:-0.11 [[ 9.98374287e-01 -5.65450857e-02 -7.17193540e-03 3.89690990e+00] [ 5.65406971e-02 9.98399964e-01 -8.13356131e-04 2.98849011e-02] [ 7.20645134e-03 4.06527620e-04 9.99973951e-01 -1.07597269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724391418 meters Centerline goodness [0,1] 0.999979211275804 Centerline is valid? [True, True] Translation: X:3.93, Y:0.03, Z:-0.11 [[ 9.98231374e-01 -5.92435631e-02 -4.93190494e-03 3.92630016e+00] [ 5.92415236e-02 9.98243522e-01 -5.58726411e-04 3.19613168e-02] [ 4.95634310e-03 2.65564671e-04 9.99987682e-01 -1.05091914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.754391418 meters Centerline goodness [0,1] 0.9997498540815476 Centerline is valid? [True, True] Translation: X:3.96, Y:0.03, Z:-0.11 [[ 9.98002997e-01 -6.28405950e-02 -6.40922860e-03 3.95643110e+00] [ 6.28372082e-02 9.98023524e-01 -7.28634575e-04 3.34111094e-02] [ 6.44234875e-03 3.24441458e-04 9.99979195e-01 -1.08335925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.784391418 meters Centerline goodness [0,1] 0.9998119750971463 Centerline is valid? [True, True] Translation: X:3.98, Y:0.04, Z:-0.11 [[ 9.97920133e-01 -6.42450274e-02 -5.29004646e-03 3.98432950e+00] [ 6.42427402e-02 9.97934120e-01 -6.01331415e-04 3.72455812e-02] [ 5.31775041e-03 2.60233646e-04 9.99985827e-01 -1.07419220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.814391418000001 meters Centerline goodness [0,1] 0.9998327339633687 Centerline is valid? [True, True] Translation: X:4.01, Y:0.04, Z:-0.11 [[ 9.97881008e-01 -6.48401603e-02 -5.40813778e-03 4.01280565e+00] [ 6.48377771e-02 9.97895628e-01 -6.15015792e-04 4.17734378e-02] [ 5.43663477e-03 2.63060946e-04 9.99985187e-01 -1.08177247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844391418 meters Centerline goodness [0,1] 0.9998534859869812 Centerline is valid? [True, True] Translation: X:4.04, Y:0.05, Z:-0.11 [[ 9.97884543e-01 -6.48997013e-02 -3.80365186e-03 4.04041792e+00] [ 6.48985186e-02 9.97891775e-01 -4.33659416e-04 4.68577556e-02] [ 3.82377727e-03 1.85890657e-04 9.99992672e-01 -1.07247962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.874391418 meters Centerline goodness [0,1] 0.9998121908975188 Centerline is valid? [True, True] Translation: X:4.07, Y:0.05, Z:-0.11 [[ 9.97916352e-01 -6.43549826e-02 -4.62495978e-03 4.06919868e+00] [ 6.43532275e-02 9.97927043e-01 -5.27470247e-04 5.19451562e-02] [ 4.64931778e-03 2.28740096e-04 9.99989166e-01 -1.08408301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904391418000001 meters Centerline goodness [0,1] 0.9998543426692746 Centerline is valid? [True, True] Translation: X:4.10, Y:0.06, Z:-0.11 [[ 9.97934596e-01 -6.39665892e-02 -5.90060930e-03 4.09766440e+00] [ 6.39637122e-02 9.97951997e-01 -6.75201806e-04 5.75189746e-02] [ 5.93171519e-03 2.96382367e-04 9.99982363e-01 -1.10604578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.934391418 meters Centerline goodness [0,1] 0.9997488646589792 Centerline is valid? [True, True] Translation: X:4.13, Y:0.07, Z:-0.11 [[ 9.98012239e-01 -6.25730300e-02 -7.49571446e-03 4.12555109e+00] [ 6.25683279e-02 9.98040312e-01 -8.60395031e-04 6.58751072e-02] [ 7.53486272e-03 3.89690451e-04 9.99971537e-01 -1.14035959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964391418 meters Centerline goodness [0,1] 0.9999790821235828 Centerline is valid? [True, True] Translation: X:4.15, Y:0.07, Z:-0.11 [[ 9.98067957e-01 -6.19476175e-02 -4.77978472e-03 4.15223814e+00] [ 6.19456942e-02 9.98079370e-01 -5.49514996e-04 7.28261152e-02] [ 4.80464567e-03 2.52366226e-04 9.99988426e-01 -1.10551844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.994391418000001 meters Centerline goodness [0,1] 0.9998744769874477 Centerline is valid? [True, True] Translation: X:4.18, Y:0.08, Z:-0.11 [[ 9.98220542e-01 -5.95668237e-02 -2.74651065e-03 4.18160893e+00] [ 5.95661782e-02 9.98224309e-01 -3.16286784e-04 7.57180854e-02] [ 2.76047389e-03 1.52124822e-04 9.99996178e-01 -1.08862362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.024391418 meters Centerline goodness [0,1] 0.9998534031413613 Centerline is valid? [True, True] Translation: X:4.21, Y:0.08, Z:-0.11 [[ 9.98265318e-01 -5.88299987e-02 -2.32080712e-03 4.21021764e+00] [ 5.88295386e-02 9.98268007e-01 -2.66070274e-04 7.80197270e-02] [ 2.33244042e-03 1.29076715e-04 9.99997272e-01 -1.09532824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.054391418 meters Centerline goodness [0,1] 0.9997077305275464 Centerline is valid? [True, True] Translation: X:4.24, Y:0.09, Z:-0.11 [[ 9.98318876e-01 -5.79452096e-02 -1.33213372e-03 4.23723397e+00] [ 5.79450564e-02 9.98319762e-01 -1.53336899e-04 8.92190490e-02] [ 1.33878056e-03 7.58885569e-05 9.99999101e-01 -1.08404507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.084391418000001 meters Centerline goodness [0,1] 0.9996857717445953 Centerline is valid? [True, True] Translation: X:4.27, Y:0.09, Z:-0.11 [[ 9.98363051e-01 -5.71901267e-02 -7.12519874e-04 4.26666934e+00] [ 5.71900838e-02 9.98363305e-01 -8.04580050e-05 8.73604842e-02] [ 7.15955100e-04 3.95772280e-05 9.99999743e-01 -1.08825130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.114391418 meters Centerline goodness [0,1] 0.9997910048486875 Centerline is valid? [True, True] Translation: X:4.30, Y:0.09, Z:-0.11 [[ 9.98474507e-01 -5.52128325e-02 -4.49273687e-04 4.29515752e+00] [ 5.52128148e-02 9.98474608e-01 -5.16728803e-05 9.47802967e-02] [ 4.51441374e-04 2.67883888e-05 9.99999898e-01 -1.09533427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.144391418 meters Centerline goodness [0,1] 0.9997486805730083 Centerline is valid? [True, True] Translation: X:4.32, Y:0.10, Z:-0.11 [[ 9.98496689e-01 -5.48050528e-02 8.76031567e-04 4.32357857e+00] [ 5.48049825e-02 9.98497072e-01 1.04083186e-04 1.00000396e-01] [-8.80419239e-04 -5.59158217e-05 9.99999611e-01 -1.08367456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.174391418 meters Centerline goodness [0,1] 0.999267629211132 Centerline is valid? [True, True] Translation: X:4.35, Y:0.11, Z:-0.11 [[ 9.98548032e-01 -5.38453639e-02 1.58256945e-03 4.35001411e+00] [ 5.38451377e-02 9.98549281e-01 1.85243078e-04 1.08552305e-01] [-1.59024807e-03 -9.97604410e-05 9.99998731e-01 -1.07469103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.204391418 meters Centerline goodness [0,1] 0.9994778940333731 Centerline is valid? [True, True] Translation: X:4.38, Y:0.11, Z:-0.11 [[ 9.98579123e-01 -5.32798985e-02 9.93928544e-04 4.37881992e+00] [ 5.32798070e-02 9.98579615e-01 1.18258360e-04 1.10730068e-01] [-9.98817577e-04 -6.51340083e-05 9.99999499e-01 -1.09105522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.234391418000001 meters Centerline goodness [0,1] 0.9996017689840917 Centerline is valid? [True, True] Translation: X:4.41, Y:0.12, Z:-0.11 [[ 9.98552218e-01 -5.36896572e-02 3.29975148e-03 4.40725075e+00] [ 5.36886652e-02 9.98557648e-01 3.88545292e-04 1.15485624e-01] [-3.31585294e-03 -2.10823510e-04 9.99994480e-01 -1.06810206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.264391418 meters Centerline goodness [0,1] 0.9991232647949065 Centerline is valid? [True, True] Translation: X:4.43, Y:0.13, Z:-0.11 [[ 9.98541594e-01 -5.38786573e-02 3.43147742e-03 4.43435452e+00] [ 5.38775876e-02 9.98547466e-01 4.03505956e-04 1.25012579e-01] [-3.44823345e-03 -2.18037755e-04 9.99994031e-01 -1.05759807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.294391418 meters Centerline goodness [0,1] 0.998814870259481 Centerline is valid? [True, True] Translation: X:4.46, Y:0.13, Z:-0.10 [[ 9.98428588e-01 -5.57166982e-02 6.00034213e-03 4.46349209e+00] [ 5.57134482e-02 9.98446549e-01 7.07555359e-04 1.25888307e-01] [-6.03044354e-03 -3.72143747e-04 9.99981747e-01 -1.04444894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.324391418000001 meters Centerline goodness [0,1] 0.9995389000670691 Centerline is valid? [True, True] Translation: X:4.49, Y:0.13, Z:-0.11 [[ 9.98334497e-01 -5.74098966e-02 5.68648465e-03 4.49287575e+00] [ 5.74069956e-02 9.98350632e-01 6.72201549e-04 1.27529632e-01] [-5.71569656e-03 -3.44637996e-04 9.99983606e-01 -1.05221596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.354391418 meters Centerline goodness [0,1] 0.999142618151401 Centerline is valid? [True, True] Translation: X:4.52, Y:0.13, Z:-0.10 [[ 9.98246820e-01 -5.88506177e-02 6.31588865e-03 4.52037758e+00] [ 5.88470685e-02 9.98266731e-01 7.46491532e-04 1.32778291e-01] [-6.34887301e-03 -3.73511266e-04 9.99979776e-01 -1.04196513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384391418 meters Centerline goodness [0,1] 0.999350050318685 Centerline is valid? [True, True] Translation: X:4.55, Y:0.13, Z:-0.10 [[ 9.98147420e-01 -6.04781456e-02 6.64247502e-03 4.54956481e+00] [ 6.04742491e-02 9.98169448e-01 7.86076674e-04 1.34893484e-01] [-6.67785608e-03 -3.82921715e-04 9.99977630e-01 -1.04465934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.414391418000001 meters Centerline goodness [0,1] 0.9997698552180099 Centerline is valid? [True, True] Translation: X:4.58, Y:0.14, Z:-0.11 [[ 9.98001752e-01 -6.30191777e-02 4.59207786e-03 4.57811109e+00] [ 6.30173436e-02 9.98012284e-01 5.43154329e-04 1.41305111e-01] [-4.61717925e-03 -2.52688423e-04 9.99989309e-01 -1.06199749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.444391418 meters Centerline goodness [0,1] 0.9995811781458757 Centerline is valid? [True, True] Translation: X:4.61, Y:0.15, Z:-0.11 [[ 9.97928492e-01 -6.42344052e-02 3.55894341e-03 4.60578092e+00] [ 6.42333080e-02 9.97934820e-01 4.21868732e-04 1.47106141e-01] [-3.57869204e-03 -1.92392120e-04 9.99993578e-01 -1.07588086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.474391418 meters Centerline goodness [0,1] 0.9997278797647207 Centerline is valid? [True, True] Translation: X:4.63, Y:0.15, Z:-0.11 [[ 9.97817795e-01 -6.59431104e-02 3.33966417e-03 4.63452459e+00] [ 6.59421455e-02 9.97823369e-01 3.98340045e-04 1.50344361e-01] [-3.35866274e-03 -1.77246165e-04 9.99994344e-01 -1.07420035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.504391418 meters Centerline goodness [0,1] 0.9998744480947498 Centerline is valid? [True, True] Translation: X:4.66, Y:0.15, Z:-0.11 [[ 9.97695485e-01 -6.77975373e-02 2.68561426e-03 4.66333075e+00] [ 6.77969166e-02 9.97699090e-01 3.21606300e-04 1.53038202e-01] [-2.70123902e-03 -1.38788787e-04 9.99996342e-01 -1.08500693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.534391418 meters Centerline goodness [0,1] 0.9997504471155846 Centerline is valid? [True, True] Translation: X:4.69, Y:0.16, Z:-0.11 [[ 9.97650707e-01 -6.84676763e-02 2.29020415e-03 4.69162116e+00] [ 6.84672244e-02 9.97653328e-01 2.75269280e-04 1.57548275e-01] [-2.30367684e-03 -1.17818670e-04 9.99997340e-01 -1.08548677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564391418 meters Centerline goodness [0,1] 0.9997905013303166 Centerline is valid? [True, True] Translation: X:4.72, Y:0.16, Z:-0.11 [[ 9.97546154e-01 -6.99369466e-02 3.23960566e-03 4.71863213e+00] [ 6.99360564e-02 9.97551401e-01 3.87415036e-04 1.62433021e-01] [-3.25876779e-03 -1.59899134e-04 9.99994677e-01 -1.07448277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.594391418 meters Centerline goodness [0,1] 0.9998539414931352 Centerline is valid? [True, True] Translation: X:4.75, Y:0.17, Z:-0.11 [[ 9.97511386e-01 -7.04270422e-02 3.32666345e-03 4.74612008e+00] [ 7.04260967e-02 9.97516919e-01 4.00661325e-04 1.66648482e-01] [-3.34662046e-03 -1.65380312e-04 9.99994386e-01 -1.07453194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624391418 meters Centerline goodness [0,1] 0.9998537156231715 Centerline is valid? [True, True] Translation: X:4.77, Y:0.17, Z:-0.11 [[ 9.97499230e-01 -7.05042348e-02 4.94357343e-03 4.77412542e+00] [ 7.05021478e-02 9.97511450e-01 5.95384865e-04 1.72379609e-01] [-4.97324825e-03 -2.45363400e-04 9.99987603e-01 -1.06020645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.654391418000001 meters Centerline goodness [0,1] 0.9997690628149143 Centerline is valid? [True, True] Translation: X:4.80, Y:0.18, Z:-0.11 [[ 9.97484740e-01 -7.07141087e-02 4.86910541e-03 4.80062191e+00] [ 7.07120883e-02 9.97496595e-01 5.86080516e-04 1.78993449e-01] [-4.89836023e-03 -2.40301759e-04 9.99987974e-01 -1.05492148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684391418 meters Centerline goodness [0,1] 0.9998322464299944 Centerline is valid? [True, True] Translation: X:4.83, Y:0.18, Z:-0.11 [[ 9.97546984e-01 -6.99297344e-02 3.13793423e-03 4.82850643e+00] [ 6.99288901e-02 9.97551907e-01 3.78115866e-04 1.84909930e-01] [-3.15669381e-03 -1.57756084e-04 9.99995005e-01 -1.07735716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.714391418 meters Centerline goodness [0,1] 0.9998322464299944 Centerline is valid? [True, True] Translation: X:4.86, Y:0.19, Z:-0.11 [[ 9.97523172e-01 -7.02686000e-02 3.13760450e-03 4.85581836e+00] [ 7.02677488e-02 9.97528094e-01 3.80852732e-04 1.88407517e-01] [-3.15661063e-03 -1.59437020e-04 9.99995005e-01 -1.07537893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744391418000001 meters Centerline goodness [0,1] 0.9998738912942957 Centerline is valid? [True, True] Translation: X:4.88, Y:0.19, Z:-0.11 [[ 9.97490535e-01 -7.06558127e-02 4.51531517e-03 4.88478070e+00] [ 7.06540534e-02 9.97500729e-01 5.48164012e-04 1.90596164e-01] [-4.54276114e-03 -2.27763095e-04 9.99989656e-01 -1.06583770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.774391418 meters Centerline goodness [0,1] 0.9998952221290863 Centerline is valid? [True, True] Translation: X:4.91, Y:0.20, Z:-0.11 [[ 9.97428334e-01 -7.16016188e-02 3.15075142e-03 4.91364683e+00] [ 7.16007625e-02 9.97433298e-01 3.83894951e-04 1.96636656e-01] [-3.17015188e-03 -1.57311497e-04 9.99994963e-01 -1.07767718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.804391418 meters Centerline goodness [0,1] 0.9995385906040268 Centerline is valid? [True, True] Translation: X:4.94, Y:0.21, Z:-0.11 [[ 9.97354445e-01 -7.26430754e-02 2.66351378e-03 4.94062776e+00] [ 7.26424689e-02 9.97357993e-01 3.23871495e-04 2.06327463e-01] [-2.68000378e-03 -1.29530458e-04 9.99996400e-01 -1.07039676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.834391418000001 meters Centerline goodness [0,1] 0.9994963379572307 Centerline is valid? [True, True] Translation: X:4.97, Y:0.21, Z:-0.11 [[ 9.97291628e-01 -7.35190360e-02 2.08806227e-03 4.96805531e+00] [ 7.35186645e-02 9.97293809e-01 2.54230106e-04 2.11168047e-01] [-2.10110233e-03 -1.00030007e-04 9.99997788e-01 -1.07678549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.864391418 meters Centerline goodness [0,1] 0.9998740131026373 Centerline is valid? [True, True] Translation: X:5.00, Y:0.21, Z:-0.11 [[ 9.97205949e-01 -7.47010177e-02 2.32306241e-04 4.99730676e+00] [ 7.47010127e-02 9.97205976e-01 3.04389073e-05 2.09718686e-01] [-2.33930989e-04 -1.30003480e-05 9.99999973e-01 -1.10183366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.894391418 meters Centerline goodness [0,1] 0.9999159875661597 Centerline is valid? [True, True] Translation: X:5.03, Y:0.22, Z:-0.11 [[ 9.97062310e-01 -7.65904419e-02 8.08698586e-04 5.02515640e+00] [ 7.65903853e-02 9.97062637e-01 1.00822062e-04 2.15117751e-01] [-8.14045151e-04 -3.85873416e-05 9.99999668e-01 -1.08436881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.05, Y:0.22, Z:-0.11 [[ 9.96980232e-01 -7.76490845e-02 1.01805520e-03 5.05397979e+00] [ 7.76489955e-02 9.96980751e-01 1.26695299e-04 2.17227604e-01] [-1.02481922e-03 -4.72617441e-05 9.99999474e-01 -1.08088042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.954391418 meters Centerline goodness [0,1] 0.9998740897739912 Centerline is valid? [True, True] Translation: X:5.08, Y:0.22, Z:-0.11 [[ 9.96860765e-01 -7.91743920e-02 -1.73595460e-04 5.08271465e+00] [ 7.91743899e-02 9.96860780e-01 -1.91244201e-05 2.20407762e-01] [ 1.74564670e-04 5.32006945e-06 9.99999985e-01 -1.09177449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984391418000001 meters Centerline goodness [0,1] 0.9998324747665117 Centerline is valid? [True, True] Translation: X:5.11, Y:0.23, Z:-0.11 [[ 9.96609165e-01 -8.22766432e-02 -8.51787827e-04 5.10971311e+00] [ 8.22765845e-02 9.96609529e-01 -1.03771369e-04 2.26342551e-01] [ 8.57437825e-04 3.33373039e-05 9.99999632e-01 -1.09498661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.014391418 meters Centerline goodness [0,1] 0.9998949513624809 Centerline is valid? [True, True] Translation: X:5.14, Y:0.23, Z:-0.11 [[ 9.96473974e-01 -8.38979936e-02 -8.63265433e-04 5.13906927e+00] [ 8.38979349e-02 9.96474348e-01 -1.04011043e-04 2.26660230e-01] [ 8.68948177e-04 3.12181101e-05 9.99999622e-01 -1.10267388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044391418 meters Centerline goodness [0,1] 0.9998950087142767 Centerline is valid? [True, True] Translation: X:5.17, Y:0.23, Z:-0.11 [[ 9.96187758e-01 -8.72160832e-02 -1.81809693e-03 5.16637528e+00] [ 8.72158216e-02 9.96189415e-01 -2.22849310e-04 2.32862670e-01] [ 1.83060496e-03 6.34329374e-05 9.99998322e-01 -1.11198663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.074391418000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.20, Y:0.23, Z:-0.11 [[ 9.96082167e-01 -8.84187784e-02 -1.56089705e-03 5.19561380e+00] [ 8.84185882e-02 9.96083389e-01 -1.90554487e-04 2.32567207e-01] [ 1.57163222e-03 5.17956125e-05 9.99998764e-01 -1.10808792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.22, Y:0.24, Z:-0.11 [[ 9.95959824e-01 -8.97784927e-02 -1.96257326e-03 5.22439325e+00] [ 8.97781924e-02 9.95961755e-01 -2.40758828e-04 2.35302813e-01] [ 1.97626288e-03 6.35898403e-05 9.99998045e-01 -1.11162965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.134391418 meters Centerline goodness [0,1] 0.9998740236835475 Centerline is valid? [True, True] Translation: X:5.25, Y:0.24, Z:-0.11 [[ 9.95864664e-01 -9.07696917e-02 -3.79909156e-03 5.25189012e+00] [ 9.07685584e-02 9.95871903e-01 -4.70032108e-04 2.39880766e-01] [ 3.82607321e-03 1.23250304e-04 9.99992673e-01 -1.12785155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.164391418000001 meters Centerline goodness [0,1] 0.9998950770134721 Centerline is valid? [True, True] Translation: X:5.28, Y:0.25, Z:-0.11 [[ 9.95744548e-01 -9.20902872e-02 -3.48928228e-03 5.27859671e+00] [ 9.20893388e-02 9.95750655e-01 -4.31831863e-04 2.48814768e-01] [ 3.51422263e-03 1.08668525e-04 9.99993819e-01 -1.11316138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.194391418 meters Centerline goodness [0,1] 0.9999164159144099 Centerline is valid? [True, True] Translation: X:5.31, Y:0.25, Z:-0.11 [[ 9.95720232e-01 -9.23573198e-02 -3.36828854e-03 5.30720505e+00] [ 9.23564383e-02 9.95725923e-01 -4.16666672e-04 2.48709844e-01] [ 3.39237443e-03 1.03800302e-04 9.99994240e-01 -1.11416786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224391418 meters Centerline goodness [0,1] 0.999936993321292 Centerline is valid? [True, True] Translation: X:5.34, Y:0.25, Z:-0.11 [[ 9.95730565e-01 -9.22380452e-02 -3.57554384e-03 5.33606252e+00] [ 9.22370455e-02 9.95736979e-01 -4.43854609e-04 2.53580793e-01] [ 3.60124150e-03 1.12162001e-04 9.99993509e-01 -1.11310457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.254391418 meters Centerline goodness [0,1] 0.9999580017219294 Centerline is valid? [True, True] Translation: X:5.36, Y:0.26, Z:-0.11 [[ 9.95935090e-01 -9.00162464e-02 -3.22066232e-03 5.36431340e+00] [ 9.00154211e-02 9.95940291e-01 -4.00587327e-04 2.62969385e-01] [ 3.24364673e-03 1.09049700e-04 9.99994733e-01 -1.10153353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.39, Y:0.27, Z:-0.11 [[ 9.96065786e-01 -8.85773496e-02 -2.64645944e-03 5.39116152e+00] [ 8.85767837e-02 9.96069297e-01 -3.30488501e-04 2.70806923e-01] [ 2.66533079e-03 9.47734226e-05 9.99996444e-01 -1.09561436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.314391418 meters Centerline goodness [0,1] 0.9998737719058338 Centerline is valid? [True, True] Translation: X:5.42, Y:0.28, Z:-0.11 [[ 9.96125238e-01 -8.78675470e-02 -3.71548131e-03 5.41972492e+00] [ 8.78664266e-02 9.96132158e-01 -4.64035495e-04 2.75806629e-01] [ 3.74188407e-03 1.35771402e-04 9.99992990e-01 -1.11185672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.344391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.45, Y:0.29, Z:-0.11 [[ 9.96371860e-01 -8.50756868e-02 -2.29009221e-03 5.44669773e+00] [ 8.50752514e-02 9.96374487e-01 -2.87046720e-04 2.88741679e-01] [ 2.30621015e-03 9.11751035e-05 9.99997337e-01 -1.08366405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.374391418 meters Centerline goodness [0,1] 0.9998528948197961 Centerline is valid? [True, True] Translation: X:5.48, Y:0.29, Z:-0.11 [[ 9.96383711e-01 -8.48801913e-02 -3.85407609e-03 5.47529614e+00] [ 8.48789550e-02 9.96391153e-01 -4.83500137e-04 2.88528118e-01] [ 3.88120690e-03 1.54621709e-04 9.99992456e-01 -1.11110662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.404391418000001 meters Centerline goodness [0,1] 0.9998741505159828 Centerline is valid? [True, True] Translation: X:5.50, Y:0.29, Z:-0.11 [[ 9.96412968e-01 -8.45306710e-02 -3.97030407e-03 5.50371148e+00] [ 8.45293570e-02 9.96420865e-01 -4.97896055e-04 2.92859968e-01] [ 3.99818130e-03 1.60502836e-04 9.99991994e-01 -1.11169229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.434391418 meters Centerline goodness [0,1] 0.9999370990061643 Centerline is valid? [True, True] Translation: X:5.53, Y:0.30, Z:-0.11 [[ 9.96400030e-01 -8.46424186e-02 -4.75823551e-03 5.52980510e+00] [ 8.46405213e-02 9.96411373e-01 -5.99061417e-04 3.00039222e-01] [ 4.79186599e-03 1.94165280e-04 9.99988500e-01 -1.11048554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464391418 meters Centerline goodness [0,1] 0.9999790180444817 Centerline is valid? [True, True] Translation: X:5.56, Y:0.30, Z:-0.11 [[ 9.96344534e-01 -8.53037928e-02 -4.56424620e-03 5.55741867e+00] [ 8.53020533e-02 9.96354972e-01 -5.74793261e-04 3.03560012e-01] [ 4.59664144e-03 1.83352551e-04 9.99989419e-01 -1.10215434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.494391418000001 meters Centerline goodness [0,1] 0.9999161284911515 Centerline is valid? [True, True] Translation: X:5.58, Y:0.31, Z:-0.11 [[ 9.96200183e-01 -8.69308421e-02 -5.31270751e-03 5.58487550e+00] [ 8.69284954e-02 9.96214327e-01 -6.71491007e-04 3.11882121e-01] [ 5.35096861e-03 2.07113794e-04 9.99985662e-01 -1.11321126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.61, Y:0.31, Z:-0.11 [[ 9.96073049e-01 -8.83904784e-02 -5.06005653e-03 5.61352829e+00] [ 8.83883608e-02 9.96085883e-01 -6.41043737e-04 3.13374889e-01] [ 5.09691305e-03 1.91276287e-04 9.99986992e-01 -1.09694756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.554391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.64, Y:0.32, Z:-0.11 [[ 9.96028633e-01 -8.89030900e-02 -4.81687275e-03 5.64150886e+00] [ 8.89011709e-02 9.96040264e-01 -6.11514545e-04 3.17412100e-01] [ 4.85216474e-03 1.80860369e-04 9.99988212e-01 -1.09128028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.584391418000001 meters Centerline goodness [0,1] 0.9998533601474778 Centerline is valid? [True, True] Translation: X:5.67, Y:0.32, Z:-0.11 [[ 9.95964651e-01 -8.95089792e-02 -6.52360176e-03 5.66876122e+00] [ 8.95054506e-02 9.95985985e-01 -8.31434266e-04 3.21477616e-01] [ 6.57183676e-03 2.44181223e-04 9.99978375e-01 -1.11422563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.614391418 meters Centerline goodness [0,1] 0.9999371727748692 Centerline is valid? [True, True] Translation: X:5.70, Y:0.33, Z:-0.11 [[ 9.96110918e-01 -8.78393065e-02 -6.87717526e-03 5.69555830e+00] [ 8.78353269e-02 9.96134621e-01 -8.79166768e-04 3.28473030e-01] [ 6.92781777e-03 2.71688679e-04 9.99975965e-01 -1.11143999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644391418 meters Centerline goodness [0,1] 0.9998325624228217 Centerline is valid? [True, True] Translation: X:5.72, Y:0.33, Z:-0.11 [[ 9.96117686e-01 -8.76789437e-02 -7.87132515e-03 5.72383930e+00] [ 8.76737163e-02 9.96148736e-01 -1.00739399e-03 3.32875105e-01] [ 7.92933784e-03 3.13374647e-04 9.99968513e-01 -1.12051198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.674391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.75, Y:0.34, Z:-0.11 [[ 9.96137865e-01 -8.75349664e-02 -6.85439038e-03 5.75170565e+00] [ 8.75309862e-02 9.96161409e-01 -8.79106055e-04 3.38195222e-01] [ 6.90503170e-03 2.75739280e-04 9.99976122e-01 -1.09198734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704391418 meters Centerline goodness [0,1] 0.9998537370191605 Centerline is valid? [True, True] Translation: X:5.78, Y:0.34, Z:-0.11 [[ 9.96022030e-01 -8.88095827e-02 -7.27827522e-03 5.78084580e+00] [ 8.88051190e-02 9.96048582e-01 -9.34834778e-04 3.40814870e-01] [ 7.33253800e-03 2.84767936e-04 9.99973076e-01 -1.10572032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.734391418000001 meters Centerline goodness [0,1] 0.9999372660546622 Centerline is valid? [True, True] Translation: X:5.81, Y:0.34, Z:-0.11 [[ 9.95685452e-01 -9.25783390e-02 -6.30334688e-03 5.80833121e+00] [ 9.25750548e-02 9.95705379e-01 -8.11447165e-04 3.42896318e-01] [ 6.35139882e-03 2.24413454e-04 9.99979804e-01 -1.08284310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.764391418 meters Centerline goodness [0,1] 0.999874663157235 Centerline is valid? [True, True] Translation: X:5.84, Y:0.35, Z:-0.11 [[ 9.95416499e-01 -9.53977766e-02 -6.72745835e-03 5.83733232e+00] [ 9.53940951e-02 9.95439207e-01 -8.66756138e-04 3.45254890e-01] [ 6.77946242e-03 2.21023559e-04 9.99976995e-01 -1.08840554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.794391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.87, Y:0.35, Z:-0.11 [[ 9.95189884e-01 -9.77780154e-02 -6.04608280e-03 5.86619021e+00] [ 9.77750758e-02 9.95208232e-01 -7.80601163e-04 3.49312520e-01] [ 6.09343701e-03 1.85690177e-04 9.99981418e-01 -1.06295056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.824391418000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.89, Y:0.35, Z:-0.11 [[ 9.94801384e-01 -1.01522441e-01 -7.96246287e-03 5.89496718e+00] [ 1.01517439e-01 9.94833226e-01 -1.03095221e-03 3.53382936e-01] [ 8.02598741e-03 2.17263851e-04 9.99967768e-01 -1.07558091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.854391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.92, Y:0.36, Z:-0.11 [[ 9.94612054e-01 -1.03301737e-01 -8.69552990e-03 5.92319766e+00] [ 1.03295829e-01 9.94650040e-01 -1.12703679e-03 3.56772586e-01] [ 8.76543402e-03 2.22752404e-04 9.99961558e-01 -1.08194848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884391418 meters Centerline goodness [0,1] 0.9999581248298821 Centerline is valid? [True, True] Translation: X:5.95, Y:0.36, Z:-0.11 [[ 9.94446157e-01 -1.04809355e-01 -9.58335635e-03 5.95196363e+00] [ 1.04802218e-01 9.94492305e-01 -1.24533282e-03 3.60587708e-01] [ 9.66109667e-03 2.34059441e-04 9.99953303e-01 -1.09329861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.914391418000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.98, Y:0.36, Z:-0.11 [[ 9.94361672e-01 -1.05657976e-01 -9.01432911e-03 5.98065236e+00] [ 1.05651672e-01 9.94402507e-01 -1.17405655e-03 3.64871563e-01] [ 9.08791990e-03 2.15057898e-04 9.99958681e-01 -1.07899468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.944391418 meters Centerline goodness [0,1] 0.999958109919571 Centerline is valid? [True, True] Translation: X:6.01, Y:0.37, Z:-0.11 [[ 9.94145648e-01 -1.07633964e-01 -9.45302780e-03 6.00857658e+00] [ 1.07627091e-01 9.94190568e-01 -1.23421316e-03 3.69987426e-01] [ 9.53095434e-03 2.09585753e-04 9.99954557e-01 -1.08080133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.974391418 meters Centerline goodness [0,1] 0.99987430079819 Centerline is valid? [True, True] Translation: X:6.04, Y:0.37, Z:-0.11 [[ 9.94034279e-01 -1.08652212e-01 -9.51573374e-03 6.03741943e+00] [ 1.08645266e-01 9.94079803e-01 -1.24533781e-03 3.74045470e-01] [ 9.59470743e-03 2.04069043e-04 9.99953949e-01 -1.08812326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004391418 meters Centerline goodness [0,1] 0.9998324852901146 Centerline is valid? [True, True] Translation: X:6.06, Y:0.38, Z:-0.11 [[ 9.93971799e-01 -1.09214743e-01 -9.60221906e-03 6.06431070e+00] [ 1.09207672e-01 9.94018158e-01 -1.25920233e-03 3.81789925e-01] [ 9.68230356e-03 2.02975618e-04 9.99953105e-01 -1.08872437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.034391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.09, Y:0.39, Z:-0.11 [[ 9.93935563e-01 -1.09447314e-01 -1.06481387e-02 6.09103480e+00] [ 1.09438610e-01 9.93992573e-01 -1.39849823e-03 3.90241216e-01] [ 1.07372326e-02 2.24699636e-04 9.99942329e-01 -1.06962848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064391418 meters Centerline goodness [0,1] 0.9999789681788546 Centerline is valid? [True, True] Translation: X:6.12, Y:0.40, Z:-0.11 [[ 9.93908868e-01 -1.09513742e-01 -1.23248504e-02 6.11931286e+00] [ 1.09502028e-01 9.93985247e-01 -1.62328164e-03 3.96094644e-01] [ 1.24284911e-02 2.63797903e-04 9.99922729e-01 -1.08548789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.094391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.15, Y:0.40, Z:-0.11 [[ 9.93978642e-01 -1.08741215e-01 -1.34836096e-02 6.14784867e+00] [ 1.08727063e-01 9.94070046e-01 -1.78037157e-03 4.01748154e-01] [ 1.35972522e-02 3.03618039e-04 9.99907507e-01 -1.08868000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124391418 meters Centerline goodness [0,1] 0.9998740289733361 Centerline is valid? [True, True] Translation: X:6.18, Y:0.41, Z:-0.11 [[ 9.94032982e-01 -1.08081949e-01 -1.47214965e-02 6.17601419e+00] [ 1.08064934e-01 9.94141928e-01 -1.94872767e-03 4.06779852e-01] [ 1.48458792e-02 3.46222036e-04 9.99889734e-01 -1.11346226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.154391418000001 meters Centerline goodness [0,1] 0.9999369668445602 Centerline is valid? [True, True] Translation: X:6.20, Y:0.42, Z:-0.11 [[ 9.94482641e-01 -1.03889774e-01 -1.45324311e-02 6.20290222e+00] [ 1.03872704e-01 9.94588734e-01 -1.92658204e-03 4.17536348e-01] [ 1.46539444e-02 4.06429477e-04 9.99892543e-01 -1.09461695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184391418 meters Centerline goodness [0,1] 0.9997906153813941 Centerline is valid? [True, True] Translation: X:6.23, Y:0.43, Z:-0.11 [[ 9.94677072e-01 -1.01996222e-01 -1.46387874e-02 6.23056133e+00] [ 1.01978652e-01 9.94784689e-01 -1.94367084e-03 4.25685884e-01] [ 1.47606887e-02 4.40481013e-04 9.99890958e-01 -1.09727492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.214391418 meters Centerline goodness [0,1] 0.9999789540145217 Centerline is valid? [True, True] Translation: X:6.26, Y:0.43, Z:-0.11 [[ 9.94872022e-01 -1.00212534e-01 -1.36787431e-02 6.25813515e+00] [ 1.00196967e-01 9.94965956e-01 -1.82035829e-03 4.34592882e-01] [ 1.37923064e-02 4.40454967e-04 9.99904785e-01 -1.06435055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244391418000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.29, Y:0.45, Z:-0.11 [[ 9.95205530e-01 -9.68130182e-02 -1.38994028e-02 6.28660280e+00] [ 9.67965779e-02 9.95302462e-01 -1.85229520e-03 4.45203373e-01] [ 1.40134361e-02 4.97999795e-04 9.99901683e-01 -1.05391148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.274391418 meters Centerline goodness [0,1] 0.9999370171313403 Centerline is valid? [True, True] Translation: X:6.31, Y:0.45, Z:-0.11 [[ 9.95206817e-01 -9.68191230e-02 -1.37640303e-02 6.31488373e+00] [ 9.68029686e-02 9.95301870e-01 -1.83666494e-03 4.49941632e-01] [ 1.38771894e-02 4.95462468e-04 9.99903584e-01 -1.05479801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.34, Y:0.45, Z:-0.10 [[ 9.95277430e-01 -9.62797009e-02 -1.23716369e-02 6.34318949e+00] [ 9.62665620e-02 9.95354214e-01 -1.65456873e-03 4.54946590e-01] [ 1.24734623e-02 4.55779955e-04 9.99922099e-01 -1.02727977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.334391418000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.37, Y:0.46, Z:-0.10 [[ 9.95238383e-01 -9.68401489e-02 -1.10700482e-02 6.37164259e+00] [ 9.68296267e-02 9.95299865e-01 -1.48382323e-03 4.59966738e-01] [ 1.11617111e-02 4.04849197e-04 9.99937624e-01 -1.01093821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.364391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.40, Y:0.47, Z:-0.10 [[ 9.95068248e-01 -9.86062326e-02 -1.07699521e-02 6.39862229e+00] [ 9.85963456e-02 9.95126459e-01 -1.44644352e-03 4.66462319e-01] [ 1.08600926e-02 3.77432096e-04 9.99940956e-01 -1.00683017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.394391418 meters Centerline goodness [0,1] 0.9998739257422622 Centerline is valid? [True, True] Translation: X:6.43, Y:0.47, Z:-0.10 [[ 9.94847961e-01 -1.00679094e-01 -1.18850331e-02 6.42623575e+00] [ 1.00667179e-01 9.94918874e-01 -1.59801992e-03 4.70287935e-01] [ 1.19855309e-02 3.93354111e-04 9.99928094e-01 -1.02489310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.424391418 meters Centerline goodness [0,1] 0.9998949535694777 Centerline is valid? [True, True] Translation: X:6.46, Y:0.47, Z:-0.10 [[ 9.94468113e-01 -1.04202806e-01 -1.32267886e-02 6.45531587e+00] [ 1.04188325e-01 9.94555992e-01 -1.78111709e-03 4.73140015e-01] [ 1.33403793e-02 3.93187199e-04 9.99910936e-01 -1.02635581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.454391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.48, Y:0.48, Z:-0.10 [[ 9.94279966e-01 -1.06054221e-01 -1.26432097e-02 6.48249910e+00] [ 1.06041102e-01 9.94360285e-01 -1.70544346e-03 4.77671275e-01] [ 1.27527751e-02 3.54988377e-04 9.99918617e-01 -1.00703934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.484391418000001 meters Centerline goodness [0,1] 0.9998319504253755 Centerline is valid? [True, True] Translation: X:6.51, Y:0.48, Z:-0.10 [[ 9.93999355e-01 -1.08523736e-01 -1.37069769e-02 6.51159326e+00] [ 1.08508504e-01 9.94093795e-01 -1.85228172e-03 4.80502124e-01] [ 1.38270372e-02 3.53843280e-04 9.99904339e-01 -1.01823587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.514391418 meters Centerline goodness [0,1] 0.9998740607027413 Centerline is valid? [True, True] Translation: X:6.54, Y:0.48, Z:-0.10 [[ 9.93816247e-01 -1.10258644e-01 -1.31262806e-02 6.53911315e+00] [ 1.10244786e-01 9.93902877e-01 -1.77694465e-03 4.84279169e-01] [ 1.32421715e-02 3.18852474e-04 9.99912268e-01 -1.00016597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.544391418 meters Centerline goodness [0,1] 0.9999373734421644 Centerline is valid? [True, True] Translation: X:6.57, Y:0.49, Z:-0.10 [[ 9.93584670e-01 -1.12479777e-01 -1.17389647e-02 6.56659614e+00] [ 1.12468830e-01 9.93653980e-01 -1.59070001e-03 4.89108538e-01] [ 1.18433905e-02 2.60227532e-04 9.99929831e-01 -9.61947595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.574391418000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.59, Y:0.49, Z:-0.09 [[ 9.93514397e-01 -1.13133652e-01 -1.13982433e-02 6.59438499e+00] [ 1.13123348e-01 9.93579748e-01 -1.54686449e-03 4.92017991e-01] [ 1.15000661e-02 2.47424703e-04 9.99933841e-01 -9.37030137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604391418 meters Centerline goodness [0,1] 0.9998530307165803 Centerline is valid? [True, True] Translation: X:6.62, Y:0.50, Z:-0.09 [[ 9.93453115e-01 -1.13635470e-01 -1.17425906e-02 6.62229881e+00] [ 1.13624515e-01 9.93522479e-01 -1.59800826e-03 4.97969542e-01] [ 1.18481181e-02 2.53300117e-04 9.99929777e-01 -9.40468884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.634391418 meters Centerline goodness [0,1] 0.9998530307165803 Centerline is valid? [True, True] Translation: X:6.65, Y:0.50, Z:-0.09 [[ 9.93411862e-01 -1.13995602e-01 -1.17420095e-02 6.64949651e+00] [ 1.13984622e-01 9.93481222e-01 -1.60226910e-03 5.01910747e-01] [ 1.18481175e-02 2.53304621e-04 9.99929777e-01 -9.38493467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.664391418000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.68, Y:0.51, Z:-0.09 [[ 9.93490631e-01 -1.13325878e-01 -1.15590104e-02 6.67600130e+00] [ 1.13315153e-01 9.93557838e-01 -1.58067793e-03 5.11492318e-01] [ 1.16636771e-02 2.60577681e-04 9.99931943e-01 -9.22287982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.694391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.70, Y:0.52, Z:-0.09 [[ 9.93557734e-01 -1.12628722e-01 -1.25618443e-02 6.70341717e+00] [ 1.12615975e-01 9.93637099e-01 -1.71976255e-03 5.19229484e-01] [ 1.26756092e-02 2.94019032e-04 9.99919618e-01 -9.28094692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.724391418 meters Centerline goodness [0,1] 0.9998108568186117 Centerline is valid? [True, True] Translation: X:6.73, Y:0.53, Z:-0.10 [[ 9.93666693e-01 -1.11524457e-01 -1.37403726e-02 6.73133909e+00] [ 1.11509063e-01 9.93761631e-01 -1.88384329e-03 5.27404600e-01] [ 1.38647497e-02 3.39736261e-04 9.99903822e-01 -9.58216902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.754391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.76, Y:0.54, Z:-0.09 [[ 9.94022542e-01 -1.08245165e-01 -1.42186641e-02 6.75868776e+00] [ 1.08228302e-01 9.94124149e-01 -1.95234823e-03 5.36562764e-01] [ 1.43464496e-02 4.01816268e-04 9.99897004e-01 -9.21190457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.79, Y:0.54, Z:-0.09 [[ 9.94213012e-01 -1.06488593e-01 -1.41656727e-02 6.78665444e+00] [ 1.06471635e-01 9.94313832e-01 -1.94808916e-03 5.43466590e-01] [ 1.42925736e-02 4.28573258e-04 9.99897764e-01 -9.09167332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.814391418 meters Centerline goodness [0,1] 0.9999790606612643 Centerline is valid? [True, True] Translation: X:6.81, Y:0.55, Z:-0.09 [[ 9.94388682e-01 -1.04858186e-01 -1.39967682e-02 6.81458460e+00] [ 1.04841406e-01 9.94487083e-01 -1.92932844e-03 5.49412434e-01] [ 1.41219111e-02 4.51061504e-04 9.99900179e-01 -8.97036966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.844391418 meters Centerline goodness [0,1] 0.9998319610149554 Centerline is valid? [True, True] Translation: X:6.84, Y:0.56, Z:-0.09 [[ 9.94570790e-01 -1.03189215e-01 -1.34509915e-02 6.84097781e+00] [ 1.03173525e-01 9.94661639e-01 -1.85705653e-03 5.58801613e-01] [ 1.35708135e-02 4.59187969e-04 9.99907807e-01 -9.00727324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.874391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.87, Y:0.57, Z:-0.08 [[ 9.94757760e-01 -1.01603654e-01 -1.15626876e-02 6.86926210e+00] [ 1.01591928e-01 9.94824872e-01 -1.59849967e-03 5.67041981e-01] [ 1.16652626e-02 4.15444229e-04 9.99931872e-01 -8.30072203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.904391418000001 meters Centerline goodness [0,1] 0.9999371174645761 Centerline is valid? [True, True] Translation: X:6.90, Y:0.57, Z:-0.08 [[ 9.94771046e-01 -1.01597174e-01 -1.04201673e-02 6.89570085e+00] [ 1.01587623e-01 9.94825549e-01 -1.44316059e-03 5.74489967e-01] [ 1.05128697e-02 3.77054341e-04 9.99944667e-01 -8.25617647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.934391418 meters Centerline goodness [0,1] 0.999832702482277 Centerline is valid? [True, True] Translation: X:6.92, Y:0.58, Z:-0.08 [[ 9.94680823e-01 -1.02533216e-01 -9.84887778e-03 6.92393976e+00] [ 1.02524710e-01 9.94729520e-01 -1.36598166e-03 5.80226568e-01] [ 9.93702795e-03 3.48962423e-04 9.99950566e-01 -8.25671561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964391418 meters Centerline goodness [0,1] 0.9998529040934689 Centerline is valid? [True, True] Translation: X:6.95, Y:0.58, Z:-0.08 [[ 9.94240825e-01 -1.06741610e-01 -9.56093625e-03 6.95283029e+00] [ 1.06733761e-01 9.94286748e-01 -1.32896087e-03 5.84032220e-01] [ 9.64816764e-03 3.00832471e-04 9.99953410e-01 -8.19422643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.994391418000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.98, Y:0.59, Z:-0.08 [[ 9.93952894e-01 -1.09286860e-01 -1.06783273e-02 6.98001920e+00] [ 1.09277185e-01 9.94010204e-01 -1.48706118e-03 5.88429154e-01] [ 1.07768826e-02 3.11171212e-04 9.99941879e-01 -8.08201364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.01, Y:0.59, Z:-0.08 [[ 9.93600065e-01 -1.12370506e-01 -1.14795150e-02 7.00870372e+00] [ 1.12359505e-01 9.93666332e-01 -1.60089305e-03 5.91388790e-01] [ 1.15867007e-02 3.00814821e-04 9.99932827e-01 -8.13881043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.054391418 meters Centerline goodness [0,1] 0.9999580703997988 Centerline is valid? [True, True] Translation: X:7.04, Y:0.59, Z:-0.08 [[ 9.93331721e-01 -1.14734899e-01 -1.13135239e-02 7.03704646e+00] [ 1.14724326e-01 9.93396109e-01 -1.58132809e-03 5.94342533e-01] [ 1.14202441e-02 2.72846957e-04 9.99934750e-01 -8.26537827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084391418000001 meters Centerline goodness [0,1] 0.9998740078115157 Centerline is valid? [True, True] Translation: X:7.06, Y:0.60, Z:-0.09 [[ 9.92892381e-01 -1.18315778e-01 -1.28878333e-02 7.06494709e+00] [ 1.18302300e-01 9.92975984e-01 -1.80585453e-03 6.00050242e-01] [ 1.30109700e-02 2.68358883e-04 9.99915318e-01 -8.54037003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.114391418 meters Centerline goodness [0,1] 0.9999369800857071 Centerline is valid? [True, True] Translation: X:7.09, Y:0.61, Z:-0.08 [[ 9.92736832e-01 -1.19447891e-01 -1.43451545e-02 7.09381426e+00] [ 1.19431255e-01 9.92840430e-01 -2.01390480e-03 6.05283936e-01] [ 1.44830061e-02 2.86017669e-04 9.99895075e-01 -8.47975858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144391418 meters Centerline goodness [0,1] 0.9999579708317572 Centerline is valid? [True, True] Translation: X:7.12, Y:0.61, Z:-0.08 [[ 9.92641921e-01 -1.20117137e-01 -1.52934333e-02 7.12006411e+00] [ 1.20098267e-01 9.92759681e-01 -2.14970738e-03 6.11546952e-01] [ 1.54409207e-02 2.97174832e-04 9.99880738e-01 -8.45222093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.174391418 meters Centerline goodness [0,1] 0.9998738939448076 Centerline is valid? [True, True] Translation: X:7.15, Y:0.62, Z:-0.09 [[ 9.92714814e-01 -1.19476114e-01 -1.55806105e-02 7.14749067e+00] [ 1.19456388e-01 9.92837025e-01 -2.19393818e-03 6.21081670e-01] [ 1.57311302e-02 3.16751468e-04 9.99876208e-01 -8.55626743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.18, Y:0.63, Z:-0.08 [[ 9.92793203e-01 -1.18681402e-01 -1.66246845e-02 7.17507187e+00] [ 1.18658774e-01 9.92932323e-01 -2.34447063e-03 6.28449139e-01] [ 1.67854317e-02 3.54909831e-04 9.99859052e-01 -8.29351891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.234391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.20, Y:0.64, Z:-0.08 [[ 9.92943871e-01 -1.17420555e-01 -1.65795785e-02 7.20280308e+00] [ 1.17397809e-01 9.93082207e-01 -2.34199181e-03 6.36221503e-01] [ 1.67398824e-02 3.79060223e-04 9.99859806e-01 -8.24380553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.23, Y:0.65, Z:-0.08 [[ 9.93452752e-01 -1.12916506e-01 -1.73635411e-02 7.22934025e+00] [ 1.12890811e-01 9.93604364e-01 -2.45608289e-03 6.50989506e-01] [ 1.75298225e-02 4.79818082e-04 9.99846226e-01 -8.31838123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.294391418 meters Centerline goodness [0,1] 0.9998319468952189 Centerline is valid? [True, True] Translation: X:7.26, Y:0.66, Z:-0.09 [[ 9.93758068e-01 -1.10199236e-01 -1.73502427e-02 7.25684292e+00] [ 1.10173135e-01 9.93909376e-01 -2.45600275e-03 6.59002453e-01] [ 1.75152185e-02 5.29141912e-04 9.99846457e-01 -8.57797974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324391418000001 meters Centerline goodness [0,1] 0.9998528731766783 Centerline is valid? [True, True] Translation: X:7.28, Y:0.67, Z:-0.09 [[ 9.93986730e-01 -1.08044055e-01 -1.78006178e-02 7.28464637e+00] [ 1.08016160e-01 9.94145934e-01 -2.52399201e-03 6.67038332e-01] [ 1.79691142e-02 5.86060190e-04 9.99838371e-01 -8.58186407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.354391418 meters Centerline goodness [0,1] 0.999937272613223 Centerline is valid? [True, True] Translation: X:7.31, Y:0.68, Z:-0.09 [[ 9.94198113e-01 -1.05923808e-01 -1.87152170e-02 7.31128981e+00] [ 1.05892527e-01 9.94374030e-01 -2.65737497e-03 6.76135279e-01] [ 1.88914050e-02 6.60155567e-04 9.99821324e-01 -8.56406559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.384391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.34, Y:0.69, Z:-0.08 [[ 9.94515014e-01 -1.02764209e-01 -1.94782964e-02 7.33934304e+00] [ 1.02729687e-01 9.94705460e-01 -2.76738886e-03 6.87447520e-01] [ 1.96595564e-02 7.51210474e-04 9.99806450e-01 -8.46946970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.414391418000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.37, Y:0.69, Z:-0.08 [[ 9.94560619e-01 -1.02288801e-01 -1.96513868e-02 7.36710842e+00] [ 1.02253483e-01 9.94754445e-01 -2.79637481e-03 6.94046876e-01] [ 1.98343422e-02 7.71741519e-04 9.99802982e-01 -8.41970262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444391418 meters Centerline goodness [0,1] 0.9998948231977955 Centerline is valid? [True, True] Translation: X:7.39, Y:0.70, Z:-0.09 [[ 9.94571322e-01 -1.02205895e-01 -1.95407582e-02 7.39436160e+00] [ 1.02170886e-01 9.94762966e-01 -2.78421249e-03 6.99790478e-01] [ 1.97229855e-02 7.72601309e-04 9.99805184e-01 -8.55397600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.474391418 meters Centerline goodness [0,1] 0.9999579195421646 Centerline is valid? [True, True] Translation: X:7.42, Y:0.70, Z:-0.08 [[ 9.94288328e-01 -1.04725286e-01 -2.05751200e-02 7.42213431e+00] [ 1.04686964e-01 9.94500896e-01 -2.93387483e-03 7.04279528e-01] [ 2.07692261e-02 7.63170667e-04 9.99784005e-01 -8.48135511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504391418 meters Centerline goodness [0,1] 0.9999369111709286 Centerline is valid? [True, True] Translation: X:7.45, Y:0.70, Z:-0.08 [[ 9.94065523e-01 -1.06943699e-01 -1.99193511e-02 7.45073993e+00] [ 1.06908130e-01 9.94264832e-01 -2.84512604e-03 7.04791903e-01] [ 2.01093786e-02 6.98701127e-04 9.99797542e-01 -8.38725086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.534391418 meters Centerline goodness [0,1] 0.9998526812021213 Centerline is valid? [True, True] Translation: X:7.48, Y:0.71, Z:-0.08 [[ 9.93829622e-01 -1.09268356e-01 -1.90554251e-02 7.47927069e+00] [ 1.09236118e-01 9.94012088e-01 -2.72764855e-03 7.06233972e-01] [ 1.92393685e-02 6.29277259e-04 9.99814708e-01 -8.36457707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564391418 meters Centerline goodness [0,1] 0.9999159204607558 Centerline is valid? [True, True] Translation: X:7.51, Y:0.71, Z:-0.08 [[ 9.93577818e-01 -1.11635568e-01 -1.84558735e-02 7.50703566e+00] [ 1.11605670e-01 9.93749051e-01 -2.64527928e-03 7.09289864e-01] [ 1.86358141e-02 5.68510679e-04 9.99826177e-01 -8.15651350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.594391418 meters Centerline goodness [0,1] 0.999957955811558 Centerline is valid? [True, True] Translation: X:7.53, Y:0.71, Z:-0.08 [[ 9.93241860e-01 -1.14702243e-01 -1.77201157e-02 7.53484778e+00] [ 1.14675135e-01 9.93399795e-01 -2.54173501e-03 7.09484675e-01] [ 1.78947020e-02 4.92500944e-04 9.99839756e-01 -8.22710020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.56, Y:0.71, Z:-0.08 [[ 9.93066569e-01 -1.16030048e-01 -1.88631181e-02 7.56364098e+00] [ 1.15999483e-01 9.93245576e-01 -2.71020725e-03 7.10769521e-01] [ 1.90501741e-02 5.03304270e-04 9.99818402e-01 -8.13167637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.654391418000001 meters Centerline goodness [0,1] 0.9999789517996212 Centerline is valid? [True, True] Translation: X:7.59, Y:0.71, Z:-0.08 [[ 9.92956615e-01 -1.16885511e-01 -1.93632949e-02 7.59161017e+00] [ 1.16853332e-01 9.93145267e-01 -2.78894173e-03 7.12691810e-01] [ 1.95565516e-02 5.06632612e-04 9.99808624e-01 -8.17510851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.62, Y:0.72, Z:-0.08 [[ 9.92870212e-01 -1.17508812e-01 -2.00105366e-02 7.61822136e+00] [ 1.17474474e-01 9.93071706e-01 -2.88699406e-03 7.19134250e-01] [ 2.02111449e-02 5.15683146e-04 9.99795601e-01 -8.35518998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.714391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.65, Y:0.72, Z:-0.08 [[ 9.92679697e-01 -1.18845094e-01 -2.15142714e-02 7.64698965e+00] [ 1.18805576e-01 9.92912665e-01 -3.11029798e-03 7.18167802e-01] [ 2.17314362e-02 5.31514258e-04 9.99763703e-01 -8.36300503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744391418000001 meters Centerline goodness [0,1] 0.9998948519515478 Centerline is valid? [True, True] Translation: X:7.68, Y:0.72, Z:-0.08 [[ 9.92537856e-01 -1.20038797e-01 -2.14310858e-02 7.67591346e+00] [ 1.19999706e-01 9.92769070e-01 -3.10547248e-03 7.19134673e-01] [ 2.16488963e-02 5.10574991e-04 9.99765505e-01 -8.46838106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.774391418 meters Centerline goodness [0,1] 0.9998527865404837 Centerline is valid? [True, True] Translation: X:7.70, Y:0.72, Z:-0.09 [[ 9.92370714e-01 -1.21264480e-01 -2.22551425e-02 7.70364719e+00] [ 1.21222452e-01 9.92620101e-01 -3.23293861e-03 7.22310436e-01] [ 2.24829424e-02 5.10450662e-04 9.99747096e-01 -8.59694409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804391418 meters Centerline goodness [0,1] 0.9998736230174611 Centerline is valid? [True, True] Translation: X:7.73, Y:0.72, Z:-0.09 [[ 9.91901670e-01 -1.24852207e-01 -2.33024381e-02 7.73304593e+00] [ 1.24806930e-01 9.92175245e-01 -3.39308232e-03 7.22721791e-01] [ 2.35437361e-02 4.57298266e-04 9.99722703e-01 -8.69442975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.834391418000001 meters Centerline goodness [0,1] 0.9999158727154184 Centerline is valid? [True, True] Translation: X:7.76, Y:0.72, Z:-0.09 [[ 9.91565075e-01 -1.27376316e-01 -2.39577777e-02 7.76195276e+00] [ 1.27329003e-01 9.91854375e-01 -3.49633982e-03 7.23849655e-01] [ 2.42079775e-02 4.16328519e-04 9.99706857e-01 -8.58228351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.79, Y:0.72, Z:-0.08 [[ 9.91094401e-01 -1.30932733e-01 -2.42591857e-02 7.79137757e+00] [ 1.30885101e-01 9.91391196e-01 -3.54783170e-03 7.24660594e-01] [ 2.45148705e-02 3.41070145e-04 9.99699407e-01 -8.34559047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.894391418 meters Centerline goodness [0,1] 0.9998948231977955 Centerline is valid? [True, True] Translation: X:7.82, Y:0.73, Z:-0.09 [[ 9.90662796e-01 -1.34386209e-01 -2.29689075e-02 7.81978547e+00] [ 1.34344273e-01 9.90929001e-01 -3.36625679e-03 7.25336886e-01] [ 2.32129350e-02 2.49084199e-04 9.99730512e-01 -8.53857734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924391418 meters Centerline goodness [0,1] 0.9999368288060644 Centerline is valid? [True, True] Translation: X:7.85, Y:0.72, Z:-0.08 [[ 9.89462361e-01 -1.43031955e-01 -2.24965818e-02 7.84906823e+00] [ 1.42993795e-01 9.89718070e-01 -3.30414529e-03 7.22005736e-01] [ 2.27378719e-02 5.24557773e-05 9.99741460e-01 -8.40713298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.954391418 meters Centerline goodness [0,1] 0.9998951012273156 Centerline is valid? [True, True] Translation: X:7.88, Y:0.72, Z:-0.08 [[ 9.88796813e-01 -1.47562612e-01 -2.24975121e-02 7.87741842e+00] [ 1.47525443e-01 9.89052715e-01 -3.31210041e-03 7.23123609e-01] [ 2.27399676e-02 -4.39610935e-05 9.99741413e-01 -8.46437518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.91, Y:0.72, Z:-0.08 [[ 9.88018040e-01 -1.52610871e-01 -2.30276740e-02 7.90666214e+00] [ 1.52573121e-01 9.88286344e-01 -3.39782935e-03 7.24099814e-01] [ 2.32764814e-02 -1.56287380e-04 9.99729054e-01 -8.22743981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.014391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.94, Y:0.72, Z:-0.08 [[ 9.86515792e-01 -1.61856101e-01 -2.42733345e-02 7.93641179e+00] [ 1.61816863e-01 9.86814293e-01 -3.58516098e-03 7.18734771e-01] [ 2.45335536e-02 -3.91016921e-04 9.99698931e-01 -8.38171700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044391418 meters Centerline goodness [0,1] 0.9999367675575416 Centerline is valid? [True, True] Translation: X:7.97, Y:0.72, Z:-0.09 [[ 9.85865331e-01 -1.65837484e-01 -2.38217844e-02 7.96515274e+00] [ 1.65800797e-01 9.86152980e-01 -3.52078667e-03 7.18334309e-01] [ 2.40758021e-02 -4.78649317e-04 9.99710021e-01 -8.55602182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.074391418000001 meters Centerline goodness [0,1] 0.999831273463534 Centerline is valid? [True, True] Translation: X:7.99, Y:0.72, Z:-0.09 [[ 9.85151613e-01 -1.70021107e-01 -2.38562848e-02 7.99389161e+00] [ 1.69985396e-01 9.85440253e-01 -3.53180815e-03 7.19059875e-01] [ 2.41094253e-02 -5.75853521e-04 9.99709160e-01 -8.67936479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.104391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.02, Y:0.72, Z:-0.08 [[ 9.84447845e-01 -1.74031519e-01 -2.39889551e-02 8.02370563e+00] [ 1.73996527e-01 9.84739851e-01 -3.55437300e-03 7.21594137e-01] [ 2.42414531e-02 -6.74900052e-04 9.99705905e-01 -8.26944092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.134391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.05, Y:0.73, Z:-0.08 [[ 9.83736257e-01 -1.78376632e-01 -2.10891654e-02 8.05135682e+00] [ 1.78350548e-01 9.83962046e-01 -3.12649027e-03 7.26028653e-01] [ 2.13086311e-02 -6.85622367e-04 9.99772710e-01 -7.92523536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164391418000001 meters Centerline goodness [0,1] 0.9998950505856178 Centerline is valid? [True, True] Translation: X:8.08, Y:0.73, Z:-0.08 [[ 9.83675079e-01 -1.78865612e-01 -1.97593576e-02 8.07893249e+00] [ 1.78842771e-01 9.83873300e-01 -2.93139790e-03 7.30943654e-01] [ 1.99650307e-02 -6.50275212e-04 9.99800467e-01 -8.01410169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.194391418 meters Centerline goodness [0,1] 0.9998527400862522 Centerline is valid? [True, True] Translation: X:8.11, Y:0.74, Z:-0.08 [[ 9.83618865e-01 -1.79301405e-01 -1.85724027e-02 8.10631176e+00] [ 1.79281214e-01 9.83793997e-01 -2.76009001e-03 7.39552110e-01] [ 1.87663063e-02 -6.14806306e-04 9.99823708e-01 -7.84626590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.13, Y:0.74, Z:-0.08 [[ 9.83538684e-01 -1.79770158e-01 -1.82851834e-02 8.13379649e+00] [ 1.79750599e-01 9.83708452e-01 -2.72111570e-03 7.42899100e-01] [ 1.84764649e-02 -6.10450112e-04 9.99829109e-01 -7.56281833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.254391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.16, Y:0.75, Z:-0.08 [[ 9.83743000e-01 -1.78620478e-01 -1.85589647e-02 8.16091594e+00] [ 1.78600047e-01 9.83917869e-01 -2.76596113e-03 7.52899104e-01] [ 1.87545543e-02 -5.93637079e-04 9.99823942e-01 -7.63761235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284391418 meters Centerline goodness [0,1] 0.9999156242748961 Centerline is valid? [True, True] Translation: X:8.19, Y:0.76, Z:-0.08 [[ 9.83952567e-01 -1.77546463e-01 -1.77369249e-02 8.18843532e+00] [ 1.77527538e-01 9.84112269e-01 -2.64847851e-03 7.61169992e-01] [ 1.79253534e-02 -5.42815392e-04 9.99839181e-01 -7.82941273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.314391418 meters Centerline goodness [0,1] 0.9998735031202564 Centerline is valid? [True, True] Translation: X:8.22, Y:0.77, Z:-0.08 [[ 9.84125351e-01 -1.76587712e-01 -1.77221213e-02 8.21613030e+00] [ 1.76568572e-01 9.84284771e-01 -2.65136465e-03 7.70033050e-01] [ 1.79118125e-02 -5.19894475e-04 9.99839435e-01 -7.88581564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344391418 meters Centerline goodness [0,1] 0.9999156456272802 Centerline is valid? [True, True] Translation: X:8.24, Y:0.79, Z:-0.08 [[ 9.84402647e-01 -1.74946887e-01 -1.85745773e-02 8.24305305e+00] [ 1.74925464e-01 9.84577741e-01 -2.78446456e-03 7.85499790e-01] [ 1.87752488e-02 -5.08132279e-04 9.99823600e-01 -7.82781261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.374391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.27, Y:0.79, Z:-0.08 [[ 9.84389936e-01 -1.74969953e-01 -1.90255171e-02 8.26971241e+00] [ 1.74947362e-01 9.84573639e-01 -2.85828973e-03 7.94117958e-01] [ 1.92321374e-02 -5.14792376e-04 9.99814913e-01 -7.60330469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.30, Y:0.80, Z:-0.07 [[ 9.84388682e-01 -1.74992283e-01 -1.88845038e-02 8.29617629e+00] [ 1.74969904e-01 9.84569676e-01 -2.84367517e-03 8.04533238e-01] [ 1.90907310e-02 -5.04938172e-04 9.99817628e-01 -7.48480195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.434391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.32, Y:0.81, Z:-0.07 [[ 9.84319273e-01 -1.75410975e-01 -1.86160955e-02 8.32299023e+00] [ 1.75389181e-01 9.84495170e-01 -2.80978960e-03 8.12981723e-01] [ 1.88203240e-02 -4.99331679e-04 9.99822757e-01 -7.47926233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464391418 meters Centerline goodness [0,1] 0.9998312414302288 Centerline is valid? [True, True] Translation: X:8.35, Y:0.82, Z:-0.08 [[ 9.84234256e-01 -1.75979653e-01 -1.77225873e-02 8.34875496e+00] [ 1.75959904e-01 9.84393687e-01 -2.67986822e-03 8.23796199e-01] [ 1.79176054e-02 -4.80846660e-04 9.99839351e-01 -7.76603971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.494391418000001 meters Centerline goodness [0,1] 0.9998945926004006 Centerline is valid? [True, True] Translation: X:8.38, Y:0.83, Z:-0.08 [[ 9.84072809e-01 -1.76934575e-01 -1.71715397e-02 8.37704543e+00] [ 1.76916099e-01 9.84222499e-01 -2.60121971e-03 8.30835551e-01] [ 1.73608614e-02 -4.78132236e-04 9.99849175e-01 -7.62716668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524391418 meters Centerline goodness [0,1] 0.9998945926004006 Centerline is valid? [True, True] Translation: X:8.40, Y:0.84, Z:-0.08 [[ 9.84013388e-01 -1.77264827e-01 -1.71707114e-02 8.40416596e+00] [ 1.77246306e-01 9.84163072e-01 -2.60667943e-03 8.35161954e-01] [ 1.73608527e-02 -4.78437722e-04 9.99849175e-01 -7.60741213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.554391418 meters Centerline goodness [0,1] 0.999831155948587 Centerline is valid? [True, True] Translation: X:8.43, Y:0.84, Z:-0.08 [[ 9.83863277e-01 -1.78114645e-01 -1.69772057e-02 8.43178792e+00] [ 1.78096574e-01 9.84009624e-01 -2.58265598e-03 8.42172271e-01] [ 1.71657426e-02 -4.82601790e-04 9.99852541e-01 -7.65125512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584391418000001 meters Centerline goodness [0,1] 0.9998316108526806 Centerline is valid? [True, True] Translation: X:8.46, Y:0.85, Z:-0.08 [[ 9.83543577e-01 -1.79842513e-01 -1.72830080e-02 8.45889654e+00] [ 1.79823961e-01 9.83695280e-01 -2.63433698e-03 8.53525194e-01] [ 1.74749792e-02 -5.16913745e-04 9.99847167e-01 -7.68702562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.614391418 meters Centerline goodness [0,1] 0.9999368593858523 Centerline is valid? [True, True] Translation: X:8.49, Y:0.86, Z:-0.08 [[ 9.83380297e-01 -1.80729282e-01 -1.73238883e-02 8.48608683e+00] [ 1.80710714e-01 9.83532737e-01 -2.64431668e-03 8.61169005e-01] [ 1.75165168e-02 -5.30243309e-04 9.99846433e-01 -7.56219988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644391418 meters Centerline goodness [0,1] 0.9998100985377587 Centerline is valid? [True, True] Translation: X:8.51, Y:0.87, Z:-0.08 [[ 9.83350598e-01 -1.80911501e-01 -1.71064485e-02 8.51267752e+00] [ 1.80893346e-01 9.83499240e-01 -2.61558263e-03 8.69403019e-01] [ 1.72973681e-02 -5.22407964e-04 9.99850253e-01 -7.66942582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.674391418 meters Centerline goodness [0,1] 0.999705343800644 Centerline is valid? [True, True] Translation: X:8.54, Y:0.88, Z:-0.07 [[ 9.83617564e-01 -1.79575293e-01 -1.57861270e-02 8.53885333e+00] [ 1.79559606e-01 9.83744126e-01 -2.41714757e-03 8.82883613e-01] [ 1.59635697e-02 -4.57001935e-04 9.99872470e-01 -7.49728298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704391418 meters Centerline goodness [0,1] 0.999789646395591 Centerline is valid? [True, True] Translation: X:8.57, Y:0.90, Z:-0.07 [[ 9.83684214e-01 -1.79295327e-01 -1.47835050e-02 8.56620338e+00] [ 1.79281488e-01 9.83795207e-01 -2.26696232e-03 8.97067725e-01] [ 1.49503971e-02 -4.20433736e-04 9.99888148e-01 -6.83714131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.734391418 meters Centerline goodness [0,1] 0.9995380189412234 Centerline is valid? [True, True] Translation: X:8.59, Y:0.91, Z:-0.07 [[ 9.84069807e-01 -1.77220098e-01 -1.41298404e-02 8.59281142e+00] [ 1.77207196e-01 9.84171175e-01 -2.16990112e-03 9.06938912e-01] [ 1.42907317e-02 -3.68575215e-04 9.99897814e-01 -7.08498377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764391418 meters Centerline goodness [0,1] 0.9995791334357442 Centerline is valid? [True, True] Translation: X:8.62, Y:0.92, Z:-0.07 [[ 9.84359797e-01 -1.75710834e-01 -1.27079544e-02 8.62002315e+00] [ 1.75700239e-01 9.84441774e-01 -1.95422892e-03 9.17059947e-01] [ 1.28536204e-02 -3.09126240e-04 9.99917341e-01 -6.78589573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.794391418 meters Centerline goodness [0,1] 0.9995177792687018 Centerline is valid? [True, True] Translation: X:8.65, Y:0.93, Z:-0.07 [[ 9.84787818e-01 -1.73311609e-01 -1.24915641e-02 8.64759969e+00] [ 1.73301147e-01 9.84867003e-01 -1.92341781e-03 9.26825661e-01] [ 1.26358799e-02 -2.70643948e-04 9.99920127e-01 -6.92958275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824391418000001 meters Centerline goodness [0,1] 0.9993479724045095 Centerline is valid? [True, True] Translation: X:8.68, Y:0.94, Z:-0.06 [[ 9.85550903e-01 -1.69047734e-01 -1.05962470e-02 8.67517559e+00] [ 1.69039954e-01 9.85607848e-01 -1.63204316e-03 9.44975639e-01] [ 1.07196374e-02 -1.82727486e-04 9.99942526e-01 -6.35528030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.854391418 meters Centerline goodness [0,1] 0.9993075228202707 Centerline is valid? [True, True] Translation: X:8.71, Y:0.96, Z:-0.06 [[ 9.86015907e-01 -1.66344173e-01 -1.01117651e-02 8.70535817e+00] [ 1.66336946e-01 9.86067743e-01 -1.55743997e-03 9.57140034e-01] [ 1.02299565e-02 -1.46299550e-04 9.99947662e-01 -6.25753934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884391418 meters Centerline goodness [0,1] 0.999206017551191 Centerline is valid? [True, True] Translation: X:8.74, Y:0.98, Z:-0.07 [[ 9.86792419e-01 -1.61676407e-01 -1.00727638e-02 8.73533926e+00] [ 1.61668998e-01 9.86843822e-01 -1.55088022e-03 9.75625085e-01] [ 1.01909855e-02 -9.80567823e-05 9.99948066e-01 -6.50669827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.914391418000001 meters Centerline goodness [0,1] 0.9993073047858942 Centerline is valid? [True, True] Translation: X:8.77, Y:0.99, Z:-0.06 [[ 9.87072803e-01 -1.60039964e-01 -8.63088804e-03 8.76586249e+00] [ 1.60034467e-01 9.87110533e-01 -1.32825685e-03 9.85158374e-01] [ 8.73221468e-03 -7.01533567e-05 9.99961871e-01 -6.21238588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944391418 meters Centerline goodness [0,1] 0.9990789969439444 Centerline is valid? [True, True] Translation: X:8.80, Y:1.00, Z:-0.07 [[ 9.87442894e-01 -1.57686170e-01 -9.57098661e-03 8.79695276e+00] [ 1.57679307e-01 9.87489275e-01 -1.47221912e-03 9.95236121e-01] [ 9.68339523e-03 -5.54142323e-05 9.99953113e-01 -6.50144514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.974391418 meters Centerline goodness [0,1] 0.9994130225147793 Centerline is valid? [True, True] Translation: X:8.83, Y:1.01, Z:-0.06 [[ 9.87762179e-01 -1.55708024e-01 -8.99378900e-03 8.82794827e+00] [ 1.55701888e-01 9.87803123e-01 -1.38269171e-03 1.00566849e+00] [ 9.09938905e-03 -3.45793546e-05 9.99958599e-01 -6.41318872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004391418 meters Centerline goodness [0,1] 0.9991011517799285 Centerline is valid? [True, True] Translation: X:8.86, Y:1.02, Z:-0.06 [[ 9.88348272e-01 -1.51904206e-01 -9.63351281e-03 8.85738806e+00] [ 1.51896994e-01 9.88395221e-01 -1.48018659e-03 1.02232827e+00] [ 9.74656459e-03 -3.61782006e-07 9.99952501e-01 -6.39851540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.034391418 meters Centerline goodness [0,1] 0.9992461838055154 Centerline is valid? [True, True] Translation: X:8.89, Y:1.03, Z:-0.06 [[ 9.88577896e-01 -1.50382740e-01 -9.93860870e-03 8.88934411e+00] [ 1.50374995e-01 9.88627853e-01 -1.52620334e-03 1.03289187e+00] [ 1.00551000e-02 1.42526521e-05 9.99949446e-01 -6.30976689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064391418 meters Centerline goodness [0,1] 0.9991643163062781 Centerline is valid? [True, True] Translation: X:8.92, Y:1.04, Z:-0.07 [[ 9.88866037e-01 -1.48417929e-01 -1.07740345e-02 8.92065250e+00] [ 1.48408726e-01 9.88924728e-01 -1.65316575e-03 1.04251204e+00] [ 1.09000686e-02 3.57987308e-05 9.99940592e-01 -6.53747562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.094391418 meters Centerline goodness [0,1] 0.9994981074468308 Centerline is valid? [True, True] Translation: X:8.95, Y:1.05, Z:-0.06 [[ 9.89035856e-01 -1.47317322e-01 -1.02801916e-02 8.95123390e+00] [ 1.47308894e-01 9.89089280e-01 -1.57644710e-03 1.05189106e+00] [ 1.04002653e-02 4.47990492e-05 9.99945915e-01 -6.18853641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124391418 meters Centerline goodness [0,1] 0.9992234232343373 Centerline is valid? [True, True] Translation: X:8.98, Y:1.07, Z:-0.06 [[ 9.89495370e-01 -1.44213017e-01 -1.00756147e-02 8.98072980e+00] [ 1.44204772e-01 9.89546664e-01 -1.54382640e-03 1.06639262e+00] [ 1.01929307e-02 7.46573569e-05 9.99948048e-01 -6.13741681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.154391418 meters Centerline goodness [0,1] 0.9993714381495139 Centerline is valid? [True, True] Translation: X:9.01, Y:1.08, Z:-0.06 [[ 9.89733340e-01 -1.42570477e-01 -1.00783824e-02 9.01210848e+00] [ 1.42562158e-01 9.89784649e-01 -1.54282239e-03 1.07554089e+00] [ 1.01953891e-02 9.01868207e-05 9.99948022e-01 -6.08383097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184391418 meters Centerline goodness [0,1] 0.9993081906039706 Centerline is valid? [True, True] Translation: X:9.04, Y:1.08, Z:-0.06 [[ 9.89960907e-01 -1.40980930e-01 -1.00886399e-02 9.04377683e+00] [ 1.40972520e-01 9.90012306e-01 -1.54350785e-03 1.08393815e+00] [ 1.02054828e-02 1.05791443e-04 9.99947917e-01 -6.24524261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.214391418 meters Centerline goodness [0,1] 0.9990351944292966 Centerline is valid? [True, True] Translation: X:9.07, Y:1.09, Z:-0.06 [[ 9.90081897e-01 -1.40172767e-01 -9.45693161e-03 9.07355083e+00] [ 1.40165347e-01 9.90127055e-01 -1.44611455e-03 1.09259546e+00] [ 9.56626971e-03 1.06237728e-04 9.99954237e-01 -6.18479696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244391418000001 meters Centerline goodness [0,1] 0.9993282955499581 Centerline is valid? [True, True] Translation: X:9.10, Y:1.10, Z:-0.06 [[ 9.90232572e-01 -1.39154688e-01 -8.68478335e-03 9.10487693e+00] [ 1.39148396e-01 9.90270651e-01 -1.32747455e-03 1.10016309e+00] [ 8.78501037e-03 1.06034869e-04 9.99961405e-01 -6.14282809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.274391418 meters Centerline goodness [0,1] 0.9992026187678361 Centerline is valid? [True, True] Translation: X:9.14, Y:1.11, Z:-0.06 [[ 9.90361545e-01 -1.38298071e-01 -7.59303128e-03 9.13516960e+00] [ 1.38293241e-01 9.90390647e-01 -1.16003686e-03 1.10971281e+00] [ 7.68049802e-03 9.87909946e-05 9.99970500e-01 -5.92457699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304391418 meters Centerline goodness [0,1] 0.9993897948448185 Centerline is valid? [True, True] Translation: X:9.17, Y:1.12, Z:-0.06 [[ 9.90407935e-01 -1.37961730e-01 -7.66048848e-03 9.16624480e+00] [ 1.37956808e-01 9.90437555e-01 -1.16982933e-03 1.11704012e+00] [ 7.74862716e-03 1.01791712e-04 9.99969974e-01 -5.90267449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.334391418000001 meters Centerline goodness [0,1] 0.9990766970936943 Centerline is valid? [True, True] Translation: X:9.20, Y:1.12, Z:-0.06 [[ 9.90444038e-01 -1.37693857e-01 -7.81081135e-03 9.19777926e+00] [ 1.37688738e-01 9.90474831e-01 -1.19194800e-03 1.12363522e+00] [ 7.90053596e-03 1.05097031e-04 9.99968785e-01 -5.98561976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364391418 meters Centerline goodness [0,1] 0.9991583022957304 Centerline is valid? [True, True] Translation: X:9.23, Y:1.13, Z:-0.06 [[ 9.90357263e-01 -1.38357265e-01 -7.05405953e-03 9.22991795e+00] [ 1.38353115e-01 9.90382380e-01 -1.07524921e-03 1.12971753e+00] [ 7.13498481e-03 8.89297503e-05 9.99974542e-01 -5.83075171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.394391418 meters Centerline goodness [0,1] 0.9993068974208182 Centerline is valid? [True, True] Translation: X:9.26, Y:1.14, Z:-0.06 [[ 9.90342110e-01 -1.38430566e-01 -7.71253214e-03 9.26101619e+00] [ 1.38425619e-01 9.90372137e-01 -1.17420769e-03 1.13805273e+00] [ 7.80082317e-03 9.52552821e-05 9.99969569e-01 -5.94379734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424391418 meters Centerline goodness [0,1] 0.9992218717139852 Centerline is valid? [True, True] Translation: X:9.29, Y:1.14, Z:-0.06 [[ 9.90277316e-01 -1.38897602e-01 -7.63503012e-03 9.29328891e+00] [ 1.38892785e-01 9.90306745e-01 -1.16006227e-03 1.14372165e+00] [ 7.72215169e-03 8.83327494e-05 9.99970180e-01 -5.88882524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.454391418 meters Centerline goodness [0,1] 0.9994129117480552 Centerline is valid? [True, True] Translation: X:9.32, Y:1.15, Z:-0.06 [[ 9.90171526e-01 -1.39626094e-01 -8.05621851e-03 9.32335475e+00] [ 1.39620777e-01 9.90204296e-01 -1.22134499e-03 1.15128232e+00] [ 8.14783380e-03 8.45255403e-05 9.99966802e-01 -5.91278904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484391418 meters Centerline goodness [0,1] 0.9992243186582809 Centerline is valid? [True, True] Translation: X:9.36, Y:1.16, Z:-0.06 [[ 9.90012761e-01 -1.40726213e-01 -8.41824027e-03 9.35508701e+00] [ 1.40720465e-01 9.90048548e-01 -1.27417055e-03 1.15624956e+00] [ 8.51377575e-03 7.68264174e-05 9.99963754e-01 -5.98784788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.514391418 meters Centerline goodness [0,1] 0.9990142617449664 Centerline is valid? [True, True] Translation: X:9.39, Y:1.16, Z:-0.06 [[ 9.89778691e-01 -1.42271716e-01 -9.84386397e-03 9.38765495e+00] [ 1.42263947e-01 9.89827638e-01 -1.48855018e-03 1.15929868e+00] [ 9.95550722e-03 7.29083028e-05 9.99950440e-01 -6.18930463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544391418 meters Centerline goodness [0,1] 0.9992443800768214 Centerline is valid? [True, True] Translation: X:9.42, Y:1.17, Z:-0.06 [[ 9.89735969e-01 -1.42570829e-01 -9.81175780e-03 9.41892378e+00] [ 1.42563154e-01 9.89784600e-01 -1.48081372e-03 1.16519897e+00] [ 9.92264760e-03 6.68194626e-05 9.99950767e-01 -6.07983944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.574391418000001 meters Centerline goodness [0,1] 0.9993073484037529 Centerline is valid? [True, True] Translation: X:9.45, Y:1.17, Z:-0.06 [[ 9.89838284e-01 -1.41855784e-01 -9.85435556e-03 9.45003856e+00] [ 1.41848037e-01 9.89887333e-01 -1.48421182e-03 1.17186421e+00] [ 9.96524577e-03 7.13086927e-05 9.99950343e-01 -6.07026757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604391418 meters Centerline goodness [0,1] 0.9991596108998466 Centerline is valid? [True, True] Translation: X:9.48, Y:1.18, Z:-0.06 [[ 9.90129010e-01 -1.39811794e-01 -9.85925987e-03 9.48259176e+00] [ 1.39803968e-01 9.90178092e-01 -1.48188741e-03 1.18090920e+00] [ 9.96960846e-03 8.88960628e-05 9.99950298e-01 -6.00221995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.634391418 meters Centerline goodness [0,1] 0.9990779547359597 Centerline is valid? [True, True] Translation: X:9.51, Y:1.19, Z:-0.06 [[ 9.90343320e-01 -1.38304881e-01 -9.58478505e-03 9.51365965e+00] [ 1.38297444e-01 9.90389696e-01 -1.43759492e-03 1.18806224e+00] [ 9.69149874e-03 9.81612486e-05 9.99953032e-01 -5.97213805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664391418000001 meters Centerline goodness [0,1] 0.9992649992649992 Centerline is valid? [True, True] Translation: X:9.54, Y:1.19, Z:-0.06 [[ 9.90460997e-01 -1.37568039e-01 -7.87699950e-03 9.54469672e+00] [ 1.37563009e-01 9.90492316e-01 -1.17942621e-03 1.19463791e+00] [ 7.96435883e-03 8.45919021e-05 9.99968280e-01 -5.63341025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.694391418 meters Centerline goodness [0,1] 0.9992223133026462 Centerline is valid? [True, True] Translation: X:9.58, Y:1.20, Z:-0.06 [[ 9.90661208e-01 -1.36125429e-01 -7.76137467e-03 9.57594996e+00] [ 1.36120518e-01 9.90691606e-01 -1.15998313e-03 1.20030789e+00] [ 7.84703194e-03 9.26679475e-05 9.99969207e-01 -5.77880804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724391418 meters Centerline goodness [0,1] 0.9991993763563196 Centerline is valid? [True, True] Translation: X:9.61, Y:1.21, Z:-0.05 [[ 9.90641919e-01 -1.36347534e-01 -6.15934667e-03 9.60879252e+00] [ 1.36344446e-01 9.90661065e-01 -9.20416310e-04 1.20531413e+00] [ 6.22732142e-03 7.20102687e-05 9.99980607e-01 -5.45145008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.754391418 meters Centerline goodness [0,1] 0.9990519330032656 Centerline is valid? [True, True] Translation: X:9.64, Y:1.21, Z:-0.06 [[ 9.90614540e-01 -1.36519387e-01 -6.72974923e-03 9.64113096e+00] [ 1.36515722e-01 9.90637396e-01 -1.00322562e-03 1.21031220e+00] [ 6.80370101e-03 7.50933165e-05 9.99976852e-01 -5.63266888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784391418 meters Centerline goodness [0,1] 0.9993050729673384 Centerline is valid? [True, True] Translation: X:9.67, Y:1.22, Z:-0.06 [[ 9.90483242e-01 -1.37469792e-01 -6.70846079e-03 9.67240344e+00] [ 1.37466187e-01 9.90505957e-01 -9.97824029e-04 1.21527187e+00] [ 6.78194104e-03 6.61414542e-05 9.99977000e-01 -5.56894463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.814391418 meters Centerline goodness [0,1] 0.9988837640319286 Centerline is valid? [True, True] Translation: X:9.70, Y:1.22, Z:-0.06 [[ 9.90323322e-01 -1.38598081e-01 -7.09147498e-03 9.70450280e+00] [ 1.38594095e-01 9.90348710e-01 -1.05280489e-03 1.21938092e+00] [ 7.16894984e-03 5.97806770e-05 9.99974301e-01 -5.64722359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844391418 meters Centerline goodness [0,1] 0.9990081249340509 Centerline is valid? [True, True] Translation: X:9.74, Y:1.22, Z:-0.06 [[ 9.90129682e-01 -1.39992008e-01 -6.74166644e-03 9.73541816e+00] [ 1.39988451e-01 9.90152632e-01 -9.98996264e-04 1.22332844e+00] [ 6.81513026e-03 4.53804119e-05 9.99976776e-01 -5.60354692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.874391418 meters Centerline goodness [0,1] 0.9986515812316963 Centerline is valid? [True, True] Translation: X:9.77, Y:1.22, Z:-0.06 [[ 9.89714401e-01 -1.42879503e-01 -7.13100285e-03 9.76791737e+00] [ 1.42875607e-01 9.89740091e-01 -1.05547452e-03 1.22487121e+00] [ 7.20864508e-03 2.57719730e-05 9.99974017e-01 -5.74635582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904391418 meters Centerline goodness [0,1] 0.9989951221554629 Centerline is valid? [True, True] Translation: X:9.80, Y:1.23, Z:-0.06 [[ 9.89561266e-01 -1.43865509e-01 -8.43895479e-03 9.80052245e+00] [ 1.43860113e-01 9.89597249e-01 -1.24627987e-03 1.22806973e+00] [ 8.53046313e-03 1.92412981e-05 9.99963615e-01 -5.91391921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.934391418 meters Centerline goodness [0,1] 0.9990295563384739 Centerline is valid? [True, True] Translation: X:9.83, Y:1.23, Z:-0.06 [[ 9.89292581e-01 -1.45686055e-01 -8.70422950e-03 9.83381399e+00] [ 1.45680409e-01 9.89330872e-01 -1.28261170e-03 1.23143686e+00] [ 8.79822159e-03 8.42529871e-07 9.99961295e-01 -5.90164094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964391418 meters Centerline goodness [0,1] 0.9986934165050999 Centerline is valid? [True, True] Translation: X:9.87, Y:1.24, Z:-0.06 [[ 9.89044846e-01 -1.47303298e-01 -9.59322715e-03 9.86620939e+00] [ 1.47296547e-01 9.89091370e-01 -1.41039047e-03 1.23512177e+00] [ 9.69633335e-03 -1.81098121e-05 9.99952989e-01 -6.00786917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.994391418000001 meters Centerline goodness [0,1] 0.99881609268303 Centerline is valid? [True, True] Translation: X:9.90, Y:1.24, Z:-0.06 [[ 9.88439278e-01 -1.51241589e-01 -1.06666020e-02 9.89811658e+00] [ 1.51233500e-01 9.88496827e-01 -1.56558286e-03 1.23869080e+00] [ 1.07806834e-02 -6.56639560e-05 9.99941885e-01 -5.97728311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024391418 meters Centerline goodness [0,1] 0.9991135500211059 Centerline is valid? [True, True] Translation: X:9.93, Y:1.24, Z:-0.06 [[ 9.88165885e-01 -1.53035422e-01 -1.04088294e-02 9.92897599e+00] [ 1.53027829e-01 9.88220700e-01 -1.52670852e-03 1.24233927e+00] [ 1.05198611e-02 -8.41992825e-05 9.99944661e-01 -5.78521723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.054391418 meters Centerline goodness [0,1] 0.9986480206176855 Centerline is valid? [True, True] Translation: X:9.96, Y:1.25, Z:-0.06 [[ 9.87906132e-01 -1.54601971e-01 -1.18197128e-02 9.96113604e+00] [ 1.54592311e-01 9.87976830e-01 -1.73207353e-03 1.24562742e+00] [ 1.19453844e-02 -1.16110660e-04 9.99928645e-01 -6.11625487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084391418 meters Centerline goodness [0,1] 0.9990918307003464 Centerline is valid? [True, True] Translation: X:9.99, Y:1.25, Z:-0.06 [[ 9.87598279e-01 -1.56611229e-01 -1.10707582e-02 9.99345847e+00] [ 1.56602891e-01 9.87660319e-01 -1.62150150e-03 1.24857110e+00] [ 1.11880940e-02 -1.32320653e-04 9.99937403e-01 -5.92742162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.114391418 meters Centerline goodness [0,1] 0.9987123195136367 Centerline is valid? [True, True] Translation: X:10.02, Y:1.25, Z:-0.06 [[ 9.87027897e-01 -1.60169717e-01 -1.10268911e-02 1.00246880e+01] [ 1.60161675e-01 9.87089475e-01 -1.61430720e-03 1.24956736e+00] [ 1.11430913e-02 -1.72719109e-04 9.99937899e-01 -5.99723691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.144391418 meters Centerline goodness [0,1] 0.9987967575783163 Centerline is valid? [True, True] Translation: X:10.06, Y:1.25, Z:-0.06 [[ 9.86731389e-01 -1.62074337e-01 -9.64758419e-03 1.00570609e+01] [ 1.62068277e-01 9.86778537e-01 -1.41183277e-03 1.25351781e+00] [ 9.74885087e-03 -1.70467639e-04 9.99952464e-01 -5.74996352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.174391418 meters Centerline goodness [0,1] 0.9988819037171427 Centerline is valid? [True, True] Translation: X:10.09, Y:1.26, Z:-0.05 [[ 9.86463911e-01 -1.63754192e-01 -8.57424318e-03 1.00877999e+01] [ 1.63749474e-01 9.86501159e-01 -1.25420138e-03 1.25753701e+00] [ 8.66388156e-03 -1.66803412e-04 9.99962454e-01 -5.45505478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.204391418 meters Centerline goodness [0,1] 0.9986512402267602 Centerline is valid? [True, True] Translation: X:10.12, Y:1.26, Z:-0.06 [[ 9.86009665e-01 -1.66462859e-01 -8.66356543e-03 1.01193110e+01] [ 1.66458151e-01 9.86047706e-01 -1.26677675e-03 1.26138955e+00] [ 8.75356010e-03 -1.93066967e-04 9.99961668e-01 -5.59459441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.234391418 meters Centerline goodness [0,1] 0.9984981173583788 Centerline is valid? [True, True] Translation: X:10.15, Y:1.26, Z:-0.05 [[ 9.85695574e-01 -1.68336909e-01 -8.18048246e-03 1.01515180e+01] [ 1.68332780e-01 9.85729499e-01 -1.19568715e-03 1.26412680e+00] [ 8.26502116e-03 -1.98459822e-04 9.99965824e-01 -5.49984190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264391418 meters Centerline goodness [0,1] 0.9984594931099247 Centerline is valid? [True, True] Translation: X:10.18, Y:1.27, Z:-0.05 [[ 9.85350376e-01 -1.70349811e-01 -8.09806965e-03 1.01839697e+01] [ 1.70345837e-01 9.85383629e-01 -1.18304815e-03 1.26654197e+00] [ 8.18123729e-03 -2.13755510e-04 9.99966510e-01 -5.48842274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.294391418 meters Centerline goodness [0,1] 0.9983943888114252 Centerline is valid? [True, True] Translation: X:10.22, Y:1.27, Z:-0.06 [[ 9.84649121e-01 -1.74355645e-01 -8.13739863e-03 1.02158383e+01] [ 1.74351773e-01 9.84682714e-01 -1.18821272e-03 1.26698753e+00] [ 8.21992737e-03 -2.48797268e-04 9.99966185e-01 -5.56195492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324391418 meters Centerline goodness [0,1] 0.9988382408854717 Centerline is valid? [True, True] Translation: X:10.25, Y:1.27, Z:-0.05 [[ 9.84234952e-01 -1.76683495e-01 -8.03133448e-03 1.02477752e+01] [ 1.76679805e-01 9.84267683e-01 -1.17227846e-03 1.26976951e+00] [ 8.11210524e-03 -2.65177173e-04 9.99967061e-01 -5.40533228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.354391418 meters Centerline goodness [0,1] 0.9983303745033393 Centerline is valid? [True, True] Translation: X:10.28, Y:1.28, Z:-0.06 [[ 9.83885962e-01 -1.78541681e-01 -9.55414635e-03 1.02789305e+01] [ 1.78536553e-01 9.83932293e-01 -1.39379953e-03 1.27578186e+00] [ 9.64948443e-03 -3.34424565e-04 9.99953387e-01 -5.68870274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.384391418 meters Centerline goodness [0,1] 0.9987105229780577 Centerline is valid? [True, True] Translation: X:10.31, Y:1.28, Z:-0.06 [[ 9.83588151e-01 -1.80172206e-01 -9.60862731e-03 1.03100474e+01] [ 1.80167108e-01 9.83635019e-01 -1.40069518e-03 1.28273691e+00] [ 9.70374865e-03 -3.53451413e-04 9.99952855e-01 -5.61027047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.414391418 meters Centerline goodness [0,1] 0.9988565620632702 Centerline is valid? [True, True] Translation: X:10.34, Y:1.29, Z:-0.05 [[ 9.83150908e-01 -1.82597422e-01 -8.51315142e-03 1.03415581e+01] [ 1.82593526e-01 9.83187708e-01 -1.23925565e-03 1.28854763e+00] [ 8.59631072e-03 -3.36071014e-04 9.99962995e-01 -5.33550130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444391418 meters Centerline goodness [0,1] 0.9988565620632702 Centerline is valid? [True, True] Translation: X:10.37, Y:1.29, Z:-0.05 [[ 9.83173219e-01 -1.82477250e-01 -8.51326034e-03 1.03737980e+01] [ 1.82473356e-01 9.83210018e-01 -1.23850699e-03 1.29312120e+00] [ 8.59632221e-03 -3.35776277e-04 9.99962995e-01 -5.31211741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.474391418 meters Centerline goodness [0,1] 0.998498339713627 Centerline is valid? [True, True] Translation: X:10.41, Y:1.30, Z:-0.06 [[ 9.82752416e-01 -1.84653666e-01 -1.00355159e-02 1.04053152e+01] [ 1.84648383e-01 9.82803565e-01 -1.45850700e-03 1.29612564e+00] [ 1.01322595e-02 -4.19690506e-04 9.99948579e-01 -5.64892229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504391418 meters Centerline goodness [0,1] 0.9984131685849695 Centerline is valid? [True, True] Translation: X:10.44, Y:1.30, Z:-0.05 [[ 9.82462498e-01 -1.86235752e-01 -9.14798902e-03 1.04373162e+01] [ 1.86231440e-01 9.82505006e-01 -1.32843682e-03 1.30122973e+00] [ 9.23534744e-03 -3.98503810e-04 9.99957274e-01 -5.38840858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.534391418000002 meters Centerline goodness [0,1] 0.9982211304292582 Centerline is valid? [True, True] Translation: X:10.47, Y:1.30, Z:-0.05 [[ 9.82321528e-01 -1.86931109e-01 -1.00586636e-02 1.04695143e+01] [ 1.86925947e-01 9.82372924e-01 -1.45923351e-03 1.29580888e+00] [ 1.01541349e-02 -4.46788731e-04 9.99948346e-01 -5.48422545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.564391418 meters Centerline goodness [0,1] 0.998601457874216 Centerline is valid? [True, True] Translation: X:10.50, Y:1.30, Z:-0.05 [[ 9.82256690e-01 -1.87246020e-01 -1.05225416e-02 1.05013914e+01] [ 1.87240413e-01 9.82312936e-01 -1.52428036e-03 1.30155771e+00] [ 1.06218442e-02 -4.73010455e-04 9.99943475e-01 -5.44229971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.594391418 meters Centerline goodness [0,1] 0.9985385071591968 Centerline is valid? [True, True] Translation: X:10.53, Y:1.32, Z:-0.06 [[ 9.82410133e-01 -1.86336277e-01 -1.22115698e-02 1.05321093e+01] [ 1.86328669e-01 9.82485879e-01 -1.76783051e-03 1.31796525e+00] [ 1.23271059e-02 -5.38630955e-04 9.99923873e-01 -5.63419842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624391418000002 meters Centerline goodness [0,1] 0.9984262685551444 Centerline is valid? [True, True] Translation: X:10.56, Y:1.33, Z:-0.06 [[ 9.82380683e-01 -1.86503941e-01 -1.20197222e-02 1.05637579e+01] [ 1.86496597e-01 9.82454068e-01 -1.73893895e-03 1.32607048e+00] [ 1.21331440e-02 -5.33337256e-04 9.99926248e-01 -5.53622020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.654391418 meters Centerline goodness [0,1] 0.9983854177731512 Centerline is valid? [True, True] Translation: X:10.60, Y:1.33, Z:-0.06 [[ 9.82467553e-01 -1.86064004e-01 -1.17342937e-02 1.05950389e+01] [ 1.86056994e-01 9.82537490e-01 -1.69585811e-03 1.33017233e+00] [ 1.18449217e-02 -5.17121847e-04 9.99929713e-01 -5.54851038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684391418 meters Centerline goodness [0,1] 0.9985756197117225 Centerline is valid? [True, True] Translation: X:10.63, Y:1.33, Z:-0.05 [[ 9.82361312e-01 -1.86714736e-01 -1.01912235e-02 1.06265199e+01] [ 1.86709503e-01 9.82414066e-01 -1.47097444e-03 1.33486101e+00] [ 1.02866539e-02 -4.57769890e-04 9.99946986e-01 -5.25569889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.714391418 meters Centerline goodness [0,1] 0.9986594033280844 Centerline is valid? [True, True] Translation: X:10.66, Y:1.34, Z:-0.05 [[ 9.82452341e-01 -1.86240775e-01 -1.00881593e-02 1.06587992e+01] [ 1.86235631e-01 9.82504032e-01 -1.45522643e-03 1.34002394e+00] [ 1.01826797e-02 -4.49084105e-04 9.99948054e-01 -5.24153436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.744391418 meters Centerline goodness [0,1] 0.998850036202564 Centerline is valid? [True, True] Translation: X:10.69, Y:1.35, Z:-0.05 [[ 9.82559493e-01 -1.85748347e-01 -8.62516934e-03 1.06897275e+01] [ 1.85744574e-01 9.82597276e-01 -1.24345378e-03 1.34745814e+00] [ 8.70603739e-03 -3.80311091e-04 9.99962029e-01 -4.96508142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.774391418 meters Centerline goodness [0,1] 0.9987458282847608 Centerline is valid? [True, True] Translation: X:10.72, Y:1.35, Z:-0.05 [[ 9.82702293e-01 -1.84973661e-01 -8.99707160e-03 1.07199975e+01] [ 1.84969532e-01 9.82743401e-01 -1.29617745e-03 1.35319899e+00] [ 9.08157143e-03 -3.90427569e-04 9.99958685e-01 -4.97402253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804391418 meters Centerline goodness [0,1] 0.9988086627239076 Centerline is valid? [True, True] Translation: X:10.75, Y:1.36, Z:-0.05 [[ 9.82737246e-01 -1.84827467e-01 -8.14326753e-03 1.07515508e+01] [ 1.84824088e-01 9.82770921e-01 -1.17207628e-03 1.35885285e+00] [ 8.21959842e-03 -3.53228986e-04 9.99966156e-01 -4.84898024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.834391418 meters Centerline goodness [0,1] 0.9988290148821564 Centerline is valid? [True, True] Translation: X:10.78, Y:1.37, Z:-0.05 [[ 9.82781552e-01 -1.84526766e-01 -9.50229712e-03 1.07836025e+01] [ 1.84522165e-01 9.82827403e-01 -1.36625777e-03 1.36705469e+00] [ 9.59122913e-03 -4.10651504e-04 9.99953919e-01 -5.11297435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864391418 meters Centerline goodness [0,1] 0.9989791360939195 Centerline is valid? [True, True] Translation: X:10.81, Y:1.37, Z:-0.05 [[ 9.82638129e-01 -1.85270165e-01 -9.86273454e-03 1.08148261e+01] [ 1.85265277e-01 9.82687527e-01 -1.41496789e-03 1.36993852e+00] [ 9.95413755e-03 -4.36820843e-04 9.99950361e-01 -5.15482520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.894391418 meters Centerline goodness [0,1] 0.9988056390897264 Centerline is valid? [True, True] Translation: X:10.85, Y:1.37, Z:-0.05 [[ 9.82449941e-01 -1.86284959e-01 -9.48828520e-03 1.08468823e+01] [ 1.86280505e-01 9.82495663e-01 -1.35879104e-03 1.37367345e+00] [ 9.57532139e-03 -4.32538387e-04 9.99954062e-01 -5.00596839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924391418 meters Centerline goodness [0,1] 0.9986394268585642 Centerline is valid? [True, True] Translation: X:10.88, Y:1.37, Z:-0.05 [[ 9.82374490e-01 -1.86675895e-01 -9.61623051e-03 1.08787467e+01] [ 1.86671365e-01 9.82421454e-01 -1.37442932e-03 1.37337057e+00] [ 9.70376398e-03 -4.44870570e-04 9.99952818e-01 -5.05165306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.954391418 meters Centerline goodness [0,1] 0.9988723164322645 Centerline is valid? [True, True] Translation: X:10.91, Y:1.38, Z:-0.05 [[ 9.82079188e-01 -1.88214042e-01 -9.79504215e-03 1.09096516e+01] [ 1.88209440e-01 9.82127921e-01 -1.39789157e-03 1.38259295e+00] [ 9.88308721e-03 -4.70679171e-04 9.99951050e-01 -4.96865528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984391418 meters Centerline goodness [0,1] 0.9988671582772256 Centerline is valid? [True, True] Translation: X:10.94, Y:1.39, Z:-0.05 [[ 9.82016140e-01 -1.88492735e-01 -1.07140125e-02 1.09404327e+01] [ 1.88487261e-01 9.82074447e-01 -1.52750973e-03 1.38703869e+00] [ 1.08098824e-02 -5.19415662e-04 9.99941437e-01 -5.06020567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.014391418 meters Centerline goodness [0,1] 0.9990610529011331 Centerline is valid? [True, True] Translation: X:10.97, Y:1.39, Z:-0.05 [[ 9.81783903e-01 -1.89756594e-01 -9.63341952e-03 1.09726417e+01] [ 1.89752247e-01 9.81831046e-01 -1.37162375e-03 1.39150480e+00] [ 9.71866502e-03 -4.81324874e-04 9.99952657e-01 -4.80774166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.044391418 meters Centerline goodness [0,1] 0.998635859834598 Centerline is valid? [True, True] Translation: X:11.01, Y:1.40, Z:-0.05 [[ 9.81811621e-01 -1.89567287e-01 -1.04969100e-02 1.10054550e+01] [ 1.89562126e-01 9.81867593e-01 -1.49356474e-03 1.39600604e+00] [ 1.05897067e-02 -5.23417349e-04 9.99943790e-01 -5.06442548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.074391418 meters Centerline goodness [0,1] 0.9988917778440817 Centerline is valid? [True, True] Translation: X:11.04, Y:1.40, Z:-0.05 [[ 9.81759124e-01 -1.89866316e-01 -9.99022986e-03 1.10365540e+01] [ 1.89861673e-01 9.81809823e-01 -1.41986249e-03 1.40347955e+00] [ 1.00780899e-02 -5.02798797e-04 9.99949088e-01 -4.87611120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104391418 meters Centerline goodness [0,1] 0.9986572890025576 Centerline is valid? [True, True] Translation: X:11.07, Y:1.41, Z:-0.05 [[ 9.81967024e-01 -1.88766596e-01 -1.03892167e-02 1.10684372e+01] [ 1.88761544e-01 9.82021847e-01 -1.47352513e-03 1.41110662e+00] [ 1.04805901e-02 -5.14131500e-04 9.99944945e-01 -5.03146431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.134391418 meters Centerline goodness [0,1] 0.9988901931490769 Centerline is valid? [True, True] Translation: X:11.10, Y:1.41, Z:-0.05 [[ 9.82136856e-01 -1.87884293e-01 -1.03290000e-02 1.10992861e+01] [ 1.87879282e-01 9.82191039e-01 -1.46206632e-03 1.41375445e+00] [ 1.04197505e-02 -5.04655885e-04 9.99945586e-01 -5.03150454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164391418 meters Centerline goodness [0,1] 0.9988252381562647 Centerline is valid? [True, True] Translation: X:11.13, Y:1.43, Z:-0.05 [[ 9.82367093e-01 -1.86744320e-01 -9.02516694e-03 1.11302694e+01] [ 1.86740466e-01 9.82408455e-01 -1.27529628e-03 1.42501040e+00] [ 9.10455464e-03 -4.32554785e-04 9.99958459e-01 -4.67443224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.194391418 meters Centerline goodness [0,1] 0.999017199017199 Centerline is valid? [True, True] Translation: X:11.16, Y:1.43, Z:-0.05 [[ 9.82581949e-01 -1.85661255e-01 -7.91277949e-03 1.11610149e+01] [ 1.85658274e-01 9.82613739e-01 -1.11610499e-03 1.43000243e+00] [ 7.98242330e-03 -3.72408362e-04 9.99968071e-01 -4.51778839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.224391418 meters Centerline goodness [0,1] 0.9989082969432315 Centerline is valid? [True, True] Translation: X:11.19, Y:1.44, Z:-0.05 [[ 9.82729841e-01 -1.84855772e-01 -8.39066736e-03 1.11925193e+01] [ 1.84852411e-01 9.82765583e-01 -1.18113450e-03 1.43866341e+00] [ 8.46439863e-03 -3.90298973e-04 9.99964100e-01 -4.63837762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.254391418 meters Centerline goodness [0,1] 0.9992092496420252 Centerline is valid? [True, True] Translation: X:11.23, Y:1.44, Z:-0.05 [[ 9.82742584e-01 -1.84812409e-01 -7.83496006e-03 1.12254649e+01] [ 1.84809494e-01 9.82773748e-01 -1.10070548e-03 1.43680934e+00] [ 7.90341710e-03 -3.66264860e-04 9.99968700e-01 -4.51733388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.284391418000002 meters Centerline goodness [0,1] 0.9993580003851997 Centerline is valid? [True, True] Translation: X:11.26, Y:1.45, Z:-0.05 [[ 9.82983606e-01 -1.83459187e-01 -9.27125020e-03 1.12565696e+01] [ 1.83455076e-01 9.83027236e-01 -1.29918375e-03 1.44636054e+00] [ 9.35223865e-03 -4.23781588e-04 9.99956177e-01 -4.76522871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.314391418 meters Centerline goodness [0,1] 0.9992095874901198 Centerline is valid? [True, True] Translation: X:11.29, Y:1.45, Z:-0.05 [[ 9.83103231e-01 -1.82797433e-01 -9.65068830e-03 1.12885281e+01] [ 1.82792975e-01 9.83150501e-01 -1.34942972e-03 1.45106907e+00] [ 9.73475132e-03 -4.37449307e-04 9.99952521e-01 -4.76376950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344391418 meters Centerline goodness [0,1] 0.999187426494173 Centerline is valid? [True, True] Translation: X:11.32, Y:1.46, Z:-0.05 [[ 9.83204016e-01 -1.82258880e-01 -9.56892553e-03 1.13216262e+01] [ 1.82254500e-01 9.83250484e-01 -1.33512081e-03 1.45680722e+00] [ 9.65198828e-03 -4.31283594e-04 9.99953325e-01 -4.61366263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.374391418000002 meters Centerline goodness [0,1] 0.9991645244215939 Centerline is valid? [True, True] Translation: X:11.35, Y:1.46, Z:-0.05 [[ 9.83377098e-01 -1.81308729e-01 -9.82999350e-03 1.13530539e+01] [ 1.81304091e-01 9.83426131e-01 -1.36832883e-03 1.46270887e+00] [ 9.91516243e-03 -4.36634799e-04 9.99950748e-01 -4.58024230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.404391418 meters Centerline goodness [0,1] 0.9990344590825215 Centerline is valid? [True, True] Translation: X:11.38, Y:1.47, Z:-0.05 [[ 9.83538012e-01 -1.80432290e-01 -9.85734265e-03 1.13845753e+01] [ 1.80427611e-01 9.83587313e-01 -1.36928447e-03 1.46820084e+00] [ 9.94262030e-03 -4.31793458e-04 9.99950478e-01 -4.53763368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.434391418 meters Centerline goodness [0,1] 0.9992057017732171 Centerline is valid? [True, True] Translation: X:11.42, Y:1.47, Z:-0.05 [[ 9.83798059e-01 -1.78995467e-01 -1.00996088e-02 1.14167934e+01] [ 1.78990509e-01 9.83849804e-01 -1.39999161e-03 1.47237158e+00] [ 1.01870903e-02 -4.30425092e-04 9.99948018e-01 -4.70284039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.464391418 meters Centerline goodness [0,1] 0.9992042497365421 Centerline is valid? [True, True] Translation: X:11.45, Y:1.48, Z:-0.05 [[ 9.83889943e-01 -1.78519173e-01 -9.56481299e-03 1.14496239e+01] [ 1.78514731e-01 9.83936350e-01 -1.32312460e-03 1.47791984e+00] [ 9.64737029e-03 -4.05651028e-04 9.99953381e-01 -4.58047887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.494391418 meters Centerline goodness [0,1] 0.9991196616065102 Centerline is valid? [True, True] Translation: X:11.48, Y:1.48, Z:-0.05 [[ 9.83972267e-01 -1.78093176e-01 -9.02214016e-03 1.14821932e+01] [ 1.78089231e-01 9.84013554e-01 -1.24523929e-03 1.48017520e+00] [ 9.09967683e-03 -3.81465073e-04 9.99958524e-01 -4.54222701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524391418 meters Centerline goodness [0,1] 0.999034417646554 Centerline is valid? [True, True] Translation: X:11.51, Y:1.49, Z:-0.05 [[ 9.84113949e-01 -1.77292764e-01 -9.32799109e-03 1.15142757e+01] [ 1.77288538e-01 9.84158079e-01 -1.28456459e-03 1.48602857e+00] [ 9.40796180e-03 -3.89587974e-04 9.99955668e-01 -4.50909161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.554391418 meters Centerline goodness [0,1] 0.9992703862660944 Centerline is valid? [True, True] Translation: X:11.55, Y:1.49, Z:-0.05 [[ 9.84300999e-01 -1.76166596e-01 -1.08108017e-02 1.15461046e+01] [ 1.76160888e-01 9.84360267e-01 -1.48541657e-03 1.49281253e+00] [ 1.09034044e-02 -4.42343414e-04 9.99940458e-01 -4.78882377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584391418 meters Centerline goodness [0,1] 0.999141667739582 Centerline is valid? [True, True] Translation: X:11.58, Y:1.50, Z:-0.04 [[ 9.84136494e-01 -1.77124459e-01 -1.01137236e-02 1.15776985e+01] [ 1.77119543e-01 9.84188368e-01 -1.38692138e-03 1.49721979e+00] [ 1.01994668e-02 -4.26418158e-04 9.99947893e-01 -4.45459037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.614391418 meters Centerline goodness [0,1] 0.9991623171596108 Centerline is valid? [True, True] Translation: X:11.61, Y:1.50, Z:-0.04 [[ 9.84046165e-01 -1.77642731e-01 -9.80844119e-03 1.16092328e+01] [ 1.77638159e-01 9.84094956e-01 -1.34234157e-03 1.50336903e+00] [ 9.89089472e-03 -4.21427368e-04 9.99950995e-01 -4.40665093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.644391418 meters Centerline goodness [0,1] 0.9992285273444197 Centerline is valid? [True, True] Translation: X:11.64, Y:1.50, Z:-0.05 [[ 9.83853530e-01 -1.78735944e-01 -9.25704721e-03 1.16409020e+01] [ 1.78731944e-01 9.83896993e-01 -1.26436159e-03 1.50079463e+00] [ 9.33396778e-03 -4.10583426e-04 9.99956353e-01 -4.65843052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.674391418 meters Centerline goodness [0,1] 0.9990563205078712 Centerline is valid? [True, True] Translation: X:11.67, Y:1.50, Z:-0.04 [[ 9.83431522e-01 -1.81106807e-01 -7.92253642e-03 1.16732233e+01] [ 1.81103967e-01 9.83463363e-01 -1.08039801e-03 1.50312242e+00] [ 7.98719174e-03 -3.72305318e-04 9.99968033e-01 -4.39825498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704391418 meters Centerline goodness [0,1] 0.9988425925925926 Centerline is valid? [True, True] Translation: X:11.70, Y:1.51, Z:-0.04 [[ 9.83090184e-01 -1.82977668e-01 -7.27064567e-03 1.17048469e+01] [ 1.82975331e-01 9.83117005e-01 -9.90935018e-04 1.50615464e+00] [ 7.32921437e-03 -3.56170308e-04 9.99973078e-01 -4.37233877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.734391418 meters Centerline goodness [0,1] 0.9990793276951075 Centerline is valid? [True, True] Translation: X:11.74, Y:1.51, Z:-0.04 [[ 9.82730522e-01 -1.84881090e-01 -7.72681344e-03 1.17355612e+01] [ 1.84878526e-01 9.82760818e-01 -1.05101738e-03 1.50801954e+00] [ 7.78792274e-03 -3.95655019e-04 9.99969595e-01 -4.31943359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764391418 meters Centerline goodness [0,1] 0.9988429149971073 Centerline is valid? [True, True] Translation: X:11.77, Y:1.51, Z:-0.05 [[ 9.82342954e-01 -1.86828584e-01 -9.86917647e-03 1.17664400e+01] [ 1.86824516e-01 9.82392387e-01 -1.34075253e-03 1.51025689e+00] [ 9.94589473e-03 -5.26725308e-04 9.99950400e-01 -4.67766644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.794391418 meters Centerline goodness [0,1] 0.9991643991172626 Centerline is valid? [True, True] Translation: X:11.80, Y:1.52, Z:-0.04 [[ 9.81977290e-01 -1.88737525e-01 -9.93719420e-03 1.17984216e+01] [ 1.88733510e-01 9.82027415e-01 -1.34875320e-03 1.51643758e+00] [ 1.00131575e-02 -5.51036528e-04 9.99949715e-01 -4.42959432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824391418 meters Centerline goodness [0,1] 0.9991005268342827 Centerline is valid? [True, True] Translation: X:11.83, Y:1.52, Z:-0.04 [[ 9.81796101e-01 -1.89664620e-01 -1.01856819e-02 1.18296992e+01] [ 1.89660466e-01 9.81848767e-01 -1.38105948e-03 1.51631258e+00] [ 1.02627374e-02 -5.75902365e-04 9.99947171e-01 -4.47805205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.854391418 meters Centerline goodness [0,1] 0.9988865096359743 Centerline is valid? [True, True] Translation: X:11.86, Y:1.52, Z:-0.05 [[ 9.81762886e-01 -1.89807659e-01 -1.07092923e-02 1.18615159e+01] [ 1.89803107e-01 9.81821104e-01 -1.44913441e-03 1.51769807e+00] [ 1.07896660e-02 -6.09950573e-04 9.99941604e-01 -4.81031588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.884391418 meters Centerline goodness [0,1] 0.9985471637645551 Centerline is valid? [True, True] Translation: X:11.89, Y:1.52, Z:-0.05 [[ 9.81405306e-01 -1.91683254e-01 -1.00575722e-02 1.18936444e+01] [ 1.91679359e-01 9.81456661e-01 -1.35882321e-03 1.51805750e+00] [ 1.01315349e-02 -5.94272672e-04 9.99948498e-01 -4.78688438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.914391418 meters Centerline goodness [0,1] 0.9986960518159081 Centerline is valid? [True, True] Translation: X:11.93, Y:1.52, Z:-0.04 [[ 9.81092039e-01 -1.93338175e-01 -8.87479805e-03 1.19257793e+01] [ 1.93335218e-01 9.81132029e-01 -1.19804423e-03 1.52070761e+00] [ 8.93897630e-03 -5.40419357e-04 9.99959901e-01 -4.40090984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944391418 meters Centerline goodness [0,1] 0.9984186682622447 Centerline is valid? [True, True] Translation: X:11.96, Y:1.52, Z:-0.04 [[ 9.80991636e-01 -1.93864693e-01 -8.47881025e-03 1.19572821e+01] [ 1.93862021e-01 9.81028139e-01 -1.14383502e-03 1.52210163e+00] [ 8.53970066e-03 -5.21626703e-04 9.99963400e-01 -4.35205783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.974391418 meters Centerline goodness [0,1] 0.9986524640657084 Centerline is valid? [True, True] Translation: X:11.99, Y:1.53, Z:-0.04 [[ 9.81015549e-01 -1.93758199e-01 -8.13959399e-03 1.19896749e+01] [ 1.93755744e-01 9.81049188e-01 -1.09671318e-03 1.52983335e+00] [ 8.19783924e-03 -5.01200405e-04 9.99966272e-01 -4.32115260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004391418 meters Centerline goodness [0,1] 0.9985654640830747 Centerline is valid? [True, True] Translation: X:12.02, Y:1.54, Z:-0.04 [[ 9.81103967e-01 -1.93325404e-01 -7.76498757e-03 1.20224365e+01] [ 1.93323175e-01 9.81134578e-01 -1.04380001e-03 1.53773076e+00] [ 7.82029087e-03 -4.77075719e-04 9.99969307e-01 -4.12357258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.034391418 meters Centerline goodness [0,1] 0.9985449876965872 Centerline is valid? [True, True] Translation: X:12.05, Y:1.54, Z:-0.04 [[ 9.81380175e-01 -1.91877374e-01 -8.71931309e-03 1.20536657e+01] [ 1.91874534e-01 9.81418767e-01 -1.16893082e-03 1.53764953e+00] [ 8.78158888e-03 -5.25848605e-04 9.99961303e-01 -4.49490908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064391418 meters Centerline goodness [0,1] 0.9990371242109768 Centerline is valid? [True, True] Translation: X:12.09, Y:1.54, Z:-0.05 [[ 9.81549493e-01 -1.90995583e-01 -9.01559999e-03 1.20855493e+01] [ 1.90992533e-01 9.81590749e-01 -1.20609051e-03 1.54271030e+00] [ 9.07998750e-03 -5.38074746e-04 9.99958631e-01 -4.50099543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.094391418 meters Centerline goodness [0,1] 0.9988477050124832 Centerline is valid? [True, True] Translation: X:12.12, Y:1.54, Z:-0.04 [[ 9.81604149e-01 -1.90716797e-01 -8.96649433e-03 1.21163185e+01] [ 1.90713790e-01 9.81644955e-01 -1.19715942e-03 1.54467452e+00] [ 9.03023233e-03 -5.34897459e-04 9.99959084e-01 -4.27404317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.124391418000002 meters Centerline goodness [0,1] 0.9988666010863522 Centerline is valid? [True, True] Translation: X:12.15, Y:1.55, Z:-0.05 [[ 9.81993359e-01 -1.88651954e-01 -9.97409916e-03 1.21468107e+01] [ 1.88648141e-01 9.82043843e-01 -1.33028187e-03 1.54835133e+00] [ 1.00459629e-02 -5.75267304e-04 9.99949373e-01 -4.57530725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.154391418 meters Centerline goodness [0,1] 0.9990575131198458 Centerline is valid? [True, True] Translation: X:12.18, Y:1.56, Z:-0.04 [[ 9.82702116e-01 -1.84927853e-01 -9.91163865e-03 1.21772870e+01] [ 1.84923902e-01 9.82751954e-01 -1.32159638e-03 1.55642101e+00] [ 9.98508223e-03 -5.34163335e-04 9.99950005e-01 -4.37383406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184391418 meters Centerline goodness [0,1] 0.9993585768959398 Centerline is valid? [True, True] Translation: X:12.21, Y:1.57, Z:-0.04 [[ 9.83197261e-01 -1.82304284e-01 -9.39647403e-03 1.22072329e+01] [ 1.82300616e-01 9.83242044e-01 -1.25265229e-03 1.56760072e+00] [ 9.46737220e-03 -4.81378707e-04 9.99955068e-01 -3.98230883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.214391418 meters Centerline goodness [0,1] 0.998780539985452 Centerline is valid? [True, True] Translation: X:12.24, Y:1.57, Z:-0.04 [[ 9.84001544e-01 -1.77867547e-01 -1.02028322e-02 1.22372410e+01] [ 1.77862987e-01 9.84054322e-01 -1.35981907e-03 1.57004511e+00] [ 1.02820089e-02 -4.76642162e-04 9.99947025e-01 -4.30262167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244391418 meters Centerline goodness [0,1] 0.9991648106904232 Centerline is valid? [True, True] Translation: X:12.27, Y:1.58, Z:-0.04 [[ 9.85581055e-01 -1.68934913e-01 -9.53832324e-03 1.22667408e+01] [ 1.68930511e-01 9.85627144e-01 -1.27120654e-03 1.58252282e+00] [ 9.61598145e-03 -3.58436736e-04 9.99953701e-01 -4.06046471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.274391418 meters Centerline goodness [0,1] 0.9989270846744774 Centerline is valid? [True, True] Translation: X:12.30, Y:1.59, Z:-0.04 [[ 9.86627245e-01 -1.62687320e-01 -9.97570680e-03 1.22962134e+01] [ 1.62682186e-01 9.86677627e-01 -1.32935108e-03 1.59090775e+00] [ 1.00590753e-02 -3.11295793e-04 9.99949358e-01 -4.37745891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304391418 meters Centerline goodness [0,1] 0.9987568853548235 Centerline is valid? [True, True] Translation: X:12.33, Y:1.60, Z:-0.04 [[ 9.87518164e-01 -1.57286132e-01 -8.30348857e-03 1.23266791e+01] [ 1.57282385e-01 9.87553050e-01 -1.10643944e-03 1.60175628e+00] [ 8.37416305e-03 -2.13363445e-04 9.99964913e-01 -4.04883975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.334391418 meters Centerline goodness [0,1] 0.9987568853548235 Centerline is valid? [True, True] Translation: X:12.36, Y:1.61, Z:-0.04 [[ 9.87569420e-01 -1.56963982e-01 -8.30359807e-03 1.23590387e+01] [ 1.56960231e-01 9.87604305e-01 -1.10561686e-03 1.60592891e+00] [ 8.37421123e-03 -2.11461266e-04 9.99964913e-01 -4.02540759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364391418 meters Centerline goodness [0,1] 0.9992488303215006 Centerline is valid? [True, True] Translation: X:12.39, Y:1.61, Z:-0.04 [[ 9.88524187e-01 -1.50873859e-01 -7.55054400e-03 1.23885461e+01] [ 1.50870595e-01 9.88553012e-01 -1.00318923e-03 1.61477847e+00] [ 7.61546804e-03 -1.47478252e-04 9.99970991e-01 -3.83592927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.394391418 meters Centerline goodness [0,1] 0.9988602395647406 Centerline is valid? [True, True] Translation: X:12.42, Y:1.63, Z:-0.04 [[ 9.90382940e-01 -1.38177236e-01 -6.97733067e-03 1.24181730e+01] [ 1.38174135e-01 9.90407517e-01 -9.26901822e-04 1.63195557e+00] [ 7.03847748e-03 -4.60988749e-05 9.99975229e-01 -3.87549232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424391418 meters Centerline goodness [0,1] 0.999182197735979 Centerline is valid? [True, True] Translation: X:12.45, Y:1.64, Z:-0.04 [[ 9.91179687e-01 -1.32380525e-01 -6.18255469e-03 1.24491258e+01] [ 1.32377977e-01 9.91198969e-01 -8.21212701e-04 1.64146360e+00] [ 6.23685440e-03 -4.46473554e-06 9.99980551e-01 -3.67268994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.454391418 meters Centerline goodness [0,1] 0.999377588908205 Centerline is valid? [True, True] Translation: X:12.48, Y:1.65, Z:-0.04 [[ 9.92009100e-01 -1.25990321e-01 -6.66217749e-03 1.24790056e+01] [ 1.25987233e-01 9.92031470e-01 -8.82772273e-04 1.65019316e+00] [ 6.72031050e-03 3.63688174e-05 9.99977418e-01 -3.88094365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484391418 meters Centerline goodness [0,1] 0.9991592109518164 Centerline is valid? [True, True] Translation: X:12.51, Y:1.66, Z:-0.04 [[ 9.92630398e-01 -1.20995961e-01 -6.69857670e-03 1.25107459e+01] [ 1.20992733e-01 9.92652997e-01 -8.86582373e-04 1.65768827e+00] [ 6.75663512e-03 6.95695143e-05 9.99977171e-01 -3.89818048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.514391418 meters Centerline goodness [0,1] 0.9994598331964911 Centerline is valid? [True, True] Translation: X:12.54, Y:1.67, Z:-0.04 [[ 9.93507573e-01 -1.13564136e-01 -6.77422620e-03 1.25421427e+01] [ 1.13560675e-01 9.93530660e-01 -8.94580343e-04 1.66743783e+00] [ 6.83199368e-03 1.19486644e-04 9.99976655e-01 -3.78710796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544391418 meters Centerline goodness [0,1] 0.9996319230935782 Centerline is valid? [True, True] Translation: X:12.57, Y:1.67, Z:-0.04 [[ 9.93827065e-01 -1.10695568e-01 -7.36592646e-03 1.25734915e+01] [ 1.10691403e-01 9.93854350e-01 -9.72016899e-04 1.67392909e+00] [ 7.42825601e-03 1.50671971e-04 9.99972399e-01 -3.87750508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.574391418 meters Centerline goodness [0,1] 0.999632074450817 Centerline is valid? [True, True] Translation: X:12.61, Y:1.68, Z:-0.04 [[ 9.94003146e-01 -1.09107784e-01 -7.29632775e-03 1.26057009e+01] [ 1.09103669e-01 9.94029912e-01 -9.60788300e-04 1.67811383e+00] [ 7.35759751e-03 1.58970463e-04 9.99972920e-01 -3.76687969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604391418 meters Centerline goodness [0,1] 0.9995682117489583 Centerline is valid? [True, True] Translation: X:12.64, Y:1.68, Z:-0.04 [[ 9.94201912e-01 -1.07234178e-01 -7.96177436e-03 1.26370054e+01] [ 1.07229239e-01 9.94233774e-01 -1.04592144e-03 1.68335282e+00] [ 8.02802349e-03 1.86122096e-04 9.99967758e-01 -3.92090529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.634391418 meters Centerline goodness [0,1] 0.9995693924126943 Centerline is valid? [True, True] Translation: X:12.67, Y:1.69, Z:-0.04 [[ 9.94198013e-01 -1.07264641e-01 -8.03790000e-03 1.26683960e+01] [ 1.07259625e-01 9.94230488e-01 -1.05371336e-03 1.68729534e+00] [ 8.10455142e-03 1.85457587e-04 9.99967140e-01 -3.91072383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664391418 meters Centerline goodness [0,1] 0.9995255143855412 Centerline is valid? [True, True] Translation: X:12.70, Y:1.69, Z:-0.04 [[ 9.94183946e-01 -1.07356654e-01 -8.53404823e-03 1.27001720e+01] [ 1.07351028e-01 9.94220555e-01 -1.11604143e-03 1.69027559e+00] [ 8.60454064e-03 1.93411623e-04 9.99962962e-01 -3.93216023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.694391418 meters Centerline goodness [0,1] 0.999547862033329 Centerline is valid? [True, True] Translation: X:12.73, Y:1.69, Z:-0.04 [[ 9.94180201e-01 -1.07368505e-01 -8.81660485e-03 1.27339711e+01] [ 1.07362524e-01 9.94219274e-01 -1.15025928e-03 1.68971040e+00] [ 8.88914010e-03 1.96992050e-04 9.99960471e-01 -4.06973425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.724391418 meters Centerline goodness [0,1] 0.9993758743139998 Centerline is valid? [True, True] Translation: X:12.77, Y:1.69, Z:-0.04 [[ 9.94207531e-01 -1.07125352e-01 -8.69166438e-03 1.27657019e+01] [ 1.07119554e-01 9.94245504e-01 -1.13129308e-03 1.69319590e+00] [ 8.76283840e-03 1.93692891e-04 9.99961587e-01 -3.99485441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.754391418 meters Centerline goodness [0,1] 0.9994414727932804 Centerline is valid? [True, True] Translation: X:12.80, Y:1.70, Z:-0.04 [[ 9.94309185e-01 -1.06232591e-01 -7.99257270e-03 1.27987159e+01] [ 1.06227673e-01 9.94341291e-01 -1.03865749e-03 1.69667874e+00] [ 8.05768433e-03 1.83714289e-04 9.99967519e-01 -3.93081341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784391418 meters Centerline goodness [0,1] 0.9995266068469865 Centerline is valid? [True, True] Translation: X:12.83, Y:1.70, Z:-0.04 [[ 9.94399633e-01 -1.05369662e-01 -8.16109344e-03 1.28318199e+01] [ 1.05364527e-01 9.94433104e-01 -1.05779769e-03 1.70125126e+00] [ 8.22712126e-03 1.91983884e-04 9.99966138e-01 -3.89430383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.814391418 meters Centerline goodness [0,1] 0.999720898278157 Centerline is valid? [True, True] Translation: X:12.86, Y:1.71, Z:-0.04 [[ 9.94486792e-01 -1.04581876e-01 -7.65849516e-03 1.28624887e+01] [ 1.04577348e-01 9.94516263e-01 -9.90358304e-04 1.70621257e+00] [ 7.72007152e-03 1.83993136e-04 9.99970183e-01 -3.74593680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844391418 meters Centerline goodness [0,1] 0.999419654371937 Centerline is valid? [True, True] Translation: X:12.89, Y:1.71, Z:-0.04 [[ 9.94724698e-01 -1.02315773e-01 -7.36603188e-03 1.28949011e+01] [ 1.02311531e-01 9.94751952e-01 -9.51386425e-04 1.70923173e+00] [ 7.42471643e-03 1.92737572e-04 9.99972418e-01 -3.85732316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.874391418000002 meters Centerline goodness [0,1] 0.9996780770468935 Centerline is valid? [True, True] Translation: X:12.93, Y:1.71, Z:-0.04 [[ 9.94794584e-01 -1.01731708e-01 -5.86469896e-03 1.29267383e+01] [ 1.01729016e-01 9.94811859e-01 -7.56234803e-04 1.71323285e+00] [ 5.91120514e-03 1.55688230e-04 9.99982517e-01 -3.61698573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.904391418 meters Centerline goodness [0,1] 0.9994439692044482 Centerline is valid? [True, True] Translation: X:12.96, Y:1.71, Z:-0.04 [[ 9.94927240e-01 -1.00376400e-01 -6.66078994e-03 1.29596141e+01] [ 1.00372913e-01 9.94949519e-01 -8.56551589e-04 1.71214923e+00] [ 6.71312731e-03 1.83643617e-04 9.99977450e-01 -3.95550416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.934391418 meters Centerline goodness [0,1] 0.9995713581516964 Centerline is valid? [True, True] Translation: X:12.99, Y:1.71, Z:-0.04 [[ 9.94887227e-01 -1.00859552e-01 -5.17271501e-03 1.29912654e+01] [ 1.00857461e-01 9.94900664e-01 -6.64134980e-04 1.71456475e+00] [ 5.21332195e-03 1.39032506e-04 9.99986401e-01 -3.70261199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.964391418 meters Centerline goodness [0,1] 0.9995500417818346 Centerline is valid? [True, True] Translation: X:13.02, Y:1.72, Z:-0.04 [[ 9.94909271e-01 -1.00547028e-01 -6.77029322e-03 1.30241099e+01] [ 1.00543455e-01 9.94932290e-01 -8.66946396e-04 1.71673956e+00] [ 6.82315222e-03 1.81824339e-04 9.99976705e-01 -3.93343244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.994391418 meters Centerline goodness [0,1] 0.9994221137793758 Centerline is valid? [True, True] Translation: X:13.06, Y:1.72, Z:-0.04 [[ 9.94825629e-01 -1.01348638e-01 -7.10086570e-03 1.30550969e+01] [ 1.01344745e-01 9.94850954e-01 -9.06872107e-04 1.72025570e+00] [ 7.15621327e-03 1.82544192e-04 9.99974377e-01 -3.90513513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024391418 meters Centerline goodness [0,1] 0.9995499453505069 Centerline is valid? [True, True] Translation: X:13.09, Y:1.72, Z:-0.04 [[ 9.94745645e-01 -1.02105674e-01 -7.45209558e-03 1.30870984e+01] [ 1.02101423e-01 9.94773541e-01 -9.49700227e-04 1.72120732e+00] [ 7.51011729e-03 1.83840601e-04 9.99971782e-01 -3.91171596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.054391418 meters Centerline goodness [0,1] 0.9995928338762216 Centerline is valid? [True, True] Translation: X:13.12, Y:1.72, Z:-0.04 [[ 9.94528179e-01 -1.04113744e-01 -8.60401578e-03 1.31197979e+01] [ 1.04108175e-01 9.94565378e-01 -1.09377839e-03 1.71811263e+00] [ 8.67113357e-03 1.92045045e-04 9.99962387e-01 -4.13002166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084391418 meters Centerline goodness [0,1] 0.9993370827363514 Centerline is valid? [True, True] Translation: X:13.15, Y:1.72, Z:-0.04 [[ 9.94347899e-01 -1.05902503e-01 -7.54429237e-03 1.31517528e+01] [ 1.05898287e-01 9.94376506e-01 -9.57159762e-04 1.71896425e+00] [ 7.60323270e-03 1.52822156e-04 9.99971083e-01 -4.03358454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.114391418 meters Centerline goodness [0,1] 0.9995080740027804 Centerline is valid? [True, True] Translation: X:13.18, Y:1.72, Z:-0.04 [[ 9.94193472e-01 -1.07322694e-01 -7.82175453e-03 1.31847258e+01] [ 1.07318225e-01 9.94224229e-01 -9.90077621e-04 1.71880326e+00] [ 7.88283566e-03 1.44911898e-04 9.99968919e-01 -4.06745195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144391418 meters Centerline goodness [0,1] 0.9991259672983862 Centerline is valid? [True, True] Translation: X:13.22, Y:1.72, Z:-0.04 [[ 9.93919044e-01 -1.09930952e-01 -6.33394492e-03 1.32157422e+01] [ 1.09928084e-01 9.93939221e-01 -8.00234008e-04 1.71970098e+00] [ 6.38352677e-03 9.90893906e-05 9.99979620e-01 -3.86059817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.174391418 meters Centerline goodness [0,1] 0.9993178426774675 Centerline is valid? [True, True] Translation: X:13.25, Y:1.72, Z:-0.04 [[ 9.93311832e-01 -1.15326281e-01 -5.60825938e-03 1.32480834e+01] [ 1.15324122e-01 9.93327663e-01 -7.07946278e-04 1.71731381e+00] [ 5.65248399e-03 5.64438286e-05 9.99984023e-01 -3.69738624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204391418 meters Centerline goodness [0,1] 0.9991480298189563 Centerline is valid? [True, True] Translation: X:13.28, Y:1.72, Z:-0.04 [[ 9.93110763e-01 -1.16976699e-01 -6.88949120e-03 1.32793418e+01] [ 1.16973496e-01 9.93134658e-01 -8.67323489e-04 1.71798504e+00] [ 6.94364913e-03 5.54604184e-05 9.99975891e-01 -3.86573812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.234391418 meters Centerline goodness [0,1] 0.9989990203177578 Centerline is valid? [True, True] Translation: X:13.31, Y:1.72, Z:-0.04 [[ 9.92808095e-01 -1.19544021e-01 -6.42752464e-03 1.33115170e+01] [ 1.19541297e-01 9.92828901e-01 -8.07677909e-04 1.71782760e+00] [ 6.47798529e-03 3.35145310e-05 9.99979017e-01 -3.90767413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264391418 meters Centerline goodness [0,1] 0.9990642876890032 Centerline is valid? [True, True] Translation: X:13.34, Y:1.72, Z:-0.04 [[ 9.92467827e-01 -1.22378382e-01 -5.58064116e-03 1.33449462e+01] [ 1.22376380e-01 9.92483517e-01 -7.00103132e-04 1.71691095e+00] [ 5.62437186e-03 1.18911721e-05 9.99984183e-01 -3.75841419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.294391418 meters Centerline goodness [0,1] 0.9991706186334347 Centerline is valid? [True, True] Translation: X:13.38, Y:1.71, Z:-0.04 [[ 9.91888197e-01 -1.26932456e-01 -6.77916449e-03 1.33780530e+01] [ 1.26929627e-01 9.91911363e-01 -8.47705936e-04 1.71292213e+00] [ 6.83193168e-03 -1.96473103e-05 9.99976662e-01 -3.99603333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.324391418 meters Centerline goodness [0,1] 0.9992996009848034 Centerline is valid? [True, True] Translation: X:13.41, Y:1.71, Z:-0.04 [[ 9.91612911e-01 -1.29063221e-01 -6.82047765e-03 1.34111638e+01] [ 1.29060423e-01 9.91636367e-01 -8.50765764e-04 1.71368530e+00] [ 6.87323624e-03 -3.66234105e-05 9.99976378e-01 -3.99486658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.354391418 meters Centerline goodness [0,1] 0.9989405432894012 Centerline is valid? [True, True] Translation: X:13.44, Y:1.72, Z:-0.04 [[ 9.91458412e-01 -1.30200312e-01 -7.62209750e-03 1.34445856e+01] [ 1.30196871e-01 9.91487708e-01 -9.48040234e-04 1.71583845e+00] [ 7.68065112e-03 -5.24307805e-05 9.99970502e-01 -4.17476161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384391418 meters Centerline goodness [0,1] 0.9988747584976965 Centerline is valid? [True, True] Translation: X:13.48, Y:1.72, Z:-0.04 [[ 9.91133766e-01 -1.32703779e-01 -6.60041881e-03 1.34765138e+01] [ 1.32701266e-01 9.91155741e-01 -8.19126402e-04 1.71763193e+00] [ 6.65074417e-03 -6.40200974e-05 9.99977882e-01 -3.95477840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.414391418 meters Centerline goodness [0,1] 0.998983180104224 Centerline is valid? [True, True] Translation: X:13.51, Y:1.72, Z:-0.04 [[ 9.90680951e-01 -1.36042591e-01 -6.60813060e-03 1.35089933e+01] [ 1.36040159e-01 9.90702986e-01 -8.18204490e-04 1.71751284e+00] [ 6.65800537e-03 -8.83915355e-05 9.99977831e-01 -3.97559635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444391418 meters Centerline goodness [0,1] 0.9986021983607599 Centerline is valid? [True, True] Translation: X:13.54, Y:1.72, Z:-0.04 [[ 9.90528671e-01 -1.37107737e-01 -7.37705593e-03 1.35401747e+01] [ 1.37104753e-01 9.90556135e-01 -9.11058406e-04 1.71801022e+00] [ 7.43230116e-03 -1.08999959e-04 9.99972374e-01 -4.11939320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.474391418 meters Centerline goodness [0,1] 0.998708584735895 Centerline is valid? [True, True] Translation: X:13.57, Y:1.72, Z:-0.04 [[ 9.90274095e-01 -1.38971371e-01 -6.64634599e-03 1.35721553e+01] [ 1.38969002e-01 9.90296393e-01 -8.19238195e-04 1.71756016e+00] [ 6.69570311e-03 -1.12365705e-04 9.99977577e-01 -3.93103035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.504391418 meters Centerline goodness [0,1] 0.9986231438920545 Centerline is valid? [True, True] Translation: X:13.60, Y:1.72, Z:-0.04 [[ 9.89943880e-01 -1.41251924e-01 -7.68166837e-03 1.36043976e+01] [ 1.41248845e-01 9.89973672e-01 -9.44609091e-04 1.72098211e+00] [ 7.73807730e-03 -1.49916799e-04 9.99970049e-01 -4.08398081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.534391418 meters Centerline goodness [0,1] 0.9986629597402322 Centerline is valid? [True, True] Translation: X:13.64, Y:1.72, Z:-0.04 [[ 9.89754484e-01 -1.42556213e-01 -7.98666670e-03 1.36360450e+01] [ 1.42552946e-01 9.89786693e-01 -9.79795949e-04 1.72357139e+00] [ 8.04477242e-03 -1.68765431e-04 9.99967626e-01 -4.05881487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.564391418 meters Centerline goodness [0,1] 0.9983907851274667 Centerline is valid? [True, True] Translation: X:13.67, Y:1.72, Z:-0.04 [[ 9.89643358e-01 -1.43277441e-01 -8.80903312e-03 1.36675814e+01] [ 1.43273516e-01 9.89682544e-01 -1.07818836e-03 1.72227890e+00] [ 8.87262637e-03 -1.95079201e-04 9.99960618e-01 -4.25176843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.594391418 meters Centerline goodness [0,1] 0.9984328010504468 Centerline is valid? [True, True] Translation: X:13.70, Y:1.73, Z:-0.04 [[ 9.89192770e-01 -1.46371198e-01 -8.55198812e-03 1.36996041e+01] [ 1.46367632e-01 9.89229713e-01 -1.04481318e-03 1.72712451e+00] [ 8.61281131e-03 -2.18212604e-04 9.99962885e-01 -4.21158774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.624391418000002 meters Centerline goodness [0,1] 0.9984316052731974 Centerline is valid? [True, True] Translation: X:13.73, Y:1.73, Z:-0.04 [[ 9.88961030e-01 -1.47958359e-01 -8.02526549e-03 1.37305327e+01] [ 1.47955277e-01 9.88993567e-01 -9.79708889e-04 1.72749746e+00] [ 8.08189206e-03 -2.18486464e-04 9.99967317e-01 -4.16708872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.654391418 meters Centerline goodness [0,1] 0.9982201504396652 Centerline is valid? [True, True] Translation: X:13.76, Y:1.73, Z:-0.04 [[ 9.88736516e-01 -1.49472985e-01 -7.61111791e-03 1.37617878e+01] [ 1.49470269e-01 9.88765785e-01 -9.27597533e-04 1.72959549e+00] [ 7.66426375e-03 -2.20486292e-04 9.99970605e-01 -4.11997784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684391418 meters Centerline goodness [0,1] 0.9984299747522967 Centerline is valid? [True, True] Translation: X:13.79, Y:1.73, Z:-0.04 [[ 9.88336736e-01 -1.52039813e-01 -8.62499655e-03 1.37941544e+01] [ 1.52036429e-01 9.88374332e-01 -1.05056656e-03 1.73293683e+00] [ 8.68445315e-03 -2.73000154e-04 9.99962252e-01 -4.08534898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.714391418 meters Centerline goodness [0,1] 0.9981754534846717 Centerline is valid? [True, True] Translation: X:13.83, Y:1.74, Z:-0.04 [[ 9.88149385e-01 -1.53241913e-01 -8.81529108e-03 1.38255928e+01] [ 1.53238431e-01 9.88188662e-01 -1.07307628e-03 1.73647019e+00] [ 8.87561096e-03 -2.90481708e-04 9.99960569e-01 -4.05392277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.744391418 meters Centerline goodness [0,1] 0.998003610491664 Centerline is valid? [True, True] Translation: X:13.86, Y:1.74, Z:-0.04 [[ 9.88011448e-01 -1.54132335e-01 -8.75221894e-03 1.38562567e+01] [ 1.54128942e-01 9.88050168e-01 -1.06488961e-03 1.73932541e+00] [ 8.81176532e-03 -2.96847113e-04 9.99961132e-01 -4.03403206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.774391418 meters Centerline goodness [0,1] 0.9981369352585002 Centerline is valid? [True, True] Translation: X:13.89, Y:1.75, Z:-0.04 [[ 9.87920533e-01 -1.54677077e-01 -9.38200383e-03 1.38879561e+01] [ 1.54673209e-01 9.87965028e-01 -1.14088536e-03 1.74665076e+00] [ 9.44556049e-03 -3.24040558e-04 9.99955337e-01 -4.12601993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.804391418 meters Centerline goodness [0,1] 0.9982205651823921 Centerline is valid? [True, True] Translation: X:13.92, Y:1.75, Z:-0.04 [[ 9.87686109e-01 -1.56136890e-01 -9.87018859e-03 1.39203219e+01] [ 1.56132690e-01 9.87735362e-01 -1.19940330e-03 1.74997258e+00] [ 9.93640539e-03 -3.56425118e-04 9.99950569e-01 -4.18186055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.834391418 meters Centerline goodness [0,1] 0.9981561546286877 Centerline is valid? [True, True] Translation: X:13.95, Y:1.75, Z:-0.04 [[ 9.87428543e-01 -1.57834669e-01 -8.54923982e-03 1.39510643e+01] [ 1.57831586e-01 9.87465499e-01 -1.03828986e-03 1.75340803e+00] [ 8.60595751e-03 -3.24103039e-04 9.99962916e-01 -3.94524529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864391418 meters Centerline goodness [0,1] 0.9984529637400131 Centerline is valid? [True, True] Translation: X:13.98, Y:1.76, Z:-0.04 [[ 9.87402035e-01 -1.57992600e-01 -8.69253756e-03 1.39828306e+01] [ 1.57989425e-01 9.87440240e-01 -1.05512359e-03 1.75828052e+00] [ 8.75006310e-03 -3.31497831e-04 9.99961663e-01 -3.89769150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.894391418 meters Centerline goodness [0,1] 0.9983295271927599 Centerline is valid? [True, True] Translation: X:14.02, Y:1.76, Z:-0.04 [[ 9.87445243e-01 -1.57698118e-01 -9.12114855e-03 1.40150759e+01] [ 1.57694620e-01 9.87487308e-01 -1.10595303e-03 1.76312499e+00] [ 9.18142514e-03 -3.46287991e-04 9.99957790e-01 -3.91957358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924391418 meters Centerline goodness [0,1] 0.9984750931887496 Centerline is valid? [True, True] Translation: X:14.05, Y:1.77, Z:-0.04 [[ 9.87548969e-01 -1.57059394e-01 -8.90960274e-03 1.40465780e+01] [ 1.57056051e-01 9.87589102e-01 -1.07807926e-03 1.76972656e+00] [ 8.96834904e-03 -3.34650961e-04 9.99959728e-01 -3.95216254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.954391418 meters Centerline goodness [0,1] 0.9984522749438155 Centerline is valid? [True, True] Translation: X:14.08, Y:1.78, Z:-0.04 [[ 9.87619425e-01 -1.56620278e-01 -8.82951675e-03 1.40781575e+01] [ 1.56616986e-01 9.87658838e-01 -1.06732865e-03 1.77502298e+00] [ 8.88771557e-03 -3.28737796e-04 9.99960449e-01 -3.87648250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.984391418 meters Centerline goodness [0,1] 0.998472245798676 Centerline is valid? [True, True] Translation: X:14.11, Y:1.78, Z:-0.04 [[ 9.87664342e-01 -1.56318717e-01 -9.14360765e-03 1.41102077e+01] [ 1.56315196e-01 9.87706608e-01 -1.10296205e-03 1.78134948e+00] [ 9.20361530e-03 -3.39928527e-04 9.99957588e-01 -3.85471426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.014391418 meters Centerline goodness [0,1] 0.998191566316327 Centerline is valid? [True, True] Translation: X:14.14, Y:1.79, Z:-0.04 [[ 9.87769590e-01 -1.55485734e-01 -1.16371415e-02 1.41414654e+01] [ 1.55479985e-01 9.87838047e-01 -1.40268489e-03 1.78793232e+00] [ 1.17137086e-02 -4.23813097e-04 9.99931302e-01 -4.14085572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044391418 meters Centerline goodness [0,1] 0.9983158882090857 Centerline is valid? [True, True] Translation: X:14.17, Y:1.79, Z:-0.04 [[ 9.87605340e-01 -1.56558704e-01 -1.11832059e-02 1.41723223e+01] [ 1.56553472e-01 9.87668566e-01 -1.34719783e-03 1.79272642e+00] [ 1.12562165e-02 -4.20269941e-04 9.99936558e-01 -3.99635488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.074391418 meters Centerline goodness [0,1] 0.9986972492738766 Centerline is valid? [True, True] Translation: X:14.20, Y:1.80, Z:-0.04 [[ 9.87229199e-01 -1.58874232e-01 -1.17254943e-02 1.42032992e+01] [ 1.58868653e-01 9.87298718e-01 -1.41171154e-03 1.80499897e+00] [ 1.18008500e-02 -4.69130619e-04 9.99930257e-01 -3.92324238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104391418 meters Centerline goodness [0,1] 0.9986526657969589 Centerline is valid? [True, True] Translation: X:14.23, Y:1.81, Z:-0.04 [[ 9.86993164e-01 -1.60301531e-01 -1.21619920e-02 1.42349969e+01] [ 1.60295649e-01 9.87067963e-01 -1.46324107e-03 1.80997480e+00] [ 1.22392724e-02 -5.05305465e-04 9.99924970e-01 -3.95898139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.134391418 meters Centerline goodness [0,1] 0.9988675213675213 Centerline is valid? [True, True] Translation: X:14.27, Y:1.81, Z:-0.04 [[ 9.86792361e-01 -1.61532958e-01 -1.21630370e-02 1.42671432e+01] [ 1.61527180e-01 9.86867180e-01 -1.46236486e-03 1.81475788e+00] [ 1.22395222e-02 -5.21610595e-04 9.99924958e-01 -4.01091464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.164391418 meters Centerline goodness [0,1] 0.9983534342656745 Centerline is valid? [True, True] Translation: X:14.30, Y:1.82, Z:-0.04 [[ 9.86484295e-01 -1.63369958e-01 -1.26092111e-02 1.42983431e+01] [ 1.63363916e-01 9.86564715e-01 -1.51464410e-03 1.81982949e+00] [ 1.26872501e-02 -5.65717490e-04 9.99919354e-01 -4.13231870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.194391418 meters Centerline goodness [0,1] 0.9989070804045945 Centerline is valid? [True, True] Translation: X:14.33, Y:1.82, Z:-0.04 [[ 9.86299648e-01 -1.64529245e-01 -1.19637877e-02 1.43296502e+01] [ 1.64523911e-01 9.86372051e-01 -1.43547059e-03 1.82404761e+00] [ 1.20369227e-02 -5.52525011e-04 9.99927401e-01 -4.02272050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224391418 meters Centerline goodness [0,1] 0.9987994168596175 Centerline is valid? [True, True] Translation: X:14.36, Y:1.83, Z:-0.04 [[ 9.86079544e-01 -1.65823410e-01 -1.22363958e-02 1.43603807e+01] [ 1.65817958e-01 9.86155290e-01 -1.46579814e-03 1.82879590e+00] [ 1.23100501e-02 -5.83620604e-04 9.99924058e-01 -4.02016782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.254391418 meters Centerline goodness [0,1] 0.9987994168596175 Centerline is valid? [True, True] Translation: X:14.39, Y:1.83, Z:-0.04 [[ 9.86098923e-01 -1.65708109e-01 -1.22366827e-02 1.43927408e+01] [ 1.65702678e-01 9.86174671e-01 -1.46339960e-03 1.83254426e+00] [ 1.23100037e-02 -5.84594323e-04 9.99924058e-01 -3.99680988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284391418 meters Centerline goodness [0,1] 0.9989697581077891 Centerline is valid? [True, True] Translation: X:14.42, Y:1.84, Z:-0.04 [[ 9.85387849e-01 -1.69899717e-01 -1.20363495e-02 1.44233743e+01] [ 1.69894787e-01 9.85461157e-01 -1.43841141e-03 1.84160970e+00] [ 1.21057406e-02 -6.27519909e-04 9.99926526e-01 -3.79366810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.314391418 meters Centerline goodness [0,1] 0.9989254475510949 Centerline is valid? [True, True] Translation: X:14.45, Y:1.84, Z:-0.04 [[ 9.85069248e-01 -1.71729228e-01 -1.21511198e-02 1.44542388e+01] [ 1.71724348e-01 9.85143970e-01 -1.45163367e-03 1.84252817e+00] [ 1.22198903e-02 -6.56683444e-04 9.99925119e-01 -3.78038074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.344391418 meters Centerline goodness [0,1] 0.9990744726646578 Centerline is valid? [True, True] Translation: X:14.49, Y:1.85, Z:-0.04 [[ 9.84755468e-01 -1.73528021e-01 -1.20289027e-02 1.44863105e+01] [ 1.73523381e-01 9.84828702e-01 -1.43635803e-03 1.84842946e+00] [ 1.20956570e-02 -6.72834447e-04 9.99926618e-01 -3.72267631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.374391418000002 meters Centerline goodness [0,1] 0.9988373344816449 Centerline is valid? [True, True] Translation: X:14.52, Y:1.86, Z:-0.04 [[ 9.84334983e-01 -1.75920124e-01 -1.16940522e-02 1.45173234e+01] [ 1.75915915e-01 9.84404207e-01 -1.39563455e-03 1.85542553e+00] [ 1.17571944e-02 -6.83397978e-04 9.99930648e-01 -3.63203148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.404391418 meters Centerline goodness [0,1] 0.9990966187731223 Centerline is valid? [True, True] Translation: X:14.55, Y:1.86, Z:-0.04 [[ 9.84049592e-01 -1.77549537e-01 -1.10708264e-02 1.45488801e+01] [ 1.77545883e-01 9.84111639e-01 -1.31993692e-03 1.85585054e+00] [ 1.11292833e-02 -6.66696263e-04 9.99937845e-01 -3.54515856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.434391418 meters Centerline goodness [0,1] 0.9986847212040192 Centerline is valid? [True, True] Translation: X:14.58, Y:1.86, Z:-0.03 [[ 9.83219108e-01 -1.82105110e-01 -1.08588654e-02 1.45794831e+01] [ 1.82101891e-01 9.83278816e-01 -1.29278864e-03 1.86102025e+00] [ 1.09127157e-02 -7.06325425e-04 9.99940205e-01 -3.44799456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464391418 meters Centerline goodness [0,1] 0.9985583336919568 Centerline is valid? [True, True] Translation: X:14.61, Y:1.86, Z:-0.04 [[ 9.82889643e-01 -1.83867876e-01 -1.09797065e-02 1.46099969e+01] [ 1.83864696e-01 9.82950693e-01 -1.30697218e-03 1.86354064e+00] [ 1.10328203e-02 -7.34170981e-04 9.99938867e-01 -3.56210810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.494391418 meters Centerline goodness [0,1] 0.9989644683192026 Centerline is valid? [True, True] Translation: X:14.64, Y:1.87, Z:-0.04 [[ 9.82526918e-01 -1.85738051e-01 -1.19261226e-02 1.46402275e+01] [ 1.85734444e-01 9.82598953e-01 -1.41903333e-03 1.86943319e+00] [ 1.19821641e-02 -8.20853304e-04 9.99927874e-01 -3.72888679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524391418 meters Centerline goodness [0,1] 0.9978811727060451 Centerline is valid? [True, True] Translation: X:14.67, Y:1.87, Z:-0.04 [[ 9.81614394e-01 -1.90512573e-01 -1.17533621e-02 1.46702509e+01] [ 1.90509416e-01 9.81684373e-01 -1.39797174e-03 1.86925323e+00] [ 1.18044231e-02 -8.66856970e-04 9.99929950e-01 -3.65101773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.554391418 meters Centerline goodness [0,1] 0.9981815426579784 Centerline is valid? [True, True] Translation: X:14.70, Y:1.87, Z:-0.04 [[ 9.81494980e-01 -1.91084916e-01 -1.24160737e-02 1.47015516e+01] [ 1.91081457e-01 9.81573074e-01 -1.47529171e-03 1.87492275e+00] [ 1.24691896e-02 -9.24490047e-04 9.99921829e-01 -3.80085736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584391418 meters Centerline goodness [0,1] 0.9964038907302701 Centerline is valid? [True, True] Translation: X:14.73, Y:1.88, Z:-0.04 [[ 9.81106716e-01 -1.93123379e-01 -1.15313958e-02 1.47316439e+01] [ 1.93120557e-01 9.81174081e-01 -1.36837363e-03 1.87709849e+00] [ 1.15785716e-02 -8.84429013e-04 9.99932575e-01 -3.59058770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.614391418 meters Centerline goodness [0,1] 0.9950167912468855 Centerline is valid? [True, True] Translation: X:14.76, Y:1.88, Z:-0.04 [[ 9.80928155e-01 -1.94017362e-01 -1.17139892e-02 1.47636095e+01] [ 1.94014518e-01 9.80997674e-01 -1.38953812e-03 1.88085760e+00] [ 1.17609907e-02 -9.09646914e-04 9.99930423e-01 -3.59917407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.644391418 meters Centerline goodness [0,1] 0.9930238100396472 Centerline is valid? [True, True] Translation: X:14.80, Y:1.89, Z:-0.04 [[ 9.81188220e-01 -1.92589786e-01 -1.33735511e-02 1.47955589e+01] [ 1.92585979e-01 9.81278824e-01 -1.58405733e-03 1.88506241e+00] [ 1.34282557e-02 -1.02130003e-03 9.99909315e-01 -3.83179614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.674391418 meters Centerline goodness [0,1] 0.9948961862566241 Centerline is valid? [True, True] Translation: X:14.83, Y:1.89, Z:-0.04 [[ 9.81186420e-01 -1.92647312e-01 -1.26578832e-02 1.48276779e+01] [ 1.92643935e-01 9.81267585e-01 -1.49701434e-03 1.89068428e+00] [ 1.27091663e-02 -9.69614297e-04 9.99918765e-01 -3.69022672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704391418 meters Centerline goodness [0,1] 0.9860036512214205 Centerline is valid? [True, True] Translation: X:14.86, Y:1.89, Z:-0.04 [[ 9.81384120e-01 -1.91597231e-01 -1.32555664e-02 1.48593732e+01] [ 1.91593447e-01 9.81473126e-01 -1.56663917e-03 1.89270150e+00] [ 1.33101459e-02 -1.00220486e-03 9.99910914e-01 -3.87176493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.734391418 meters Centerline goodness [0,1] 0.9885514424748001 Centerline is valid? [True, True] Translation: X:14.89, Y:1.90, Z:-0.04 [[ 9.81309715e-01 -1.92027852e-01 -1.25118921e-02 1.48908066e+01] [ 1.92024532e-01 9.81389014e-01 -1.47745312e-03 1.89644808e+00] [ 1.25627456e-02 -9.52751113e-04 9.99920632e-01 -3.64960209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764391418 meters Centerline goodness [0,1] 0.9853116919800969 Centerline is valid? [True, True] Translation: X:14.92, Y:1.90, Z:-0.04 [[ 9.81560430e-01 -1.90725380e-01 -1.27652817e-02 1.49228186e+01] [ 1.90721847e-01 9.81642966e-01 -1.50484394e-03 1.90026986e+00] [ 1.28179609e-02 -9.57522845e-04 9.99917388e-01 -3.71651519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.794391418 meters Centerline goodness [0,1] 0.9994345490528697 Centerline is valid? [True, True] Translation: X:14.95, Y:1.91, Z:-0.04 [[ 9.81740559e-01 -1.89826181e-01 -1.23083541e-02 1.49533734e+01] [ 1.89822866e-01 9.81817286e-01 -1.44768428e-03 1.91352132e+00] [ 1.23593632e-02 -9.15156691e-04 9.99923201e-01 -3.63817479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824391418 meters Centerline goodness [0,1] 0.9992612068403555 Centerline is valid? [True, True] Translation: X:14.99, Y:1.92, Z:-0.04 [[ 9.81841095e-01 -1.89265192e-01 -1.29132431e-02 1.49854062e+01] [ 1.89261545e-01 9.81925543e-01 -1.51502507e-03 1.91792411e+00] [ 1.29665848e-02 -9.56466466e-04 9.99915473e-01 -3.84669990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.854391418 meters Centerline goodness [0,1] 0.9992851727499188 Centerline is valid? [True, True] Translation: X:15.02, Y:1.92, Z:-0.04 [[ 9.81687819e-01 -1.90105503e-01 -1.22034057e-02 1.50162402e+01] [ 1.90102344e-01 9.81763239e-01 -1.42907018e-03 1.91916544e+00] [ 1.22525292e-02 -9.16995236e-04 9.99924514e-01 -3.65659271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884391418 meters Centerline goodness [0,1] 0.9990240940339615 Centerline is valid? [True, True] Translation: X:15.05, Y:1.92, Z:-0.04 [[ 9.81652909e-01 -1.90284434e-01 -1.22229557e-02 1.50488487e+01] [ 1.90281309e-01 9.81728568e-01 -1.42889252e-03 1.92175291e+00] [ 1.22715208e-02 -9.23123510e-04 9.99924276e-01 -3.62125940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.914391418 meters Centerline goodness [0,1] 0.9990878884617891 Centerline is valid? [True, True] Translation: X:15.08, Y:1.92, Z:-0.03 [[ 9.81529004e-01 -1.90928587e-01 -1.21280393e-02 1.50807367e+01] [ 1.90925600e-01 9.81603492e-01 -1.41438162e-03 1.92370472e+00] [ 1.21749716e-02 -9.27296595e-04 9.99925452e-01 -3.47193461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944391418 meters Centerline goodness [0,1] 0.997831790290757 Centerline is valid? [True, True] Translation: X:15.11, Y:1.92, Z:-0.04 [[ 9.81538807e-01 -1.90870046e-01 -1.22554348e-02 1.51117578e+01] [ 1.90867033e-01 9.81614865e-01 -1.42587758e-03 1.92493035e+00] [ 1.23022743e-02 -9.39604288e-04 9.99923883e-01 -3.60328787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.974391418 meters Centerline goodness [0,1] 0.9979653679653679 Centerline is valid? [True, True] Translation: X:15.14, Y:1.93, Z:-0.03 [[ 9.81439939e-01 -1.91424244e-01 -1.15067208e-02 1.51440951e+01] [ 1.91421660e-01 9.81506986e-01 -1.33581474e-03 1.92656306e+00] [ 1.15496341e-02 -8.91613654e-04 9.99932903e-01 -3.40427948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004391418 meters Centerline goodness [0,1] 0.9973154362416108 Centerline is valid? [True, True] Translation: X:15.18, Y:1.93, Z:-0.04 [[ 9.81187919e-01 -1.92704541e-01 -1.16287369e-02 1.51764034e+01] [ 1.92702018e-01 9.81256397e-01 -1.34761747e-03 1.92666786e+00] [ 1.16704645e-02 -9.18615089e-04 9.99931476e-01 -3.53743177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.034391418 meters Centerline goodness [0,1] 0.9957613373413204 Centerline is valid? [True, True] Translation: X:15.21, Y:1.93, Z:-0.04 [[ 9.81094217e-01 -1.93150449e-01 -1.21260468e-02 1.52090094e+01] [ 1.93147764e-01 9.81168677e-01 -1.40325992e-03 1.92812991e+00] [ 1.21687376e-02 -9.65388638e-04 9.99925492e-01 -3.71103025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064391418 meters Centerline goodness [0,1] 0.9955685257241678 Centerline is valid? [True, True] Translation: X:15.24, Y:1.93, Z:-0.04 [[ 9.80783707e-01 -1.94773425e-01 -1.12531808e-02 1.52404061e+01] [ 1.94771241e-01 9.80847834e-01 -1.30023478e-03 1.92905993e+00] [ 1.12909092e-02 -9.16546908e-04 9.99935836e-01 -3.54504077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.094391418 meters Centerline goodness [0,1] 0.9946338519891385 Centerline is valid? [True, True] Translation: X:15.27, Y:1.93, Z:-0.03 [[ 9.80492995e-01 -1.96244811e-01 -1.10209651e-02 1.52729442e+01] [ 1.96242815e-01 9.80554505e-01 -1.27281738e-03 1.92970804e+00] [ 1.10564408e-02 -9.14796701e-04 9.99938457e-01 -3.47301471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.124391418 meters Centerline goodness [0,1] 0.986285664842415 Centerline is valid? [True, True] Translation: X:15.30, Y:1.93, Z:-0.04 [[ 9.80162595e-01 -1.97858723e-01 -1.15417691e-02 1.53048402e+01] [ 1.97856654e-01 9.80230060e-01 -1.33219990e-03 1.92891810e+00] [ 1.15771764e-02 -9.77843314e-04 9.99932504e-01 -3.50885792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.154391418 meters Centerline goodness [0,1] 0.9968185949876639 Centerline is valid? [True, True] Translation: X:15.34, Y:1.94, Z:-0.04 [[ 9.80178118e-01 -1.97733661e-01 -1.23392477e-02 1.53367157e+01] [ 1.97731299e-01 9.80255226e-01 -1.42330324e-03 1.93708954e+00] [ 1.23770470e-02 -1.04476478e-03 9.99922856e-01 -3.58769505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184391418 meters Centerline goodness [0,1] 0.9951164700289554 Centerline is valid? [True, True] Translation: X:15.37, Y:1.94, Z:-0.03 [[ 9.80053475e-01 -1.98408134e-01 -1.13753794e-02 1.53692194e+01] [ 1.98406185e-01 9.80119007e-01 -1.31096249e-03 1.93859188e+00] [ 1.14093311e-02 -9.72132275e-04 9.99934439e-01 -3.40671061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.214391418 meters Centerline goodness [0,1] 0.9958346822056761 Centerline is valid? [True, True] Translation: X:15.40, Y:1.94, Z:-0.03 [[ 9.80076473e-01 -1.98297292e-01 -1.13265654e-02 1.54021025e+01] [ 1.98295364e-01 9.80141443e-01 -1.30423925e-03 1.94061673e+00] [ 1.13602633e-02 -9.67751215e-04 9.99935002e-01 -3.46419824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.244391418 meters Centerline goodness [0,1] 0.9915730337078652 Centerline is valid? [True, True] Translation: X:15.43, Y:1.94, Z:-0.03 [[ 9.79979273e-01 -1.98801357e-01 -1.08923887e-02 1.54337095e+01] [ 1.98799626e-01 9.80039356e-01 -1.25240816e-03 1.93947878e+00] [ 1.09239501e-02 -9.38068760e-04 9.99939892e-01 -3.27374844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.274391418 meters Centerline goodness [0,1] 0.988609397247271 Centerline is valid? [True, True] Translation: X:15.47, Y:1.94, Z:-0.03 [[ 9.79972197e-01 -1.98824380e-01 -1.11066722e-02 1.54656928e+01] [ 1.98822606e-01 9.80034666e-01 -1.27480986e-03 1.94222103e+00] [ 1.11383870e-02 -9.58979277e-04 9.99937506e-01 -3.43858325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.304391418 meters Centerline goodness [0,1] 0.9931557129285776 Centerline is valid? [True, True] Translation: X:15.50, Y:1.94, Z:-0.03 [[ 9.79814554e-01 -1.99648006e-01 -1.02035719e-02 1.54974158e+01] [ 1.99646567e-01 9.79867277e-01 -1.16982332e-03 1.94374022e+00] [ 1.02316991e-02 -8.90898181e-04 9.99947258e-01 -3.17760288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.334391418 meters Centerline goodness [0,1] 0.9784200551343901 Centerline is valid? [True, True] Translation: X:15.53, Y:1.94, Z:-0.03 [[ 9.79535664e-01 -2.01010109e-01 -1.02381258e-02 1.55292992e+01] [ 2.01008755e-01 9.79588744e-01 -1.17172777e-03 1.94127157e+00] [ 1.02646819e-02 -9.10203787e-04 9.99946903e-01 -3.20693730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364391418 meters Centerline goodness [0,1] 0.9640904198062432 Centerline is valid? [True, True] Translation: X:15.56, Y:1.94, Z:-0.03 [[ 9.79528471e-01 -2.01054446e-01 -1.00540782e-02 1.55612189e+01] [ 2.01053149e-01 9.79579659e-01 -1.15001655e-03 1.94233095e+00] [ 1.00799865e-02 -8.94930135e-04 9.99948795e-01 -3.30927298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.394391418 meters Centerline goodness [0,1] 0.9712719062466402 Centerline is valid? [True, True] Translation: X:15.59, Y:1.94, Z:-0.03 [[ 9.79364195e-01 -2.01856795e-01 -9.98034184e-03 1.55931592e+01] [ 2.01855566e-01 9.79414636e-01 -1.14079671e-03 1.94472990e+00] [ 1.00051704e-02 -8.97332100e-04 9.99949544e-01 -3.20581019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424391418 meters Centerline goodness [0,1] 0.9958118556701031 Centerline is valid? [True, True] Translation: X:15.62, Y:1.95, Z:-0.03 [[ 9.79303924e-01 -2.02152124e-01 -9.91679951e-03 1.56243059e+01] [ 2.02150939e-01 9.79353724e-01 -1.13222358e-03 1.95191103e+00] [ 9.94093593e-03 -8.95899334e-04 9.99950186e-01 -3.15333911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.454391418 meters Centerline goodness [0,1] 0.9947958108427776 Centerline is valid? [True, True] Translation: X:15.66, Y:1.95, Z:-0.03 [[ 9.79276962e-01 -2.02281085e-01 -9.94959878e-03 1.56565758e+01] [ 2.02279920e-01 9.79327090e-01 -1.13381054e-03 1.95381471e+00] [ 9.97326005e-03 -9.02289504e-04 9.99949859e-01 -3.16510575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484391418 meters Centerline goodness [0,1] 0.8790722645763986 Centerline is valid? [True, False] Translation: X:15.66, Y:1.95, Z:-0.03 [[ 9.79998654e-01 -1.98713716e-01 -1.07469587e-02 1.56570814e+01] [ 1.98765761e-01 9.80038852e-01 4.00261827e-03 1.94939838e+00] [ 9.73706190e-03 -6.05868794e-03 9.99934239e-01 -3.25285356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.514391418 meters Centerline goodness [0,1] 0.9921395129075211 Centerline is valid? [False, True] Translation: X:15.66, Y:1.95, Z:-0.03 [[ 9.80072645e-01 -1.98340640e-01 -1.08904326e-02 1.56578391e+01] [ 1.98401642e-01 9.80108905e-01 4.82939931e-03 1.94761853e+00] [ 9.71594380e-03 -6.89384186e-03 9.99929035e-01 -3.32088403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544391418 meters Centerline goodness [0,1] 0.9664180703784664 Centerline is valid? [True, True] Translation: X:15.69, Y:1.95, Z:-0.03 [[ 9.79855851e-01 -1.99460692e-01 -9.89660824e-03 1.56892098e+01] [ 1.99459834e-01 9.79905404e-01 -1.08366589e-03 1.94616683e+00] [ 9.91388865e-03 -9.12139471e-04 9.99950440e-01 -3.20768562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.574391418 meters Centerline goodness [0,1] 0.988699474643508 Centerline is valid? [True, True] Translation: X:15.72, Y:1.95, Z:-0.03 [[ 9.79780633e-01 -1.99852739e-01 -9.42300666e-03 1.57215162e+01] [ 1.99851985e-01 9.79825556e-01 -1.03119713e-03 1.95054706e+00] [ 9.43899031e-03 -8.72859612e-04 9.99955071e-01 -3.17602097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604391418 meters Centerline goodness [0,1] 0.9893396125441507 Centerline is valid? [True, True] Translation: X:15.75, Y:1.95, Z:-0.03 [[ 9.79780327e-01 -1.99841745e-01 -9.68440286e-03 1.57534690e+01] [ 1.99840956e-01 9.79827776e-01 -1.05898848e-03 1.95335725e+00] [ 9.70067703e-03 -8.97764250e-04 9.99952544e-01 -3.31806217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.634391418 meters Centerline goodness [0,1] 0.9768844221105528 Centerline is valid? [True, True] Translation: X:15.79, Y:1.95, Z:-0.03 [[ 9.79636402e-01 -2.00572974e-01 -9.11055575e-03 1.57852390e+01] [ 2.00572313e-01 9.79678394e-01 -9.95563357e-04 1.95171748e+00] [ 9.12509773e-03 -8.52035134e-04 9.99958002e-01 -3.06192585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.664391418 meters Centerline goodness [0,1] 0.985084181550477 Centerline is valid? [True, True] Translation: X:15.82, Y:1.95, Z:-0.03 [[ 9.79467706e-01 -2.01391527e-01 -9.19055731e-03 1.58173176e+01] [ 2.01390895e-01 9.79510439e-01 -1.00368614e-03 1.95448054e+00] [ 9.20438070e-03 -8.67816405e-04 9.99957262e-01 -3.03671701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.694391418 meters Centerline goodness [0,1] 0.9751951542038135 Centerline is valid? [True, True] Translation: X:15.85, Y:1.95, Z:-0.03 [[ 9.79339314e-01 -2.02017958e-01 -9.12432144e-03 1.58482383e+01] [ 2.02017368e-01 9.79381433e-01 -9.95797135e-04 1.95390476e+00] [ 9.13735991e-03 -8.68048121e-04 9.99957877e-01 -3.01052842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724391418 meters Centerline goodness [0,1] 0.9197715065222951 Centerline is valid? [True, False] Translation: X:15.85, Y:1.95, Z:-0.03 [[ 9.79418385e-01 -2.01622919e-01 -9.37158056e-03 1.58492289e+01] [ 2.01634051e-01 9.79460897e-01 2.48732650e-04 1.95070467e+00] [ 9.12894650e-03 -2.13324308e-03 9.99956055e-01 -3.08078571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.754391418 meters Centerline goodness [0,1] 0.9600059660785818 Centerline is valid? [False, True] Translation: X:15.85, Y:1.94, Z:-0.03 [[ 9.79333745e-01 -2.02027686e-01 -9.49894791e-03 1.58499401e+01] [ 2.02051600e-01 9.79373539e-01 1.61910789e-03 1.94454067e+00] [ 8.97591362e-03 -3.50492462e-03 9.99953573e-01 -3.12642292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784391418 meters Centerline goodness [0,1] 0.8446918099778649 Centerline is valid? [True, False] Translation: X:15.85, Y:1.94, Z:-0.03 [[ 9.79362998e-01 -2.01885682e-01 -9.50203450e-03 1.58502580e+01] [ 2.01917907e-01 9.79399120e-01 2.55388190e-03 1.94178139e+00] [ 8.79069204e-03 -4.41980835e-03 9.99951593e-01 -3.15717516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.814391418 meters Centerline goodness [0,1] 0.9565929043640924 Centerline is valid? [False, True] Translation: X:15.85, Y:1.94, Z:-0.03 [[ 9.79397766e-01 -2.01715509e-01 -9.53250624e-03 1.58505570e+01] [ 2.01755323e-01 9.79430026e-01 3.40794603e-03 1.93925823e+00] [ 8.64898726e-03 -5.26096861e-03 9.99948757e-01 -3.17634130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844391418 meters Centerline goodness [0,1] 0.8446952021380393 Centerline is valid? [True, False] Translation: X:15.85, Y:1.93, Z:-0.03 [[ 9.79398849e-01 -2.01708779e-01 -9.56361915e-03 1.58509290e+01] [ 2.01760248e-01 9.79423409e-01 4.75280011e-03 1.93454740e+00] [ 8.40815095e-03 -6.58444513e-03 9.99942972e-01 -3.19645121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.874391418 meters Centerline goodness [0,1] 0.9536352270560065 Centerline is valid? [False, True] Translation: X:15.85, Y:1.93, Z:-0.03 [[ 9.79485604e-01 -2.01278447e-01 -9.74366570e-03 1.58518365e+01] [ 2.01341093e-01 9.79503219e-01 5.93366689e-03 1.93154303e+00] [ 8.34963266e-03 -7.77374160e-03 9.99934924e-01 -3.27072061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904391418 meters Centerline goodness [0,1] 0.8124629080118695 Centerline is valid? [True, False] Translation: X:15.85, Y:1.93, Z:-0.03 [[ 9.79574260e-01 -2.00837294e-01 -9.93226924e-03 1.58527031e+01] [ 2.00910062e-01 9.79584964e-01 6.96031449e-03 1.92922660e+00] [ 8.33161087e-03 -8.81363774e-03 9.99926449e-01 -3.34490204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.934391418 meters Centerline goodness [0,1] 0.8157393292682926 Centerline is valid? [False, False] Translation: X:15.85, Y:1.93, Z:-0.03 [[ 9.79758822e-01 -1.99906824e-01 -1.04838915e-02 1.58543938e+01] [ 1.99997002e-01 9.79760547e-01 8.39459235e-03 1.92650237e+00] [ 8.59356701e-03 -1.03214228e-02 9.99909805e-01 -3.44509348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964391418 meters Centerline goodness [0,1] 0.8158206680496168 Centerline is valid? [False, False] Translation: X:15.85, Y:1.92, Z:-0.03 [[ 9.80351135e-01 -1.96956215e-01 -1.09499890e-02 1.58535379e+01] [ 1.97082072e-01 9.80314427e-01 1.19281539e-02 1.92412576e+00] [ 8.38510812e-03 -1.38518257e-02 9.99868900e-01 -3.37422105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.994391418 meters Centerline goodness [0,1] 0.9062400812543643 Centerline is valid? [False, False] Translation: X:15.85, Y:1.92, Z:-0.03 [[ 9.80443043e-01 -1.96477212e-01 -1.13201251e-02 1.58542155e+01] [ 1.96610192e-01 9.80406410e-01 1.21533032e-02 1.92431974e+00] [ 8.71047611e-03 -1.41412735e-02 9.99862066e-01 -3.37543785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024391418 meters Centerline goodness [0,1] 0.9698366061425945 Centerline is valid? [False, True] Translation: X:15.85, Y:1.92, Z:-0.03 [[ 9.81271563e-01 -1.92253286e-01 -1.20330178e-02 1.58540111e+01] [ 1.92440047e-01 9.81161731e-01 1.69848494e-02 1.92113872e+00] [ 8.54094343e-03 -1.89823842e-02 9.99783337e-01 -3.34131656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.054391418 meters Centerline goodness [0,1] 0.9879999154923627 Centerline is valid? [True, True] Translation: X:15.88, Y:1.94, Z:-0.03 [[ 9.81822646e-01 -1.89527179e-01 -1.01853231e-02 1.58833694e+01] [ 1.89526863e-01 9.81875022e-01 -1.00507571e-03 1.93518592e+00] [ 1.01912035e-02 -9.43586233e-04 9.99947623e-01 -2.97013176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084391418 meters Centerline goodness [0,1] 0.989010989010989 Centerline is valid? [True, True] Translation: X:15.91, Y:1.94, Z:-0.03 [[ 9.82486938e-01 -1.86039272e-01 -1.04310156e-02 1.59125510e+01] [ 1.86038746e-01 9.82541870e-01 -1.02924684e-03 1.93744208e+00] [ 1.04403899e-02 -9.29351476e-04 9.99945066e-01 -3.05999803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.114391418 meters Centerline goodness [0,1] 0.9975311768057226 Centerline is valid? [True, True] Translation: X:15.94, Y:1.95, Z:-0.03 [[ 9.83156239e-01 -1.82505017e-01 -9.78414560e-03 1.59421397e+01] [ 1.82504379e-01 9.83204566e-01 -9.65521537e-04 1.94720951e+00] [ 9.79602916e-03 -8.36390897e-04 9.99951668e-01 -3.03202554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144391418 meters Centerline goodness [0,1] 0.9982091313233467 Centerline is valid? [True, True] Translation: X:15.97, Y:1.95, Z:-0.03 [[ 9.84462887e-01 -1.75362130e-01 -8.99710571e-03 1.59713590e+01] [ 1.75361295e-01 9.84503747e-01 -8.87855829e-04 1.95375538e+00] [ 9.01338058e-03 -7.03682994e-04 9.99959131e-01 -2.72739741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.174391418 meters Centerline goodness [0,1] 0.9982091313233467 Centerline is valid? [True, True] Translation: X:16.00, Y:1.96, Z:-0.03 [[ 9.84484372e-01 -1.75241468e-01 -8.99712465e-03 1.60038459e+01] [ 1.75240629e-01 9.84525233e-01 -8.87663747e-04 1.95684126e+00] [ 9.01345174e-03 -7.02770695e-04 9.99959131e-01 -2.70521675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204391418 meters Centerline goodness [0,1] 0.9983134816064088 Centerline is valid? [True, True] Translation: X:16.03, Y:1.97, Z:-0.03 [[ 9.85215957e-01 -1.71022745e-01 -1.00368785e-02 1.60340977e+01] [ 1.71021493e-01 9.85266802e-01 -9.89301527e-04 1.96650078e+00] [ 1.00581963e-02 -7.41846299e-04 9.99949140e-01 -2.86403015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.234391418 meters Centerline goodness [0,1] 0.9985880171123896 Centerline is valid? [True, True] Translation: X:16.06, Y:1.98, Z:-0.03 [[ 9.86494000e-01 -1.63377301e-01 -1.17237449e-02 1.60639466e+01] [ 1.63375056e-01 9.86563356e-01 -1.15544974e-03 1.97598309e+00] [ 1.17549914e-02 -7.75523240e-04 9.99930607e-01 -2.97786528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264391418 meters Centerline goodness [0,1] 0.9983755959664149 Centerline is valid? [True, True] Translation: X:16.09, Y:1.98, Z:-0.03 [[ 9.86971670e-01 -1.60520135e-01 -1.09639762e-02 1.60939438e+01] [ 1.60517997e-01 9.87032322e-01 -1.08045114e-03 1.97987385e+00] [ 1.09952331e-02 -6.93540843e-04 9.99939310e-01 -2.73781602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.294391418 meters Centerline goodness [0,1] 0.9988167180830833 Centerline is valid? [True, True] Translation: X:16.12, Y:1.98, Z:-0.03 [[ 9.87413308e-01 -1.57777335e-01 -1.10123160e-02 1.61248945e+01] [ 1.57775010e-01 9.87474490e-01 -1.08504120e-03 1.98416840e+00] [ 1.10455761e-02 -6.66084152e-04 9.99938774e-01 -2.71716034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324391418 meters Centerline goodness [0,1] 0.9989237100348212 Centerline is valid? [True, True] Translation: X:16.16, Y:1.99, Z:-0.03 [[ 9.87711136e-01 -1.55887606e-01 -1.12145199e-02 1.61564450e+01] [ 1.55885080e-01 9.87774581e-01 -1.10441224e-03 1.98820434e+00] [ 1.12495819e-02 -6.57336073e-04 9.99936505e-01 -2.68141406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.354391418 meters Centerline goodness [0,1] 0.9990290237467019 Centerline is valid? [True, True] Translation: X:16.19, Y:1.99, Z:-0.03 [[ 9.88144452e-01 -1.53141085e-01 -1.08788557e-02 1.61868545e+01] [ 1.53138548e-01 9.88204148e-01 -1.07079113e-03 1.99279219e+00] [ 1.09145124e-02 -6.07875841e-04 9.99940250e-01 -2.55786475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384391418 meters Centerline goodness [0,1] 0.9986474777573491 Centerline is valid? [True, True] Translation: X:16.22, Y:2.00, Z:-0.03 [[ 9.88300269e-01 -1.52131420e-01 -1.08908164e-02 1.62185079e+01] [ 1.52128823e-01 9.88360093e-01 -1.07137045e-03 1.99725640e+00] [ 1.09270374e-02 -5.97971374e-04 9.99940119e-01 -2.50404554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.414391418 meters Centerline goodness [0,1] 0.9987141923652537 Centerline is valid? [True, True] Translation: X:16.25, Y:2.00, Z:-0.03 [[ 9.88540211e-01 -1.50562976e-01 -1.09106491e-02 1.62500398e+01] [ 1.50560283e-01 9.88600248e-01 -1.07246368e-03 2.00071339e+00] [ 1.09477437e-02 -5.82536942e-04 9.99939902e-01 -2.57613954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444391418 meters Centerline goodness [0,1] 0.9983711287865967 Centerline is valid? [True, True] Translation: X:16.28, Y:2.00, Z:-0.03 [[ 9.88671920e-01 -1.49702802e-01 -1.08122535e-02 1.62816681e+01] [ 1.49700115e-01 9.88730877e-01 -1.06195506e-03 2.00474272e+00] [ 1.08493866e-02 -5.68670454e-04 9.99940982e-01 -2.51556648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.474391418 meters Centerline goodness [0,1] 0.9988381672616659 Centerline is valid? [True, True] Translation: X:16.31, Y:2.01, Z:-0.02 [[ 9.88745340e-01 -1.49125006e-01 -1.20160095e-02 1.63123779e+01] [ 1.49121657e-01 9.88818154e-01 -1.17930087e-03 2.00719883e+00] [ 1.20575115e-02 -6.25818991e-04 9.99927110e-01 -2.49553441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504391418 meters Centerline goodness [0,1] 0.9985175772977551 Centerline is valid? [True, True] Translation: X:16.34, Y:2.01, Z:-0.03 [[ 9.88777336e-01 -1.48865171e-01 -1.25912918e-02 1.63448137e+01] [ 1.48861482e-01 9.88857287e-01 -1.23490839e-03 2.01041238e+00] [ 1.26348255e-02 -6.53308937e-04 9.99919964e-01 -2.68279758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.534391418 meters Centerline goodness [0,1] 0.9989424256525233 Centerline is valid? [True, True] Translation: X:16.38, Y:2.02, Z:-0.02 [[ 9.88722264e-01 -1.49264934e-01 -1.21764127e-02 1.63761050e+01] [ 1.49261526e-01 9.88797033e-01 -1.19328795e-03 2.01706090e+00] [ 1.22181168e-02 -6.37639572e-04 9.99925153e-01 -2.41950118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564391418 meters Centerline goodness [0,1] 0.998710632001691 Centerline is valid? [True, True] Translation: X:16.41, Y:2.01, Z:-0.02 [[ 9.88434327e-01 -1.51252639e-01 -1.09645332e-02 1.64076978e+01] [ 1.51250006e-01 9.88494958e-01 -1.07378884e-03 2.01335099e+00] [ 1.10007992e-02 -5.97015970e-04 9.99939311e-01 -2.21537091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.594391418 meters Centerline goodness [0,1] 0.9986715026780819 Centerline is valid? [True, True] Translation: X:16.44, Y:2.01, Z:-0.02 [[ 9.88161382e-01 -1.53074079e-01 -1.02669373e-02 1.64396290e+01] [ 1.53071874e-01 9.88214547e-01 -1.00489695e-03 2.01432206e+00] [ 1.02997605e-02 -5.78578983e-04 9.99946789e-01 -2.10621737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624391418 meters Centerline goodness [0,1] 0.9987970622995104 Centerline is valid? [True, True] Translation: X:16.47, Y:2.02, Z:-0.02 [[ 9.87859654e-01 -1.55037906e-01 -9.82611026e-03 1.64714153e+01] [ 1.55035989e-01 9.87908355e-01 -9.61141729e-04 2.01985296e+00] [ 9.85630983e-03 -5.73927586e-04 9.99951261e-01 -1.99379406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.654391418 meters Centerline goodness [0,1] 0.9981021466829741 Centerline is valid? [True, True] Translation: X:16.50, Y:2.02, Z:-0.02 [[ 9.87495032e-01 -1.57343523e-01 -9.82742297e-03 1.65014537e+01] [ 1.57341725e-01 9.87543750e-01 -9.60734253e-04 2.01876500e+00] [ 9.85617545e-03 -5.97543376e-04 9.99951248e-01 -1.98021835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684391418 meters Centerline goodness [0,1] 0.9983983140147523 Centerline is valid? [True, True] Translation: X:16.53, Y:2.02, Z:-0.02 [[ 9.86730632e-01 -1.61959658e-01 -1.14773087e-02 1.65321959e+01] [ 1.61957516e-01 9.86797094e-01 -1.12200061e-03 2.01657871e+00] [ 1.15074937e-02 -7.51724040e-04 9.99933504e-01 -2.32261452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.714391418 meters Centerline goodness [0,1] 0.998822193244437 Centerline is valid? [True, True] Translation: X:16.56, Y:2.02, Z:-0.02 [[ 9.86180580e-01 -1.65222198e-01 -1.22266032e-02 1.65637315e+01] [ 1.65220020e-01 9.86256010e-01 -1.19499112e-03 2.01747909e+00] [ 1.22560000e-02 -8.41602589e-04 9.99924538e-01 -2.06354730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744391418 meters Centerline goodness [0,1] 0.9984840828701365 Centerline is valid? [True, True] Translation: X:16.59, Y:2.02, Z:-0.02 [[ 9.85836013e-01 -1.67098398e-01 -1.43345882e-02 1.65946376e+01] [ 1.67095609e-01 9.85939702e-01 -1.40055229e-03 2.01948725e+00] [ 1.43670697e-02 -1.01453186e-03 9.99896274e-01 -2.40210344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.774391418 meters Centerline goodness [0,1] 0.9981259607083447 Centerline is valid? [True, True] Translation: X:16.62, Y:2.02, Z:-0.02 [[ 9.85037208e-01 -1.71647621e-01 -1.54529468e-02 1.66247956e+01] [ 1.71644936e-01 9.85157722e-01 -1.50982455e-03 2.02032607e+00] [ 1.54827477e-02 -1.16518671e-03 9.99879456e-01 -2.18561038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804391418 meters Centerline goodness [0,1] 0.9981904260915307 Centerline is valid? [True, True] Translation: X:16.66, Y:2.02, Z:-0.02 [[ 9.84837617e-01 -1.72790501e-01 -1.54373390e-02 1.66564996e+01] [ 1.72787967e-01 9.84957890e-01 -1.50788186e-03 2.02206143e+00] [ 1.54656765e-02 -1.18236765e-03 9.99879700e-01 -2.13198466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.834391418 meters Centerline goodness [0,1] 0.9703644541594855 Centerline is valid? [True, True] Translation: X:16.69, Y:2.02, Z:-0.02 [[ 9.84584659e-01 -1.74224896e-01 -1.54510272e-02 1.66881755e+01] [ 1.74222547e-01 9.84705148e-01 -1.50827129e-03 2.01761484e+00] [ 1.54774844e-02 -1.20689655e-03 9.99879488e-01 -2.29545549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864391418 meters Centerline goodness [0,1] 0.9679808137333277 Centerline is valid? [True, True] Translation: X:16.72, Y:2.02, Z:-0.02 [[ 9.84575282e-01 -1.74306075e-01 -1.51296657e-02 1.67201435e+01] [ 1.74303849e-01 9.84690809e-01 -1.47583910e-03 2.02081583e+00] [ 1.51552905e-02 -1.18408427e-03 9.99884451e-01 -2.17845007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.894391418 meters Centerline goodness [0,1] 0.998338625896406 Centerline is valid? [True, True] Translation: X:16.75, Y:2.03, Z:-0.02 [[ 9.84586489e-01 -1.74257112e-01 -1.49634187e-02 1.67521131e+01] [ 1.74254953e-01 9.84699490e-01 -1.45804724e-03 2.03469274e+00] [ 1.49885459e-02 -1.17187621e-03 9.99886979e-01 -1.75940236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924391418 meters Centerline goodness [0,1] 0.9966271054240361 Centerline is valid? [True, True] Translation: X:16.78, Y:2.03, Z:-0.02 [[ 9.85007659e-01 -1.71907821e-01 -1.44087734e-02 1.67826670e+01] [ 1.71905583e-01 9.85112431e-01 -1.40301052e-03 2.03466183e+00] [ 1.44354502e-02 -1.09497248e-03 9.99895204e-01 -1.61204355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.954391418 meters Centerline goodness [0,1] 0.9986944345006212 Centerline is valid? [True, True] Translation: X:16.81, Y:2.04, Z:-0.01 [[ 9.85376322e-01 -1.69799169e-01 -1.42037535e-02 1.68135717e+01] [ 1.69796785e-01 9.85478128e-01 -1.38244024e-03 2.04394724e+00] [ 1.42322256e-02 -1.04952779e-03 9.99898166e-01 -1.45584450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.984391418 meters Centerline goodness [0,1] 0.9979566472161951 Centerline is valid? [True, True] Translation: X:16.84, Y:2.05, Z:-0.01 [[ 9.85667747e-01 -1.68085689e-01 -1.43629030e-02 1.68444433e+01] [ 1.68083081e-01 9.85771843e-01 -1.39718210e-03 2.04609552e+00] [ 1.43933917e-02 -1.03700366e-03 9.99895872e-01 -1.43271043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.014391418 meters Centerline goodness [0,1] 0.9983774785595381 Centerline is valid? [True, True] Translation: X:16.88, Y:2.05, Z:-0.02 [[ 9.86315664e-01 -1.64119849e-01 -1.56871090e-02 1.68751002e+01] [ 1.64116247e-01 9.86439826e-01 -1.52551109e-03 2.05369764e+00] [ 1.57247557e-02 -1.06987397e-03 9.99875786e-01 -1.72847198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044391418 meters Centerline goodness [0,1] 0.998779281459811 Centerline is valid? [True, True] Translation: X:16.91, Y:2.06, Z:-0.01 [[ 9.86357837e-01 -1.63969529e-01 -1.45674906e-02 1.69072368e+01] [ 1.63966417e-01 9.86464905e-01 -1.41587474e-03 2.05670535e+00] [ 1.46024786e-02 -9.92020090e-04 9.99892886e-01 -1.26173152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.074391418 meters Centerline goodness [0,1] 0.9984229782581269 Centerline is valid? [True, True] Translation: X:16.94, Y:2.06, Z:-0.01 [[ 9.86464450e-01 -1.63319286e-01 -1.46526659e-02 1.69394451e+01] [ 1.63316083e-01 9.86572771e-01 -1.42296501e-03 2.06028466e+00] [ 1.46883188e-02 -9.89311602e-04 9.99891631e-01 -1.24914536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104391418 meters Centerline goodness [0,1] 0.9987565858798736 Centerline is valid? [True, True] Translation: X:16.97, Y:2.07, Z:-0.01 [[ 9.86549882e-01 -1.62793345e-01 -1.47532321e-02 1.69712409e+01] [ 1.62790058e-01 9.86659692e-01 -1.43152332e-03 2.06622954e+00] [ 1.47894619e-02 -9.89410340e-04 9.99890140e-01 -1.18351338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.134391418 meters Centerline goodness [0,1] 0.9965421270135785 Centerline is valid? [True, True] Translation: X:17.00, Y:2.06, Z:-0.02 [[ 9.86630495e-01 -1.62159866e-01 -1.62617165e-02 1.70029054e+01] [ 1.62155806e-01 9.86763907e-01 -1.57669687e-03 2.06406350e+00] [ 1.63021518e-02 -1.08131453e-03 9.99866526e-01 -1.58488927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.164391418 meters Centerline goodness [0,1] 0.9990943364434802 Centerline is valid? [True, True] Translation: X:17.04, Y:2.07, Z:-0.01 [[ 9.86650146e-01 -1.61991205e-01 -1.67433138e-02 1.70356450e+01] [ 1.61986904e-01 9.86791575e-01 -1.62174391e-03 2.07084856e+00] [ 1.67848692e-02 -1.11210369e-03 9.99858506e-01 -1.41751233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.194391418 meters Centerline goodness [0,1] 0.9953143797885139 Centerline is valid? [True, True] Translation: X:17.07, Y:2.07, Z:-0.02 [[ 9.86877357e-01 -1.60454373e-01 -1.80963248e-02 1.70673064e+01] [ 1.60449142e-01 9.87042557e-01 -1.75006941e-03 2.07086462e+00] [ 1.81426490e-02 -1.17643590e-03 9.99834716e-01 -1.78279829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224391418 meters Centerline goodness [0,1] 0.9980789934770218 Centerline is valid? [True, True] Translation: X:17.10, Y:2.08, Z:-0.02 [[ 9.87041121e-01 -1.59301443e-01 -1.93099868e-02 1.70986534e+01] [ 1.59295309e-01 9.87229216e-01 -1.86527349e-03 2.07955655e+00] [ 1.93605239e-02 -1.23488869e-03 9.99811805e-01 -1.60669869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.254391418 meters Centerline goodness [0,1] 0.9985210538547675 Centerline is valid? [True, True] Translation: X:17.13, Y:2.08, Z:-0.01 [[ 9.87158085e-01 -1.58556098e-01 -1.94648332e-02 1.71302605e+01] [ 1.58549751e-01 9.87349202e-01 -1.87867991e-03 2.08362887e+00] [ 1.95164637e-02 -1.23159039e-03 9.99808777e-01 -1.27491367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284391418 meters Centerline goodness [0,1] 0.9991116939151033 Centerline is valid? [True, True] Translation: X:17.16, Y:2.09, Z:-0.01 [[ 9.87515364e-01 -1.56189670e-01 -2.04497703e-02 1.71608990e+01] [ 1.56182183e-01 9.87726295e-01 -1.97261887e-03 2.09236054e+00] [ 2.05068785e-02 -1.24589832e-03 9.99788936e-01 -1.21531600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.314391418 meters Centerline goodness [0,1] 0.9989407677315482 Centerline is valid? [True, True] Translation: X:17.19, Y:2.10, Z:-0.01 [[ 9.87641979e-01 -1.55373493e-01 -2.05523251e-02 1.71924597e+01] [ 1.55365783e-01 9.87855024e-01 -1.98111788e-03 2.09556360e+00] [ 2.06105308e-02 -1.23649290e-03 9.99786816e-01 -1.04276699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344391418 meters Centerline goodness [0,1] 0.9981591587143733 Centerline is valid? [True, True] Translation: X:17.22, Y:2.09, Z:-0.02 [[ 9.87902225e-01 -1.53652830e-01 -2.09761950e-02 1.72236724e+01] [ 1.53644472e-01 9.88124132e-01 -2.01914153e-03 2.09355599e+00] [ 2.10373312e-02 -1.22816198e-03 9.99777937e-01 -1.50225948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.374391418 meters Centerline goodness [0,1] 0.9974640743871513 Centerline is valid? [True, True] Translation: X:17.25, Y:2.10, Z:-0.01 [[ 9.88107229e-01 -1.52428322e-01 -2.02412946e-02 1.72543654e+01] [ 1.52420319e-01 9.88313845e-01 -1.94659011e-03 2.09741188e+00] [ 2.03014672e-02 -1.16174483e-03 9.99793229e-01 -1.27352496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404391418 meters Centerline goodness [0,1] 0.997486216438877 Centerline is valid? [True, True] Translation: X:17.29, Y:2.10, Z:-0.01 [[ 9.88064114e-01 -1.52833726e-01 -1.92655070e-02 1.72854667e+01] [ 1.52826573e-01 9.88251289e-01 -1.85168089e-03 2.09998485e+00] [ 1.93221614e-02 -1.11470198e-03 9.99812688e-01 -7.86850296e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.434391418 meters Centerline goodness [0,1] 0.997592498732894 Centerline is valid? [True, True] Translation: X:17.32, Y:2.10, Z:-0.01 [[ 9.88213682e-01 -1.51879978e-01 -1.91361099e-02 1.73176130e+01] [ 1.51872768e-01 9.88398343e-01 -1.83794322e-03 2.10410217e+00] [ 1.91932461e-02 -1.08997333e-03 9.99815199e-01 -8.24405791e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.464391418 meters Centerline goodness [0,1] 0.9993657773455668 Centerline is valid? [True, True] Translation: X:17.35, Y:2.12, Z:-0.01 [[ 9.88277405e-01 -1.51422814e-01 -1.94653903e-02 1.73488330e+01] [ 1.51415296e-01 9.88468471e-01 -1.86803633e-03 2.11504017e+00] [ 1.95237879e-02 -1.10121972e-03 9.99808786e-01 -6.29730721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.494391418 meters Centerline goodness [0,1] 0.9994080087952979 Centerline is valid? [True, True] Translation: X:17.38, Y:2.12, Z:-0.00 [[ 9.88075239e-01 -1.52587065e-01 -2.06036396e-02 1.73805600e+01] [ 1.52578929e-01 9.88289314e-01 -1.97554190e-03 2.12078061e+00] [ 2.06637990e-02 -1.19169724e-03 9.99785771e-01 -2.61389782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524391418 meters Centerline goodness [0,1] 0.9990511933878722 Centerline is valid? [True, True] Translation: X:17.41, Y:2.12, Z:-0.01 [[ 9.87977756e-01 -1.52987147e-01 -2.22460406e-02 1.74122643e+01] [ 1.52977800e-01 9.88227327e-01 -2.13144799e-03 2.11895058e+00] [ 2.23102294e-02 -1.29732714e-03 9.99750254e-01 -5.72766684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.554391418 meters Centerline goodness [0,1] 0.9805015104463739 Centerline is valid? [True, True] Translation: X:17.44, Y:2.11, Z:-0.00 [[ 9.87783004e-01 -1.54328693e-01 -2.16192408e-02 1.74444254e+01] [ 1.54320230e-01 9.88018717e-01 -2.06927084e-03 2.11025351e+00] [ 2.16795624e-02 -1.29229566e-03 9.99764135e-01 -4.97568694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584391418 meters Centerline goodness [0,1] 0.9990515133631228 Centerline is valid? [True, True] Translation: X:17.48, Y:2.13, Z:-0.00 [[ 9.87653426e-01 -1.55231281e-01 -2.10703541e-02 1.74750669e+01] [ 1.55223488e-01 9.87877325e-01 -2.01479875e-03 2.12611613e+00] [ 2.11276849e-02 -1.28069097e-03 9.99775965e-01 -4.50260785e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.614391418 meters Centerline goodness [0,1] 0.9991780821917808 Centerline is valid? [True, True] Translation: X:17.51, Y:2.13, Z:-0.00 [[ 9.87550380e-01 -1.55894758e-01 -2.10016795e-02 1.75068064e+01] [ 1.55887202e-01 9.87772825e-01 -2.00650118e-03 2.12845776e+00] [ 2.10576914e-02 -1.29237207e-03 9.99777427e-01 -8.26022689e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.644391418 meters Centerline goodness [0,1] 0.9979552257683714 Centerline is valid? [True, True] Translation: X:17.54, Y:2.12, Z:0.00 [[ 9.87231159e-01 -1.58216255e-01 -1.85001353e-02 1.75382106e+01] [ 1.58210838e-01 9.87403775e-01 -1.76532851e-03 2.12465457e+00] [ 1.85464071e-02 -1.18413459e-03 9.99827299e-01 3.28568776e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.674391418 meters Centerline goodness [0,1] 0.9979771587508955 Centerline is valid? [True, True] Translation: X:17.57, Y:2.13, Z:0.00 [[ 9.87214490e-01 -1.58398991e-01 -1.78132285e-02 1.75703918e+01] [ 1.58394031e-01 9.87374523e-01 -1.69796514e-03 2.12723450e+00] [ 1.78572840e-02 -1.14525328e-03 9.99839890e-01 3.94780933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704391418 meters Centerline goodness [0,1] 0.9980591126769477 Centerline is valid? [True, True] Translation: X:17.60, Y:2.13, Z:0.00 [[ 9.87141773e-01 -1.58837366e-01 -1.79391169e-02 1.76020283e+01] [ 1.58832429e-01 9.87304077e-01 -1.70874353e-03 2.12931046e+00] [ 1.79827756e-02 -1.16254140e-03 9.99837621e-01 2.60313672e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.734391418 meters Centerline goodness [0,1] 0.9970507067770545 Centerline is valid? [True, True] Translation: X:17.63, Y:2.13, Z:0.00 [[ 9.86919964e-01 -1.60151896e-01 -1.84487322e-02 1.76335564e+01] [ 1.60146924e-01 9.87091626e-01 -1.75616163e-03 2.12845478e+00] [ 1.84918417e-02 -1.22131675e-03 9.99828265e-01 2.42345419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764391418 meters Centerline goodness [0,1] 0.9916336508471719 Centerline is valid? [True, True] Translation: X:17.66, Y:2.13, Z:0.00 [[ 9.86863159e-01 -1.60530401e-01 -1.81960259e-02 1.76646599e+01] [ 1.60525648e-01 9.87030151e-01 -1.73102607e-03 2.12845883e+00] [ 1.82379085e-02 -1.21264299e-03 9.99832940e-01 3.56355307e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.794391418 meters Centerline goodness [0,1] 0.9951874366767984 Centerline is valid? [True, True] Translation: X:17.70, Y:2.13, Z:0.01 [[ 9.86789829e-01 -1.61069963e-01 -1.73867668e-02 1.76960643e+01] [ 1.61065724e-01 9.86942298e-01 -1.65302681e-03 2.13251308e+00] [ 1.74259886e-02 -1.16922216e-03 9.99847472e-01 7.37419503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.824391418 meters Centerline goodness [0,1] 0.9936235800853005 Centerline is valid? [True, True] Translation: X:17.73, Y:2.13, Z:0.01 [[ 9.86828150e-01 -1.60911277e-01 -1.66662130e-02 1.77282012e+01] [ 1.60907379e-01 9.86968241e-01 -1.58336235e-03 2.13469896e+00] [ 1.67038038e-02 -1.11921011e-03 9.99859855e-01 9.31345078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.854391418 meters Centerline goodness [0,1] 0.9909900405131667 Centerline is valid? [True, True] Translation: X:17.76, Y:2.13, Z:0.01 [[ 9.86829377e-01 -1.61082258e-01 -1.48420746e-02 1.77606559e+01] [ 1.61079204e-01 9.86940477e-01 -1.40880248e-03 2.13390227e+00] [ 1.48751773e-02 -1.00050190e-03 9.99888858e-01 1.13262521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884391418 meters Centerline goodness [0,1] 0.9979773718475444 Centerline is valid? [True, True] Translation: X:17.79, Y:2.14, Z:0.01 [[ 9.86721034e-01 -1.61769579e-01 -1.45672049e-02 1.77920588e+01] [ 1.61766731e-01 9.86828058e-01 -1.38143273e-03 2.13982314e+00] [ 1.45988003e-02 -9.93400386e-04 9.99892938e-01 1.22047429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.914391418 meters Centerline goodness [0,1] 0.9926383732703341 Centerline is valid? [True, True] Translation: X:17.82, Y:2.14, Z:0.01 [[ 9.86499358e-01 -1.63029216e-01 -1.55077707e-02 1.78239810e+01] [ 1.63026160e-01 9.86620652e-01 -1.46951751e-03 2.13676744e+00] [ 1.55398612e-02 -1.07849423e-03 9.99878667e-01 1.09120311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.944391418 meters Centerline goodness [0,1] 0.9972344198615098 Centerline is valid? [True, True] Translation: X:17.86, Y:2.14, Z:0.01 [[ 9.86440831e-01 -1.63297014e-01 -1.63881800e-02 1.78556970e+01] [ 1.63293658e-01 9.86576289e-01 -1.55173061e-03 2.14204184e+00] [ 1.64215828e-02 -1.14539543e-03 9.99864501e-01 1.09448618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.974391418 meters Centerline goodness [0,1] 0.9990922716429883 Centerline is valid? [True, True] Translation: X:17.89, Y:2.15, Z:0.01 [[ 9.86472185e-01 -1.63066614e-01 -1.67900877e-02 1.78876911e+01] [ 1.63063082e-01 9.86614367e-01 -1.58838518e-03 2.14723557e+00] [ 1.68243544e-02 -1.17094565e-03 9.99857775e-01 1.13662521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004391418 meters Centerline goodness [0,1] 0.9988581336829417 Centerline is valid? [True, True] Translation: X:17.92, Y:2.15, Z:0.01 [[ 9.86695624e-01 -1.61539370e-01 -1.83514815e-02 1.79197581e+01] [ 1.61534917e-01 9.86865473e-01 -1.73451618e-03 2.15020279e+00] [ 1.83906361e-02 -1.25296552e-03 9.99830093e-01 9.73957227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.034391418 meters Centerline goodness [0,1] 0.998605889062566 Centerline is valid? [True, True] Translation: X:17.95, Y:2.15, Z:0.01 [[ 9.87033934e-01 -1.59412831e-01 -1.87499966e-02 1.79516164e+01] [ 1.59407831e-01 9.87211228e-01 -1.77054925e-03 2.15341523e+00] [ 1.87924554e-02 -1.24130410e-03 9.99822636e-01 7.92511049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064391418 meters Centerline goodness [0,1] 0.998605889062566 Centerline is valid? [True, True] Translation: X:17.98, Y:2.16, Z:0.01 [[ 9.87053750e-01 -1.59290066e-01 -1.87501930e-02 1.79840917e+01] [ 1.59285084e-01 9.87231044e-01 -1.76846691e-03 2.15636235e+00] [ 1.87924719e-02 -1.24105417e-03 9.99822636e-01 8.14659276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.094391418 meters Centerline goodness [0,1] 0.9986903806345317 Centerline is valid? [True, True] Translation: X:18.01, Y:2.16, Z:0.01 [[ 9.87342389e-01 -1.57467993e-01 -1.89430477e-02 1.80144386e+01] [ 1.57462618e-01 9.87523336e-01 -1.78430894e-03 2.15936103e+00] [ 1.89876732e-02 -1.22109804e-03 9.99818972e-01 8.20746675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.124391418 meters Centerline goodness [0,1] 0.9992178912657479 Centerline is valid? [True, True] Translation: X:18.05, Y:2.17, Z:0.01 [[ 9.87622600e-01 -1.55731419e-01 -1.86902493e-02 1.80456085e+01] [ 1.55725911e-01 9.87798739e-01 -1.75868580e-03 2.16594367e+00] [ 1.87360873e-02 -1.17363825e-03 9.99823775e-01 1.31407641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.154391418 meters Centerline goodness [0,1] 0.9987329743427305 Centerline is valid? [True, True] Translation: X:18.08, Y:2.17, Z:0.01 [[ 9.87981462e-01 -1.53571439e-01 -1.75625581e-02 1.80765181e+01] [ 1.53566253e-01 9.88136973e-01 -1.65159448e-03 2.17023257e+00] [ 1.76078508e-02 -1.06527151e-03 9.99844402e-01 1.27645385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184391418 meters Centerline goodness [0,1] 0.9987556155484782 Centerline is valid? [True, True] Translation: X:18.11, Y:2.17, Z:0.02 [[ 9.88403118e-01 -1.51129011e-01 -1.48087336e-02 1.81066295e+01] [ 1.51125056e-01 9.88513672e-01 -1.39221855e-03 2.17300653e+00] [ 1.48490403e-02 -8.61897541e-04 9.99889375e-01 1.73781489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.214391418 meters Centerline goodness [0,1] 0.9988410072700453 Centerline is valid? [True, True] Translation: X:18.14, Y:2.18, Z:0.02 [[ 9.88838460e-01 -1.48330170e-01 -1.40235791e-02 1.81375078e+01] [ 1.48326349e-01 9.88937590e-01 -1.31797889e-03 2.17706696e+00] [ 1.40639406e-02 -7.76798066e-04 9.99900796e-01 1.60543520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244391418 meters Centerline goodness [0,1] 0.9983579638752053 Centerline is valid? [True, True] Translation: X:18.17, Y:2.18, Z:0.02 [[ 9.89057947e-01 -1.46914335e-01 -1.34371253e-02 1.81690305e+01] [ 1.46910707e-01 9.89148953e-01 -1.26206697e-03 2.18175087e+00] [ 1.34767341e-02 -7.25800206e-04 9.99908921e-01 1.66904501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.274391418 meters Centerline goodness [0,1] 0.9982747012287494 Centerline is valid? [True, True] Translation: X:18.20, Y:2.19, Z:0.02 [[ 9.89348171e-01 -1.44884885e-01 -1.40914002e-02 1.81989289e+01] [ 1.44880700e-01 9.89448247e-01 -1.32280527e-03 2.18555095e+00] [ 1.41343657e-02 -7.32856946e-04 9.99899836e-01 1.59462143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.304391418 meters Centerline goodness [0,1] 0.9985683607730852 Centerline is valid? [True, True] Translation: X:18.23, Y:2.19, Z:0.02 [[ 9.89386473e-01 -1.44587200e-01 -1.44550917e-02 1.82303146e+01] [ 1.44582772e-01 9.89491780e-01 -1.35635858e-03 2.18794542e+00] [ 1.44993065e-02 -7.47994402e-04 9.99894600e-01 1.68840104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.334391418 meters Centerline goodness [0,1] 0.9982517482517482 Centerline is valid? [True, True] Translation: X:18.26, Y:2.19, Z:0.02 [[ 9.89227797e-01 -1.45776034e-01 -1.33309578e-02 1.82623016e+01] [ 1.45772388e-01 9.89317365e-01 -1.25000758e-03 2.18990532e+00] [ 1.33707692e-02 -7.06743305e-04 9.99910358e-01 1.78570486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364391418 meters Centerline goodness [0,1] 0.9985464197686912 Centerline is valid? [True, True] Translation: X:18.29, Y:2.19, Z:0.02 [[ 9.89028048e-01 -1.47149500e-01 -1.30593026e-02 1.82938942e+01] [ 1.47146133e-01 9.89114007e-01 -1.22352239e-03 2.19483159e+00] [ 1.30971798e-02 -7.11527918e-04 9.99913975e-01 1.99330928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.394391418 meters Centerline goodness [0,1] 0.9984631578947368 Centerline is valid? [True, True] Translation: X:18.33, Y:2.19, Z:0.02 [[ 9.88723669e-01 -1.49216387e-01 -1.26481415e-02 1.83254260e+01] [ 1.49213409e-01 9.88804306e-01 -1.18412709e-03 2.19398622e+00] [ 1.26832279e-02 -7.16497822e-04 9.99919308e-01 2.05562274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424391418 meters Centerline goodness [0,1] 0.998485549619284 Centerline is valid? [True, True] Translation: X:18.36, Y:2.20, Z:0.02 [[ 9.88610362e-01 -1.49982050e-01 -1.24473259e-02 1.83570303e+01] [ 1.49979237e-01 9.88688461e-01 -1.16446534e-03 2.20035550e+00] [ 1.24811764e-02 -7.15637943e-04 9.99921851e-01 2.11794948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.454391418 meters Centerline goodness [0,1] 0.9984842105263158 Centerline is valid? [True, True] Translation: X:18.39, Y:2.20, Z:0.02 [[ 9.88601507e-01 -1.50078323e-01 -1.19815350e-02 1.83891941e+01] [ 1.50075735e-01 9.88673869e-01 -1.11993064e-03 2.20374129e+00] [ 1.20139079e-02 -6.90972556e-04 9.99927592e-01 1.96556911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.484391418 meters Centerline goodness [0,1] 0.9982729570345409 Centerline is valid? [True, True] Translation: X:18.42, Y:2.21, Z:0.02 [[ 9.88447048e-01 -1.51066337e-01 -1.23042480e-02 1.84209878e+01] [ 1.51063696e-01 9.88523363e-01 -1.14906627e-03 2.20915139e+00] [ 1.23366218e-02 -7.22934025e-04 9.99923640e-01 2.05779969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.514391418 meters Centerline goodness [0,1] 0.9985455005375324 Centerline is valid? [True, True] Translation: X:18.45, Y:2.21, Z:0.02 [[ 9.88349272e-01 -1.51749138e-01 -1.17437472e-02 1.84521935e+01] [ 1.51746790e-01 9.88418793e-01 -1.09587754e-03 2.21098157e+00] [ 1.17740389e-02 -6.98966179e-04 9.99930439e-01 1.93498701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544391418 meters Centerline goodness [0,1] 0.9983989551075438 Centerline is valid? [True, True] Translation: X:18.48, Y:2.21, Z:0.02 [[ 9.88215452e-01 -1.52634445e-01 -1.15302153e-02 1.84847234e+01] [ 1.52632251e-01 9.88282470e-01 -1.07515288e-03 2.21272867e+00] [ 1.15592150e-02 -6.97400024e-04 9.99932947e-01 1.93929250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.574391418 meters Centerline goodness [0,1] 0.9981878713810106 Centerline is valid? [True, True] Translation: X:18.52, Y:2.21, Z:0.02 [[ 9.88002104e-01 -1.54059071e-01 -1.08463895e-02 1.85161400e+01] [ 1.54057224e-01 9.88061410e-01 -1.01062248e-03 2.21191793e+00] [ 1.08725945e-02 -6.72467518e-04 9.99940665e-01 1.95266872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604391418 meters Centerline goodness [0,1] 0.998082515065953 Centerline is valid? [True, True] Translation: X:18.55, Y:2.21, Z:0.02 [[ 9.87834073e-01 -1.55174110e-01 -1.02390885e-02 1.85477767e+01] [ 1.55172530e-01 9.87886925e-01 -9.53439602e-04 2.21405822e+00] [ 1.02630108e-02 -6.46985131e-04 9.99947125e-01 1.94842719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.634391418 meters Centerline goodness [0,1] 0.9967597365707913 Centerline is valid? [True, True] Translation: X:18.58, Y:2.22, Z:0.02 [[ 9.87538086e-01 -1.57130836e-01 -8.85599434e-03 1.85789738e+01] [ 1.57129736e-01 9.87577626e-01 -8.24171610e-04 2.21618952e+00] [ 8.87548463e-03 -5.77639200e-04 9.99960445e-01 2.14866681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664391418 meters Centerline goodness [0,1] 0.9955792265751636 Centerline is valid? [True, True] Translation: X:18.61, Y:2.22, Z:0.02 [[ 9.87407911e-01 -1.57993670e-01 -7.97601442e-03 1.86109702e+01] [ 1.57992810e-01 9.87439984e-01 -7.41820027e-04 2.21967694e+00] [ 7.99303841e-03 -5.27673964e-04 9.99967916e-01 2.43964833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.694391418 meters Centerline goodness [0,1] 0.9936644916859608 Centerline is valid? [True, True] Translation: X:18.64, Y:2.22, Z:0.02 [[ 9.87449686e-01 -1.57766751e-01 -7.26430943e-03 1.86434304e+01] [ 1.57766035e-01 9.87476290e-01 -6.75101661e-04 2.22278532e+00] [ 7.27984192e-03 -4.79432369e-04 9.99973387e-01 2.46924398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724391418 meters Centerline goodness [0,1] 0.9914754788465586 Centerline is valid? [True, True] Translation: X:18.67, Y:2.22, Z:0.03 [[ 9.87413093e-01 -1.58013960e-01 -6.85356982e-03 1.86749125e+01] [ 1.58013332e-01 9.87436774e-01 -6.36425348e-04 2.22480046e+00] [ 6.86803096e-03 -4.54540682e-04 9.99976311e-01 2.53034859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.754391418 meters Centerline goodness [0,1] 0.987075759167805 Centerline is valid? [True, True] Translation: X:18.71, Y:2.23, Z:0.02 [[ 9.87400272e-01 -1.58087790e-01 -6.99668443e-03 1.87069579e+01] [ 1.58087140e-01 9.87424951e-01 -6.49294336e-04 2.22645142e+00] [ 7.01134629e-03 -4.64972429e-04 9.99975312e-01 2.32444415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784391418 meters Centerline goodness [0,1] 0.9963574346233208 Centerline is valid? [True, True] Translation: X:18.74, Y:2.23, Z:0.02 [[ 9.87246777e-01 -1.59021732e-01 -7.47596347e-03 1.87384506e+01] [ 1.59021022e-01 9.87274954e-01 -6.93159798e-04 2.23359467e+00] [ 7.49105896e-03 -5.04515573e-04 9.99971814e-01 2.29164968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.814391418 meters Centerline goodness [0,1] 0.983528619811936 Centerline is valid? [True, True] Translation: X:18.77, Y:2.23, Z:0.02 [[ 9.87075968e-01 -1.60072120e-01 -7.61247006e-03 1.87691641e+01] [ 1.60071419e-01 9.87105184e-01 -7.05234255e-04 2.23389389e+00] [ 7.62719700e-03 -5.22419097e-04 9.99970776e-01 2.41597494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844391418 meters Centerline goodness [0,1] 0.9970725748704772 Centerline is valid? [True, True] Translation: X:18.80, Y:2.24, Z:0.02 [[ 9.86961863e-01 -1.60773342e-01 -7.62977566e-03 1.88005206e+01] [ 1.60772661e-01 9.86991212e-01 -7.06497809e-04 2.24391625e+00] [ 7.64410754e-03 -5.29372945e-04 9.99970643e-01 2.46764001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.874391418 meters Centerline goodness [0,1] 0.9662610969360859 Centerline is valid? [True, True] Translation: X:18.83, Y:2.24, Z:0.03 [[ 9.86772870e-01 -1.61958855e-01 -6.97375304e-03 1.88320787e+01] [ 1.61958319e-01 9.86797389e-01 -6.45233579e-04 2.23771664e+00] [ 6.98618258e-03 -4.92758330e-04 9.99975475e-01 2.51106735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904391418 meters Centerline goodness [0,1] 0.927098503556428 Centerline is valid? [True, False] Translation: X:18.83, Y:2.23, Z:0.02 [[ 9.87291429e-01 -1.58746782e-01 -7.42243620e-03 1.88320314e+01] [ 1.58778913e-01 9.87306232e-01 3.95727632e-03 2.23406929e+00] [ 6.70001264e-03 -5.08551134e-03 9.99964623e-01 2.46100644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.934391418 meters Centerline goodness [0,1] 0.9044647750748345 Centerline is valid? [False, False] Translation: X:18.83, Y:2.23, Z:0.02 [[ 9.87304265e-01 -1.58662736e-01 -7.51157265e-03 1.88325336e+01] [ 1.58698270e-01 9.87317351e-01 4.39411783e-03 2.23307441e+00] [ 6.71912325e-03 -5.53040487e-03 9.99962133e-01 2.41046712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.964391418 meters Centerline goodness [0,1] 0.8815811677354033 Centerline is valid? [False, False] Translation: X:18.83, Y:2.23, Z:0.02 [[ 9.87321082e-01 -1.58555040e-01 -7.57502083e-03 1.88329257e+01] [ 1.58593175e-01 9.87332698e-01 4.72729902e-03 2.23249186e+00] [ 6.72952867e-03 -5.86870859e-03 9.99960135e-01 2.37021268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.994391418 meters Centerline goodness [0,1] 0.9957555536785202 Centerline is valid? [False, True] Translation: X:18.83, Y:2.23, Z:0.02 [[ 9.87778323e-01 -1.55664976e-01 -7.89939166e-03 1.88321770e+01] [ 1.55730496e-01 9.87763064e-01 8.49367712e-03 2.23164448e+00] [ 6.48055926e-03 -9.62004632e-03 9.99932726e-01 2.37591291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024391418 meters Centerline goodness [0,1] 0.9486572714403432 Centerline is valid? [True, False] Translation: X:18.83, Y:2.23, Z:0.02 [[ 9.87750681e-01 -1.55837753e-01 -7.94899670e-03 1.88320654e+01] [ 1.55901386e-01 9.87739139e-01 8.13339198e-03 2.23270489e+00] [ 6.58404563e-03 -9.27302307e-03 9.99935329e-01 2.40349358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.054391418 meters Centerline goodness [0,1] 0.9949081996999852 Centerline is valid? [False, True] Translation: X:18.83, Y:2.23, Z:0.02 [[ 9.87756069e-01 -1.55798024e-01 -8.05757030e-03 1.88321727e+01] [ 1.55862599e-01 9.87745342e-01 8.12344075e-03 2.23298078e+00] [ 6.69321150e-03 -9.27985175e-03 9.99934540e-01 2.41548609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.084391418 meters Centerline goodness [0,1] 0.984997457196135 Centerline is valid? [True, True] Translation: X:18.86, Y:2.23, Z:0.03 [[ 9.87652387e-01 -1.56525292e-01 -6.52647952e-03 1.88636421e+01] [ 1.56525264e-01 9.87673819e-01 -5.18236787e-04 2.23420313e+00] [ 6.52715012e-03 -5.09721131e-04 9.99978568e-01 3.01952832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.114391418 meters Centerline goodness [0,1] 0.9883088001694377 Centerline is valid? [True, True] Translation: X:18.90, Y:2.24, Z:0.03 [[ 9.87642772e-01 -1.56623466e-01 -5.55374500e-03 1.88955365e+01] [ 1.56623457e-01 9.87658291e-01 -4.39264185e-04 2.23814534e+00] [ 5.55400138e-03 -4.36010643e-04 9.99984481e-01 2.77287364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.144391418 meters Centerline goodness [0,1] 0.9939148503095582 Centerline is valid? [True, True] Translation: X:18.93, Y:2.24, Z:0.03 [[ 9.87687501e-01 -1.56347142e-01 -5.38247486e-03 1.89277179e+01] [ 1.56347132e-01 9.87702077e-01 -4.25296667e-04 2.24204369e+00] [ 5.38277552e-03 -4.21474305e-04 9.99985424e-01 3.10140385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.174391418 meters Centerline goodness [0,1] 0.9873479421862417 Centerline is valid? [True, True] Translation: X:18.96, Y:2.24, Z:0.03 [[ 9.87998378e-01 -1.54386925e-01 -4.88690594e-03 1.89584830e+01] [ 1.54386895e-01 9.88010394e-01 -3.85642559e-04 2.24422296e+00] [ 4.88785203e-03 -3.73460010e-04 9.99987985e-01 3.11204349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204391418 meters Centerline goodness [0,1] 0.9965880433170152 Centerline is valid? [True, True] Translation: X:18.99, Y:2.25, Z:0.03 [[ 9.88233495e-01 -1.52871319e-01 -4.99198558e-03 1.89895518e+01] [ 1.52871270e-01 9.88246032e-01 -3.93721158e-04 2.25183814e+00] [ 4.99349861e-03 -3.74042739e-04 9.99987462e-01 3.26523576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.234391418 meters Centerline goodness [0,1] 0.995418487252365 Centerline is valid? [True, True] Translation: X:19.02, Y:2.26, Z:0.03 [[ 9.88504301e-01 -1.51132697e-01 -4.26081116e-03 1.90204620e+01] [ 1.51132646e-01 9.88513435e-01 -3.35927636e-04 2.25571879e+00] [ 4.26263872e-03 -3.11881751e-04 9.99990866e-01 3.10088428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264391418 meters Centerline goodness [0,1] 0.989643999237595 Centerline is valid? [True, True] Translation: X:19.05, Y:2.25, Z:0.03 [[ 9.88706991e-01 -1.49789126e-01 -4.65866846e-03 1.90519063e+01] [ 1.49789047e-01 9.88717910e-01 -3.67953480e-04 2.25416044e+00] [ 4.66122438e-03 -3.34019330e-04 9.99989081e-01 3.26892739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.294391418 meters Centerline goodness [0,1] 0.9859812093062713 Centerline is valid? [True, True] Translation: X:19.08, Y:2.26, Z:0.03 [[ 9.88803709e-01 -1.49139099e-01 -4.97529326e-03 1.90834371e+01] [ 1.49139009e-01 9.88816162e-01 -3.91105257e-04 2.25592658e+00] [ 4.97797947e-03 -3.55283977e-04 9.99987547e-01 3.25560189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.324391418 meters Centerline goodness [0,1] 0.9929788943873451 Centerline is valid? [True, True] Translation: X:19.12, Y:2.26, Z:0.03 [[ 9.88898038e-01 -1.48503623e-01 -5.22914653e-03 1.91152809e+01] [ 1.48503521e-01 9.88911794e-01 -4.09914112e-04 2.26105076e+00] [ 5.23203840e-03 -3.71183411e-04 9.99986244e-01 2.92290709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.354391418 meters Centerline goodness [0,1] 0.994625021161334 Centerline is valid? [True, True] Translation: X:19.15, Y:2.26, Z:0.03 [[ 9.88881899e-01 -1.48601316e-01 -5.49888404e-03 1.91472292e+01] [ 1.48601208e-01 9.88897111e-01 -4.30584578e-04 2.26352003e+00] [ 5.50181597e-03 -3.91343514e-04 9.99984788e-01 2.87502689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384391418 meters Centerline goodness [0,1] 0.9955146514334073 Centerline is valid? [True, True] Translation: X:19.18, Y:2.27, Z:0.03 [[ 9.88827085e-01 -1.48969989e-01 -5.37945318e-03 1.91793706e+01] [ 1.48969892e-01 9.88841643e-01 -4.20816227e-04 2.26672610e+00] [ 5.38211631e-03 -3.85262079e-04 9.99985442e-01 3.11821718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.414391418 meters Centerline goodness [0,1] 0.9759010675404292 Centerline is valid? [True, True] Translation: X:19.21, Y:2.26, Z:0.03 [[ 9.88822092e-01 -1.48998146e-01 -5.51571876e-03 1.92110080e+01] [ 1.48998045e-01 9.88837396e-01 -4.31570689e-04 2.26448287e+00] [ 5.51845221e-03 -3.95084679e-04 9.99984695e-01 3.06617319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444391418 meters Centerline goodness [0,1] 0.9967005773989552 Centerline is valid? [True, True] Translation: X:19.24, Y:2.28, Z:0.03 [[ 9.88875235e-01 -1.48642572e-01 -5.58167672e-03 1.92429934e+01] [ 1.48642470e-01 9.88890907e-01 -4.35458777e-04 2.27558156e+00] [ 5.58439707e-03 -3.99059813e-04 9.99984328e-01 3.18114120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.474391418 meters Centerline goodness [0,1] 0.9979099814220571 Centerline is valid? [True, True] Translation: X:19.27, Y:2.28, Z:0.03 [[ 9.89056605e-01 -1.47451101e-01 -5.02054959e-03 1.92749949e+01] [ 1.47451011e-01 9.89069283e-01 -3.90167774e-04 2.27882145e+00] [ 5.02320205e-03 -3.54387097e-04 9.99987321e-01 3.39035879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504391418 meters Centerline goodness [0,1] 0.9973016274559406 Centerline is valid? [True, True] Translation: X:19.31, Y:2.28, Z:0.03 [[ 9.89169721e-01 -1.46683170e-01 -5.22597950e-03 1.93076808e+01] [ 1.46683073e-01 9.89183458e-01 -4.03881444e-04 2.28005714e+00] [ 5.22869508e-03 -3.67055436e-04 9.99986263e-01 3.08089763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.534391418 meters Centerline goodness [0,1] 0.9964987766810091 Centerline is valid? [True, True] Translation: X:19.34, Y:2.28, Z:0.03 [[ 9.89110093e-01 -1.47089000e-01 -5.10391264e-03 1.93391885e+01] [ 1.47088913e-01 9.89123196e-01 -3.94514955e-04 2.28084654e+00] [ 5.10642719e-03 -3.60510238e-04 9.99986897e-01 3.33109291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564391418 meters Centerline goodness [0,1] 0.996230706058245 Centerline is valid? [True, True] Translation: X:19.37, Y:2.28, Z:0.03 [[ 9.89084801e-01 -1.47260503e-01 -5.05963023e-03 1.93701883e+01] [ 1.47260426e-01 9.89097677e-01 -3.89758097e-04 2.28154383e+00] [ 5.06186448e-03 -3.59579494e-04 9.99987124e-01 3.34024404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.594391418 meters Centerline goodness [0,1] 0.9899393837346354 Centerline is valid? [True, True] Translation: X:19.40, Y:2.28, Z:0.03 [[ 9.88849589e-01 -1.48872255e-01 -3.67995419e-03 1.94016255e+01] [ 1.48872230e-01 9.88856400e-01 -2.82123850e-04 2.28161005e+00] [ 3.68094666e-03 -2.68864933e-04 9.99993189e-01 3.49024108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624391418 meters Centerline goodness [0,1] 0.989590124287607 Centerline is valid? [True, True] Translation: X:19.43, Y:2.28, Z:0.04 [[ 9.88820133e-01 -1.49082956e-01 -3.00264959e-03 1.94341604e+01] [ 1.49082940e-01 9.88824668e-01 -2.30221694e-04 2.28307354e+00] [ 3.00341611e-03 -2.19995983e-04 9.99995466e-01 3.93636284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.654391418 meters Centerline goodness [0,1] 0.9866271368195294 Centerline is valid? [True, True] Translation: X:19.47, Y:2.28, Z:0.04 [[ 9.88816875e-01 -1.49116386e-01 -2.34316774e-03 1.94667777e+01] [ 1.49116377e-01 9.88819637e-01 -1.79619820e-04 2.28319258e+00] [ 2.34375453e-03 -1.71793575e-04 9.99997239e-01 3.84645143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684391418 meters Centerline goodness [0,1] 0.984002020797373 Centerline is valid? [True, True] Translation: X:19.50, Y:2.28, Z:0.04 [[ 9.88701302e-01 -1.49879680e-01 -2.41201588e-03 1.94987716e+01] [ 1.49879673e-01 9.88704228e-01 -1.84686999e-04 2.28312937e+00] [ 2.41245113e-03 -1.78911876e-04 9.99997074e-01 3.89599648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.714391417999998 meters Centerline goodness [0,1] 0.9858698851928172 Centerline is valid? [True, True] Translation: X:19.53, Y:2.28, Z:0.04 [[ 9.88564377e-01 -1.50762364e-01 -3.34385163e-03 1.95315027e+01] [ 1.50762358e-01 9.88570001e-01 -2.55515681e-04 2.28262297e+00] [ 3.34415355e-03 -2.51533255e-04 9.99994377e-01 3.82633395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744391418 meters Centerline goodness [0,1] 0.9522348540567802 Centerline is valid? [True, True] Translation: X:19.56, Y:2.28, Z:0.03 [[ 9.88527736e-01 -1.50985960e-01 -4.01940460e-03 1.95625067e+01] [ 1.50985953e-01 9.88535861e-01 -3.06949013e-04 2.28066735e+00] [ 4.01967058e-03 -3.03446020e-04 9.99991875e-01 3.39448696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.774391418 meters Centerline goodness [0,1] 0.9115712033631109 Centerline is valid? [True, False] Translation: X:19.56, Y:2.28, Z:0.03 [[ 9.89053285e-01 -1.47484585e-01 -4.67946865e-03 1.95631077e+01] [ 1.47505796e-01 9.89050652e-01 4.56605228e-03 2.27766421e+00] [ 3.95480919e-03 -5.20631775e-03 9.99978627e-01 3.28530704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.804391418 meters Centerline goodness [0,1] 0.9763372105252087 Centerline is valid? [False, True] Translation: X:19.56, Y:2.27, Z:0.03 [[ 9.89548706e-01 -1.44107384e-01 -5.14011919e-03 1.95629268e+01] [ 1.44149285e-01 9.89514891e-01 9.01462007e-03 2.27472699e+00] [ 3.78715116e-03 -9.66135013e-03 9.99946156e-01 3.27027399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.834391418 meters Centerline goodness [0,1] 0.9706730061220625 Centerline is valid? [True, True] Translation: X:19.59, Y:2.28, Z:0.04 [[ 9.89585602e-01 -1.43884772e-01 -4.18435151e-03 1.95939829e+01] [ 1.43884845e-01 9.89594397e-01 -2.85044577e-04 2.27950578e+00] [ 4.18182438e-03 -3.19988759e-04 9.99991205e-01 3.60136260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864391418 meters Centerline goodness [0,1] 0.9912734460425604 Centerline is valid? [True, True] Translation: X:19.63, Y:2.29, Z:0.04 [[ 9.89773027e-01 -1.42602699e-01 -3.71814489e-03 1.96261156e+01] [ 1.42602749e-01 9.89779971e-01 -2.53212035e-04 2.28500343e+00] [ 3.71625407e-03 -2.79595240e-04 9.99993056e-01 3.54801552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.894391418 meters Centerline goodness [0,1] 0.9833782758911267 Centerline is valid? [True, True] Translation: X:19.66, Y:2.28, Z:0.03 [[ 9.89833659e-01 -1.42198160e-01 -3.00196205e-03 1.96570628e+01] [ 1.42198189e-01 9.89838185e-01 -2.04702160e-04 2.28377810e+00] [ 3.00056494e-03 -2.24252480e-04 9.99995473e-01 3.25758611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924391418 meters Centerline goodness [0,1] 0.9880214264625248 Centerline is valid? [True, True] Translation: X:19.69, Y:2.29, Z:0.04 [[ 9.89739879e-01 -1.42843253e-01 -3.28287853e-03 1.96895111e+01] [ 1.42843295e-01 9.89745292e-01 -2.22850754e-04 2.28660011e+00] [ 3.28104630e-03 -2.48372909e-04 9.99994587e-01 3.62711106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.954391418 meters Centerline goodness [0,1] 0.9880214264625248 Centerline is valid? [True, True] Translation: X:19.72, Y:2.29, Z:0.04 [[ 9.89756935e-01 -1.42725024e-01 -3.28288364e-03 1.97220736e+01] [ 1.42725066e-01 9.89762348e-01 -2.22775699e-04 2.28868191e+00] [ 3.28107029e-03 -2.48055991e-04 9.99994587e-01 3.65294419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.984391418 meters Centerline goodness [0,1] 0.9787054428803579 Centerline is valid? [True, True] Translation: X:19.75, Y:2.29, Z:0.04 [[ 9.89773998e-01 -1.42621220e-01 -2.57302232e-03 1.97533646e+01] [ 1.42621244e-01 9.89777323e-01 -1.75226296e-04 2.28974526e+00] [ 2.57171013e-03 -1.93533213e-04 9.99996674e-01 3.52530235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.014391418 meters Centerline goodness [0,1] 0.974180734856008 Centerline is valid? [True, True] Translation: X:19.79, Y:2.29, Z:0.03 [[ 9.89891048e-01 -1.41802569e-01 -2.78295626e-03 1.97856775e+01] [ 1.41802599e-01 9.89894938e-01 -1.87736112e-04 2.29134346e+00] [ 2.78145577e-03 -2.08792132e-04 9.99996110e-01 3.24988888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044391418 meters Centerline goodness [0,1] 0.9751980782198246 Centerline is valid? [True, True] Translation: X:19.82, Y:2.29, Z:0.03 [[ 9.89857977e-01 -1.42038961e-01 -2.47376464e-03 1.98170398e+01] [ 1.42038986e-01 9.89861050e-01 -1.66643817e-04 2.29221549e+00] [ 2.47235318e-03 -1.86417309e-04 9.99996926e-01 3.47342971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.074391418 meters Centerline goodness [0,1] 0.9818738776803634 Centerline is valid? [True, True] Translation: X:19.85, Y:2.30, Z:0.03 [[ 9.90106662e-01 -1.40297742e-01 -2.31111145e-03 1.98481425e+01] [ 1.40297759e-01 9.90109345e-01 -1.55476566e-04 2.29506144e+00] [ 2.31006605e-03 -1.70305373e-04 9.99997317e-01 2.92440431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104391418 meters Centerline goodness [0,1] 0.9849882819922724 Centerline is valid? [True, True] Translation: X:19.88, Y:2.30, Z:0.03 [[ 9.90247739e-01 -1.39302856e-01 -2.03209635e-03 1.98800969e+01] [ 1.39302867e-01 9.90249813e-01 -1.36892446e-04 2.29753731e+00] [ 2.03135254e-03 -1.47519413e-04 9.99997926e-01 2.86057337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.134391418 meters Centerline goodness [0,1] 0.9828001521362465 Centerline is valid? [True, True] Translation: X:19.91, Y:2.30, Z:0.03 [[ 9.90401041e-01 -1.38214996e-01 -1.54695529e-03 1.99111890e+01] [ 1.38215001e-01 9.90402243e-01 -1.04110200e-04 2.29898948e+00] [ 1.54649758e-03 -1.10701576e-04 9.99998798e-01 2.99666918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164391418 meters Centerline goodness [0,1] 0.988523966522952 Centerline is valid? [True, True] Translation: X:19.94, Y:2.30, Z:0.03 [[ 9.90715876e-01 -1.35946117e-01 -8.40877697e-04 1.99420305e+01] [ 1.35946118e-01 9.90716231e-01 -5.66114633e-05 2.30494879e+00] [ 8.40767291e-04 -5.82281831e-05 9.99999645e-01 3.16519088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.194391418 meters Centerline goodness [0,1] 0.9900413537007342 Centerline is valid? [True, True] Translation: X:19.97, Y:2.31, Z:0.03 [[ 9.90980309e-01 -1.34006874e-01 -4.29430799e-04 1.99738209e+01] [ 1.34006874e-01 9.90980402e-01 -2.91846406e-05 2.30920890e+00] [ 4.29468449e-04 -2.86252747e-05 9.99999907e-01 3.06928737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224391418 meters Centerline goodness [0,1] 0.9943861879038237 Centerline is valid? [True, True] Translation: X:20.00, Y:2.32, Z:0.03 [[ 9.91183696e-01 -1.32494289e-01 -3.79941501e-04 2.00045749e+01] [ 1.32494288e-01 9.91183768e-01 -2.57139732e-05 2.31521482e+00] [ 3.79998803e-04 -2.48528078e-05 9.99999927e-01 2.96941621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.254391418 meters Centerline goodness [0,1] 0.9975857687420584 Centerline is valid? [True, True] Translation: X:20.04, Y:2.33, Z:0.03 [[ 9.91435979e-01 -1.30593203e-01 3.38607409e-04 2.00362335e+01] [ 1.30593204e-01 9.91436037e-01 2.02777421e-05 2.32544871e+00] [-3.38355723e-04 2.41157433e-05 9.99999942e-01 2.80502451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284391418 meters Centerline goodness [0,1] 0.9973403693931399 Centerline is valid? [True, True] Translation: X:20.07, Y:2.33, Z:0.03 [[ 9.91548930e-01 -1.29733226e-01 -1.00026646e-04 2.00673349e+01] [ 1.29733226e-01 9.91548935e-01 -8.72321247e-06 2.32719891e+00] [ 1.00313005e-04 -4.32728751e-06 9.99999995e-01 2.73080158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.314391418 meters Centerline goodness [0,1] 0.997643812354065 Centerline is valid? [True, True] Translation: X:20.10, Y:2.33, Z:0.02 [[ 9.91671545e-01 -1.28792617e-01 9.38888490e-05 2.00992939e+01] [ 1.28792617e-01 9.91671549e-01 3.94615497e-06 2.33023210e+00] [-9.36151359e-05 8.17890099e-06 9.99999996e-01 2.37290267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344391418 meters Centerline goodness [0,1] 0.9977901961200943 Centerline is valid? [True, True] Translation: X:20.13, Y:2.33, Z:0.02 [[ 9.91914033e-01 -1.26911546e-01 -1.05831449e-04 2.01310541e+01] [ 1.26911546e-01 9.91914038e-01 -7.46657388e-06 2.33417422e+00] [ 1.05923294e-04 -6.02503336e-06 9.99999994e-01 2.10273182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.374391418 meters Centerline goodness [0,1] 0.9978074376822701 Centerline is valid? [True, True] Translation: X:20.16, Y:2.34, Z:0.02 [[ 9.91995597e-01 -1.26271996e-01 -3.45774876e-04 2.01635564e+01] [ 1.26271995e-01 9.91995657e-01 -2.49887885e-05 2.33812471e+00] [ 3.46162559e-04 -1.88729150e-05 9.99999940e-01 2.03766096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404391418 meters Centerline goodness [0,1] 0.9979132064222137 Centerline is valid? [True, True] Translation: X:20.20, Y:2.34, Z:0.02 [[ 9.92050072e-01 -1.25843593e-01 -2.10496303e-04 2.01959441e+01] [ 1.25843593e-01 9.92050094e-01 -1.61831729e-05 2.33870454e+00] [ 2.10859426e-04 -1.04350932e-05 9.99999978e-01 2.06568570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.434391418 meters Centerline goodness [0,1] 0.998122946973252 Centerline is valid? [True, True] Translation: X:20.23, Y:2.35, Z:0.02 [[ 9.92260107e-01 -1.24176718e-01 1.51078361e-04 2.02279038e+01] [ 1.24176718e-01 9.92260118e-01 7.57024445e-06 2.34524177e+00] [-1.50849081e-04 1.12487636e-05 9.99999989e-01 1.98170945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464391417999998 meters Centerline goodness [0,1] 0.9977618144224415 Centerline is valid? [True, True] Translation: X:20.26, Y:2.35, Z:0.02 [[ 9.92347932e-01 -1.23470827e-01 7.32709919e-04 2.02589693e+01] [ 1.23470827e-01 9.92348201e-01 4.54154269e-05 2.34714731e+00] [-7.32710851e-04 4.54003948e-05 9.99999731e-01 2.11494885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.494391418 meters Centerline goodness [0,1] 0.9978875042676681 Centerline is valid? [True, True] Translation: X:20.29, Y:2.35, Z:0.02 [[ 9.92538513e-01 -1.21923921e-01 1.36316995e-03 2.02906846e+01] [ 1.21923917e-01 9.92539446e-01 8.57775023e-05 2.35020463e+00] [-1.36345828e-03 8.10655457e-05 9.99999067e-01 2.07440161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524391418 meters Centerline goodness [0,1] 0.997884208501635 Centerline is valid? [True, True] Translation: X:20.32, Y:2.35, Z:0.02 [[ 9.92672977e-01 -1.20831776e-01 2.04277867e-04 2.03219504e+01] [ 1.20831776e-01 9.92672998e-01 1.11161578e-05 2.35239705e+00] [-2.04124308e-04 1.36485480e-05 9.99999979e-01 1.65350326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.554391418 meters Centerline goodness [0,1] 0.997884208501635 Centerline is valid? [True, True] Translation: X:20.35, Y:2.35, Z:0.02 [[ 9.92710364e-01 -1.20524234e-01 2.04309864e-04 2.03545479e+01] [ 1.20524234e-01 9.92710385e-01 1.06123862e-05 2.35433308e+00] [-2.04099573e-04 1.40892641e-05 9.99999979e-01 1.67931810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.584391418 meters Centerline goodness [0,1] 0.9978826699745492 Centerline is valid? [True, True] Translation: X:20.39, Y:2.36, Z:0.02 [[ 9.92736253e-01 -1.20310198e-01 -4.34797417e-04 2.03871690e+01] [ 1.20310197e-01 9.92736348e-01 -3.01247236e-05 2.35671310e+00] [ 4.35263511e-04 -2.24046575e-05 9.99999905e-01 1.69889153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.614391418 meters Centerline goodness [0,1] 0.9981165996061981 Centerline is valid? [True, True] Translation: X:20.42, Y:2.37, Z:0.01 [[ 9.92896879e-01 -1.18977722e-01 -2.98639461e-04 2.04186222e+01] [ 1.18977721e-01 9.92896924e-01 -2.12546086e-05 2.37026680e+00] [ 2.99047027e-04 -1.44278081e-05 9.99999955e-01 1.46781283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.644391418 meters Centerline goodness [0,1] 0.9980744544287549 Centerline is valid? [True, True] Translation: X:20.45, Y:2.37, Z:0.02 [[ 9.93048078e-01 -1.17709309e-01 -1.83323560e-04 2.04499515e+01] [ 1.17709308e-01 9.93048095e-01 -1.37082832e-05 2.36648902e+00] [ 1.83662705e-04 -7.96590521e-06 9.99999983e-01 1.56357660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.674391418 meters Centerline goodness [0,1] 0.9981546252387186 Centerline is valid? [True, True] Translation: X:20.48, Y:2.37, Z:0.01 [[ 9.93271598e-01 -1.15808119e-01 1.06557704e-04 2.04798033e+01] [ 1.15808119e-01 9.93271604e-01 6.57029082e-06 2.37051000e+00] [-1.06601635e-04 5.81416402e-06 9.99999994e-01 1.49264016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704391418 meters Centerline goodness [0,1] 0.9982199154996032 Centerline is valid? [True, True] Translation: X:20.51, Y:2.37, Z:0.02 [[ 9.93460785e-01 -1.14173785e-01 1.21329632e-04 2.05119804e+01] [ 1.14173785e-01 9.93460793e-01 5.51110443e-06 2.37445982e+00] [-1.21165456e-04 8.37759720e-06 9.99999993e-01 1.50632313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.734391418 meters Centerline goodness [0,1] 0.998285285607116 Centerline is valid? [True, True] Translation: X:20.54, Y:2.38, Z:0.01 [[ 9.93648345e-01 -1.12529816e-01 -8.65962215e-05 2.05440349e+01] [ 1.12529815e-01 9.93648349e-01 -6.23690929e-06 2.38489054e+00] [ 8.67480308e-05 -3.54736224e-06 9.99999996e-01 1.44006456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764391418 meters Centerline goodness [0,1] 0.9987340957366919 Centerline is valid? [True, True] Translation: X:20.58, Y:2.39, Z:0.01 [[ 9.93828402e-01 -1.10928385e-01 9.86263881e-06 2.05763811e+01] [ 1.10928385e-01 9.93828402e-01 -1.96275155e-07 2.39082637e+00] [-9.77999809e-06 1.28911042e-06 1.00000000e+00 1.38084729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.794391418 meters Centerline goodness [0,1] 0.9986458310942975 Centerline is valid? [True, True] Translation: X:20.61, Y:2.40, Z:0.01 [[ 9.94181506e-01 -1.07715558e-01 -7.01325692e-04 2.06062798e+01] [ 1.07715554e-01 9.94181753e-01 -4.40616987e-05 2.39751169e+00] [ 7.01991336e-04 -3.17383594e-05 9.99999753e-01 1.46320680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824391418 meters Centerline goodness [0,1] 0.999032091542631 Centerline is valid? [True, True] Translation: X:20.64, Y:2.40, Z:0.01 [[ 9.94401137e-01 -1.05667857e-01 -8.26085972e-04 2.06382177e+01] [ 1.05667849e-01 9.94401480e-01 -5.36901397e-05 2.40288133e+00] [ 8.27134434e-04 -3.39011919e-05 9.99999657e-01 1.43834839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.854391418 meters Centerline goodness [0,1] 0.9988157526430248 Centerline is valid? [True, True] Translation: X:20.67, Y:2.41, Z:0.01 [[ 9.94751584e-01 -1.02294841e-01 -2.24745269e-03 2.06692165e+01] [ 1.02294785e-01 9.94754119e-01 -1.40273884e-04 2.40873368e+00] [ 2.25001211e-03 -9.03650202e-05 9.99997465e-01 1.11980703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884391418 meters Centerline goodness [0,1] 0.9990734555797367 Centerline is valid? [True, True] Translation: X:20.70, Y:2.41, Z:0.01 [[ 9.94911049e-01 -1.00731390e-01 -2.27848548e-03 2.07008850e+01] [ 1.00731326e-01 9.94913654e-01 -1.43488617e-04 2.41407641e+00] [ 2.28135013e-03 -8.67564529e-05 9.99997394e-01 1.09904478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.914391418 meters Centerline goodness [0,1] 0.9990520510168908 Centerline is valid? [True, True] Translation: X:20.73, Y:2.42, Z:0.01 [[ 9.95118758e-01 -9.86624365e-02 -2.09287809e-03 2.07326477e+01] [ 9.86623781e-02 9.95120956e-01 -1.31383236e-04 2.41861277e+00] [ 2.09562944e-03 -7.57464067e-05 9.99997801e-01 1.12394026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944391418 meters Centerline goodness [0,1] 0.9990063077853625 Centerline is valid? [True, True] Translation: X:20.76, Y:2.43, Z:0.01 [[ 9.95534995e-01 -9.43607745e-02 -2.47353767e-03 2.07625644e+01] [ 9.43606859e-02 9.95538064e-01 -1.52740819e-04 2.42519801e+00] [ 2.47691364e-03 -8.13458806e-05 9.99996929e-01 1.09408613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.974391418 meters Centerline goodness [0,1] 0.9989625434975252 Centerline is valid? [True, True] Translation: X:20.79, Y:2.43, Z:0.01 [[ 9.95739663e-01 -9.21900265e-02 -1.87660236e-03 2.07933199e+01] [ 9.21899702e-02 9.95741430e-01 -1.16683414e-04 2.43056703e+00] [ 1.87936777e-03 -5.68176124e-05 9.99998232e-01 1.29806911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004391418 meters Centerline goodness [0,1] 0.9994815070860699 Centerline is valid? [True, True] Translation: X:20.83, Y:2.44, Z:0.01 [[ 9.95941973e-01 -8.99639952e-02 -2.46294510e-03 2.08251319e+01] [ 8.99638916e-02 9.95945016e-01 -1.53047061e-04 2.43805028e+00] [ 2.46672663e-03 -6.91501346e-05 9.99996955e-01 1.32839693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.034391418 meters Centerline goodness [0,1] 0.9993295992733722 Centerline is valid? [True, True] Translation: X:20.86, Y:2.45, Z:0.01 [[ 9.96198489e-01 -8.70547790e-02 -3.16796962e-03 2.08566947e+01] [ 8.70545976e-02 9.96203523e-01 -1.95388073e-04 2.44528690e+00] [ 3.17295196e-03 -8.11410177e-05 9.99994963e-01 1.19275573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064391418 meters Centerline goodness [0,1] 0.9994379836582941 Centerline is valid? [True, True] Translation: X:20.89, Y:2.45, Z:0.01 [[ 9.96315555e-01 -8.56930195e-02 -3.46717072e-03 2.08879528e+01] [ 8.56927984e-02 9.96321584e-01 -2.12559008e-04 2.44750365e+00] [ 3.47263185e-03 -8.53357158e-05 9.99993967e-01 1.20571187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.094391418 meters Centerline goodness [0,1] 0.9996532217863413 Centerline is valid? [True, True] Translation: X:20.92, Y:2.45, Z:0.01 [[ 9.96405132e-01 -8.46477496e-02 -3.40166325e-03 2.09200342e+01] [ 8.46475333e-02 9.96410935e-01 -2.07769359e-04 2.45243005e+00] [ 3.40704167e-03 -8.09199479e-05 9.99994193e-01 1.20771741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124391418 meters Centerline goodness [0,1] 0.9994798890429958 Centerline is valid? [True, True] Translation: X:20.95, Y:2.46, Z:0.01 [[ 9.96457263e-01 -8.40409144e-02 -3.16979860e-03 2.09533230e+01] [ 8.40407253e-02 9.96462302e-01 -1.93069448e-04 2.45581039e+00] [ 3.17481054e-03 -7.40067196e-05 9.99994958e-01 1.29897795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.154391418 meters Centerline goodness [0,1] 0.9994797650272039 Centerline is valid? [True, True] Translation: X:20.99, Y:2.46, Z:0.01 [[ 9.96543944e-01 -8.30253300e-02 -2.63842733e-03 2.09857811e+01] [ 8.30251970e-02 9.96547435e-01 -1.60075654e-04 2.45927656e+00] [ 2.64260832e-03 -5.95335256e-05 9.99996507e-01 1.28950973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184391418 meters Centerline goodness [0,1] 0.9995433988519743 Centerline is valid? [True, True] Translation: X:21.02, Y:2.46, Z:0.02 [[ 9.96555937e-01 -8.29006152e-02 -1.93708662e-03 2.10190647e+01] [ 8.29005450e-02 9.96557819e-01 -1.16651344e-04 2.46328419e+00] [ 1.94008929e-03 -4.43359474e-05 9.99998117e-01 1.51333029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.214391417999998 meters Centerline goodness [0,1] 0.999433242506812 Centerline is valid? [True, True] Translation: X:21.05, Y:2.47, Z:0.01 [[ 9.96617719e-01 -8.21399561e-02 -2.47997050e-03 2.10506629e+01] [ 8.21398378e-02 9.96620803e-01 -1.49707553e-04 2.47012200e+00] [ 2.48388716e-03 -5.45031752e-05 9.99996914e-01 1.37615380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244391418 meters Centerline goodness [0,1] 0.9994984845511437 Centerline is valid? [True, True] Translation: X:21.08, Y:2.47, Z:0.01 [[ 9.96610988e-01 -8.22250482e-02 -2.36224559e-03 2.10833827e+01] [ 8.22249419e-02 9.96613786e-01 -1.42263100e-04 2.47278452e+00] [ 2.36594411e-03 -5.24545372e-05 9.99997200e-01 1.42277319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.274391418 meters Centerline goodness [0,1] 0.999388379204893 Centerline is valid? [True, True] Translation: X:21.12, Y:2.48, Z:0.01 [[ 9.96559272e-01 -8.28175987e-02 -3.29590336e-03 2.11152360e+01] [ 8.28174024e-02 9.96564719e-01 -1.96214837e-04 2.47531746e+00] [ 3.30083105e-03 -7.74184398e-05 9.99994549e-01 1.38695549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304391418 meters Centerline goodness [0,1] 0.9996277236395489 Centerline is valid? [True, True] Translation: X:21.15, Y:2.48, Z:0.01 [[ 9.96371211e-01 -8.49643784e-02 -5.04627244e-03 2.11463279e+01] [ 8.49639594e-02 9.96383981e-01 -2.97737581e-04 2.47732294e+00] [ 5.05332211e-03 -1.32094133e-04 9.99987223e-01 1.22301004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.334391418 meters Centerline goodness [0,1] 0.9992545494409121 Centerline is valid? [True, True] Translation: X:21.18, Y:2.48, Z:0.01 [[ 9.96223193e-01 -8.66654262e-02 -5.33417428e-03 2.11783248e+01] [ 8.66649902e-02 9.96237462e-01 -3.13257147e-04 2.47838221e+00] [ 5.34125281e-03 -1.50212127e-04 9.99985724e-01 1.14793112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364391418 meters Centerline goodness [0,1] 0.9993428546394463 Centerline is valid? [True, True] Translation: X:21.21, Y:2.48, Z:0.01 [[ 9.96055904e-01 -8.85563885e-02 -5.51374293e-03 2.12107382e+01] [ 8.85559604e-02 9.96071151e-01 -3.22219916e-04 2.48093182e+00] [ 5.52061490e-03 -1.67325750e-04 9.99984747e-01 1.26209332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.394391418 meters Centerline goodness [0,1] 0.999561615010302 Centerline is valid? [True, True] Translation: X:21.24, Y:2.48, Z:0.01 [[ 9.95858775e-01 -9.07101956e-02 -6.07954593e-03 2.12423440e+01] [ 9.07097273e-02 9.95877312e-01 -3.53282171e-04 2.48066901e+00] [ 6.08652815e-03 -1.99654803e-04 9.99981457e-01 1.22404437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424391418 meters Centerline goodness [0,1] 0.9994954591321897 Centerline is valid? [True, True] Translation: X:21.27, Y:2.48, Z:0.01 [[ 9.95819920e-01 -9.11087717e-02 -6.47142856e-03 2.12747400e+01] [ 9.11082613e-02 9.95840923e-01 -3.74246257e-04 2.48481237e+00] [ 6.47861051e-03 -2.16918726e-04 9.99978990e-01 1.24383699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.454391418 meters Centerline goodness [0,1] 0.999494494384492 Centerline is valid? [True, True] Translation: X:21.31, Y:2.49, Z:0.01 [[ 9.95816502e-01 -9.10434161e-02 -7.78406471e-03 2.13063388e+01] [ 9.10426960e-02 9.95846889e-01 -4.47542095e-04 2.48710813e+00] [ 7.79248239e-03 -2.63012433e-04 9.99969604e-01 9.79052036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484391418 meters Centerline goodness [0,1] 0.9997354147373991 Centerline is valid? [True, True] Translation: X:21.34, Y:2.49, Z:0.01 [[ 9.95780525e-01 -9.13068854e-02 -9.17595230e-03 2.13384528e+01] [ 9.13059246e-02 9.95822752e-01 -5.24455138e-04 2.49179307e+00] [ 9.18550844e-03 -3.15576597e-04 9.99957763e-01 1.10341259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.514391418 meters Centerline goodness [0,1] 0.9995377707342842 Centerline is valid? [True, True] Translation: X:21.37, Y:2.49, Z:0.01 [[ 9.95791646e-01 -9.11173843e-02 -9.82956201e-03 2.13711167e+01] [ 9.11162976e-02 9.95840101e-01 -5.59259397e-04 2.49496816e+00] [ 9.83963028e-03 -3.38727461e-04 9.99951532e-01 1.03632744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544391418 meters Centerline goodness [0,1] 0.9995813779276004 Centerline is valid? [True, True] Translation: X:21.40, Y:2.50, Z:0.01 [[ 9.95818694e-01 -9.08083846e-02 -9.94814096e-03 2.14029316e+01] [ 9.08072715e-02 9.95868325e-01 -5.64466085e-04 2.49877342e+00] [ 9.95829673e-03 -3.41257657e-04 9.99950357e-01 1.04555386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.574391418 meters Centerline goodness [0,1] 0.9998016616347489 Centerline is valid? [True, True] Translation: X:21.44, Y:2.50, Z:0.01 [[ 9.95842156e-01 -9.05744945e-02 -9.72939953e-03 2.14354641e+01] [ 9.05734419e-02 9.95889627e-01 -5.49659843e-04 2.50213393e+00] [ 9.73919324e-03 -3.33850760e-04 9.99952517e-01 1.14868957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604391418 meters Centerline goodness [0,1] 0.9997567770751338 Centerline is valid? [True, True] Translation: X:21.47, Y:2.51, Z:0.01 [[ 9.95886774e-01 -9.00986245e-02 -9.57972224e-03 2.14688302e+01] [ 9.00975930e-02 9.95932795e-01 -5.40070496e-04 2.50728184e+00] [ 9.58941916e-03 -3.25260852e-04 9.99953968e-01 1.22163901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.634391418 meters Centerline goodness [0,1] 0.9996908809891808 Centerline is valid? [True, True] Translation: X:21.50, Y:2.51, Z:0.01 [[ 9.96061783e-01 -8.80736454e-02 -1.01959370e-02 2.15010529e+01] [ 8.80724049e-02 9.96113912e-01 -5.71485089e-04 2.51290538e+00] [ 1.02066475e-02 -3.28746236e-04 9.99947857e-01 1.21351396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664391418 meters Centerline goodness [0,1] 0.9998450916172436 Centerline is valid? [True, True] Translation: X:21.53, Y:2.52, Z:0.01 [[ 9.96279988e-01 -8.55126872e-02 -1.06661116e-02 2.15321703e+01] [ 8.55112157e-02 9.96337030e-01 -5.94769567e-04 2.51701779e+00] [ 1.06779023e-02 -3.19515157e-04 9.99942939e-01 1.21869355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.694391418 meters Centerline goodness [0,1] 0.9999556806346533 Centerline is valid? [True, True] Translation: X:21.56, Y:2.52, Z:0.01 [[ 9.96326713e-01 -8.50527619e-02 -9.95528559e-03 2.15647882e+01] [ 8.50514823e-02 9.96376405e-01 -5.52597225e-04 2.51604809e+00] [ 9.96621159e-03 -2.96144420e-04 9.99950292e-01 1.27913376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724391418 meters Centerline goodness [0,1] 0.9996453507702538 Centerline is valid? [True, True] Translation: X:21.60, Y:2.52, Z:0.01 [[ 9.96423214e-01 -8.39059043e-02 -1.00288259e-02 2.15958873e+01] [ 8.39045766e-02 9.96473640e-01 -5.53808143e-04 2.51826443e+00] [ 1.00399285e-02 -2.89637104e-04 9.99949557e-01 1.30402916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.754391418 meters Centerline goodness [0,1] 0.9995565016852936 Centerline is valid? [True, True] Translation: X:21.63, Y:2.52, Z:0.01 [[ 9.96548303e-01 -8.24357339e-02 -9.78923347e-03 2.16279851e+01] [ 8.24344176e-02 9.96596346e-01 -5.38575828e-04 2.52054124e+00] [ 9.80031220e-03 -2.70252932e-04 9.99951939e-01 1.15927298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784391418 meters Centerline goodness [0,1] 0.9996896200062076 Centerline is valid? [True, True] Translation: X:21.66, Y:2.53, Z:0.01 [[ 9.96581965e-01 -8.20522214e-02 -9.58232501e-03 2.16603905e+01] [ 8.20509492e-02 9.96627997e-01 -5.26487076e-04 2.52622071e+00] [ 9.59321281e-03 -2.61551338e-04 9.99953950e-01 1.34234285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.814391418 meters Centerline goodness [0,1] 0.9997787316900474 Centerline is valid? [True, True] Translation: X:21.69, Y:2.52, Z:0.01 [[ 9.96549892e-01 -8.23388742e-02 -1.04222174e-02 2.16917381e+01] [ 8.23373960e-02 9.96604348e-01 -5.71563799e-04 2.52169369e+00] [ 1.04338891e-02 -2.88546399e-04 9.99945524e-01 1.16558536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844391418 meters Centerline goodness [0,1] 0.9997569114494708 Centerline is valid? [True, True] Translation: X:21.72, Y:2.53, Z:0.01 [[ 9.96470141e-01 -8.31842192e-02 -1.12979166e-02 2.17232620e+01] [ 8.31825611e-02 9.96534134e-01 -6.17408839e-04 2.52669473e+00] [ 1.13101182e-02 -3.24560168e-04 9.99935986e-01 1.18564944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.874391418 meters Centerline goodness [0,1] 0.9997569114494708 Centerline is valid? [True, True] Translation: X:21.76, Y:2.53, Z:0.01 [[ 9.96480036e-01 -8.30655844e-02 -1.12980490e-02 2.17557833e+01] [ 8.30639462e-02 9.96544029e-01 -6.14977549e-04 2.52834752e+00] [ 1.13100868e-02 -3.25647687e-04 9.99935986e-01 1.21137192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904391418 meters Centerline goodness [0,1] 0.9995585378774501 Centerline is valid? [True, True] Translation: X:21.79, Y:2.52, Z:0.01 [[ 9.96407542e-01 -8.36845511e-02 -1.29963787e-02 2.17876980e+01] [ 8.36824670e-02 9.96492222e-01 -7.05038824e-04 2.52369946e+00] [ 1.30097912e-02 -3.85063032e-04 9.99915295e-01 8.27887613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.934391418 meters Centerline goodness [0,1] 0.99969139884495 Centerline is valid? [True, True] Translation: X:21.82, Y:2.52, Z:0.01 [[ 9.96235365e-01 -8.54460861e-02 -1.46309190e-02 2.18199811e+01] [ 8.54436749e-02 9.96342688e-01 -7.90958943e-04 2.52385969e+00] [ 1.46449936e-02 -4.62138218e-04 9.99892650e-01 8.63952677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964391417999998 meters Centerline goodness [0,1] 0.9999338069811571 Centerline is valid? [True, True] Translation: X:21.85, Y:2.53, Z:0.01 [[ 9.96093148e-01 -8.66990013e-02 -1.67846322e-02 2.18518157e+01] [ 8.66960283e-02 9.96234399e-01 -9.06051309e-04 2.52722287e+00] [ 1.67999817e-02 -5.52649448e-04 9.99858718e-01 8.17521472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.994391418 meters Centerline goodness [0,1] 0.9996033494931688 Centerline is valid? [True, True] Translation: X:21.88, Y:2.53, Z:0.01 [[ 9.96031828e-01 -8.74099411e-02 -1.67361682e-02 2.18843843e+01] [ 8.74071075e-02 9.96172266e-01 -9.02118773e-04 2.52818088e+00] [ 1.67509608e-02 -5.64321044e-04 9.99859534e-01 6.42471374e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024391418 meters Centerline goodness [0,1] 0.999780132799789 Centerline is valid? [True, True] Translation: X:21.92, Y:2.53, Z:0.01 [[ 9.95881848e-01 -8.94762054e-02 -1.46066063e-02 2.19165176e+01] [ 8.94742847e-02 9.95988822e-01 -7.86248466e-04 2.52524116e+00] [ 1.46183671e-02 -5.23905071e-04 9.99893009e-01 1.06291409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.054391418 meters Centerline goodness [0,1] 0.9997139336326027 Centerline is valid? [True, True] Translation: X:21.95, Y:2.53, Z:0.01 [[ 9.95911558e-01 -8.93428481e-02 -1.33425981e-02 2.19489821e+01] [ 8.93412470e-02 9.96000817e-01 -7.17193356e-04 2.52768063e+00] [ 1.33533147e-02 -4.77783199e-04 9.99910726e-01 1.28517380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084391418 meters Centerline goodness [0,1] 0.9996706192358367 Centerline is valid? [True, True] Translation: X:21.98, Y:2.53, Z:0.01 [[ 9.96002033e-01 -8.84927609e-02 -1.22058213e-02 2.19800871e+01] [ 8.84913729e-02 9.96076728e-01 -6.54801785e-04 2.52833299e+00] [ 1.22158797e-02 -4.27925971e-04 9.99925292e-01 1.45976854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.114391418 meters Centerline goodness [0,1] 0.9995609606181675 Centerline is valid? [True, True] Translation: X:22.01, Y:2.53, Z:0.02 [[ 9.96053267e-01 -8.80490525e-02 -1.11916675e-02 2.20117474e+01] [ 8.80478737e-02 9.96116064e-01 -5.98961036e-04 2.52937277e+00] [ 1.12009377e-02 -3.88805429e-04 9.99937192e-01 1.68500570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.144391418 meters Centerline goodness [0,1] 0.9995603139358498 Centerline is valid? [True, True] Translation: X:22.04, Y:2.53, Z:0.02 [[ 9.96138305e-01 -8.72227612e-02 -1.00333173e-02 2.20428420e+01] [ 8.72217829e-02 9.96188774e-01 -5.35876450e-04 2.52818478e+00] [ 1.00418186e-02 -3.41316761e-04 9.99949521e-01 1.86954201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.174391418 meters Centerline goodness [0,1] 0.9997584275831778 Centerline is valid? [True, True] Translation: X:22.07, Y:2.53, Z:0.02 [[ 9.96066294e-01 -8.80832747e-02 -9.65790260e-03 2.20748469e+01] [ 8.80824282e-02 9.96113057e-01 -5.13789726e-04 2.52688818e+00] [ 9.66561916e-03 -3.38922885e-04 9.99953229e-01 1.85693016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204391418 meters Centerline goodness [0,1] 0.9997804031797619 Centerline is valid? [True, True] Translation: X:22.11, Y:2.52, Z:0.02 [[ 9.95626366e-01 -9.28551412e-02 -1.02986493e-02 2.21066074e+01] [ 9.28544409e-02 9.95679544e-01 -5.47158894e-04 2.52436856e+00] [ 1.03049609e-02 -4.11509497e-04 9.99946818e-01 1.69597527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.234391418 meters Centerline goodness [0,1] 0.9995396251233147 Centerline is valid? [True, True] Translation: X:22.14, Y:2.52, Z:0.01 [[ 9.95386211e-01 -9.52401733e-02 -1.16447596e-02 2.21387731e+01] [ 9.52394563e-02 9.95454200e-01 -6.17360422e-04 2.52033484e+00] [ 1.16506224e-02 -4.94528522e-04 9.99932007e-01 1.44123950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.264391418 meters Centerline goodness [0,1] 0.9996064197314908 Centerline is valid? [True, True] Translation: X:22.17, Y:2.52, Z:0.01 [[ 9.95077473e-01 -9.83172969e-02 -1.24311214e-02 2.21693649e+01] [ 9.83167475e-02 9.95154956e-01 -6.56790488e-04 2.51554299e+00] [ 1.24354660e-02 -5.68630010e-04 9.99922515e-01 1.44299650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.294391418 meters Centerline goodness [0,1] 0.9995621620438275 Centerline is valid? [True, True] Translation: X:22.20, Y:2.51, Z:0.01 [[ 9.94562604e-01 -1.03249486e-01 -1.35930001e-02 2.22009154e+01] [ 1.03249292e-01 9.94655251e-01 -7.17903098e-04 2.50974770e+00] [ 1.35944721e-02 -6.89468070e-04 9.99907353e-01 1.38920635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324391418 meters Centerline goodness [0,1] 0.9993435448577681 Centerline is valid? [True, True] Translation: X:22.23, Y:2.51, Z:0.01 [[ 9.94414863e-01 -1.04579598e-01 -1.42193082e-02 2.22326831e+01] [ 1.04579547e-01 9.94516243e-01 -7.49205622e-04 2.51123716e+00] [ 1.42196845e-02 -7.42027594e-04 9.99898620e-01 1.32868435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.354391418 meters Centerline goodness [0,1] 0.9995194827887471 Centerline is valid? [True, True] Translation: X:22.26, Y:2.51, Z:0.01 [[ 9.94217545e-01 -1.06442801e-01 -1.41916670e-02 2.22635895e+01] [ 1.06442971e-01 9.94318529e-01 -7.45470024e-04 2.50736311e+00] [ 1.41903874e-02 -7.69443833e-04 9.99899015e-01 1.43119896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384391418 meters Centerline goodness [0,1] 0.9993668260518329 Centerline is valid? [True, True] Translation: X:22.30, Y:2.51, Z:0.01 [[ 9.94073647e-01 -1.07740490e-01 -1.44765569e-02 2.22958711e+01] [ 1.07740817e-01 9.94178726e-01 -7.59603652e-04 2.50720229e+00] [ 1.44741250e-02 -8.04614096e-04 9.99894921e-01 1.42600937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.414391418 meters Centerline goodness [0,1] 0.999280638270044 Centerline is valid? [True, True] Translation: X:22.33, Y:2.50, Z:0.01 [[ 9.93745527e-01 -1.10622796e-01 -1.52454905e-02 2.23270503e+01] [ 1.10623509e-01 9.93862063e-01 -7.99157433e-04 2.50259384e+00] [ 1.52403196e-02 -8.92350527e-04 9.99883461e-01 1.19537580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444391418 meters Centerline goodness [0,1] 0.9991504933673137 Centerline is valid? [True, True] Translation: X:22.36, Y:2.51, Z:0.01 [[ 9.93482253e-01 -1.13021831e-01 -1.48013394e-02 2.23582982e+01] [ 1.13022774e-01 9.93592095e-01 -7.75442711e-04 2.50578632e+00] [ 1.47941357e-02 -9.02499859e-04 9.99890153e-01 1.46828115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.474391418 meters Centerline goodness [0,1] 0.9993484210069067 Centerline is valid? [True, True] Translation: X:22.39, Y:2.50, Z:0.01 [[ 9.93270090e-01 -1.14837487e-01 -1.50625129e-02 2.23900619e+01] [ 1.14838705e-01 9.93383840e-01 -7.86905749e-04 2.49590140e+00] [ 1.50532231e-02 -9.48149529e-04 9.99886244e-01 1.44965122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504391418 meters Centerline goodness [0,1] 0.9992611265646731 Centerline is valid? [True, True] Translation: X:22.42, Y:2.50, Z:0.02 [[ 9.93225753e-01 -1.15232655e-01 -1.49679091e-02 2.24223241e+01] [ 1.15233942e-01 9.93338075e-01 -7.79311966e-04 2.50268555e+00] [ 1.49579962e-02 -9.50778444e-04 9.99887671e-01 1.56617765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.534391418 meters Centerline goodness [0,1] 0.999111419345051 Centerline is valid? [True, True] Translation: X:22.45, Y:2.50, Z:0.02 [[ 9.93266490e-01 -1.14893044e-01 -1.48750711e-02 2.24545424e+01] [ 1.14894295e-01 9.93377422e-01 -7.73276695e-04 2.50263188e+00] [ 1.48654039e-02 -9.40990981e-04 9.99889061e-01 1.59760898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564391418 meters Centerline goodness [0,1] 0.9992421289679961 Centerline is valid? [True, True] Translation: X:22.49, Y:2.50, Z:0.02 [[ 9.93441867e-01 -1.13489348e-01 -1.39076992e-02 2.24873341e+01] [ 1.13490321e-01 9.93538840e-01 -7.21786755e-04 2.50259689e+00] [ 1.38997545e-02 -8.61336069e-04 9.99903023e-01 1.64850816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.594391418 meters Centerline goodness [0,1] 0.9990692640692641 Centerline is valid? [True, True] Translation: X:22.52, Y:2.50, Z:0.01 [[ 9.93616686e-01 -1.11988145e-01 -1.35844045e-02 2.25199474e+01] [ 1.11988952e-01 9.93709203e-01 -7.03655070e-04 2.50336922e+00] [ 1.35777488e-02 -8.22139805e-04 9.99907480e-01 1.48380486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624391418 meters Centerline goodness [0,1] 0.9991138966933218 Centerline is valid? [True, True] Translation: X:22.55, Y:2.50, Z:0.02 [[ 9.93676797e-01 -1.11475444e-01 -1.34033105e-02 2.25518310e+01] [ 1.11476200e-01 9.93766862e-01 -6.93036246e-04 2.50489153e+00] [ 1.33970224e-02 -8.05496086e-04 9.99909931e-01 1.61909406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.654391418 meters Centerline goodness [0,1] 0.9989626556016598 Centerline is valid? [True, True] Translation: X:22.58, Y:2.51, Z:0.02 [[ 9.93764639e-01 -1.10726092e-01 -1.30986207e-02 2.25845662e+01] [ 1.10726765e-01 9.93850656e-01 -6.76122157e-04 2.50582759e+00] [ 1.30929371e-02 -7.78461598e-04 9.99913981e-01 1.75856311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684391418 meters Centerline goodness [0,1] 0.9990486692179629 Centerline is valid? [True, True] Translation: X:22.62, Y:2.51, Z:0.02 [[ 9.93815949e-01 -1.10341428e-01 -1.24350210e-02 2.26159494e+01] [ 1.10342028e-01 9.93893469e-01 -6.39916493e-04 2.50587895e+00] [ 1.24296955e-02 -7.36146217e-04 9.99922477e-01 1.90300918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.714391417999998 meters Centerline goodness [0,1] 0.999287795403043 Centerline is valid? [True, True] Translation: X:22.65, Y:2.51, Z:0.02 [[ 9.93890530e-01 -1.09710020e-01 -1.20550848e-02 2.26482195e+01] [ 1.09710565e-01 9.93963385e-01 -6.18018245e-04 2.50667094e+00] [ 1.20501157e-02 -7.08327690e-04 9.99927144e-01 2.04207848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744391418 meters Centerline goodness [0,1] 0.9991170453321848 Centerline is valid? [True, True] Translation: X:22.68, Y:2.51, Z:0.02 [[ 9.93973298e-01 -1.08982709e-01 -1.18259068e-02 2.26807319e+01] [ 1.08983194e-01 9.94043408e-01 -6.05328154e-04 2.50632402e+00] [ 1.18214350e-02 -6.87145081e-04 9.99929888e-01 2.05667683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.774391418 meters Centerline goodness [0,1] 0.999030924282884 Centerline is valid? [True, True] Translation: X:22.71, Y:2.50, Z:0.02 [[ 9.94039381e-01 -1.08258942e-01 -1.28728364e-02 2.27135429e+01] [ 1.08259471e-01 9.94122454e-01 -6.57727149e-04 2.50469297e+00] [ 1.28683806e-02 -7.39799781e-04 9.99916925e-01 1.87154929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804391417999998 meters Centerline goodness [0,1] 0.9990745921749236 Centerline is valid? [True, True] Translation: X:22.75, Y:2.50, Z:0.02 [[ 9.94025163e-01 -1.08276624e-01 -1.37894458e-02 2.27453426e+01] [ 1.08277252e-01 9.94120487e-01 -7.03238360e-04 2.50415595e+00] [ 1.37845148e-02 -7.94046669e-04 9.99904674e-01 1.81551677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.834391418 meters Centerline goodness [0,1] 0.9990951006161934 Centerline is valid? [True, True] Translation: X:22.78, Y:2.51, Z:0.02 [[ 9.93923782e-01 -1.09124873e-01 -1.43971631e-02 2.27776954e+01] [ 1.09125663e-01 9.94027692e-01 -7.33030557e-04 2.50679032e+00] [ 1.43911706e-02 -8.42523461e-04 9.99896087e-01 1.81223337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864391418 meters Centerline goodness [0,1] 0.9990749704205658 Centerline is valid? [True, True] Translation: X:22.81, Y:2.50, Z:0.02 [[ 9.93728870e-01 -1.10679501e-01 -1.59053948e-02 2.28091532e+01] [ 1.10680684e-01 9.93855690e-01 -8.08603008e-04 2.50118844e+00] [ 1.58971629e-02 -9.56887817e-04 9.99873174e-01 1.75487688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.894391418 meters Centerline goodness [0,1] 0.9990974147379279 Centerline is valid? [True, True] Translation: X:22.84, Y:2.50, Z:0.02 [[ 9.93624254e-01 -1.11505375e-01 -1.66551427e-02 2.28417410e+01] [ 1.11506808e-01 9.93763310e-01 -8.45493314e-04 2.50189663e+00] [ 1.66455468e-02 -1.01705913e-03 9.99860936e-01 1.72663287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924391418 meters Centerline goodness [0,1] 0.9989057672502575 Centerline is valid? [True, True] Translation: X:22.87, Y:2.50, Z:0.02 [[ 9.93511393e-01 -1.12467703e-01 -1.69153098e-02 2.28736505e+01] [ 1.12469340e-01 9.93654825e-01 -8.57487798e-04 2.49931917e+00] [ 1.69044189e-02 -1.05052984e-03 9.99856558e-01 1.65466244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.954391418 meters Centerline goodness [0,1] 0.9989270386266095 Centerline is valid? [True, True] Translation: X:22.91, Y:2.50, Z:0.02 [[ 9.93515377e-01 -1.12488975e-01 -1.65356144e-02 2.29070263e+01] [ 1.12490568e-01 9.93652440e-01 -8.36698257e-04 2.49846858e+00] [ 1.65247729e-02 -1.02882807e-03 9.99862927e-01 1.74765652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984391418 meters Centerline goodness [0,1] 0.9989501649740755 Centerline is valid? [True, True] Translation: X:22.94, Y:2.50, Z:0.02 [[ 9.93604130e-01 -1.11766752e-01 -1.60942661e-02 2.29390528e+01] [ 1.11768193e-01 9.93733974e-01 -8.12741817e-04 2.49971484e+00] [ 1.60842565e-02 -9.91283417e-04 9.99870149e-01 1.73969124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.014391418 meters Centerline goodness [0,1] 0.9990387080235837 Centerline is valid? [True, True] Translation: X:22.97, Y:2.50, Z:0.02 [[ 9.93658257e-01 -1.11355954e-01 -1.55923136e-02 2.29709293e+01] [ 1.11357275e-01 9.93780126e-01 -7.86134271e-04 2.49699213e+00] [ 1.55828721e-02 -9.55168743e-04 9.99878123e-01 1.94344947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044391418 meters Centerline goodness [0,1] 0.998973635255629 Centerline is valid? [True, True] Translation: X:23.00, Y:2.50, Z:0.02 [[ 9.93684097e-01 -1.11149952e-01 -1.54144213e-02 2.30035375e+01] [ 1.11151238e-01 9.93803200e-01 -7.75924409e-04 2.49681673e+00] [ 1.54051451e-02 -9.42308262e-04 9.99880890e-01 1.95352134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.074391418 meters Centerline goodness [0,1] 0.9991247171341958 Centerline is valid? [True, True] Translation: X:23.03, Y:2.50, Z:0.02 [[ 9.93679725e-01 -1.11160544e-01 -1.56185148e-02 2.30346048e+01] [ 1.11161883e-01 9.93802002e-01 -7.85093540e-04 2.49510432e+00] [ 1.56089827e-02 -9.56051983e-04 9.99877715e-01 1.92355861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104391418 meters Centerline goodness [0,1] 0.998828016791323 Centerline is valid? [True, True] Translation: X:23.07, Y:2.50, Z:0.02 [[ 9.93629898e-01 -1.11559616e-01 -1.59397995e-02 2.30667271e+01] [ 1.11561080e-01 9.93757257e-01 -8.00118785e-04 2.49606436e+00] [ 1.59295523e-02 -9.83239295e-04 9.99872633e-01 1.93444463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.134391418 meters Centerline goodness [0,1] 0.9989977609553258 Centerline is valid? [True, True] Translation: X:23.10, Y:2.49, Z:0.02 [[ 9.93514327e-01 -1.12556182e-01 -1.61365219e-02 2.30980018e+01] [ 1.12557842e-01 9.93644846e-01 -8.08185983e-04 2.49129741e+00] [ 1.61249381e-02 -1.01334773e-03 9.99869471e-01 1.96945954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164391418 meters Centerline goodness [0,1] 0.9987196175924543 Centerline is valid? [True, True] Translation: X:23.13, Y:2.49, Z:0.02 [[ 9.93466305e-01 -1.13061702e-01 -1.55483723e-02 2.31303620e+01] [ 1.13063331e-01 9.93587479e-01 -7.77051666e-04 2.48939326e+00] [ 1.55365229e-02 -9.85976121e-04 9.99878815e-01 2.01472927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.194391418 meters Centerline goodness [0,1] 0.998722561689625 Centerline is valid? [True, True] Translation: X:23.16, Y:2.49, Z:0.02 [[ 9.93409882e-01 -1.13715298e-01 -1.43400914e-02 2.31626480e+01] [ 1.13716767e-01 9.93512952e-01 -7.15594564e-04 2.48808811e+00] [ 1.43284406e-02 -9.19830114e-04 9.99896920e-01 2.09635377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224391418 meters Centerline goodness [0,1] 0.9987242457102762 Centerline is valid? [True, True] Translation: X:23.20, Y:2.48, Z:0.02 [[ 9.93327629e-01 -1.14558599e-01 -1.32871509e-02 2.31952736e+01] [ 1.14559948e-01 9.93416116e-01 -6.62056743e-04 2.48430008e+00] [ 1.32755141e-02 -8.64536064e-04 9.99911503e-01 2.11318311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.254391418 meters Centerline goodness [0,1] 0.9981291721586802 Centerline is valid? [True, True] Translation: X:23.23, Y:2.48, Z:0.02 [[ 9.93268761e-01 -1.14985140e-01 -1.39851985e-02 2.32263916e+01] [ 1.14986691e-01 9.93366789e-01 -6.95831611e-04 2.48132941e+00] [ 1.39724421e-02 -9.16963897e-04 9.99901960e-01 2.03772963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284391418 meters Centerline goodness [0,1] 0.9984716620675016 Centerline is valid? [True, True] Translation: X:23.26, Y:2.48, Z:0.02 [[ 9.93232042e-01 -1.15083887e-01 -1.56783144e-02 2.32586201e+01] [ 1.15085866e-01 9.93355242e-01 -7.78956935e-04 2.48286359e+00] [ 1.56637812e-02 -1.03066739e-03 9.99876784e-01 2.09465533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.314391418 meters Centerline goodness [0,1] 0.9983641385171022 Centerline is valid? [True, True] Translation: X:23.29, Y:2.48, Z:0.02 [[ 9.93209145e-01 -1.15159471e-01 -1.65496447e-02 2.32909039e+01] [ 1.15161709e-01 9.93346418e-01 -8.20938203e-04 2.48345013e+00] [ 1.65340691e-02 -1.09052202e-03 9.99862708e-01 2.05564066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344391418 meters Centerline goodness [0,1] 0.9986425147414415 Centerline is valid? [True, True] Translation: X:23.32, Y:2.49, Z:0.02 [[ 9.93259954e-01 -1.14754822e-01 -1.63093509e-02 2.33226585e+01] [ 1.14756961e-01 9.93393269e-01 -8.07741491e-04 2.48774123e+00] [ 1.62942916e-02 -1.06931427e-03 9.99866667e-01 2.11894436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.374391418 meters Centerline goodness [0,1] 0.9986031450401067 Centerline is valid? [True, True] Translation: X:23.35, Y:2.49, Z:0.02 [[ 9.93414291e-01 -1.13584919e-01 -1.50503636e-02 2.33546236e+01] [ 1.13586624e-01 9.93527818e-01 -7.44220341e-04 2.48700683e+00] [ 1.50374871e-02 -9.70200869e-04 9.99886460e-01 2.12398323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404391418 meters Centerline goodness [0,1] 0.9975699947173798 Centerline is valid? [True, True] Translation: X:23.39, Y:2.48, Z:0.02 [[ 9.93495456e-01 -1.12974678e-01 -1.42653834e-02 2.33859583e+01] [ 1.12976170e-01 9.93597448e-01 -7.03810516e-04 2.47661115e+00] [ 1.42535613e-02 -9.12415829e-04 9.99897997e-01 2.05842696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.434391418 meters Centerline goodness [0,1] 0.9985172632916754 Centerline is valid? [True, True] Translation: X:23.42, Y:2.49, Z:0.02 [[ 9.93603812e-01 -1.12154491e-01 -1.31467036e-02 2.34177440e+01] [ 1.12155707e-01 9.93690434e-01 -6.47074753e-04 2.48533394e+00] [ 1.31363259e-02 -8.31541887e-04 9.99913369e-01 2.28566267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464391417999998 meters Centerline goodness [0,1] 0.9983053719708525 Centerline is valid? [True, True] Translation: X:23.45, Y:2.49, Z:0.02 [[ 9.93770268e-01 -1.10689516e-01 -1.29801625e-02 2.34481652e+01] [ 1.10690586e-01 9.93854711e-01 -6.38159012e-04 2.48621728e+00] [ 1.29710331e-02 -8.02598341e-04 9.99915551e-01 2.33767062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.494391418 meters Centerline goodness [0,1] 0.9984090282344456 Centerline is valid? [True, True] Translation: X:23.48, Y:2.49, Z:0.02 [[ 9.93750132e-01 -1.10835795e-01 -1.32703218e-02 2.34793980e+01] [ 1.10836933e-01 9.93838392e-01 -6.51953251e-04 2.48667760e+00] [ 1.32608150e-02 -8.22963139e-04 9.99911733e-01 2.47671340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524391418 meters Centerline goodness [0,1] 0.9983699908973518 Centerline is valid? [True, True] Translation: X:23.51, Y:2.48, Z:0.02 [[ 9.93841624e-01 -1.09740243e-01 -1.53591870e-02 2.35105667e+01] [ 1.09741652e-01 9.93959859e-01 -7.53611847e-04 2.48495363e+00] [ 1.53491169e-02 -9.36571728e-04 9.99881757e-01 2.10110219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.554391417999998 meters Centerline goodness [0,1] 0.9987091039911965 Centerline is valid? [True, True] Translation: X:23.54, Y:2.49, Z:0.02 [[ 9.93817534e-01 -1.09913872e-01 -1.56732313e-02 2.35423081e+01] [ 1.09915378e-01 9.93940652e-01 -7.67916723e-04 2.49232003e+00] [ 1.56626664e-02 -9.59560034e-04 9.99876872e-01 2.34909092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584391418 meters Centerline goodness [0,1] 0.9988157922561273 Centerline is valid? [True, True] Translation: X:23.57, Y:2.49, Z:0.02 [[ 9.93836373e-01 -1.09784191e-01 -1.53849212e-02 2.35743036e+01] [ 1.09785649e-01 9.93955002e-01 -7.52388011e-04 2.49072409e+00] [ 1.53745197e-02 -9.41292976e-04 9.99881362e-01 2.36767940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.614391418 meters Centerline goodness [0,1] 0.9980748074807481 Centerline is valid? [True, True] Translation: X:23.61, Y:2.49, Z:0.03 [[ 9.93856577e-01 -1.09758472e-01 -1.42191077e-02 2.36072859e+01] [ 1.09759735e-01 9.93957906e-01 -6.93858974e-04 2.49208430e+00] [ 1.42093514e-02 -8.71089187e-04 9.99898663e-01 2.56187595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644391418 meters Centerline goodness [0,1] 0.9983688168626205 Centerline is valid? [True, True] Translation: X:23.64, Y:2.49, Z:0.03 [[ 9.93884017e-01 -1.09605601e-01 -1.34600540e-02 2.36380789e+01] [ 1.09606736e-01 9.93974815e-01 -6.55573149e-04 2.49198999e+00] [ 1.34508091e-02 -8.23748903e-04 9.99909194e-01 2.68087091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.674391418 meters Centerline goodness [0,1] 0.9982220340776802 Centerline is valid? [True, True] Translation: X:23.67, Y:2.49, Z:0.03 [[ 9.93904511e-01 -1.09431538e-01 -1.33626641e-02 2.36705439e+01] [ 1.09432653e-01 9.93994000e-01 -6.49918600e-04 2.49399772e+00] [ 1.33535295e-02 -8.16354759e-04 9.99910504e-01 2.72337936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704391418 meters Centerline goodness [0,1] 0.998327475970699 Centerline is valid? [True, True] Translation: X:23.70, Y:2.49, Z:0.03 [[ 9.93751834e-01 -1.10752748e-01 -1.38246389e-02 2.37018662e+01] [ 1.10754088e-01 9.93847615e-01 -6.70957375e-04 2.49097498e+00] [ 1.38138947e-02 -8.64370151e-04 9.99904210e-01 2.62551074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.734391418 meters Centerline goodness [0,1] 0.9986040313881427 Centerline is valid? [True, True] Translation: X:23.73, Y:2.49, Z:0.03 [[ 9.93634241e-01 -1.11732520e-01 -1.43818752e-02 2.37340134e+01] [ 1.11734096e-01 9.93737896e-01 -6.96393392e-04 2.49409262e+00] [ 1.43696242e-02 -9.14985508e-04 9.99896333e-01 2.62341491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764391418 meters Centerline goodness [0,1] 0.9986040313881427 Centerline is valid? [True, True] Translation: X:23.77, Y:2.50, Z:0.03 [[ 9.93648080e-01 -1.11609376e-01 -1.43819454e-02 2.37665825e+01] [ 1.11610961e-01 9.93751735e-01 -6.94940895e-04 2.49555076e+00] [ 1.43696451e-02 -9.14656058e-04 9.99896333e-01 2.64922652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.794391418 meters Centerline goodness [0,1] 0.998076394613905 Centerline is valid? [True, True] Translation: X:23.80, Y:2.49, Z:0.02 [[ 9.93451436e-01 -1.13229503e-01 -1.52749176e-02 2.37975441e+01] [ 1.13231502e-01 9.93568359e-01 -7.36743315e-04 2.48852869e+00] [ 1.52600958e-02 -9.97683149e-04 9.99883060e-01 2.49973478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824391418 meters Centerline goodness [0,1] 0.9986029676354169 Centerline is valid? [True, True] Translation: X:23.83, Y:2.49, Z:0.02 [[ 9.93112916e-01 -1.15924292e-01 -1.69792594e-02 2.38285216e+01] [ 1.15927163e-01 9.93257380e-01 -8.18403180e-04 2.48979128e+00] [ 1.69596475e-02 -1.15559060e-03 9.99855507e-01 2.44323577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.854391418 meters Centerline goodness [0,1] 0.9983717832145651 Centerline is valid? [True, True] Translation: X:23.86, Y:2.49, Z:0.02 [[ 9.92998735e-01 -1.16745262e-01 -1.80015493e-02 2.38607259e+01] [ 1.16748641e-01 9.93161117e-01 -8.66688773e-04 2.48993337e+00] [ 1.79796206e-02 -1.24103556e-03 9.99837583e-01 2.25827447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884391418 meters Centerline goodness [0,1] 0.9982239888365012 Centerline is valid? [True, True] Translation: X:23.89, Y:2.49, Z:0.02 [[ 9.92736476e-01 -1.18922653e-01 -1.82124201e-02 2.38910173e+01] [ 1.18926499e-01 9.92902675e-01 -8.75633190e-04 2.48870745e+00] [ 1.81872933e-02 -1.29666635e-03 9.99833757e-01 2.49244950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.914391418 meters Centerline goodness [0,1] 0.9952323692593296 Centerline is valid? [True, True] Translation: X:23.92, Y:2.48, Z:0.02 [[ 9.92404384e-01 -1.21727515e-01 -1.77750005e-02 2.39218072e+01] [ 1.21731636e-01 9.92562683e-01 -8.53988333e-04 2.48188938e+00] [ 1.77467561e-02 -1.31627813e-03 9.99841647e-01 2.45984859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944391418 meters Centerline goodness [0,1] 0.9980748074807481 Centerline is valid? [True, True] Translation: X:23.95, Y:2.49, Z:0.03 [[ 9.92298773e-01 -1.22686349e-01 -1.70647498e-02 2.39534542e+01] [ 1.22690303e-01 9.92444668e-01 -8.18966659e-04 2.48638007e+00] [ 1.70362960e-02 -1.28101972e-03 9.99854051e-01 2.68553646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.974391418 meters Centerline goodness [0,1] 0.9975298737491027 Centerline is valid? [True, True] Translation: X:23.98, Y:2.48, Z:0.03 [[ 9.92254553e-01 -1.23001090e-01 -1.73676347e-02 2.39843238e+01] [ 1.23005255e-01 9.92405670e-01 -8.32270848e-04 2.48487670e+00] [ 1.73381094e-02 -1.31048581e-03 9.99848825e-01 2.66962087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004391418 meters Centerline goodness [0,1] 0.9981634720932197 Centerline is valid? [True, True] Translation: X:24.02, Y:2.49, Z:0.03 [[ 9.92263515e-01 -1.22816577e-01 -1.81439921e-02 2.40160119e+01] [ 1.22821117e-01 9.92428446e-01 -8.68131898e-04 2.48970688e+00] [ 1.81132349e-02 -1.36704976e-03 9.99835007e-01 2.68292137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.034391418 meters Centerline goodness [0,1] 0.9922872115628434 Centerline is valid? [True, True] Translation: X:24.05, Y:2.49, Z:0.02 [[ 9.92426846e-01 -1.21381696e-01 -1.88530903e-02 2.40475481e+01] [ 1.21386385e-01 9.92604925e-01 -8.99683209e-04 2.48813478e+00] [ 1.88228754e-02 -1.39563871e-03 9.99821860e-01 2.46090290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064391418 meters Centerline goodness [0,1] 0.9949676491732566 Centerline is valid? [True, True] Translation: X:24.08, Y:2.49, Z:0.03 [[ 9.92553556e-01 -1.20428922e-01 -1.82842363e-02 2.40794335e+01] [ 1.20433208e-01 9.92721051e-01 -8.70531251e-04 2.49120861e+00] [ 1.82559834e-02 -1.33798035e-03 9.99832450e-01 2.73128454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.094391418 meters Centerline goodness [0,1] 0.9988391236438854 Centerline is valid? [True, True] Translation: X:24.11, Y:2.50, Z:0.03 [[ 9.93042620e-01 -1.16409412e-01 -1.77539854e-02 2.41098511e+01] [ 1.16412825e-01 9.93200554e-01 -8.44597456e-04 2.50200056e+00] [ 1.77315872e-02 -1.22807033e-03 9.99842029e-01 2.90979497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124391418 meters Centerline goodness [0,1] 0.9985645529004475 Centerline is valid? [True, True] Translation: X:24.14, Y:2.50, Z:0.03 [[ 9.93328910e-01 -1.14020368e-01 -1.72346341e-02 2.41414707e+01] [ 1.14023238e-01 9.93477745e-01 -8.19250920e-04 2.50361218e+00] [ 1.72156367e-02 -1.15136316e-03 9.99851137e-01 2.84028656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.154391418 meters Centerline goodness [0,1] 0.9986929206898005 Centerline is valid? [True, True] Translation: X:24.17, Y:2.51, Z:0.03 [[ 9.93770806e-01 -1.10242387e-01 -1.63156452e-02 2.41719897e+01] [ 1.10244462e-01 9.93904200e-01 -7.74936663e-04 2.50906330e+00] [ 1.63016191e-02 -1.02860009e-03 9.99866591e-01 3.10183988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184391418 meters Centerline goodness [0,1] 0.9987325193290802 Centerline is valid? [True, True] Translation: X:24.20, Y:2.51, Z:0.03 [[ 9.93987729e-01 -1.08259951e-01 -1.63761024e-02 2.42029988e+01] [ 1.08261781e-01 9.94122116e-01 -7.77305152e-04 2.51311626e+00] [ 1.63639966e-02 -1.00027424e-03 9.99865601e-01 3.04514319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.214391417999998 meters Centerline goodness [0,1] 0.9986702127659575 Centerline is valid? [True, True] Translation: X:24.23, Y:2.52, Z:0.03 [[ 9.94158775e-01 -1.06691170e-01 -1.62887709e-02 2.42342066e+01] [ 1.06692782e-01 9.94291735e-01 -7.72505670e-04 2.51780728e+00] [ 1.62782098e-02 -9.69900997e-04 9.99867031e-01 3.28327442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244391418 meters Centerline goodness [0,1] 0.9985197090170868 Centerline is valid? [True, True] Translation: X:24.26, Y:2.52, Z:0.03 [[ 9.94409285e-01 -1.04411134e-01 -1.57635172e-02 2.42646335e+01] [ 1.04412366e-01 9.94533810e-01 -7.47130932e-04 2.52144582e+00] [ 1.57553596e-02 -9.02952189e-04 9.99875469e-01 3.20265643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.274391418 meters Centerline goodness [0,1] 0.9985651889519549 Centerline is valid? [True, True] Translation: X:24.30, Y:2.53, Z:0.03 [[ 9.94693771e-01 -1.01739917e-01 -1.52738918e-02 2.42954001e+01] [ 1.01740765e-01 9.94810682e-01 -7.23481954e-04 2.52602180e+00] [ 1.52682377e-02 -8.34334453e-04 9.99883086e-01 3.33217824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304391417999998 meters Centerline goodness [0,1] 0.9985812599258868 Centerline is valid? [True, True] Translation: X:24.33, Y:2.53, Z:0.03 [[ 9.94862453e-01 -1.00201524e-01 -1.44344961e-02 2.43273651e+01] [ 1.00202132e-01 9.94966867e-01 -6.82901352e-04 2.53186816e+00] [ 1.44302732e-02 -7.66974376e-04 9.99895584e-01 3.28548768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.334391418 meters Centerline goodness [0,1] 0.9985389404141787 Centerline is valid? [True, True] Translation: X:24.36, Y:2.54, Z:0.03 [[ 9.94999972e-01 -9.88551735e-02 -1.42376115e-02 2.43593759e+01] [ 9.88556442e-02 9.95101557e-01 -6.72435819e-04 2.53790864e+00] [ 1.42343432e-02 -7.38394638e-04 9.99898414e-01 3.49676424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364391418 meters Centerline goodness [0,1] 0.9984938481120068 Centerline is valid? [True, True] Translation: X:24.39, Y:2.54, Z:0.04 [[ 9.95077430e-01 -9.80939926e-02 -1.40882073e-02 2.43912555e+01] [ 9.80943935e-02 9.95176893e-01 -6.64233095e-04 2.54095343e+00] [ 1.40854156e-02 -7.21010787e-04 9.99900536e-01 3.53687442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.394391418 meters Centerline goodness [0,1] 0.9984474361428358 Centerline is valid? [True, True] Translation: X:24.42, Y:2.54, Z:0.03 [[ 9.95158165e-01 -9.72435535e-02 -1.42799615e-02 2.44225570e+01] [ 9.72438929e-02 9.95260355e-01 -6.72234823e-04 2.54443001e+00] [ 1.42776500e-02 -7.19659069e-04 9.99897810e-01 3.42921130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424391418 meters Centerline goodness [0,1] 0.9985755591461859 Centerline is valid? [True, True] Translation: X:24.45, Y:2.55, Z:0.04 [[ 9.95056810e-01 -9.82374769e-02 -1.45376356e-02 2.44539715e+01] [ 9.82379472e-02 9.95162720e-01 -6.83487720e-04 2.54639365e+00] [ 1.45344571e-02 -7.48038368e-04 9.99894089e-01 3.57184792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.454391418 meters Centerline goodness [0,1] 0.9984898757869661 Centerline is valid? [True, True] Translation: X:24.49, Y:2.55, Z:0.03 [[ 9.95000763e-01 -9.87440245e-02 -1.49364895e-02 2.44857898e+01] [ 9.87445937e-02 9.95112563e-01 -7.01187353e-04 2.55201210e+00] [ 1.49327265e-02 -7.77215639e-04 9.99888199e-01 3.42432421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484391418 meters Centerline goodness [0,1] 0.998445584822094 Centerline is valid? [True, True] Translation: X:24.52, Y:2.55, Z:0.03 [[ 9.94858101e-01 -1.00112807e-01 -1.53226716e-02 2.45166891e+01] [ 1.00113585e-01 9.94975756e-01 -7.18199091e-04 2.55167378e+00] [ 1.53175876e-02 -8.19501395e-04 9.99882343e-01 3.36251731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.514391418 meters Centerline goodness [0,1] 0.9987437988374817 Centerline is valid? [True, True] Translation: X:24.55, Y:2.55, Z:0.03 [[ 9.94360447e-01 -1.04784061e-01 -1.63585224e-02 2.45478235e+01] [ 1.04785587e-01 9.94494542e-01 -7.66182249e-04 2.55030169e+00] [ 1.63487449e-02 -9.52276049e-04 9.99865897e-01 3.38621587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544391418 meters Centerline goodness [0,1] 0.998533225628162 Centerline is valid? [True, True] Translation: X:24.58, Y:2.55, Z:0.03 [[ 9.94065217e-01 -1.07515588e-01 -1.65753545e-02 2.45783190e+01] [ 1.07517537e-01 9.94202885e-01 -7.76112542e-04 2.54833409e+00] [ 1.65627095e-02 -1.01063481e-03 9.99862318e-01 3.30053940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.574391418 meters Centerline goodness [0,1] 0.9985964315335049 Centerline is valid? [True, True] Translation: X:24.61, Y:2.55, Z:0.03 [[ 9.93781901e-01 -1.09977207e-01 -1.73938798e-02 2.46095279e+01] [ 1.09979738e-01 9.93933496e-01 -8.13887212e-04 2.55002343e+00] [ 1.73778688e-02 -1.10414796e-03 9.99848384e-01 3.19820502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604391418 meters Centerline goodness [0,1] 0.9983158882090857 Centerline is valid? [True, True] Translation: X:24.64, Y:2.55, Z:0.04 [[ 9.93176437e-01 -1.15369474e-01 -1.70425713e-02 2.46387275e+01] [ 1.15372696e-01 9.93321954e-01 -7.97285960e-04 2.54983398e+00] [ 1.70207427e-02 -1.17440178e-03 9.99854447e-01 3.55293004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.634391418 meters Centerline goodness [0,1] 0.998126024830171 Centerline is valid? [True, True] Translation: X:24.67, Y:2.55, Z:0.04 [[ 9.92952875e-01 -1.17274840e-01 -1.70645861e-02 2.46694463e+01] [ 1.17278358e-01 9.93098762e-01 -7.97925445e-04 2.54800013e+00] [ 1.70403959e-02 -1.20900427e-03 9.99854071e-01 3.59838486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664391418 meters Centerline goodness [0,1] 0.9922667234767789 Centerline is valid? [True, True] Translation: X:24.70, Y:2.55, Z:0.03 [[ 9.92564514e-01 -1.20454732e-01 -1.75026695e-02 2.47008371e+01] [ 1.20458935e-01 9.92717974e-01 -8.17761716e-04 2.54517740e+00] [ 1.74737179e-02 -1.29667167e-03 9.99846482e-01 3.38391056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.694391418 meters Centerline goodness [0,1] 0.9939802603590573 Centerline is valid? [True, True] Translation: X:24.73, Y:2.55, Z:0.04 [[ 9.92342537e-01 -1.22297750e-01 -1.73074947e-02 2.47321146e+01] [ 1.22302147e-01 9.92492585e-01 -8.08124013e-04 2.54616445e+00] [ 1.72763919e-02 -1.31480794e-03 9.99849888e-01 3.53954674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724391418 meters Centerline goodness [0,1] 0.9882709204128636 Centerline is valid? [True, True] Translation: X:24.76, Y:2.55, Z:0.03 [[ 9.92153709e-01 -1.23752632e-01 -1.77849274e-02 2.47642418e+01] [ 1.23757527e-01 9.92312142e-01 -8.29328870e-04 2.54609954e+00] [ 1.77508310e-02 -1.37819692e-03 9.99841492e-01 3.47627538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.754391418 meters Centerline goodness [0,1] 0.9420271335164953 Centerline is valid? [True, False] Translation: X:24.76, Y:2.54, Z:0.03 [[ 9.92507771e-01 -1.20808146e-01 -1.82678814e-02 2.47644124e+01] [ 1.20887512e-01 9.92660726e-01 3.30048405e-03 2.54440257e+00] [ 1.77350831e-02 -5.48411481e-03 9.99827681e-01 3.41327471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784391418 meters Centerline goodness [0,1] 0.957408710110635 Centerline is valid? [False, True] Translation: X:24.76, Y:2.54, Z:0.03 [[ 9.92882813e-01 -1.17658973e-01 -1.84414065e-02 2.47638907e+01] [ 1.17811600e-01 9.93008265e-01 7.41699509e-03 2.54260667e+00] [ 1.74397930e-02 -9.53681854e-03 9.99802432e-01 3.38454495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.814391418 meters Centerline goodness [0,1] 0.8398926082972875 Centerline is valid? [True, False] Translation: X:24.76, Y:2.54, Z:0.03 [[ 9.92875835e-01 -1.17690571e-01 -1.86146728e-02 2.47643239e+01] [ 1.17841606e-01 9.93006066e-01 7.23252763e-03 2.54362525e+00] [ 1.76332827e-02 -9.37458485e-03 9.99800572e-01 3.36347045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844391418 meters Centerline goodness [0,1] 0.9979106705042107 Centerline is valid? [False, True] Translation: X:24.76, Y:2.54, Z:0.03 [[ 9.92898305e-01 -1.17485246e-01 -1.87129078e-02 2.47646625e+01] [ 1.17641394e-01 9.93028042e-01 7.47058256e-03 2.54352065e+00] [ 1.77047590e-02 -9.61894131e-03 9.99796988e-01 3.34255152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.874391418 meters Centerline goodness [0,1] 0.9797816072342603 Centerline is valid? [True, True] Translation: X:24.80, Y:2.54, Z:0.04 [[ 9.92885005e-01 -1.17750671e-01 -1.77241568e-02 2.47961669e+01] [ 1.17758046e-01 9.93042116e-01 -6.30617636e-04 2.54215236e+00] [ 1.76750898e-02 -1.46103127e-03 9.99842716e-01 3.57413045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904391418 meters Centerline goodness [0,1] 0.9970617667724146 Centerline is valid? [True, True] Translation: X:24.83, Y:2.55, Z:0.04 [[ 9.93029599e-01 -1.16759495e-01 -1.61069976e-02 2.48278139e+01] [ 1.16765474e-01 9.93159351e-01 -5.71925081e-04 2.55070437e+00] [ 1.60635930e-02 -1.31280268e-03 9.99870110e-01 3.91178103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.934391418 meters Centerline goodness [0,1] 0.9980381703806376 Centerline is valid? [True, True] Translation: X:24.86, Y:2.55, Z:0.04 [[ 9.93189830e-01 -1.15460059e-01 -1.55864345e-02 2.48589580e+01] [ 1.15465513e-01 9.93311336e-01 -5.52533441e-04 2.55480358e+00] [ 1.55459776e-02 -1.25092506e-03 9.99878371e-01 4.03285442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964391417999998 meters Centerline goodness [0,1] 0.9982947157504316 Centerline is valid? [True, True] Translation: X:24.89, Y:2.56, Z:0.04 [[ 9.93329338e-01 -1.14321328e-01 -1.50817588e-02 2.48908549e+01] [ 1.14326318e-01 9.93443108e-01 -5.33686587e-04 2.55672841e+00] [ 1.50438811e-02 -1.19411541e-03 9.99886121e-01 4.11046615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.994391418 meters Centerline goodness [0,1] 0.9953886552379326 Centerline is valid? [True, True] Translation: X:24.92, Y:2.56, Z:0.04 [[ 9.93588387e-01 -1.12045114e-01 -1.50999715e-02 2.49210061e+01] [ 1.12049866e-01 9.93702442e-01 -5.33602035e-04 2.55605254e+00] [ 1.50646660e-02 -1.16176900e-03 9.99885847e-01 4.05088046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024391418 meters Centerline goodness [0,1] 0.9982708195461435 Centerline is valid? [True, True] Translation: X:24.95, Y:2.56, Z:0.04 [[ 9.93678460e-01 -1.11393432e-01 -1.39506714e-02 2.49531303e+01] [ 1.11397434e-01 9.93775814e-01 -4.92281695e-04 2.56003278e+00] [ 1.39186768e-02 -1.06489928e-03 9.99902563e-01 4.28483986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.054391417999998 meters Centerline goodness [0,1] 0.9982242570762285 Centerline is valid? [True, True] Translation: X:24.99, Y:2.56, Z:0.04 [[ 9.93743525e-01 -1.10735408e-01 -1.45422147e-02 2.49852626e+01] [ 1.10739705e-01 9.93849312e-01 -5.11955470e-04 2.56304079e+00] [ 1.45094616e-02 -1.10164812e-03 9.99894125e-01 4.24315504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084391418 meters Centerline goodness [0,1] 0.9962340052210382 Centerline is valid? [True, True] Translation: X:25.02, Y:2.56, Z:0.04 [[ 9.93785698e-01 -1.10220337e-01 -1.55390938e-02 2.50170998e+01] [ 1.10225200e-01 9.93906488e-01 -5.45755238e-04 2.55947700e+00] [ 1.55045595e-02 -1.17043597e-03 9.99879112e-01 4.04812646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.114391418 meters Centerline goodness [0,1] 0.9929084092126406 Centerline is valid? [True, True] Translation: X:25.05, Y:2.56, Z:0.04 [[ 9.93761612e-01 -1.10175956e-01 -1.72950232e-02 2.50489877e+01] [ 1.10181999e-01 9.93911244e-01 -6.05989792e-04 2.56178790e+00] [ 1.72564835e-02 -1.30339082e-03 9.99850246e-01 3.84152944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144391418 meters Centerline goodness [0,1] 0.9971911316951841 Centerline is valid? [True, True] Translation: X:25.08, Y:2.56, Z:0.04 [[ 9.93691761e-01 -1.10870892e-01 -1.68620808e-02 2.50809216e+01] [ 1.10876758e-01 9.93833989e-01 -5.89499593e-04 2.56390001e+00] [ 1.68234674e-02 -1.28383196e-03 9.99857651e-01 4.07091427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.174391418 meters Centerline goodness [0,1] 0.9910234162435461 Centerline is valid? [True, True] Translation: X:25.11, Y:2.56, Z:0.04 [[ 9.93488393e-01 -1.12604295e-01 -1.73518412e-02 2.51107001e+01] [ 1.12610778e-01 9.93638991e-01 -6.06069107e-04 2.56084916e+00] [ 1.73097120e-02 -1.35188172e-03 9.99849262e-01 3.96748836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204391418 meters Centerline goodness [0,1] 0.9761323220636757 Centerline is valid? [True, True] Translation: X:25.14, Y:2.56, Z:0.04 [[ 9.93427068e-01 -1.13102682e-01 -1.76194211e-02 2.51417809e+01] [ 1.13109456e-01 9.93582343e-01 -6.14783734e-04 2.55904838e+00] [ 1.75758794e-02 -1.38218034e-03 9.99844577e-01 3.94453394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.234391418 meters Centerline goodness [0,1] 0.9688336151722071 Centerline is valid? [True, True] Translation: X:25.17, Y:2.56, Z:0.04 [[ 9.93394081e-01 -1.13405908e-01 -1.75299479e-02 2.51741393e+01] [ 1.13412682e-01 9.93547780e-01 -6.10437812e-04 2.55907552e+00] [ 1.74860681e-02 -1.38171310e-03 9.99846152e-01 3.91727354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264391418 meters Centerline goodness [0,1] 0.9985006854009596 Centerline is valid? [True, True] Translation: X:25.21, Y:2.57, Z:0.04 [[ 9.93405408e-01 -1.13284843e-01 -1.76703057e-02 2.52073251e+01] [ 1.13291740e-01 9.93561576e-01 -6.13449150e-04 2.56878325e+00] [ 1.76260313e-02 -1.39249598e-03 9.99843680e-01 4.18053627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.294391418 meters Centerline goodness [0,1] 0.9987785801529989 Centerline is valid? [True, True] Translation: X:25.24, Y:2.57, Z:0.04 [[ 9.93465542e-01 -1.12739826e-01 -1.77749257e-02 2.52399014e+01] [ 1.12746754e-01 9.93623566e-01 -6.15090362e-04 2.57357588e+00] [ 1.77309303e-02 -1.39299409e-03 9.99841824e-01 4.22172255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324391418 meters Centerline goodness [0,1] 0.9976033040166057 Centerline is valid? [True, True] Translation: X:25.27, Y:2.57, Z:0.04 [[ 9.93586598e-01 -1.11669028e-01 -1.77679370e-02 2.52709509e+01] [ 1.11675805e-01 9.93744504e-01 -6.13458856e-04 2.57154822e+00] [ 1.77252940e-02 -1.37472416e-03 9.99841950e-01 4.21125429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.354391418 meters Centerline goodness [0,1] 0.99862790498242 Centerline is valid? [True, True] Translation: X:25.30, Y:2.58, Z:0.04 [[ 9.93726106e-01 -1.10474909e-01 -1.74276098e-02 2.53031611e+01] [ 1.10481268e-01 9.93878025e-01 -6.00426937e-04 2.57501146e+00] [ 1.73872505e-02 -1.32876451e-03 9.99847947e-01 4.26332088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384391418 meters Centerline goodness [0,1] 0.9984770811436906 Centerline is valid? [True, True] Translation: X:25.33, Y:2.58, Z:0.04 [[ 9.94058205e-01 -1.07407724e-01 -1.76597161e-02 2.53335565e+01] [ 1.07413783e-01 9.94214217e-01 -6.07864286e-04 2.57830821e+00] [ 1.76228301e-02 -1.29264442e-03 9.99843870e-01 4.20753758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.414391418 meters Centerline goodness [0,1] 0.998432871066077 Centerline is valid? [True, True] Translation: X:25.36, Y:2.58, Z:0.04 [[ 9.94193256e-01 -1.06052663e-01 -1.82373835e-02 2.53645918e+01] [ 1.06058910e-01 9.94359650e-01 -6.27050478e-04 2.57949231e+00] [ 1.82010186e-02 -1.31082765e-03 9.99833488e-01 4.11137308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444391418 meters Centerline goodness [0,1] 0.9981971540789389 Centerline is valid? [True, True] Translation: X:25.39, Y:2.58, Z:0.04 [[ 9.94355430e-01 -1.04588469e-01 -1.78474415e-02 2.53945633e+01] [ 1.04594228e-01 9.94514792e-01 -6.13018964e-04 2.58110756e+00] [ 1.78136593e-02 -1.25718062e-03 9.99840534e-01 4.23189896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.474391418 meters Centerline goodness [0,1] 0.9982168943885881 Centerline is valid? [True, True] Translation: X:25.43, Y:2.58, Z:0.04 [[ 9.94420813e-01 -1.03752650e-01 -1.90429522e-02 2.54266771e+01] [ 1.03759076e-01 9.94602246e-01 -6.52964881e-04 2.58391850e+00] [ 1.90079099e-02 -1.32655726e-03 9.99818453e-01 4.05770685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504391418 meters Centerline goodness [0,1] 0.9989706418476979 Centerline is valid? [True, True] Translation: X:25.46, Y:2.58, Z:0.04 [[ 9.94447372e-01 -1.03710831e-01 -1.78462014e-02 2.54589655e+01] [ 1.03716492e-01 9.94606714e-01 -6.10555493e-04 2.58462611e+00] [ 1.78132729e-02 -1.24378010e-03 9.99840557e-01 4.32740696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.534391418 meters Centerline goodness [0,1] 0.9984111306737665 Centerline is valid? [True, True] Translation: X:25.49, Y:2.58, Z:0.04 [[ 9.94416008e-01 -1.04211275e-01 -1.66376824e-02 2.54904114e+01] [ 1.04216282e-01 9.94554495e-01 -5.68135292e-04 2.58308225e+00] [ 1.66062880e-02 -1.16895458e-03 9.99861423e-01 4.39260341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564391418 meters Centerline goodness [0,1] 0.9967416934619507 Centerline is valid? [True, True] Translation: X:25.52, Y:2.58, Z:0.04 [[ 9.94410002e-01 -1.04245896e-01 -1.67791650e-02 2.55217054e+01] [ 1.04251010e-01 9.94550853e-01 -5.71987604e-04 2.58296740e+00] [ 1.67473602e-02 -1.18045470e-03 9.99859056e-01 4.31320154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.594391418 meters Centerline goodness [0,1] 0.9955434619587342 Centerline is valid? [True, True] Translation: X:25.55, Y:2.58, Z:0.04 [[ 9.94402099e-01 -1.04442943e-01 -1.60042706e-02 2.55541597e+01] [ 1.04447639e-01 9.94530238e-01 -5.44493205e-04 2.58328198e+00] [ 1.59735995e-02 -1.13016308e-03 9.99871775e-01 4.44921939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624391418 meters Centerline goodness [0,1] 0.9919635566633719 Centerline is valid? [True, True] Translation: X:25.59, Y:2.58, Z:0.04 [[ 9.94281828e-01 -1.05663998e-01 -1.54520683e-02 2.55859081e+01] [ 1.05668537e-01 9.94401270e-01 -5.24712070e-04 2.58267073e+00] [ 1.54209995e-02 -1.11108577e-03 9.99880472e-01 4.48949540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.654391418 meters Centerline goodness [0,1] 0.9847197184307666 Centerline is valid? [True, True] Translation: X:25.62, Y:2.58, Z:0.04 [[ 9.94181928e-01 -1.06568040e-01 -1.56699070e-02 2.56185513e+01] [ 1.06572836e-01 9.94304756e-01 -5.31047568e-04 2.58124545e+00] [ 1.56372558e-02 -1.14202853e-03 9.99877078e-01 4.42133617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684391418 meters Centerline goodness [0,1] 0.9847197184307666 Centerline is valid? [True, True] Translation: X:25.65, Y:2.58, Z:0.04 [[ 9.94193985e-01 -1.06455496e-01 -1.56699583e-02 2.56511597e+01] [ 1.06460302e-01 9.94316813e-01 -5.29530875e-04 2.58222193e+00] [ 1.56372745e-02 -1.14177207e-03 9.99877078e-01 4.44342223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.714391417999998 meters Centerline goodness [0,1] 0.9679085920082319 Centerline is valid? [True, True] Translation: X:25.68, Y:2.58, Z:0.04 [[ 9.94034889e-01 -1.07891213e-01 -1.59413349e-02 2.56834998e+01] [ 1.07896393e-01 9.94161999e-01 -5.37234495e-04 2.58023344e+00] [ 1.59062322e-02 -1.18598271e-03 9.99872785e-01 4.41224335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744391418 meters Centerline goodness [0,1] 0.914172384219554 Centerline is valid? [True, False] Translation: X:25.68, Y:2.58, Z:0.04 [[ 9.94037930e-01 -1.07864649e-01 -1.59314411e-02 2.56840308e+01] [ 1.07882040e-01 9.94163674e-01 2.33784156e-04 2.57810572e+00] [ 1.58132429e-02 -1.95110669e-03 9.99873059e-01 4.32632044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.774391418 meters Centerline goodness [0,1] 0.997127360816344 Centerline is valid? [False, True] Translation: X:25.68, Y:2.57, Z:0.04 [[ 9.94418821e-01 -1.04277105e-01 -1.60466407e-02 2.56837201e+01] [ 1.04370272e-01 9.94525535e-01 5.08011281e-03 2.57485887e+00] [ 1.54290544e-02 -6.72655203e-03 9.99858339e-01 4.26259307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804391417999998 meters Centerline goodness [0,1] 0.8660272740896149 Centerline is valid? [True, False] Translation: X:25.68, Y:2.57, Z:0.04 [[ 9.94438068e-01 -1.04082341e-01 -1.61181599e-02 2.56839755e+01] [ 1.04181190e-01 9.94543580e-01 5.41728968e-03 2.57434293e+00] [ 1.54663683e-02 -7.06636816e-03 9.99855418e-01 4.24698573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.834391418 meters Centerline goodness [0,1] 0.9941181503186893 Centerline is valid? [False, True] Translation: X:25.68, Y:2.57, Z:0.04 [[ 9.94461496e-01 -1.03869430e-01 -1.60460007e-02 2.56840333e+01] [ 1.03977968e-01 9.94561001e-01 6.08258562e-03 2.57251226e+00] [ 1.53269318e-02 -7.71732774e-03 9.99852753e-01 4.22721750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864391418 meters Centerline goodness [0,1] 0.9877482948106652 Centerline is valid? [True, True] Translation: X:25.72, Y:2.57, Z:0.04 [[ 9.94466466e-01 -1.03747735e-01 -1.65183396e-02 2.57172149e+01] [ 1.03755127e-01 9.94602787e-01 -4.11163333e-04 2.57433011e+00] [ 1.64718438e-02 -1.30497428e-03 9.99863478e-01 4.17342005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.894391418 meters Centerline goodness [0,1] 0.9849794590893529 Centerline is valid? [True, True] Translation: X:25.75, Y:2.57, Z:0.04 [[ 9.94371416e-01 -1.04747328e-01 -1.59211803e-02 2.57484130e+01] [ 1.04754345e-01 9.94498050e-01 -3.94887531e-04 2.57318812e+00] [ 1.58749462e-02 -1.27514794e-03 9.99873172e-01 4.38524975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924391418 meters Centerline goodness [0,1] 0.9843857093899931 Centerline is valid? [True, True] Translation: X:25.78, Y:2.57, Z:0.04 [[ 9.94365334e-01 -1.04742426e-01 -1.63280903e-02 2.57808556e+01] [ 1.04749824e-01 9.94498523e-01 -4.03852956e-04 2.57443983e+00] [ 1.62805622e-02 -1.30878721e-03 9.99866606e-01 4.46809249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.954391418 meters Centerline goodness [0,1] 0.9596206659800892 Centerline is valid? [True, True] Translation: X:25.81, Y:2.57, Z:0.04 [[ 9.94466447e-01 -1.03653343e-01 -1.71017880e-02 2.58124764e+01] [ 1.03661323e-01 9.94612564e-01 -4.21625510e-04 2.57480496e+00] [ 1.70533561e-02 -1.35350154e-03 9.99853665e-01 4.24216628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984391418 meters Centerline goodness [0,1] 0.977673124264155 Centerline is valid? [True, True] Translation: X:25.84, Y:2.58, Z:0.04 [[ 9.94686814e-01 -1.01702376e-01 -1.59615039e-02 2.58441122e+01] [ 1.01709093e-01 9.94814106e-01 -3.92466198e-04 2.57606714e+00] [ 1.59186440e-02 -1.23304913e-03 9.99872530e-01 4.23870894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.014391417999995 meters Centerline goodness [0,1] 0.9855862791642608 Centerline is valid? [True, True] Translation: X:25.88, Y:2.58, Z:0.04 [[ 9.94814794e-01 -1.00487600e-01 -1.56769766e-02 2.58764134e+01] [ 1.00493946e-01 9.94937596e-01 -3.84438042e-04 2.57674843e+00] [ 1.56362446e-02 -1.19299659e-03 9.99877035e-01 4.22049571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.044391418 meters Centerline goodness [0,1] 0.9931380932022231 Centerline is valid? [True, True] Translation: X:25.91, Y:2.58, Z:0.04 [[ 9.94927304e-01 -9.93306724e-02 -1.59084296e-02 2.59087913e+01] [ 9.93370799e-02 9.95053764e-01 -3.88875112e-04 2.57941608e+00] [ 1.58683700e-02 -1.19339448e-03 9.99873377e-01 4.13268926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.074391418 meters Centerline goodness [0,1] 0.998291036486371 Centerline is valid? [True, True] Translation: X:25.94, Y:2.59, Z:0.04 [[ 9.95167493e-01 -9.69899343e-02 -1.53171189e-02 2.59398314e+01] [ 9.69956125e-02 9.95284739e-01 -3.73502227e-04 2.58854044e+00] [ 1.52811207e-02 -1.11399606e-03 9.99882616e-01 4.44406062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.104391418 meters Centerline goodness [0,1] 0.9984192087498932 Centerline is valid? [True, True] Translation: X:25.97, Y:2.59, Z:0.05 [[ 9.95334180e-01 -9.51694786e-02 -1.58946846e-02 2.59711120e+01] [ 9.51753728e-02 9.95460446e-01 -3.86923366e-04 2.59232644e+00] [ 1.58593531e-02 -1.12766448e-03 9.99873597e-01 4.52581469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.13439141799999 meters Centerline goodness [0,1] 0.9987377789187686 Centerline is valid? [True, True] Translation: X:26.00, Y:2.60, Z:0.04 [[ 9.95557633e-01 -9.27101199e-02 -1.64266129e-02 2.60025025e+01] [ 9.27160932e-02 9.95692506e-01 -3.99191098e-04 2.59615704e+00] [ 1.63928644e-02 -1.12559363e-03 9.99864994e-01 4.43010616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.164391417999994 meters Centerline goodness [0,1] 0.9989080398244299 Centerline is valid? [True, True] Translation: X:26.03, Y:2.60, Z:0.05 [[ 9.95854135e-01 -8.96053891e-02 -1.56657409e-02 2.60319354e+01] [ 8.96104421e-02 9.95976819e-01 -3.80516239e-04 2.59939091e+00] [ 1.56368110e-02 -1.02487529e-03 9.99877212e-01 4.58594778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.194391417999995 meters Centerline goodness [0,1] 0.9987811918660594 Centerline is valid? [True, True] Translation: X:26.06, Y:2.60, Z:0.04 [[ 9.96001851e-01 -8.79847103e-02 -1.54597568e-02 2.60633419e+01] [ 8.79894386e-02 9.96121337e-01 -3.75395965e-04 2.60210706e+00] [ 1.54328227e-02 -9.86400243e-04 9.99880420e-01 4.46232714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.224391417999996 meters Centerline goodness [0,1] 0.9987166598934828 Centerline is valid? [True, True] Translation: X:26.09, Y:2.60, Z:0.05 [[ 9.96074612e-01 -8.72578440e-02 -1.48807426e-02 2.60945266e+01] [ 8.72621546e-02 9.96185317e-01 -3.60619408e-04 2.59942975e+00] [ 1.48554442e-02 -9.39321827e-04 9.99889211e-01 4.51583771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.254391418 meters Centerline goodness [0,1] 0.9989498499785684 Centerline is valid? [True, True] Translation: X:26.13, Y:2.60, Z:0.05 [[ 9.96075826e-01 -8.73376671e-02 -1.43206458e-02 2.61266807e+01] [ 8.73416809e-02 9.96178353e-01 -3.46101496e-04 2.59930804e+00] [ 1.42961450e-02 -9.06045939e-04 9.99897394e-01 4.50562038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.284391418 meters Centerline goodness [0,1] 0.9986936223069345 Centerline is valid? [True, True] Translation: X:26.16, Y:2.60, Z:0.05 [[ 9.96094186e-01 -8.72286318e-02 -1.36944627e-02 2.61598571e+01] [ 8.72323089e-02 9.96187942e-01 -3.29725288e-04 2.60145716e+00] [ 1.36710201e-02 -8.66162157e-04 9.99906172e-01 4.61591446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.314391418 meters Centerline goodness [0,1] 0.9984156211193422 Centerline is valid? [True, True] Translation: X:26.19, Y:2.60, Z:0.05 [[ 9.96120245e-01 -8.69144091e-02 -1.37965021e-02 2.61916937e+01] [ 8.69181308e-02 9.96215403e-01 -3.30762871e-04 2.60344405e+00] [ 1.37730360e-02 -8.69686586e-04 9.99904769e-01 4.52791526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.344391417999994 meters Centerline goodness [0,1] 0.9985011027601122 Centerline is valid? [True, True] Translation: X:26.22, Y:2.60, Z:0.05 [[ 9.96137591e-01 -8.68328334e-02 -1.30368598e-02 2.62233391e+01] [ 8.68361611e-02 9.96222557e-01 -3.11659306e-04 2.60406713e+00] [ 1.30146761e-02 -8.21615310e-04 9.99914968e-01 4.71352678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.374391417999995 meters Centerline goodness [0,1] 0.9986919415019084 Centerline is valid? [True, True] Translation: X:26.25, Y:2.60, Z:0.05 [[ 9.96088166e-01 -8.74308941e-02 -1.28142602e-02 2.62546371e+01] [ 8.74341678e-02 9.96170253e-01 -3.05602920e-04 2.60250146e+00] [ 1.27919040e-02 -8.15996728e-04 9.99917847e-01 4.70474120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.404391417999996 meters Centerline goodness [0,1] 0.9987772700946007 Centerline is valid? [True, True] Translation: X:26.29, Y:2.60, Z:0.05 [[ 9.95996891e-01 -8.84892319e-02 -1.26431663e-02 2.62866169e+01] [ 8.84925138e-02 9.96076797e-01 -3.00721172e-04 2.60348355e+00] [ 1.26201752e-02 -8.19308220e-04 9.99920027e-01 4.71273740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.434391418 meters Centerline goodness [0,1] 0.9984142970407355 Centerline is valid? [True, True] Translation: X:26.32, Y:2.60, Z:0.05 [[ 9.95710949e-01 -9.17563736e-02 -1.18521370e-02 2.63179770e+01] [ 9.17594959e-02 9.95781159e-01 -2.81232475e-04 2.59944137e+00] [ 1.18279396e-02 -8.07519863e-04 9.99929721e-01 4.81478499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.464391418 meters Centerline goodness [0,1] 0.9983710213267603 Centerline is valid? [True, True] Translation: X:26.35, Y:2.60, Z:0.05 [[ 9.95568435e-01 -9.32890231e-02 -1.18596111e-02 2.63497003e+01] [ 9.32922618e-02 9.95638727e-01 -2.81050424e-04 2.60048915e+00] [ 1.18341070e-02 -8.26605009e-04 9.99929633e-01 4.74888540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.494391418 meters Centerline goodness [0,1] 0.9983709864105972 Centerline is valid? [True, True] Translation: X:26.38, Y:2.60, Z:0.05 [[ 9.95414454e-01 -9.49195632e-02 -1.18466017e-02 2.63812339e+01] [ 9.49229179e-02 9.95484586e-01 -2.80045981e-04 2.60166807e+00] [ 1.18196912e-02 -8.45752184e-04 9.99929787e-01 4.72757610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52439141799999 meters Centerline goodness [0,1] 0.9984991423670669 Centerline is valid? [True, True] Translation: X:26.41, Y:2.60, Z:0.05 [[ 9.95138534e-01 -9.78311731e-02 -1.13296030e-02 2.64117430e+01] [ 9.78344351e-02 9.95202669e-01 -2.67283329e-04 2.60435338e+00] [ 1.13013997e-02 -8.42441366e-04 9.99935782e-01 4.96580711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.554391417999994 meters Centerline goodness [0,1] 0.9980905794769475 Centerline is valid? [True, True] Translation: X:26.44, Y:2.60, Z:0.05 [[ 9.95095434e-01 -9.82550078e-02 -1.14468471e-02 2.64433163e+01] [ 9.82583697e-02 9.95160902e-01 -2.69693826e-04 2.60256515e+00] [ 1.14179535e-02 -8.56377443e-04 9.99934446e-01 4.92845283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.584391417999996 meters Centerline goodness [0,1] 0.9981797935671763 Centerline is valid? [True, True] Translation: X:26.48, Y:2.60, Z:0.05 [[ 9.95094314e-01 -9.83024029e-02 -1.11330452e-02 2.64754806e+01] [ 9.83055938e-02 9.95156240e-01 -2.61585390e-04 2.60229828e+00] [ 1.11048339e-02 -8.34138490e-04 9.99937992e-01 4.91620099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.614391418 meters Centerline goodness [0,1] 0.9980905794769475 Centerline is valid? [True, True] Translation: X:26.51, Y:2.60, Z:0.05 [[ 9.95058863e-01 -9.86555339e-02 -1.11778308e-02 2.65080250e+01] [ 9.86587827e-02 9.95121287e-01 -2.61738517e-04 2.60066383e+00] [ 1.11491193e-02 -8.42345946e-04 9.99937492e-01 4.86914189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.644391418 meters Centerline goodness [0,1] 0.9982828933247478 Centerline is valid? [True, True] Translation: X:26.54, Y:2.60, Z:0.05 [[ 9.95047277e-01 -9.87790067e-02 -1.11186821e-02 2.65400966e+01] [ 9.87822387e-02 9.95109040e-01 -2.59470397e-04 2.59980133e+00] [ 1.10899313e-02 -8.40142999e-04 9.99938152e-01 4.86273004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.674391418 meters Centerline goodness [0,1] 0.997275204359673 Centerline is valid? [True, True] Translation: X:26.57, Y:2.60, Z:0.05 [[ 9.95032141e-01 -9.89483370e-02 -1.09665003e-02 2.65714218e+01] [ 9.89515002e-02 9.95092225e-01 -2.55107415e-04 2.59731554e+00] [ 1.09379216e-02 -8.31311580e-04 9.99939834e-01 4.87944001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70439141799999 meters Centerline goodness [0,1] 0.9971035015447992 Centerline is valid? [True, True] Translation: X:26.60, Y:2.60, Z:0.05 [[ 9.95045807e-01 -9.87901586e-02 -1.11511144e-02 2.66031803e+01] [ 9.87934274e-02 9.95107930e-01 -2.58683248e-04 2.59779427e+00] [ 1.11221177e-02 -8.44255128e-04 9.99937791e-01 4.93073139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.734391417999994 meters Centerline goodness [0,1] 0.9981977729623034 Centerline is valid? [True, True] Translation: X:26.64, Y:2.60, Z:0.05 [[ 9.95139757e-01 -9.79108817e-02 -1.05034532e-02 2.66357452e+01] [ 9.79137425e-02 9.95194875e-01 -2.42750197e-04 2.60017414e+00] [ 1.04767507e-02 -7.86862041e-04 9.99944808e-01 5.00017511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764391417999995 meters Centerline goodness [0,1] 0.9976634011447191 Centerline is valid? [True, True] Translation: X:26.67, Y:2.60, Z:0.05 [[ 9.95202200e-01 -9.72952139e-02 -1.03064620e-02 2.66681308e+01] [ 9.72979491e-02 9.95255270e-01 -2.36882700e-04 2.59987208e+00] [ 1.02806082e-02 -7.67051432e-04 9.99946859e-01 5.00145763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.794391418 meters Centerline goodness [0,1] 0.9977514615499925 Centerline is valid? [True, True] Translation: X:26.70, Y:2.60, Z:0.05 [[ 9.95338315e-01 -9.60087168e-02 -9.16328666e-03 2.66997782e+01] [ 9.60108303e-02 9.95380267e-01 -2.09994167e-04 2.59980369e+00] [ 9.14111599e-03 -6.70759519e-04 9.99957994e-01 5.07712464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.824391418 meters Centerline goodness [0,1] 0.9986066750980687 Centerline is valid? [True, True] Translation: X:26.73, Y:2.60, Z:0.05 [[ 9.95391460e-01 -9.54562433e-02 -9.16221811e-03 2.67316340e+01] [ 9.54583364e-02 9.95433404e-01 -2.09585797e-04 2.60356510e+00] [ 9.14038424e-03 -6.65990186e-04 9.99958004e-01 5.14117429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.854391418 meters Centerline goodness [0,1] 0.9985643882579816 Centerline is valid? [True, True] Translation: X:26.76, Y:2.61, Z:0.05 [[ 9.95435059e-01 -9.50247689e-02 -8.90715914e-03 2.67638517e+01] [ 9.50267360e-02 9.95474700e-01 -2.03062366e-04 2.60866054e+00] [ 8.88614753e-03 -6.44282863e-04 9.99960310e-01 5.11855311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88439141799999 meters Centerline goodness [0,1] 0.9985852393303466 Centerline is valid? [True, True] Translation: X:26.79, Y:2.61, Z:0.05 [[ 9.95405341e-01 -9.53283541e-02 -8.98403984e-03 2.67946756e+01] [ 9.53303743e-02 9.95445668e-01 -2.04080977e-04 2.60634820e+00] [ 8.96257824e-03 -6.53308586e-04 9.99959622e-01 5.27297166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.914391417999994 meters Centerline goodness [0,1] 0.9988886276688965 Centerline is valid? [True, True] Translation: X:26.83, Y:2.61, Z:0.05 [[ 9.95475088e-01 -9.45303470e-02 -9.66243261e-03 2.68271315e+01] [ 9.45326527e-02 9.95521737e-01 -2.18838571e-04 2.60608428e+00] [ 9.63984858e-03 -6.95567040e-04 9.99953294e-01 5.09683615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944391417999995 meters Centerline goodness [0,1] 0.9988231014486552 Centerline is valid? [True, True] Translation: X:26.86, Y:2.61, Z:0.05 [[ 9.95466289e-01 -9.46918322e-02 -8.96237896e-03 2.68596242e+01] [ 9.46938283e-02 9.95506423e-01 -2.02316819e-04 2.60891504e+00] [ 8.94126357e-03 -6.47282402e-04 9.99959817e-01 5.30334588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.974391417999996 meters Centerline goodness [0,1] 0.9981198991582276 Centerline is valid? [True, True] Translation: X:26.89, Y:2.60, Z:0.05 [[ 9.95353089e-01 -9.58508699e-02 -9.21079747e-03 2.68909100e+01] [ 9.58530346e-02 9.95395476e-01 -2.07168910e-04 2.60315071e+00] [ 9.18824345e-03 -6.76676674e-04 9.99957558e-01 5.18200064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.004391418 meters Centerline goodness [0,1] 0.9984181612192984 Centerline is valid? [True, True] Translation: X:26.92, Y:2.61, Z:0.05 [[ 9.95270505e-01 -9.66005827e-02 -1.02444629e-02 2.69231160e+01] [ 9.66033074e-02 9.95322937e-01 -2.29697181e-04 2.60778633e+00] [ 1.02187377e-02 -7.61038165e-04 9.99947498e-01 5.00781377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.034391418 meters Centerline goodness [0,1] 0.9981622360885546 Centerline is valid? [True, True] Translation: X:26.95, Y:2.60, Z:0.05 [[ 9.95133056e-01 -9.80200730e-02 -1.01126646e-02 2.69541991e+01] [ 9.80228090e-02 9.95184143e-01 -2.25942235e-04 2.60447152e+00] [ 1.00861103e-02 -7.66429202e-04 9.99948840e-01 4.98090136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.064391418 meters Centerline goodness [0,1] 0.9986335297634299 Centerline is valid? [True, True] Translation: X:26.99, Y:2.60, Z:0.05 [[ 9.94858966e-01 -1.00862653e-01 -9.07535153e-03 2.69853417e+01] [ 1.00864978e-01 9.94900103e-01 -2.02281785e-04 2.60323998e+00] [ 9.04947085e-03 -7.14143289e-04 9.99958798e-01 5.29981795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.094391417999994 meters Centerline goodness [0,1] 0.9983138393238282 Centerline is valid? [True, True] Translation: X:27.02, Y:2.60, Z:0.05 [[ 9.94800630e-01 -1.01458181e-01 -8.82859208e-03 2.70163433e+01] [ 1.01460407e-01 9.94839559e-01 -1.96589747e-04 2.60016496e+00] [ 8.80297829e-03 -7.00184940e-04 9.99961008e-01 5.38881562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.124391417999995 meters Centerline goodness [0,1] 0.9985067940869046 Centerline is valid? [True, True] Translation: X:27.05, Y:2.60, Z:0.05 [[ 9.94680823e-01 -1.02648484e-01 -8.56445280e-03 2.70487613e+01] [ 1.02650627e-01 9.94717454e-01 -1.90194162e-04 2.60074961e+00] [ 8.53873382e-03 -6.89963964e-04 9.99963306e-01 5.39967846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.154391417999996 meters Centerline goodness [0,1] 0.9976365378473331 Centerline is valid? [True, True] Translation: X:27.08, Y:2.60, Z:0.05 [[ 9.94569901e-01 -1.03739089e-01 -8.30135842e-03 2.70798501e+01] [ 1.03741145e-01 9.94604314e-01 -1.83684559e-04 2.59542271e+00] [ 8.27562216e-03 -6.78505298e-04 9.99965526e-01 5.39972481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.184391418 meters Centerline goodness [0,1] 0.9976802094196267 Centerline is valid? [True, True] Translation: X:27.11, Y:2.59, Z:0.05 [[ 9.94516645e-01 -1.04285867e-01 -7.81674283e-03 2.71117858e+01] [ 1.04287710e-01 9.94547155e-01 -1.72523751e-04 2.59418519e+00] [ 7.79211113e-03 -6.43612470e-04 9.99969434e-01 5.39094895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.214391418 meters Centerline goodness [0,1] 0.9982560612505317 Centerline is valid? [True, True] Translation: X:27.14, Y:2.60, Z:0.05 [[ 9.94479751e-01 -1.04651139e-01 -7.62646544e-03 2.71438085e+01] [ 1.04652909e-01 9.94508794e-01 -1.67728810e-04 2.59560913e+00] [ 7.60213995e-03 -6.31328891e-04 9.99970904e-01 5.36169646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.244391418 meters Centerline goodness [0,1] 0.9982367437117607 Centerline is valid? [True, True] Translation: X:27.18, Y:2.60, Z:0.05 [[ 9.94498086e-01 -1.04363136e-01 -9.04945975e-03 2.71765219e+01] [ 1.04365624e-01 9.94538977e-01 -1.98137772e-04 2.59564353e+00] [ 9.02071873e-03 -7.47404881e-04 9.99959033e-01 5.27500278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.27439141799999 meters Centerline goodness [0,1] 0.9980228751222416 Centerline is valid? [True, True] Translation: X:27.21, Y:2.60, Z:0.05 [[ 9.94565867e-01 -1.03622268e-01 -1.00579453e-02 2.72078319e+01] [ 1.03625315e-01 9.94616381e-01 -2.19154717e-04 2.59616822e+00] [ 1.00265065e-02 -8.24293949e-04 9.99949394e-01 5.26886943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.304391417999994 meters Centerline goodness [0,1] 0.9977668602054489 Centerline is valid? [True, True] Translation: X:27.24, Y:2.60, Z:0.05 [[ 9.94859297e-01 -1.00633921e-01 -1.13045667e-02 2.72374503e+01] [ 1.00637585e-01 9.94923121e-01 -2.45735081e-04 2.59692437e+00] [ 1.12719041e-02 -8.93192463e-04 9.99936071e-01 5.20951825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.334391417999996 meters Centerline goodness [0,1] 0.9978968388851122 Centerline is valid? [True, True] Translation: X:27.27, Y:2.60, Z:0.05 [[ 9.95057556e-01 -9.86449748e-02 -1.13854825e-02 2.72689898e+01] [ 9.86485637e-02 9.95122304e-01 -2.47316757e-04 2.60094005e+00] [ 1.13543442e-02 -8.77067091e-04 9.99935153e-01 5.19641970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.364391418 meters Centerline goodness [0,1] 0.9980825361654985 Centerline is valid? [True, True] Translation: X:27.30, Y:2.60, Z:0.05 [[ 9.95275740e-01 -9.64097995e-02 -1.14609014e-02 2.72999914e+01] [ 9.64132961e-02 9.95341356e-01 -2.48316827e-04 2.60123030e+00] [ 1.14314493e-02 -8.57839567e-04 9.99934291e-01 5.19132225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.394391418 meters Centerline goodness [0,1] 0.9980409692943231 Centerline is valid? [True, True] Translation: X:27.33, Y:2.60, Z:0.05 [[ 9.95752146e-01 -9.14065566e-02 -1.10682331e-02 2.73300119e+01] [ 9.14095137e-02 9.95813358e-01 -2.39481312e-04 2.60402624e+00] [ 1.10437845e-02 -7.73277774e-04 9.99938717e-01 5.16290040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.424391418 meters Centerline goodness [0,1] 0.9980619742306464 Centerline is valid? [True, True] Translation: X:27.36, Y:2.61, Z:0.05 [[ 9.95937340e-01 -8.94579150e-02 -1.03003082e-02 2.73604801e+01] [ 8.94603725e-02 9.95990357e-01 -2.22833576e-04 2.60636733e+00] [ 1.02789419e-02 -6.99541128e-04 9.99946926e-01 5.39960146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.45439141799999 meters Centerline goodness [0,1] 0.9984441271126836 Centerline is valid? [True, True] Translation: X:27.39, Y:2.62, Z:0.06 [[ 9.96450506e-01 -8.36370862e-02 -9.55124765e-03 2.73907149e+01] [ 8.36389344e-02 9.96496104e-01 -2.06474174e-04 2.62189448e+00] [ 9.53504998e-03 -5.93114881e-04 9.99954364e-01 5.64523444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.484391417999994 meters Centerline goodness [0,1] 0.9981253062354871 Centerline is valid? [True, True] Translation: X:27.42, Y:2.62, Z:0.06 [[ 9.96691107e-01 -8.07474474e-02 -9.31056604e-03 2.74212034e+01] [ 8.07490781e-02 9.96734441e-01 -2.01255178e-04 2.61844556e+00] [ 9.29641268e-03 -5.51230378e-04 9.99956635e-01 5.68987254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.514391417999995 meters Centerline goodness [0,1] 0.9987844926856314 Centerline is valid? [True, True] Translation: X:27.45, Y:2.62, Z:0.06 [[ 9.96881041e-01 -7.83593520e-02 -9.38098812e-03 2.74525021e+01] [ 7.83609040e-02 9.96925036e-01 -2.02566745e-04 2.62122998e+00] [ 9.36801492e-03 -5.33167763e-04 9.99955977e-01 5.69780062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.544391418 meters Centerline goodness [0,1] 0.9986330044000171 Centerline is valid? [True, True] Translation: X:27.48, Y:2.63, Z:0.06 [[ 9.97039333e-01 -7.62769097e-02 -9.71604676e-03 2.74836267e+01] [ 7.62784798e-02 9.97086531e-01 -2.09418184e-04 2.62987901e+00] [ 9.70371313e-03 -5.32327110e-04 9.99952776e-01 5.65115033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.574391418 meters Centerline goodness [0,1] 0.9986330044000171 Centerline is valid? [True, True] Translation: X:27.52, Y:2.63, Z:0.06 [[ 9.97048568e-01 -7.61560972e-02 -9.71605738e-03 2.75162091e+01] [ 7.61576663e-02 9.97095766e-01 -2.08924593e-04 2.63046172e+00] [ 9.70375055e-03 -5.31644289e-04 9.99952776e-01 5.67874196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.604391418 meters Centerline goodness [0,1] 0.9987823895071882 Centerline is valid? [True, True] Translation: X:27.55, Y:2.64, Z:0.05 [[ 9.97328557e-01 -7.22712875e-02 -1.06118165e-02 2.75465396e+01] [ 7.22729518e-02 9.97384865e-01 -2.27064995e-04 2.63583906e+00] [ 1.06004754e-02 -5.40488898e-04 9.99943667e-01 5.39995829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63439141799999 meters Centerline goodness [0,1] 0.9988459565737733 Centerline is valid? [True, True] Translation: X:27.58, Y:2.64, Z:0.06 [[ 9.97392595e-01 -7.14055998e-02 -1.04523948e-02 2.75779972e+01] [ 7.14071683e-02 9.97447225e-01 -2.23533978e-04 2.63560672e+00] [ 1.04416738e-02 -5.23424781e-04 9.99945347e-01 5.51163626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.664391417999994 meters Centerline goodness [0,1] 0.9986543349637952 Centerline is valid? [True, True] Translation: X:27.61, Y:2.64, Z:0.06 [[ 9.97423187e-01 -7.10238922e-02 -1.01288141e-02 2.76106166e+01] [ 7.10253522e-02 9.97474487e-01 -2.15954789e-04 2.63919868e+00] [ 1.01185716e-02 -5.04004278e-04 9.99948679e-01 5.72837768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.694391417999995 meters Centerline goodness [0,1] 0.9987397470950102 Centerline is valid? [True, True] Translation: X:27.64, Y:2.64, Z:0.06 [[ 9.97416939e-01 -7.10881641e-02 -1.02918965e-02 2.76416290e+01] [ 7.10896847e-02 9.97469904e-01 -2.18476088e-04 2.63928267e+00] [ 1.02813881e-02 -5.13735925e-04 9.99947013e-01 5.73292752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.724391417999996 meters Centerline goodness [0,1] 0.9987397470950102 Centerline is valid? [True, True] Translation: X:27.67, Y:2.64, Z:0.06 [[ 9.97397363e-01 -7.13465240e-02 -1.04006205e-02 2.76737135e+01] [ 7.13480977e-02 9.97451453e-01 -2.20122602e-04 2.64423646e+00] [ 1.03898190e-02 -5.22514786e-04 9.99945888e-01 5.72038167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.754391418 meters Centerline goodness [0,1] 0.9986320694224768 Centerline is valid? [True, True] Translation: X:27.71, Y:2.64, Z:0.06 [[ 9.97240540e-01 -7.34610013e-02 -1.07139005e-02 2.77052284e+01] [ 7.34628039e-02 9.97297932e-01 -2.25737968e-04 2.64078936e+00] [ 1.07015338e-02 -5.61958120e-04 9.99942579e-01 5.66269454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.784391418 meters Centerline goodness [0,1] 0.9988013955180753 Centerline is valid? [True, True] Translation: X:27.74, Y:2.64, Z:0.06 [[ 9.97096067e-01 -7.52815411e-02 -1.14945042e-02 2.77373706e+01] [ 7.52837534e-02 9.97162122e-01 -2.40720445e-04 2.64193699e+00] [ 1.14800060e-02 -6.25328010e-04 9.99933907e-01 5.66443447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.814391418 meters Centerline goodness [0,1] 0.9986515699578348 Centerline is valid? [True, True] Translation: X:27.77, Y:2.64, Z:0.06 [[ 9.96957605e-01 -7.70302555e-02 -1.19110304e-02 2.77682049e+01] [ 7.70327655e-02 9.97028531e-01 -2.48590855e-04 2.64076458e+00] [ 1.18947861e-02 -6.69705066e-04 9.99929030e-01 5.68933464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.844391417999994 meters Centerline goodness [0,1] 0.9987379139214512 Centerline is valid? [True, True] Translation: X:27.80, Y:2.64, Z:0.06 [[ 9.96813896e-01 -7.88402482e-02 -1.20942912e-02 2.77999763e+01] [ 7.88429790e-02 9.96887015e-01 -2.51577890e-04 2.64100876e+00] [ 1.20764763e-02 -7.02773609e-04 9.99926830e-01 5.71231978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.874391417999995 meters Centerline goodness [0,1] 0.9986722062791793 Centerline is valid? [True, True] Translation: X:27.83, Y:2.64, Z:0.06 [[ 9.96580553e-01 -8.16833901e-02 -1.24509439e-02 2.78316602e+01] [ 8.16865220e-02 9.96658039e-01 -2.57659491e-04 2.63820207e+00] [ 1.24303798e-02 -7.60295865e-04 9.99922451e-01 5.61462025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.904391417999996 meters Centerline goodness [0,1] 0.9982029394775689 Centerline is valid? [True, True] Translation: X:27.86, Y:2.64, Z:0.05 [[ 9.96540908e-01 -8.21908823e-02 -1.22832590e-02 2.78640427e+01] [ 8.21939767e-02 9.96616318e-01 -2.53544122e-04 2.63633099e+00] [ 1.22625354e-02 -7.56942816e-04 9.99924526e-01 5.41907384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.934391418 meters Centerline goodness [0,1] 0.998503282088563 Centerline is valid? [True, True] Translation: X:27.90, Y:2.63, Z:0.06 [[ 9.96378834e-01 -8.41946876e-02 -1.18521471e-02 2.78964880e+01] [ 8.41977207e-02 9.96449038e-01 -2.43718344e-04 2.63472133e+00] [ 1.18305804e-02 -7.55087975e-04 9.99929731e-01 5.68466255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.964391418 meters Centerline goodness [0,1] 0.9985904965296316 Centerline is valid? [True, True] Translation: X:27.93, Y:2.64, Z:0.06 [[ 9.96372611e-01 -8.42030509e-02 -1.23071985e-02 2.79285988e+01] [ 8.42063344e-02 9.96448308e-01 -2.52070889e-04 2.63631484e+00] [ 1.22847122e-02 -7.85187540e-04 9.99924232e-01 5.72239542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.994391418 meters Centerline goodness [0,1] 0.9985708495979181 Centerline is valid? [True, True] Translation: X:27.96, Y:2.64, Z:0.06 [[ 9.96397369e-01 -8.37939320e-02 -1.30713712e-02 2.79607661e+01] [ 8.37976151e-02 9.96482759e-01 -2.66638417e-04 2.63768853e+00] [ 1.30477387e-02 -8.29671912e-04 9.99914530e-01 5.72210674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02439141799999 meters Centerline goodness [0,1] 0.9985461387154708 Centerline is valid? [True, True] Translation: X:27.99, Y:2.64, Z:0.06 [[ 9.96551969e-01 -8.16990707e-02 -1.44718754e-02 2.79913897e+01] [ 8.17033796e-02 9.96656647e-01 -2.94227392e-04 2.64016274e+00] [ 1.44475289e-02 -8.89188243e-04 9.99895234e-01 5.51970557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.054391417999994 meters Centerline goodness [0,1] 0.99901654765468 Centerline is valid? [True, True] Translation: X:28.02, Y:2.64, Z:0.06 [[ 9.96632129e-01 -8.07034046e-02 -1.45382338e-02 2.80227128e+01] [ 8.07076576e-02 9.96737772e-01 -2.94886134e-04 2.63939869e+00] [ 1.45146051e-02 -8.79453802e-04 9.99894271e-01 5.62691990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.084391417999996 meters Centerline goodness [0,1] 0.9985221358349933 Centerline is valid? [True, True] Translation: X:28.05, Y:2.64, Z:0.05 [[ 9.96838689e-01 -7.80756750e-02 -1.47247232e-02 2.80538471e+01] [ 7.80797631e-02 9.96947071e-01 -2.97919122e-04 2.64481491e+00] [ 1.47030299e-02 -8.52725595e-04 9.99891541e-01 5.44037349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.114391418 meters Centerline goodness [0,1] 0.9986938181195264 Centerline is valid? [True, True] Translation: X:28.09, Y:2.65, Z:0.06 [[ 9.96909019e-01 -7.72882940e-02 -1.41041535e-02 2.80857353e+01] [ 7.72919769e-02 9.97008460e-01 -2.84599641e-04 2.64634190e+00] [ 1.40839566e-02 -8.06417960e-04 9.99900491e-01 5.71292037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.144391418 meters Centerline goodness [0,1] 0.9987558987558988 Centerline is valid? [True, True] Translation: X:28.12, Y:2.65, Z:0.06 [[ 9.97025848e-01 -7.57825314e-02 -1.40166601e-02 2.81182119e+01] [ 7.57860374e-02 9.97124063e-01 -2.81626207e-04 2.65029095e+00] [ 1.39976914e-02 -7.81478514e-04 9.99901722e-01 5.78883728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.174391418 meters Centerline goodness [0,1] 0.999038749092152 Centerline is valid? [True, True] Translation: X:28.15, Y:2.65, Z:0.06 [[ 9.97211722e-01 -7.33512139e-02 -1.37251805e-02 2.81491003e+01] [ 7.33543600e-02 9.97305902e-01 -2.74743918e-04 2.65309966e+00] [ 1.37083564e-02 -7.32823978e-04 9.99905768e-01 5.71450234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20439141799999 meters Centerline goodness [0,1] 0.9989511312798339 Centerline is valid? [True, True] Translation: X:28.18, Y:2.66, Z:0.06 [[ 9.97351948e-01 -7.15725451e-02 -1.29020035e-02 2.81800092e+01] [ 7.15751830e-02 9.97435174e-01 -2.57773008e-04 2.65970808e+00] [ 1.28873616e-02 -6.66372851e-04 9.99916732e-01 6.03019468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.234391417999994 meters Centerline goodness [0,1] 0.9988189568167665 Centerline is valid? [True, True] Translation: X:28.21, Y:2.67, Z:0.06 [[ 9.97750201e-01 -6.58069665e-02 -1.28054352e-02 2.82105269e+01] [ 6.58090964e-02 9.97832199e-01 -2.55431631e-04 2.66719718e+00] [ 1.27944847e-02 -5.87857157e-04 9.99917974e-01 6.11293507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.264391417999995 meters Centerline goodness [0,1] 0.999141759821486 Centerline is valid? [True, True] Translation: X:28.24, Y:2.66, Z:0.06 [[ 9.97946176e-01 -6.29010098e-02 -1.21199569e-02 2.82408473e+01] [ 6.29027063e-02 9.98019635e-01 -2.41552031e-04 2.66313668e+00] [ 1.21111488e-02 -5.21322162e-04 9.99926521e-01 6.14737747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.294391418 meters Centerline goodness [0,1] 0.998946009894601 Centerline is valid? [True, True] Translation: X:28.27, Y:2.68, Z:0.06 [[ 9.98273513e-01 -5.76647117e-02 -1.11702649e-02 2.82714120e+01] [ 5.76658277e-02 9.98335917e-01 -2.22412211e-04 2.67749085e+00] [ 1.11645020e-02 -4.22114354e-04 9.99937586e-01 6.35122081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.324391418 meters Centerline goodness [0,1] 0.9993355481727575 Centerline is valid? [True, True] Translation: X:28.30, Y:2.68, Z:0.06 [[ 9.98399477e-01 -5.55138769e-02 -1.08025073e-02 2.83026242e+01] [ 5.55147982e-02 9.98457841e-01 -2.14785479e-04 2.67865034e+00] [ 1.07977717e-02 -3.85257304e-04 9.99941628e-01 6.41260688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.354391418 meters Centerline goodness [0,1] 0.9993110723589314 Centerline is valid? [True, True] Translation: X:28.33, Y:2.69, Z:0.06 [[ 9.98619803e-01 -5.12375592e-02 -1.15412824e-02 2.83340421e+01] [ 5.12383332e-02 9.98686428e-01 -2.28810358e-04 2.68696362e+00] [ 1.15378458e-02 -3.62861518e-04 9.99933371e-01 6.17848343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38439141799999 meters Centerline goodness [0,1] 0.9995685098487627 Centerline is valid? [True, True] Translation: X:28.37, Y:2.69, Z:0.06 [[ 9.98654854e-01 -5.05589966e-02 -1.15008577e-02 2.83662996e+01] [ 5.05597268e-02 9.98721013e-01 -2.27433399e-04 2.69041428e+00] [ 1.14976471e-02 -3.54352758e-04 9.99933837e-01 6.47730341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.414391417999994 meters Centerline goodness [0,1] 0.9992004321988115 Centerline is valid? [True, True] Translation: X:28.40, Y:2.69, Z:0.06 [[ 9.98707756e-01 -4.93605250e-02 -1.20977867e-02 2.83987827e+01] [ 4.93612572e-02 9.98780962e-01 -2.38241610e-04 2.69308335e+00] [ 1.20947987e-02 -3.59228216e-04 9.99926791e-01 6.37073403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.444391417999995 meters Centerline goodness [0,1] 0.999654106405517 Centerline is valid? [True, True] Translation: X:28.43, Y:2.70, Z:0.06 [[ 9.98744241e-01 -4.83381479e-02 -1.31668176e-02 2.84312824e+01] [ 4.83389412e-02 9.98830957e-01 -2.58177940e-04 2.69603852e+00] [ 1.31639049e-02 -3.78616293e-04 9.99913280e-01 6.29861209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.474391417999996 meters Centerline goodness [0,1] 0.9994587573067764 Centerline is valid? [True, True] Translation: X:28.46, Y:2.70, Z:0.06 [[ 9.98740568e-01 -4.81528421e-02 -1.40918905e-02 2.84636708e+01] [ 4.81537491e-02 9.98839897e-01 -2.75128472e-04 2.69833956e+00] [ 1.40887907e-02 -4.03795394e-04 9.99900667e-01 6.12593894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.504391418 meters Centerline goodness [0,1] 0.9995027994552411 Centerline is valid? [True, True] Translation: X:28.49, Y:2.70, Z:0.06 [[ 9.98712071e-01 -4.86176992e-02 -1.45092570e-02 2.84949951e+01] [ 4.86187252e-02 9.98817371e-01 -2.82210655e-04 2.69671598e+00] [ 1.45058184e-02 -4.23574394e-04 9.99894695e-01 6.10553689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.534391418 meters Centerline goodness [0,1] 0.9993498472140954 Centerline is valid? [True, True] Translation: X:28.53, Y:2.70, Z:0.06 [[ 9.98576798e-01 -5.13250111e-02 -1.44955776e-02 2.85272979e+01] [ 5.13263344e-02 9.98681896e-01 -2.80964601e-04 2.69890212e+00] [ 1.44908914e-02 -4.63440129e-04 9.99894894e-01 6.19341497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.564391418 meters Centerline goodness [0,1] 0.9994802494802495 Centerline is valid? [True, True] Translation: X:28.56, Y:2.70, Z:0.06 [[ 9.98508676e-01 -5.24686283e-02 -1.50820123e-02 2.85589798e+01] [ 5.24702149e-02 9.98622447e-01 -2.90753285e-04 2.70043444e+00] [ 1.50764915e-02 -5.01036751e-04 9.99886218e-01 6.09728835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.594391417999994 meters Centerline goodness [0,1] 0.9993290914599835 Centerline is valid? [True, True] Translation: X:28.59, Y:2.70, Z:0.06 [[ 9.98408224e-01 -5.45004847e-02 -1.45160704e-02 2.85896688e+01] [ 5.45021883e-02 9.98513612e-01 -2.78508837e-04 2.69889618e+00] [ 1.45096727e-02 -5.13092088e-04 9.99894598e-01 6.17929711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.624391417999995 meters Centerline goodness [0,1] 0.9997830990803401 Centerline is valid? [True, True] Translation: X:28.62, Y:2.70, Z:0.06 [[ 9.98203185e-01 -5.83869727e-02 -1.34670892e-02 2.86211923e+01] [ 5.83887989e-02 9.98293885e-01 -2.57869881e-04 2.70034819e+00] [ 1.34591690e-02 -5.28920626e-04 9.99909281e-01 6.48891760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.654391417999996 meters Centerline goodness [0,1] 0.9994582177531207 Centerline is valid? [True, True] Translation: X:28.65, Y:2.70, Z:0.06 [[ 9.98108065e-01 -5.99469117e-02 -1.36623103e-02 2.86519530e+01] [ 5.99489447e-02 9.98201410e-01 -2.61052104e-04 2.69711262e+00] [ 1.36533867e-02 -5.58482875e-04 9.99906632e-01 6.33678214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.684391418 meters Centerline goodness [0,1] 0.9996742671009772 Centerline is valid? [True, True] Translation: X:28.68, Y:2.70, Z:0.07 [[ 9.97996208e-01 -6.19309467e-02 -1.29663529e-02 2.86841690e+01] [ 6.19329537e-02 9.98080281e-01 -2.47080883e-04 2.69728792e+00] [ 1.29567631e-02 -5.56458749e-04 9.99915903e-01 6.55946412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.714391418 meters Centerline goodness [0,1] 0.9996743095362168 Centerline is valid? [True, True] Translation: X:28.72, Y:2.70, Z:0.07 [[ 9.97756262e-01 -6.55903793e-02 -1.34291846e-02 2.87150751e+01] [ 6.55928755e-02 9.97846436e-01 -2.54956964e-04 2.69920233e+00] [ 1.34169867e-02 -6.26473927e-04 9.99909792e-01 6.63784248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.744391418 meters Centerline goodness [0,1] 0.9997176981541802 Centerline is valid? [True, True] Translation: X:28.75, Y:2.70, Z:0.07 [[ 9.97634249e-01 -6.74878673e-02 -1.30878880e-02 2.87463983e+01] [ 6.74904151e-02 9.97719892e-01 -2.47411874e-04 2.69629823e+00] [ 1.30747435e-02 -6.36480434e-04 9.99914319e-01 6.65194191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.77439141799999 meters Centerline goodness [0,1] 0.9996092986911506 Centerline is valid? [True, True] Translation: X:28.78, Y:2.69, Z:0.06 [[ 9.97482369e-01 -6.96434957e-02 -1.33681164e-02 2.87783613e+01] [ 6.96463664e-02 9.97571712e-01 -2.51245544e-04 2.69438275e+00] [ 1.33531524e-02 -6.80427730e-04 9.99910611e-01 6.42255940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.804391417999994 meters Centerline goodness [0,1] 0.999651962063865 Centerline is valid? [True, True] Translation: X:28.81, Y:2.69, Z:0.07 [[ 9.97082176e-01 -7.50321785e-02 -1.40466108e-02 2.88086844e+01] [ 7.50358887e-02 9.97180799e-01 -2.63450265e-04 2.69387012e+00] [ 1.40267779e-02 -7.91318364e-04 9.99901307e-01 6.65668413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.834391417999996 meters Centerline goodness [0,1] 0.9996956455575121 Centerline is valid? [True, True] Translation: X:28.84, Y:2.69, Z:0.07 [[ 9.96949851e-01 -7.66854155e-02 -1.45031326e-02 2.88403146e+01] [ 7.66895574e-02 9.97054983e-01 -2.71166664e-04 2.69189517e+00] [ 1.44812152e-02 -8.41899255e-04 9.99894787e-01 6.57785380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.864391418 meters Centerline goodness [0,1] 0.9998695992349822 Centerline is valid? [True, True] Translation: X:28.87, Y:2.69, Z:0.06 [[ 9.96891173e-01 -7.71629139e-02 -1.59334428e-02 2.88725319e+01] [ 7.71680033e-02 9.97018060e-01 -2.96066244e-04 2.69055752e+00] [ 1.59087755e-02 -9.34406140e-04 9.99873011e-01 6.47150926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.894391418 meters Centerline goodness [0,1] 0.9996301936045247 Centerline is valid? [True, True] Translation: X:28.91, Y:2.69, Z:0.06 [[ 9.96832424e-01 -7.77673984e-02 -1.66538641e-02 2.89050823e+01] [ 7.77730656e-02 9.96971040e-01 -3.08073469e-04 2.69269615e+00] [ 1.66273783e-02 -9.88124441e-04 9.99861267e-01 6.22731834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.924391418 meters Centerline goodness [0,1] 0.9995869744793705 Centerline is valid? [True, True] Translation: X:28.94, Y:2.69, Z:0.06 [[ 9.96787695e-01 -7.83207755e-02 -1.67375767e-02 2.89365038e+01] [ 7.83265977e-02 9.96927705e-01 -3.08417352e-04 2.69173830e+00] [ 1.67103095e-02 -1.00357082e-03 9.99859869e-01 6.27322346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.95439141799999 meters Centerline goodness [0,1] 0.9996296619031021 Centerline is valid? [True, True] Translation: X:28.97, Y:2.69, Z:0.06 [[ 9.96766481e-01 -7.84579297e-02 -1.73474995e-02 2.89690158e+01] [ 7.84642265e-02 9.96916879e-01 -3.18397418e-04 2.69251370e+00] [ 1.73189958e-02 -1.04379025e-03 9.99849470e-01 6.24004793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.984391417999994 meters Centerline goodness [0,1] 0.9995864710747399 Centerline is valid? [True, True] Translation: X:29.00, Y:2.69, Z:0.07 [[ 9.96756859e-01 -7.88869308e-02 -1.58938738e-02 2.90008036e+01] [ 7.88922903e-02 9.96883104e-01 -2.90482774e-04 2.69272458e+00] [ 1.58672495e-02 -9.64363404e-04 9.99873642e-01 6.73371594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.014391417999995 meters Centerline goodness [0,1] 0.9996085169316427 Centerline is valid? [True, True] Translation: X:29.03, Y:2.69, Z:0.07 [[ 9.96793466e-01 -7.84512261e-02 -1.57541149e-02 2.90321446e+01] [ 7.84564551e-02 9.96917500e-01 -2.86805719e-04 2.69200479e+00] [ 1.57280531e-02 -9.50125944e-04 9.99875855e-01 6.75917410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.044391418 meters Centerline goodness [0,1] 0.9994784876140809 Centerline is valid? [True, True] Translation: X:29.06, Y:2.69, Z:0.07 [[ 9.96863091e-01 -7.75784334e-02 -1.56704699e-02 2.90638808e+01] [ 7.75835165e-02 9.96985816e-01 -2.84201266e-04 2.69111150e+00] [ 1.56452841e-02 -9.32460407e-04 9.99877170e-01 6.70986325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.074391418 meters Centerline goodness [0,1] 0.9994565571810534 Centerline is valid? [True, True] Translation: X:29.10, Y:2.70, Z:0.06 [[ 9.96990287e-01 -7.59219537e-02 -1.56915666e-02 2.90958851e+01] [ 7.59268658e-02 9.97113349e-01 -2.83326418e-04 2.69606874e+00] [ 1.56677812e-02 -9.08937781e-04 9.99876840e-01 6.48786156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.104391418 meters Centerline goodness [0,1] 0.9997390623640949 Centerline is valid? [True, True] Translation: X:29.13, Y:2.70, Z:0.07 [[ 9.96999996e-01 -7.59930969e-02 -1.46989058e-02 2.91279255e+01] [ 7.59974334e-02 9.97107978e-01 -2.64131448e-04 2.69561871e+00] [ 1.46764685e-02 -8.53740065e-04 9.99891930e-01 6.85974892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.13439141799999 meters Centerline goodness [0,1] 0.999478929199505 Centerline is valid? [True, True] Translation: X:29.16, Y:2.70, Z:0.07 [[ 9.97024590e-01 -7.56926495e-02 -1.45804506e-02 2.91591111e+01] [ 7.56969020e-02 9.97130839e-01 -2.60787665e-04 2.69578384e+00] [ 1.45583566e-02 -8.43683225e-04 9.99893666e-01 6.89726298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.164391417999994 meters Centerline goodness [0,1] 0.9993924402204574 Centerline is valid? [True, True] Translation: X:29.19, Y:2.70, Z:0.07 [[ 9.97007671e-01 -7.58605671e-02 -1.48619794e-02 2.91908605e+01] [ 7.58650193e-02 9.97118062e-01 -2.64795335e-04 2.69751195e+00] [ 1.48392356e-02 -8.63501374e-04 9.99889520e-01 6.93498376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.194391417999995 meters Centerline goodness [0,1] 0.9993044536700937 Centerline is valid? [True, True] Translation: X:29.22, Y:2.70, Z:0.07 [[ 9.96910334e-01 -7.71084539e-02 -1.49690352e-02 2.92218342e+01] [ 7.71131267e-02 9.97022314e-01 -2.65630322e-04 2.69547288e+00] [ 1.49449445e-02 -8.89499497e-04 9.99887922e-01 6.98191064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.224391417999996 meters Centerline goodness [0,1] 0.9993261894929033 Centerline is valid? [True, True] Translation: X:29.25, Y:2.70, Z:0.07 [[ 9.96833791e-01 -7.80421931e-02 -1.52253028e-02 2.92541861e+01] [ 7.80471520e-02 9.96949632e-01 -2.69113714e-04 2.69706364e+00] [ 1.51998623e-02 -9.20029880e-04 9.99884052e-01 7.05597717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.254391418 meters Centerline goodness [0,1] 0.9991970660358933 Centerline is valid? [True, True] Translation: X:29.29, Y:2.69, Z:0.07 [[ 9.96732114e-01 -7.92869840e-02 -1.54488733e-02 2.92856459e+01] [ 7.92922559e-02 9.96851375e-01 -2.71943624e-04 2.69175416e+00] [ 1.54217922e-02 -9.53921071e-04 9.99880622e-01 6.99250387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.284391418 meters Centerline goodness [0,1] 0.9993709873329862 Centerline is valid? [True, True] Translation: X:29.32, Y:2.69, Z:0.07 [[ 9.96489404e-01 -8.22175137e-02 -1.57844196e-02 2.93170185e+01] [ 8.22233962e-02 9.96613885e-01 -2.77029999e-04 2.69134827e+00] [ 1.57537485e-02 -1.02179113e-03 9.99875380e-01 6.80521259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31439141799999 meters Centerline goodness [0,1] 0.9989162945944774 Centerline is valid? [True, True] Translation: X:29.35, Y:2.69, Z:0.07 [[ 9.96323406e-01 -8.42339550e-02 -1.56304609e-02 2.93472571e+01] [ 8.42399778e-02 9.96445458e-01 -2.73845609e-04 2.68664966e+00] [ 1.55979689e-02 -1.04387089e-03 9.99877799e-01 6.79372687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.344391417999994 meters Centerline goodness [0,1] 0.9990470827738555 Centerline is valid? [True, True] Translation: X:29.38, Y:2.68, Z:0.07 [[ 9.96212402e-01 -8.55722467e-02 -1.54350391e-02 2.93797212e+01] [ 8.55782906e-02 9.96331412e-01 -2.69703652e-04 2.68397976e+00] [ 1.54014934e-02 -1.05222214e-03 9.99880836e-01 6.80881615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.374391417999995 meters Centerline goodness [0,1] 0.9985047134034023 Centerline is valid? [True, True] Translation: X:29.41, Y:2.68, Z:0.07 [[ 9.96085641e-01 -8.69547483e-02 -1.58829358e-02 2.94114453e+01] [ 8.69613410e-02 9.96211649e-01 -2.76399359e-04 2.68246536e+00] [ 1.58467999e-02 -1.10588396e-03 9.99873820e-01 6.73666487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.404391417999996 meters Centerline goodness [0,1] 0.9984836669266095 Centerline is valid? [True, True] Translation: X:29.44, Y:2.68, Z:0.07 [[ 9.96070309e-01 -8.70374788e-02 -1.63834297e-02 2.94429655e+01] [ 8.70445209e-02 9.96204382e-01 -2.84121018e-04 2.68115202e+00] [ 1.63459737e-02 -1.14308328e-03 9.99865742e-01 7.05388483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.434391418 meters Centerline goodness [0,1] 0.9985945642067937 Centerline is valid? [True, True] Translation: X:29.48, Y:2.68, Z:0.07 [[ 9.96133823e-01 -8.63422113e-02 -1.61996699e-02 2.94754488e+01] [ 8.63490226e-02 9.96264909e-01 -2.79838180e-04 2.68178692e+00] [ 1.61633245e-02 -1.12006938e-03 9.99868738e-01 7.25596631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.464391418 meters Centerline goodness [0,1] 0.9986608492807465 Centerline is valid? [True, True] Translation: X:29.51, Y:2.68, Z:0.07 [[ 9.96213607e-01 -8.54664871e-02 -1.59351267e-02 2.95074525e+01] [ 8.54729857e-02 9.96340451e-01 -2.74041804e-04 2.68238218e+00] [ 1.59002327e-02 -1.08901868e-03 9.99872990e-01 7.35530465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.494391418 meters Centerline goodness [0,1] 0.9986608492807465 Centerline is valid? [True, True] Translation: X:29.54, Y:2.68, Z:0.07 [[ 9.96223577e-01 -8.53501927e-02 -1.59351528e-02 2.95400662e+01] [ 8.53567007e-02 9.96350420e-01 -2.72514234e-04 2.68281804e+00] [ 1.59002554e-02 -1.08868697e-03 9.99872990e-01 7.38291112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52439141799999 meters Centerline goodness [0,1] 0.9987914364640884 Centerline is valid? [True, True] Translation: X:29.57, Y:2.68, Z:0.07 [[ 9.96292750e-01 -8.46010604e-02 -1.56018472e-02 2.95724607e+01] [ 8.46072313e-02 9.96414345e-01 -2.65294545e-04 2.68271637e+00] [ 1.55683485e-02 -1.05571806e-03 9.99878249e-01 7.41681204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.554391417999994 meters Centerline goodness [0,1] 0.9981430699803511 Centerline is valid? [True, True] Translation: X:29.60, Y:2.68, Z:0.07 [[ 9.96382576e-01 -8.34993849e-02 -1.57992104e-02 2.96034519e+01] [ 8.35055921e-02 9.96507273e-01 -2.67565311e-04 2.68132502e+00] [ 1.57663696e-02 -1.05272501e-03 9.99875149e-01 7.21982129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.584391417999996 meters Centerline goodness [0,1] 0.9986601547305182 Centerline is valid? [True, True] Translation: X:29.64, Y:2.68, Z:0.08 [[ 9.96503417e-01 -8.21617488e-02 -1.51785139e-02 2.96360350e+01] [ 8.21673400e-02 9.96618514e-01 -2.55946283e-04 2.68197452e+00] [ 1.51482170e-02 -9.92126768e-04 9.99884767e-01 7.51641634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.614391418 meters Centerline goodness [0,1] 0.9988550442860229 Centerline is valid? [True, True] Translation: X:29.67, Y:2.69, Z:0.08 [[ 9.96598433e-01 -8.09258881e-02 -1.55744706e-02 2.96686230e+01] [ 8.09316482e-02 9.96719620e-01 -2.61108496e-04 2.68548312e+00] [ 1.55445108e-02 -1.00024725e-03 9.99878676e-01 7.63244586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.644391418 meters Centerline goodness [0,1] 0.9991345363278377 Centerline is valid? [True, True] Translation: X:29.70, Y:2.69, Z:0.08 [[ 9.96690653e-01 -7.96519876e-02 -1.62266043e-02 2.97005950e+01] [ 7.96580963e-02 9.96822208e-01 -2.70553043e-04 2.69309413e+00] [ 1.61965896e-02 -1.02292272e-03 9.99868303e-01 7.64416430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.674391418 meters Centerline goodness [0,1] 0.9991547464239272 Centerline is valid? [True, True] Translation: X:29.73, Y:2.69, Z:0.07 [[ 9.96870939e-01 -7.69837580e-02 -1.79396569e-02 2.97316409e+01] [ 7.69908151e-02 9.97031758e-01 -2.97963260e-04 2.69351018e+00] [ 1.79093460e-02 -1.08415789e-03 9.99839027e-01 7.28388271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70439141799999 meters Centerline goodness [0,1] 0.9988958649058237 Centerline is valid? [True, True] Translation: X:29.76, Y:2.69, Z:0.07 [[ 9.96888164e-01 -7.67483827e-02 -1.79909283e-02 2.97635175e+01] [ 7.67554622e-02 9.97049904e-01 -2.97690524e-04 2.69465983e+00] [ 1.79607006e-02 -1.08413786e-03 9.99838106e-01 7.47805987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.734391417999994 meters Centerline goodness [0,1] 0.9991574126085642 Centerline is valid? [True, True] Translation: X:29.80, Y:2.69, Z:0.08 [[ 9.96928607e-01 -7.62936078e-02 -1.76815476e-02 2.97954350e+01] [ 7.63003998e-02 9.97084833e-01 -2.91141835e-04 2.69336365e+00] [ 1.76522152e-02 -1.05886153e-03 9.99843627e-01 7.67523943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.764391417999995 meters Centerline goodness [0,1] 0.9989193862113681 Centerline is valid? [True, True] Translation: X:29.83, Y:2.69, Z:0.08 [[ 9.96985871e-01 -7.54387785e-02 -1.81153027e-02 2.98263021e+01] [ 7.54457907e-02 9.97149861e-01 -2.96993808e-04 2.69257432e+00] [ 1.80860764e-02 -1.07062470e-03 9.99835860e-01 7.51929589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.794391418 meters Centerline goodness [0,1] 0.9989645576719804 Centerline is valid? [True, True] Translation: X:29.86, Y:2.69, Z:0.07 [[ 9.97013840e-01 -7.49024052e-02 -1.87891529e-02 2.98581716e+01] [ 7.49098796e-02 9.97190261e-01 -3.06682228e-04 2.69246803e+00] [ 1.87593315e-02 -1.10172676e-03 9.99823421e-01 7.43397713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.824391418 meters Centerline goodness [0,1] 0.9993953789678255 Centerline is valid? [True, True] Translation: X:29.89, Y:2.69, Z:0.08 [[ 9.96988895e-01 -7.55268605e-02 -1.75737504e-02 2.98901785e+01] [ 7.55335193e-02 9.97143222e-01 -2.85484845e-04 2.69191039e+00] [ 1.75451079e-02 -1.04278200e-03 9.99845529e-01 7.90030988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.854391418 meters Centerline goodness [0,1] 0.9990526225131341 Centerline is valid? [True, True] Translation: X:29.92, Y:2.69, Z:0.08 [[ 9.97018744e-01 -7.51798400e-02 -1.73670650e-02 2.99212630e+01] [ 7.51863223e-02 9.97169463e-01 -2.80302528e-04 2.69050548e+00] [ 1.73389799e-02 -1.02629887e-03 9.99849142e-01 7.82964953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88439141799999 meters Centerline goodness [0,1] 0.999374865272688 Centerline is valid? [True, True] Translation: X:29.95, Y:2.69, Z:0.08 [[ 9.97052999e-01 -7.47775056e-02 -1.71359631e-02 2.99524375e+01] [ 7.47837952e-02 9.97199734e-01 -2.74359321e-04 2.68910060e+00] [ 1.71084937e-02 -1.00794157e-03 9.99853131e-01 7.89787920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.914391417999994 meters Centerline goodness [0,1] 0.998946123239058 Centerline is valid? [True, True] Translation: X:29.98, Y:2.69, Z:0.08 [[ 9.97095060e-01 -7.41847057e-02 -1.72647160e-02 2.99847848e+01] [ 7.41910329e-02 9.97244010e-01 -2.74601551e-04 2.69090383e+00] [ 1.72375058e-02 -1.00708326e-03 9.99850916e-01 7.87548474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.944391417999995 meters Centerline goodness [0,1] 0.9988604111120667 Centerline is valid? [True, True] Translation: X:30.02, Y:2.69, Z:0.08 [[ 9.97086356e-01 -7.42965110e-02 -1.72866292e-02 3.00164292e+01] [ 7.43028920e-02 9.97235682e-01 -2.73733570e-04 2.68859314e+00] [ 1.72591809e-02 -1.01151054e-03 9.99850538e-01 7.83692514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.974391417999996 meters Centerline goodness [0,1] 0.9989890733889701 Centerline is valid? [True, True] Translation: X:30.05, Y:2.68, Z:0.08 [[ 9.97089634e-01 -7.41635809e-02 -1.76642122e-02 3.00472653e+01] [ 7.41702531e-02 9.97245555e-01 -2.78009479e-04 2.68287685e+00] [ 1.76361753e-02 -1.03295872e-03 9.99843937e-01 7.81707065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.004391418 meters Centerline goodness [0,1] 0.9990118152524168 Centerline is valid? [True, True] Translation: X:30.08, Y:2.69, Z:0.08 [[ 9.97101220e-01 -7.41366079e-02 -1.71149158e-02 3.00796967e+01] [ 7.41428971e-02 9.97247592e-01 -2.67629174e-04 2.68741909e+00] [ 1.70876497e-02 -1.00209607e-03 9.99853493e-01 7.98991000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.034391418 meters Centerline goodness [0,1] 0.9989472779615863 Centerline is valid? [True, True] Translation: X:30.11, Y:2.69, Z:0.08 [[ 9.97119467e-01 -7.39277790e-02 -1.69544197e-02 3.01116715e+01] [ 7.39339433e-02 9.97263106e-01 -2.63787637e-04 2.68796861e+00] [ 1.69275185e-02 -9.90479317e-04 9.99856229e-01 8.11909477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06439141799999 meters Centerline goodness [0,1] 0.9988823693769209 Centerline is valid? [True, True] Translation: X:30.14, Y:2.69, Z:0.08 [[ 9.97148373e-01 -7.35739917e-02 -1.67925704e-02 3.01442118e+01] [ 7.35800111e-02 9.97289283e-01 -2.59944207e-04 2.68810089e+00] [ 1.67661757e-02 -9.76394576e-04 9.99858961e-01 8.16431593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.094391417999994 meters Centerline goodness [0,1] 0.9988833293963536 Centerline is valid? [True, True] Translation: X:30.18, Y:2.69, Z:0.08 [[ 9.97162085e-01 -7.34221610e-02 -1.66421697e-02 3.01768031e+01] [ 7.34280794e-02 9.97300482e-01 -2.55963653e-04 2.68828952e+00] [ 1.66160373e-02 -9.66765307e-04 9.99861477e-01 8.17620737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.124391417999995 meters Centerline goodness [0,1] 0.9990341896851458 Centerline is valid? [True, True] Translation: X:30.21, Y:2.68, Z:0.08 [[ 9.97238350e-01 -7.22931856e-02 -1.70108337e-02 3.02085300e+01] [ 7.22992347e-02 9.97382952e-01 -2.59911198e-04 2.68369440e+00] [ 1.69851053e-02 -9.70676845e-04 9.99855272e-01 8.08911087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.154391417999996 meters Centerline goodness [0,1] 0.9989285561222303 Centerline is valid? [True, True] Translation: X:30.24, Y:2.68, Z:0.08 [[ 9.97295168e-01 -7.13000591e-02 -1.78507632e-02 3.02408310e+01] [ 7.13065874e-02 9.97454408e-01 -2.71317144e-04 2.68379810e+00] [ 1.78246674e-02 -1.00229373e-03 9.99840626e-01 7.93587390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.184391418 meters Centerline goodness [0,1] 0.9986504145155417 Centerline is valid? [True, True] Translation: X:30.27, Y:2.68, Z:0.08 [[ 9.97361073e-01 -7.04758942e-02 -1.74366777e-02 3.02729605e+01] [ 7.04820206e-02 9.97513015e-01 -2.63699046e-04 2.68467933e+00] [ 1.74118973e-02 -9.65969111e-04 9.99847935e-01 8.08311025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.214391418 meters Centerline goodness [0,1] 0.9990777677690559 Centerline is valid? [True, True] Translation: X:30.30, Y:2.69, Z:0.08 [[ 9.97540261e-01 -6.80210057e-02 -1.69284049e-02 3.03044190e+01] [ 6.80264437e-02 9.97683486e-01 -2.55056457e-04 2.68592548e+00] [ 1.69065392e-02 -8.97150095e-04 9.99856672e-01 8.12377774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.244391418 meters Centerline goodness [0,1] 0.9989067758461769 Centerline is valid? [True, True] Translation: X:30.34, Y:2.69, Z:0.08 [[ 9.97658113e-01 -6.60105285e-02 -1.79136631e-02 3.03353940e+01] [ 6.60163079e-02 9.97818508e-01 -2.69175234e-04 2.69144238e+00] [ 1.78923530e-02 -9.14049045e-04 9.99839501e-01 7.90549686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.27439141799999 meters Centerline goodness [0,1] 0.9990122184285684 Centerline is valid? [True, True] Translation: X:30.37, Y:2.69, Z:0.08 [[ 9.97756745e-01 -6.47956059e-02 -1.68227925e-02 3.03664093e+01] [ 6.48005442e-02 9.97898204e-01 -2.51960933e-04 2.69007225e+00] [ 1.68037604e-02 -8.38730388e-04 9.99858455e-01 8.11515042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.304391417999994 meters Centerline goodness [0,1] 0.9989934682514188 Centerline is valid? [True, True] Translation: X:30.40, Y:2.70, Z:0.08 [[ 9.97924322e-01 -6.23383966e-02 -1.61546490e-02 3.03977862e+01] [ 6.23426420e-02 9.98054776e-01 -2.41152516e-04 2.69539823e+00] [ 1.61382577e-02 -7.66471541e-04 9.99869476e-01 8.27022820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.334391417999996 meters Centerline goodness [0,1] 0.9987132471208904 Centerline is valid? [True, True] Translation: X:30.43, Y:2.69, Z:0.08 [[ 9.97994004e-01 -6.12475007e-02 -1.60221988e-02 3.04293174e+01] [ 6.12515597e-02 9.98122332e-01 -2.37723913e-04 2.68781887e+00] [ 1.60066744e-02 -7.44137626e-04 9.99871608e-01 8.26505400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.364391418 meters Centerline goodness [0,1] 0.9989055089383436 Centerline is valid? [True, True] Translation: X:30.46, Y:2.70, Z:0.08 [[ 9.98083099e-01 -5.97618372e-02 -1.60825780e-02 3.04611413e+01] [ 5.97657644e-02 9.98212401e-01 -2.36757728e-04 2.69653304e+00] [ 1.60679778e-02 -7.24883678e-04 9.99870639e-01 8.21473687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.394391418 meters Centerline goodness [0,1] 0.9986924181689567 Centerline is valid? [True, True] Translation: X:30.49, Y:2.70, Z:0.08 [[ 9.98223642e-01 -5.76263221e-02 -1.51250636e-02 3.04929702e+01] [ 5.76295685e-02 9.98338011e-01 -2.21485413e-04 2.69674957e+00] [ 1.51126893e-02 -6.50558914e-04 9.99885585e-01 8.34312760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.424391418 meters Centerline goodness [0,1] 0.9987582692842921 Centerline is valid? [True, True] Translation: X:30.53, Y:2.70, Z:0.08 [[ 9.98301282e-01 -5.64106623e-02 -1.45735484e-02 3.05256413e+01] [ 5.64135655e-02 9.98407464e-01 -2.12136394e-04 2.69760013e+00] [ 1.45623063e-02 -6.10369794e-04 9.99893778e-01 8.45764460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.45439141799999 meters Centerline goodness [0,1] 0.9987992881494029 Centerline is valid? [True, True] Translation: X:30.56, Y:2.70, Z:0.08 [[ 9.98363019e-01 -5.52215974e-02 -1.48948646e-02 3.05569072e+01] [ 5.52245168e-02 9.98473939e-01 -2.15548189e-04 2.69663162e+00] [ 1.48840370e-02 -6.07366358e-04 9.99889042e-01 8.44603635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.484391417999994 meters Centerline goodness [0,1] 0.998821790450076 Centerline is valid? [True, True] Translation: X:30.59, Y:2.70, Z:0.08 [[ 9.98484648e-01 -5.27882347e-02 -1.55502658e-02 3.05891110e+01] [ 5.27911391e-02 9.98605550e-01 -2.23934672e-04 2.69843382e+00] [ 1.55404028e-02 -5.97320910e-04 9.99879062e-01 8.43169877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.514391417999995 meters Centerline goodness [0,1] 0.9986725190022482 Centerline is valid? [True, True] Translation: X:30.62, Y:2.70, Z:0.08 [[ 9.98558415e-01 -5.13808194e-02 -1.55275022e-02 3.06211607e+01] [ 5.13835646e-02 9.98678967e-01 -2.22370147e-04 2.69951511e+00] [ 1.55184155e-02 -5.75808833e-04 9.99879416e-01 8.48557105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.544391418 meters Centerline goodness [0,1] 0.9987571251017872 Centerline is valid? [True, True] Translation: X:30.65, Y:2.70, Z:0.09 [[ 9.98650953e-01 -4.96906085e-02 -1.50704355e-02 3.06522230e+01] [ 4.96930180e-02 9.98764516e-01 -2.14776275e-04 2.69961079e+00] [ 1.50624886e-02 -5.34408892e-04 9.99886411e-01 8.53597358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.574391418 meters Centerline goodness [0,1] 0.9986906499527776 Centerline is valid? [True, True] Translation: X:30.68, Y:2.70, Z:0.09 [[ 9.98736729e-01 -4.78686204e-02 -1.52820461e-02 3.06841326e+01] [ 4.78709011e-02 9.98853508e-01 -2.16741062e-04 2.70046863e+00] [ 1.52749005e-02 -5.15098058e-04 9.99883199e-01 8.53104291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.604391418 meters Centerline goodness [0,1] 0.9988623191516764 Centerline is valid? [True, True] Translation: X:30.72, Y:2.70, Z:0.08 [[ 9.98940274e-01 -4.32985921e-02 -1.56064163e-02 3.07150227e+01] [ 4.33004285e-02 9.99062072e-01 -2.20373755e-04 2.70087103e+00] [ 1.56013205e-02 -4.55624294e-04 9.99878188e-01 8.44008753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.63439141799999 meters Centerline goodness [0,1] 0.9988835931126283 Centerline is valid? [True, True] Translation: X:30.75, Y:2.71, Z:0.09 [[ 9.99067015e-01 -4.05129474e-02 -1.49599695e-02 3.07461750e+01] [ 4.05143314e-02 9.99178935e-01 -2.10661093e-04 2.70566213e+00] [ 1.49562209e-02 -3.95628613e-04 9.99888071e-01 8.60099872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.664391417999994 meters Centerline goodness [0,1] 0.9988215127490894 Centerline is valid? [True, True] Translation: X:30.78, Y:2.71, Z:0.09 [[ 9.99190721e-01 -3.73796482e-02 -1.48547961e-02 3.07775975e+01] [ 3.73806776e-02 9.99301076e-01 -2.08449455e-04 2.70775027e+00] [ 1.48522055e-02 -3.47001584e-04 9.99889640e-01 8.66123350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.694391417999995 meters Centerline goodness [0,1] 0.9988632463967055 Centerline is valid? [True, True] Translation: X:30.81, Y:2.71, Z:0.09 [[ 9.99309775e-01 -3.37931448e-02 -1.54271330e-02 3.08086186e+01] [ 3.37938406e-02 9.99428802e-01 -2.15660642e-04 2.71185632e+00] [ 1.54256089e-02 -3.05830285e-04 9.99880971e-01 8.73843378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.724391417999996 meters Centerline goodness [0,1] 0.9990553480183778 Centerline is valid? [True, True] Translation: X:30.84, Y:2.72, Z:0.09 [[ 9.99518148e-01 -2.63801735e-02 -1.63571876e-02 3.08388006e+01] [ 2.63799718e-02 9.99651962e-01 -2.28133759e-04 2.71614484e+00] [ 1.63575129e-02 -2.03478315e-04 9.99866186e-01 8.64857501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.754391418 meters Centerline goodness [0,1] 0.9989490842019474 Centerline is valid? [True, True] Translation: X:30.87, Y:2.72, Z:0.09 [[ 9.99605882e-01 -2.26382351e-02 -1.66009257e-02 3.08696204e+01] [ 2.26375143e-02 9.99743712e-01 -2.31358515e-04 2.71817958e+00] [ 1.66019087e-02 -1.44536361e-04 9.99862168e-01 8.64989378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.784391418 meters Centerline goodness [0,1] 0.9992491526150942 Centerline is valid? [True, True] Translation: X:30.90, Y:2.72, Z:0.09 [[ 9.99688846e-01 -1.89424636e-02 -1.62294367e-02 3.08984286e+01] [ 1.89412801e-02 9.99820572e-01 -2.26649931e-04 2.71997321e+00] [ 1.62308180e-02 -8.08268978e-05 9.99868268e-01 8.69360365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81439141799999 meters Centerline goodness [0,1] 0.999100584619997 Centerline is valid? [True, True] Translation: X:30.93, Y:2.72, Z:0.09 [[ 9.99813385e-01 -1.16172686e-02 -1.54348495e-02 3.09273957e+01] [ 1.16152874e-02 9.99932517e-01 -2.17997861e-04 2.72478552e+00] [ 1.54363404e-02 3.86769658e-05 9.99880852e-01 8.86446963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.844391417999994 meters Centerline goodness [0,1] 0.9988650477536511 Centerline is valid? [True, True] Translation: X:30.96, Y:2.73, Z:0.09 [[ 9.99857688e-01 -8.37185261e-03 -1.46463857e-02 3.09555623e+01] [ 8.36967846e-03 9.99964952e-01 -2.09733459e-04 2.72792094e+00] [ 1.46476283e-02 8.71180721e-05 9.99892714e-01 8.99102270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.874391417999995 meters Centerline goodness [0,1] 0.999185667752443 Centerline is valid? [True, True] Translation: X:30.98, Y:2.73, Z:0.09 [[ 9.99881542e-01 -5.42149987e-03 -1.44052019e-02 3.09843534e+01] [ 5.41905525e-03 9.99985295e-01 -2.08732708e-04 2.73023667e+00] [ 1.44061217e-02 1.30645397e-04 9.99896218e-01 9.07370931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.904391417999996 meters Centerline goodness [0,1] 0.9994431117203564 Centerline is valid? [True, True] Translation: X:31.01, Y:2.73, Z:0.09 [[ 9.99894455e-01 -3.23702936e-03 -1.41633726e-02 3.10131763e+01] [ 3.23439189e-03 9.99994747e-01 -2.09120190e-04 2.73069938e+00] [ 1.41639752e-02 1.63288221e-04 9.99899673e-01 9.14748280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.934391418 meters Centerline goodness [0,1] 0.9989939207123898 Centerline is valid? [True, True] Translation: X:31.04, Y:2.73, Z:0.09 [[ 9.99898448e-01 -5.13197753e-04 -1.42418783e-02 3.10408862e+01] [ 5.10212213e-04 9.99999847e-01 -2.13263604e-04 2.73027400e+00] [ 1.42419856e-02 2.05975566e-04 9.99898557e-01 8.89806647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.964391418 meters Centerline goodness [0,1] 0.9991657040174561 Centerline is valid? [True, True] Translation: X:31.07, Y:2.73, Z:0.09 [[ 9.99898172e-01 -4.04900330e-04 -1.42646919e-02 3.10683458e+01] [ 4.01863423e-04 9.99999896e-01 -2.15762547e-04 2.72678851e+00] [ 1.42647778e-02 2.10008119e-04 9.99898231e-01 9.00199940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.994391418 meters Centerline goodness [0,1] 0.999529421830549 Centerline is valid? [True, True] Translation: X:31.10, Y:2.73, Z:0.09 [[ 9.99902017e-01 -1.20595130e-03 -1.39463962e-02 3.10959310e+01] [ 1.20309245e-03 9.99999254e-01 -2.13376482e-04 2.72581147e+00] [ 1.39466431e-02 1.96576770e-04 9.99902722e-01 9.01302198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02439141799999 meters Centerline goodness [0,1] 0.9991469760300264 Centerline is valid? [True, True] Translation: X:31.13, Y:2.72, Z:0.09 [[ 9.99899407e-01 -2.36072164e-03 -1.39857875e-02 3.11252029e+01] [ 2.35794119e-03 9.99997197e-01 -2.15291696e-04 2.72385229e+00] [ 1.39862565e-02 1.82292375e-04 9.99902171e-01 9.05087948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.054391417999994 meters Centerline goodness [0,1] 0.9991030049334728 Centerline is valid? [True, True] Translation: X:31.15, Y:2.72, Z:0.09 [[ 9.99876014e-01 -6.27957472e-03 -1.44403749e-02 3.11535942e+01] [ 6.27700199e-03 9.99980274e-01 -2.23479642e-04 2.72033056e+00] [ 1.44414934e-02 1.32809672e-04 9.99895707e-01 9.12897828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.084391417999996 meters Centerline goodness [0,1] 0.9991897136277373 Centerline is valid? [True, True] Translation: X:31.18, Y:2.72, Z:0.09 [[ 9.99860001e-01 -9.29703307e-03 -1.39119761e-02 3.11825133e+01] [ 9.29492201e-03 9.99956778e-01 -2.16396201e-04 2.71660915e+00] [ 1.39133866e-02 8.70551735e-05 9.99903200e-01 9.16532749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.114391418 meters Centerline goodness [0,1] 0.9993199736489788 Centerline is valid? [True, True] Translation: X:31.21, Y:2.71, Z:0.09 [[ 9.99749969e-01 -1.68613498e-02 -1.46865102e-02 3.12110766e+01] [ 1.68597953e-02 9.99857837e-01 -2.29663610e-04 2.70590762e+00] [ 1.46882948e-02 -1.80053690e-05 9.99892121e-01 9.03473346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.144391418 meters Centerline goodness [0,1] 0.9992562527890521 Centerline is valid? [True, True] Translation: X:31.24, Y:2.70, Z:0.09 [[ 9.99657695e-01 -2.14166440e-02 -1.50273302e-02 3.12386340e+01] [ 2.14155107e-02 9.99770634e-01 -2.36346464e-04 2.70037469e+00] [ 1.50289452e-02 -8.55523906e-05 9.99887055e-01 8.99779982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.174391418 meters Centerline goodness [0,1] 0.9990441801189465 Centerline is valid? [True, True] Translation: X:31.27, Y:2.70, Z:0.09 [[ 9.99539513e-01 -2.63505085e-02 -1.50470083e-02 3.12673272e+01] [ 2.63498901e-02 9.99652753e-01 -2.39386519e-04 2.69550666e+00] [ 1.50480912e-02 -1.57210730e-04 9.99886759e-01 9.01973886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20439141799999 meters Centerline goodness [0,1] 0.9990048065725115 Centerline is valid? [True, True] Translation: X:31.30, Y:2.69, Z:0.09 [[ 9.99398531e-01 -3.11930507e-02 -1.51515798e-02 3.12970319e+01] [ 3.11929409e-02 9.99513352e-01 -2.43626055e-04 2.68729253e+00] [ 1.51518057e-02 -2.29142811e-04 9.99885179e-01 8.90744628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.234391417999994 meters Centerline goodness [0,1] 0.9990694133073897 Centerline is valid? [True, True] Translation: X:31.33, Y:2.68, Z:0.09 [[ 9.99108645e-01 -3.96293271e-02 -1.45406979e-02 3.13270249e+01] [ 3.96301147e-02 9.99214391e-01 -2.34086647e-04 2.67905864e+00] [ 1.45385513e-02 -3.42371532e-04 9.99894251e-01 9.08397629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.264391417999995 meters Centerline goodness [0,1] 0.9988384371700105 Centerline is valid? [True, True] Translation: X:31.36, Y:2.67, Z:0.09 [[ 9.98971258e-01 -4.31213974e-02 -1.40346226e-02 3.13582192e+01] [ 4.31224762e-02 9.99069768e-01 -2.25880493e-04 2.67488602e+00] [ 1.40313074e-02 -3.79559560e-04 9.99901484e-01 9.13061146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.294391418 meters Centerline goodness [0,1] 0.998923823591475 Centerline is valid? [True, True] Translation: X:31.39, Y:2.67, Z:0.09 [[ 9.98863310e-01 -4.56813882e-02 -1.36124107e-02 3.13899881e+01] [ 4.56826478e-02 9.98955979e-01 -2.18556604e-04 2.67147798e+00] [ 1.36081830e-02 -4.03542790e-04 9.99907323e-01 9.19429410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.324391418 meters Centerline goodness [0,1] 0.999007538484279 Centerline is valid? [True, True] Translation: X:31.42, Y:2.67, Z:0.09 [[ 9.98779372e-01 -4.76755834e-02 -1.29153182e-02 3.14210665e+01] [ 4.76768914e-02 9.98862789e-01 -2.06777655e-04 2.66599909e+00] [ 1.29104890e-02 -4.09236969e-04 9.99916572e-01 9.19887637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.354391418 meters Centerline goodness [0,1] 0.9987131887604421 Centerline is valid? [True, True] Translation: X:31.45, Y:2.67, Z:0.09 [[ 9.98712150e-01 -4.91462973e-02 -1.25969317e-02 3.14536673e+01] [ 4.91476688e-02 9.98791503e-01 -2.00855829e-04 2.66550710e+00] [ 1.25915797e-02 -4.18512672e-04 9.99920635e-01 9.28374048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38439141799999 meters Centerline goodness [0,1] 0.9987131887604421 Centerline is valid? [True, True] Translation: X:31.49, Y:2.67, Z:0.09 [[ 9.98716086e-01 -4.90662375e-02 -1.25969478e-02 3.14853719e+01] [ 4.90676153e-02 9.98795439e-01 -1.99846184e-04 2.66593278e+00] [ 1.25915797e-02 -4.18512588e-04 9.99920635e-01 9.31057940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.414391417999994 meters Centerline goodness [0,1] 0.9987966813738943 Centerline is valid? [True, True] Translation: X:31.52, Y:2.66, Z:0.09 [[ 9.98616341e-01 -5.10239324e-02 -1.27263891e-02 3.15163173e+01] [ 5.10255095e-02 9.98697330e-01 -2.00959546e-04 2.66149034e+00] [ 1.27200646e-02 -4.48689002e-04 9.99918996e-01 9.37809929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.444391417999995 meters Centerline goodness [0,1] 0.9988190885894435 Centerline is valid? [True, True] Translation: X:31.55, Y:2.66, Z:0.09 [[ 9.98581669e-01 -5.16597020e-02 -1.28812251e-02 3.15486636e+01] [ 5.16613817e-02 9.98664639e-01 -2.02538604e-04 2.66192058e+00] [ 1.28744871e-02 -4.63210549e-04 9.99917013e-01 9.41747590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.474391417999996 meters Centerline goodness [0,1] 0.9985245141435859 Centerline is valid? [True, True] Translation: X:31.58, Y:2.66, Z:0.09 [[ 9.98488788e-01 -5.32437179e-02 -1.36105338e-02 3.15807432e+01] [ 5.32457554e-02 9.98581416e-01 -2.12875619e-04 2.65866395e+00] [ 1.36025604e-02 -5.12149237e-04 9.99907350e-01 9.35510055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.504391418 meters Centerline goodness [0,1] 0.9986731534719151 Centerline is valid? [True, True] Translation: X:31.61, Y:2.65, Z:0.09 [[ 9.98440043e-01 -5.37999286e-02 -1.49348149e-02 3.16120969e+01] [ 5.38024611e-02 9.98551572e-01 -2.32457060e-04 2.65455754e+00] [ 1.49256891e-02 -5.71435361e-04 9.99888442e-01 9.12378234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.534391418 meters Centerline goodness [0,1] 0.9989261349279879 Centerline is valid? [True, True] Translation: X:31.64, Y:2.65, Z:0.09 [[ 9.98369461e-01 -5.53756276e-02 -1.38549462e-02 3.16443181e+01] [ 5.53779709e-02 9.98465440e-01 -2.14754383e-04 2.65311774e+00] [ 1.38455771e-02 -5.52854587e-04 9.99903993e-01 9.24828764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56439141799999 meters Centerline goodness [0,1] 0.9988002525784045 Centerline is valid? [True, True] Translation: X:31.68, Y:2.65, Z:0.09 [[ 9.98289661e-01 -5.67035863e-02 -1.42287145e-02 3.16766548e+01] [ 5.67062087e-02 9.98390884e-01 -2.19406278e-04 2.65100287e+00] [ 1.42182600e-02 -5.87825437e-04 9.99898743e-01 9.20776270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.594391417999994 meters Centerline goodness [0,1] 0.9986134453781512 Centerline is valid? [True, True] Translation: X:31.71, Y:2.65, Z:0.09 [[ 9.98170554e-01 -5.86942227e-02 -1.45097793e-02 3.17080625e+01] [ 5.86971730e-02 9.98275810e-01 -2.22821512e-04 2.64872188e+00] [ 1.44978400e-02 -6.29269151e-04 9.99894703e-01 9.14977281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.624391417999995 meters Centerline goodness [0,1] 0.9989063683015058 Centerline is valid? [True, True] Translation: X:31.74, Y:2.65, Z:0.09 [[ 9.98112141e-01 -5.95133608e-02 -1.51761066e-02 3.17392084e+01] [ 5.95167004e-02 9.98227283e-01 -2.31889915e-04 2.64663094e+00] [ 1.51630042e-02 -6.71779649e-04 9.99884809e-01 9.11801884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.654391417999996 meters Centerline goodness [0,1] 0.9986344250929642 Centerline is valid? [True, True] Translation: X:31.77, Y:2.65, Z:0.09 [[ 9.98084908e-01 -5.99399395e-02 -1.52879170e-02 3.17706787e+01] [ 5.99434003e-02 9.98201751e-01 -2.32170297e-04 2.64585526e+00] [ 1.52743418e-02 -6.84684061e-04 9.99883106e-01 9.07761811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.684391418 meters Centerline goodness [0,1] 0.9986121333193145 Centerline is valid? [True, True] Translation: X:31.80, Y:2.65, Z:0.09 [[ 9.98064303e-01 -6.01864182e-02 -1.56602379e-02 3.18028907e+01] [ 6.01900962e-02 9.98186904e-01 -2.36781157e-04 2.64612221e+00] [ 1.56460954e-02 -7.06268404e-04 9.99877343e-01 9.05188517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.714391418 meters Centerline goodness [0,1] 0.9985071802527281 Centerline is valid? [True, True] Translation: X:31.84, Y:2.65, Z:0.09 [[ 9.98037562e-01 -6.04567764e-02 -1.63095903e-02 3.18353368e+01] [ 6.04608231e-02 9.98170541e-01 -2.45292733e-04 2.65138065e+00] [ 1.62945822e-02 -7.41279894e-04 9.99866960e-01 9.07401907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.744391418 meters Centerline goodness [0,1] 0.9989906636386576 Centerline is valid? [True, True] Translation: X:31.87, Y:2.65, Z:0.09 [[ 9.98036010e-01 -6.02456315e-02 -1.71635180e-02 3.18664872e+01] [ 6.02501036e-02 9.98183279e-01 -2.56886028e-04 2.65049436e+00] [ 1.71478129e-02 -7.77722232e-04 9.99852663e-01 8.97676779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.77439141799999 meters Centerline goodness [0,1] 0.9987387538888421 Centerline is valid? [True, True] Translation: X:31.90, Y:2.65, Z:0.09 [[ 9.98021364e-01 -6.07554562e-02 -1.61904605e-02 3.18975487e+01] [ 6.07595176e-02 9.98152405e-01 -2.41378473e-04 2.64822398e+00] [ 1.61752121e-02 -7.42823696e-04 9.99868897e-01 9.14111464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804391417999994 meters Centerline goodness [0,1] 0.9985895330722917 Centerline is valid? [True, True] Translation: X:31.93, Y:2.65, Z:0.09 [[ 9.97996040e-01 -6.11216848e-02 -1.63720413e-02 3.19300215e+01] [ 6.11259056e-02 9.98130034e-01 -2.42952499e-04 2.64992935e+00] [ 1.63562758e-02 -7.58290216e-04 9.99865940e-01 9.16643367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.834391417999996 meters Centerline goodness [0,1] 0.998821201532438 Centerline is valid? [True, True] Translation: X:31.96, Y:2.65, Z:0.09 [[ 9.97961214e-01 -6.17687981e-02 -1.60633233e-02 3.19617779e+01] [ 6.17729648e-02 9.98090199e-01 -2.37124755e-04 2.64988281e+00] [ 1.60472925e-02 -7.55637798e-04 9.99870948e-01 9.28809238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.864391418 meters Centerline goodness [0,1] 0.9985678180286437 Centerline is valid? [True, True] Translation: X:31.99, Y:2.65, Z:0.09 [[ 9.97937517e-01 -6.23769333e-02 -1.51601428e-02 3.19935239e+01] [ 6.23807318e-02 9.98052401e-01 -2.22647823e-04 2.65043743e+00] [ 1.51445050e-02 -7.23512189e-04 9.99885054e-01 9.46917917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.894391418 meters Centerline goodness [0,1] 0.9985898002567827 Centerline is valid? [True, True] Translation: X:32.03, Y:2.65, Z:0.10 [[ 9.97941437e-01 -6.24114925e-02 -1.47544619e-02 3.20259907e+01] [ 6.24151108e-02 9.98050253e-01 -2.15559093e-04 2.65171849e+00] [ 1.47391478e-02 -7.05786024e-04 9.99891124e-01 9.54982197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.924391418 meters Centerline goodness [0,1] 0.9985887309110058 Centerline is valid? [True, True] Translation: X:32.06, Y:2.65, Z:0.10 [[ 9.97908078e-01 -6.30758916e-02 -1.41738862e-02 3.20568761e+01] [ 6.30793113e-02 9.98008496e-01 -2.06112220e-04 2.65146605e+00] [ 1.41586595e-02 -6.88397929e-04 9.99899524e-01 9.64429698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.95439141799999 meters Centerline goodness [0,1] 0.9986763315474314 Centerline is valid? [True, True] Translation: X:32.09, Y:2.65, Z:0.10 [[ 9.97868787e-01 -6.39007417e-02 -1.32128377e-02 3.20892240e+01] [ 6.39037962e-02 9.97956045e-01 -1.91316978e-04 2.65045499e+00] [ 1.31980566e-02 -6.53441250e-04 9.99912688e-01 9.73331914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.984391417999994 meters Centerline goodness [0,1] 0.9984648062080713 Centerline is valid? [True, True] Translation: X:32.12, Y:2.65, Z:0.10 [[ 9.97851609e-01 -6.41568040e-02 -1.32691372e-02 3.21200738e+01] [ 6.41599194e-02 9.97939611e-01 -1.91210706e-04 2.64960981e+00] [ 1.32540651e-02 -6.60546861e-04 9.99911943e-01 9.76421967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.014391417999995 meters Centerline goodness [0,1] 0.9984212188190716 Centerline is valid? [True, True] Translation: X:32.15, Y:2.65, Z:0.10 [[ 9.97825022e-01 -6.45588718e-02 -1.33183007e-02 3.21520305e+01] [ 6.45620574e-02 9.97913676e-01 -1.91069105e-04 2.65042186e+00] [ 1.33028496e-02 -6.69203362e-04 9.99911289e-01 9.75636094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.044391418 meters Centerline goodness [0,1] 0.998442597074608 Centerline is valid? [True, True] Translation: X:32.18, Y:2.66, Z:0.10 [[ 9.97809853e-01 -6.46304082e-02 -1.40857315e-02 3.21842037e+01] [ 6.46339946e-02 9.97909017e-01 -2.00948174e-04 2.65642192e+00] [ 1.40692659e-02 -7.09909027e-04 9.99900771e-01 9.71123310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.074391418 meters Centerline goodness [0,1] 0.9988424220739587 Centerline is valid? [True, True] Translation: X:32.22, Y:2.65, Z:0.10 [[ 9.97744193e-01 -6.53443233e-02 -1.53832441e-02 3.22152528e+01] [ 6.53487034e-02 9.97862465e-01 -2.18298047e-04 2.65343314e+00] [ 1.53646264e-02 -7.87469447e-04 9.99881647e-01 9.72354670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.104391418 meters Centerline goodness [0,1] 0.998545408550468 Centerline is valid? [True, True] Translation: X:32.25, Y:2.65, Z:0.10 [[ 9.97735033e-01 -6.54942408e-02 -1.53397512e-02 3.22471842e+01] [ 6.54986297e-02 9.97852636e-01 -2.16649495e-04 2.65396515e+00] [ 1.53210005e-02 -7.88573892e-04 9.99882316e-01 9.76574815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.13439141799999 meters Centerline goodness [0,1] 0.9987563237774031 Centerline is valid? [True, True] Translation: X:32.28, Y:2.65, Z:0.10 [[ 9.97751617e-01 -6.51504812e-02 -1.57202185e-02 3.22788758e+01] [ 6.51550670e-02 9.97875127e-01 -2.20810703e-04 2.65456709e+00] [ 1.57012010e-02 -8.03937656e-04 9.99876405e-01 9.69237292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.164391417999994 meters Centerline goodness [0,1] 0.998609413846867 Centerline is valid? [True, True] Translation: X:32.31, Y:2.66, Z:0.10 [[ 9.97752953e-01 -6.52242400e-02 -1.53245688e-02 3.23112809e+01] [ 6.52286245e-02 9.97870323e-01 -2.14079564e-04 2.66014548e+00] [ 1.53058956e-02 -7.86002027e-04 9.99882549e-01 9.91302322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.194391417999995 meters Centerline goodness [0,1] 0.9983223939438421 Centerline is valid? [True, True] Translation: X:32.34, Y:2.66, Z:0.10 [[ 9.97887877e-01 -6.32549911e-02 -1.47848006e-02 3.23416248e+01] [ 6.32588680e-02 9.97997131e-01 -2.05761259e-04 2.66109087e+00] [ 1.47682040e-02 -7.29943085e-04 9.99890678e-01 9.85211370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.224391417999996 meters Centerline goodness [0,1] 0.9985677275312257 Centerline is valid? [True, True] Translation: X:32.37, Y:2.66, Z:0.10 [[ 9.97965711e-01 -6.21503364e-02 -1.42047952e-02 3.23738447e+01] [ 6.21538120e-02 9.98066563e-01 -1.97080443e-04 2.66336078e+00] [ 1.41895798e-02 -6.86202648e-04 9.99899087e-01 1.00442009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.254391418 meters Centerline goodness [0,1] 0.99852273926348 Centerline is valid? [True, True] Translation: X:32.41, Y:2.67, Z:0.10 [[ 9.98098022e-01 -6.00426490e-02 -1.39720780e-02 3.24057434e+01] [ 6.00458191e-02 9.98195603e-01 -1.92880180e-04 2.66698126e+00] [ 1.39584479e-02 -6.46451542e-04 9.99902367e-01 1.01221766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.284391418 meters Centerline goodness [0,1] 0.9985648861405989 Centerline is valid? [True, True] Translation: X:32.44, Y:2.67, Z:0.10 [[ 9.98237513e-01 -5.77396451e-02 -1.37113495e-02 3.24358095e+01] [ 5.77424892e-02 9.98331493e-01 -1.88695483e-04 2.66984746e+00] [ 1.36993672e-02 -6.03364541e-04 9.99905977e-01 1.01651841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31439141799999 meters Centerline goodness [0,1] 0.9987964018750792 Centerline is valid? [True, True] Translation: X:32.47, Y:2.68, Z:0.10 [[ 9.98545336e-01 -5.22157592e-02 -1.34434269e-02 3.24666776e+01] [ 5.22179968e-02 9.98635693e-01 -1.84754636e-04 2.67842949e+00] [ 1.34347330e-02 -5.17502941e-04 9.99909616e-01 1.02951237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.344391417999994 meters Centerline goodness [0,1] 0.9986911547392865 Centerline is valid? [True, True] Translation: X:32.50, Y:2.68, Z:0.10 [[ 9.98709655e-01 -4.90842639e-02 -1.30291633e-02 3.24972830e+01] [ 4.90861038e-02 9.98794535e-01 -1.78733759e-04 2.68232706e+00] [ 1.30222301e-02 -4.61047733e-04 9.99915101e-01 1.03307346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.374391417999995 meters Centerline goodness [0,1] 0.9986479920569533 Centerline is valid? [True, True] Translation: X:32.53, Y:2.69, Z:0.10 [[ 9.98845976e-01 -4.61057849e-02 -1.34526184e-02 3.25292026e+01] [ 4.61074847e-02 9.98936467e-01 -1.83934033e-04 2.68692459e+00] [ 1.34467916e-02 -4.36544630e-04 9.99909493e-01 1.03767259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.404391417999996 meters Centerline goodness [0,1] 0.998710004863916 Centerline is valid? [True, True] Translation: X:32.56, Y:2.69, Z:0.10 [[ 9.99082192e-01 -4.03204287e-02 -1.44581118e-02 3.25585462e+01] [ 4.03217924e-02 9.99186726e-01 -1.97283356e-04 2.69431317e+00] [ 1.44543079e-02 -3.85874695e-04 9.99895457e-01 1.01181448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.434391418 meters Centerline goodness [0,1] 0.9988144133463184 Centerline is valid? [True, True] Translation: X:32.59, Y:2.70, Z:0.10 [[ 9.99155404e-01 -3.85741032e-02 -1.41604111e-02 3.25897744e+01] [ 3.85752369e-02 9.99255680e-01 -1.93168023e-04 2.69783195e+00] [ 1.41573225e-02 -3.53236338e-04 9.99899718e-01 1.03674699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.464391418 meters Centerline goodness [0,1] 0.9986419674496573 Centerline is valid? [True, True] Translation: X:32.62, Y:2.70, Z:0.10 [[ 9.99232958e-01 -3.64463695e-02 -1.43233328e-02 3.26210892e+01] [ 3.64473184e-02 9.99335557e-01 -1.94868787e-04 2.70209031e+00] [ 1.43209180e-02 -3.27327756e-04 9.99897397e-01 1.02671372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.494391418 meters Centerline goodness [0,1] 0.9988315275122158 Centerline is valid? [True, True] Translation: X:32.65, Y:2.71, Z:0.10 [[ 9.99324085e-01 -3.35277344e-02 -1.50752810e-02 3.26512072e+01] [ 3.35284603e-02 9.99437742e-01 -2.04657369e-04 2.70771445e+00] [ 1.50736665e-02 -3.00931923e-04 9.99886341e-01 1.03162561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52439141799999 meters Centerline goodness [0,1] 0.9989792229334581 Centerline is valid? [True, True] Translation: X:32.68, Y:2.71, Z:0.10 [[ 9.99357191e-01 -3.24140959e-02 -1.53144171e-02 3.26815164e+01] [ 3.24147167e-02 9.99474483e-01 -2.07749358e-04 2.71002055e+00] [ 1.53131031e-02 -2.88796676e-04 9.99882706e-01 1.03071519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.554391417999994 meters Centerline goodness [0,1] 0.9989577794320962 Centerline is valid? [True, True] Translation: X:32.71, Y:2.71, Z:0.10 [[ 9.99400131e-01 -3.12276545e-02 -1.49736974e-02 3.27124298e+01] [ 3.12281148e-02 9.99512263e-01 -2.03127289e-04 2.71243181e+00] [ 1.49727373e-02 -2.64594902e-04 9.99887867e-01 1.03313111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.584391417999996 meters Centerline goodness [0,1] 0.9992545419692871 Centerline is valid? [True, True] Translation: X:32.74, Y:2.72, Z:0.11 [[ 9.99453469e-01 -2.94461392e-02 -1.50228974e-02 3.27430638e+01] [ 2.94464014e-02 9.99566340e-01 -2.03794716e-04 2.71905143e+00] [ 1.50223835e-02 -2.38686929e-04 9.99887129e-01 1.05247231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.614391418 meters Centerline goodness [0,1] 0.9989157010736686 Centerline is valid? [True, True] Translation: X:32.77, Y:2.72, Z:0.11 [[ 9.99494101e-01 -2.80814041e-02 -1.49324265e-02 3.27726988e+01] [ 2.80815115e-02 9.99605616e-01 -2.02523374e-04 2.72065093e+00] [ 1.49322246e-02 -2.16904189e-04 9.99888485e-01 1.05066000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.644391418 meters Centerline goodness [0,1] 0.9989349692206104 Centerline is valid? [True, True] Translation: X:32.80, Y:2.73, Z:0.10 [[ 9.99611062e-01 -2.36390597e-02 -1.47959102e-02 3.28028322e+01] [ 2.36386794e-02 9.99720547e-01 -2.00614667e-04 2.72680818e+00] [ 1.47965178e-02 -1.49219138e-04 9.99890514e-01 1.04560627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.674391418 meters Centerline goodness [0,1] 0.9991263584061368 Centerline is valid? [True, True] Translation: X:32.83, Y:2.73, Z:0.11 [[ 9.99655878e-01 -2.17141416e-02 -1.47180967e-02 3.28323709e+01] [ 2.17135530e-02 9.99764213e-01 -1.99809405e-04 2.73029590e+00] [ 1.47189650e-02 -1.19841526e-04 9.99891663e-01 1.06282030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70439141799999 meters Centerline goodness [0,1] 0.9991668980838656 Centerline is valid? [True, True] Translation: X:32.86, Y:2.74, Z:0.11 [[ 9.99739066e-01 -1.80262911e-02 -1.40304451e-02 3.28618639e+01] [ 1.80253853e-02 9.99837511e-01 -1.91023031e-04 2.73622090e+00] [ 1.40316087e-02 -6.19309917e-05 9.99901550e-01 1.08041654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.734391417999994 meters Centerline goodness [0,1] 0.9991024490319271 Centerline is valid? [True, True] Translation: X:32.89, Y:2.74, Z:0.11 [[ 9.99763986e-01 -1.67958132e-02 -1.37794682e-02 3.28907955e+01] [ 1.67948136e-02 9.99858939e-01 -1.88265343e-04 2.73788557e+00] [ 1.37806866e-02 -4.32026907e-05 9.99905041e-01 1.08428485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.764391417999995 meters Centerline goodness [0,1] 0.9989304812834224 Centerline is valid? [True, True] Translation: X:32.92, Y:2.74, Z:0.11 [[ 9.99785651e-01 -1.57041476e-02 -1.34919236e-02 3.29194929e+01] [ 1.57030790e-02 9.99876682e-01 -1.85136713e-04 2.73919080e+00] [ 1.34931672e-02 -2.67677126e-05 9.99908963e-01 1.07399427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.794391418 meters Centerline goodness [0,1] 0.9989107451784456 Centerline is valid? [True, True] Translation: X:32.95, Y:2.74, Z:0.11 [[ 9.99799201e-01 -1.53651249e-02 -1.28635001e-02 3.29486450e+01] [ 1.53641039e-02 9.99881949e-01 -1.78200875e-04 2.74036216e+00] [ 1.28647196e-02 -1.94710587e-05 9.99917246e-01 1.09066776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.824391418 meters Centerline goodness [0,1] 0.9989967768789089 Centerline is valid? [True, True] Translation: X:32.98, Y:2.74, Z:0.11 [[ 9.99790534e-01 -1.59719829e-02 -1.27978064e-02 3.29773068e+01] [ 1.59709769e-02 9.99872439e-01 -1.80815883e-04 2.74118597e+00] [ 1.27990619e-02 -2.36154619e-05 9.99918088e-01 1.09660624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.854391418 meters Centerline goodness [0,1] 0.9991681597133351 Centerline is valid? [True, True] Translation: X:33.01, Y:2.74, Z:0.11 [[ 9.99770309e-01 -1.70758145e-02 -1.29516623e-02 3.30056640e+01] [ 1.70748296e-02 9.99854197e-01 -1.86632103e-04 2.74147643e+00] [ 1.29529608e-02 -3.45581900e-05 9.99916106e-01 1.09837642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88439141799999 meters Centerline goodness [0,1] 0.9989986151059976 Centerline is valid? [True, True] Translation: X:33.03, Y:2.74, Z:0.11 [[ 9.99738697e-01 -1.84378042e-02 -1.35124181e-02 3.30349674e+01] [ 1.84368207e-02 9.99830008e-01 -1.97361471e-04 2.74152137e+00] [ 1.35137600e-02 -5.18161294e-05 9.99908684e-01 1.09643024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.914391417999994 meters Centerline goodness [0,1] 0.9987203821791891 Centerline is valid? [True, True] Translation: X:33.06, Y:2.74, Z:0.11 [[ 9.99702962e-01 -1.98653722e-02 -1.41193226e-02 3.30633693e+01] [ 1.98644311e-02 9.99802661e-01 -2.06902985e-04 2.74060739e+00] [ 1.41206465e-02 -7.36307852e-05 9.99900296e-01 1.06908590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.944391417999995 meters Centerline goodness [0,1] 0.9990420640326976 Centerline is valid? [True, True] Translation: X:33.09, Y:2.74, Z:0.11 [[ 9.99645515e-01 -2.24480891e-02 -1.43152784e-02 3.30932582e+01] [ 2.24473762e-02 9.99748004e-01 -2.10502477e-04 2.73916449e+00] [ 1.43163964e-02 -1.10912581e-04 9.99897509e-01 1.08846839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.974391417999996 meters Centerline goodness [0,1] 0.998765668560727 Centerline is valid? [True, True] Translation: X:33.12, Y:2.73, Z:0.11 [[ 9.99488294e-01 -2.81625157e-02 -1.51665097e-02 3.31230986e+01] [ 2.81623668e-02 9.99603337e-01 -2.23433904e-04 2.73372540e+00] [ 1.51667862e-02 -2.03805240e-04 9.99884957e-01 1.07700066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.004391418 meters Centerline goodness [0,1] 0.9989360343873686 Centerline is valid? [True, True] Translation: X:33.15, Y:2.73, Z:0.11 [[ 9.99404883e-01 -3.09569835e-02 -1.52165979e-02 3.31530151e+01] [ 3.09571659e-02 9.99520687e-01 -2.23616290e-04 2.73105202e+00] [ 1.52162269e-02 -2.47579535e-04 9.99884196e-01 1.07968933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.034391418 meters Centerline goodness [0,1] 0.9987254922786074 Centerline is valid? [True, True] Translation: X:33.18, Y:2.73, Z:0.11 [[ 9.99240942e-01 -3.61269753e-02 -1.45733137e-02 3.31840306e+01] [ 3.61277050e-02 9.99347159e-01 -2.13270811e-04 2.72907337e+00] [ 1.45715045e-02 -3.13391452e-04 9.99893781e-01 1.10104542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06439141799999 meters Centerline goodness [0,1] 0.9986176095278605 Centerline is valid? [True, True] Translation: X:33.22, Y:2.72, Z:0.11 [[ 9.99162261e-01 -3.82453669e-02 -1.45625448e-02 3.32152588e+01] [ 3.82463283e-02 9.99268319e-01 -2.12575017e-04 2.72424614e+00] [ 1.45600197e-02 -3.44566934e-04 9.99893938e-01 1.09368076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.094391417999994 meters Centerline goodness [0,1] 0.9987694918850112 Centerline is valid? [True, True] Translation: X:33.25, Y:2.73, Z:0.11 [[ 9.99082949e-01 -4.04133095e-02 -1.41430361e-02 3.32468919e+01] [ 4.04144435e-02 9.99182981e-01 -2.05729582e-04 2.72577110e+00] [ 1.41397952e-02 -3.66042016e-04 9.99899961e-01 1.11496438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.124391417999995 meters Centerline goodness [0,1] 0.9988962003820845 Centerline is valid? [True, True] Translation: X:33.28, Y:2.72, Z:0.11 [[ 9.99023576e-01 -4.18235068e-02 -1.42369052e-02 3.32793683e+01] [ 4.18248104e-02 9.99124938e-01 -2.06295714e-04 2.72434338e+00] [ 1.42330750e-02 -3.89361578e-04 9.99898629e-01 1.10764312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.154391417999996 meters Centerline goodness [0,1] 0.9986611127640583 Centerline is valid? [True, True] Translation: X:33.31, Y:2.72, Z:0.11 [[ 9.98885166e-01 -4.49143477e-02 -1.45302195e-02 3.33108084e+01] [ 4.49160475e-02 9.98990743e-01 -2.09495773e-04 2.72112060e+00] [ 1.45249641e-02 -4.43377809e-04 9.99894409e-01 1.10771451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.184391418 meters Centerline goodness [0,1] 0.9987681328717372 Centerline is valid? [True, True] Translation: X:33.34, Y:2.72, Z:0.11 [[ 9.98836387e-01 -4.59728286e-02 -1.45729216e-02 3.33423288e+01] [ 4.59746635e-02 9.98942584e-01 -2.09247775e-04 2.71645498e+00] [ 1.45671317e-02 -4.60980875e-04 9.99893787e-01 1.10300843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.214391418 meters Centerline goodness [0,1] 0.9986623067776457 Centerline is valid? [True, True] Translation: X:33.37, Y:2.72, Z:0.11 [[ 9.98784536e-01 -4.69593403e-02 -1.49756547e-02 3.33741269e+01] [ 4.69614043e-02 9.98896682e-01 -2.14001293e-04 2.72066592e+00] [ 1.49691811e-02 -4.89536592e-04 9.99887836e-01 1.11181735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.244391418 meters Centerline goodness [0,1] 0.9985149355057705 Centerline is valid? [True, True] Translation: X:33.41, Y:2.72, Z:0.11 [[ 9.98754178e-01 -4.75742646e-02 -1.50592685e-02 3.34067801e+01] [ 4.75764396e-02 9.98867577e-01 -2.13996405e-04 2.72045421e+00] [ 1.50523958e-02 -5.02736576e-04 9.99886580e-01 1.11338976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.27439141799999 meters Centerline goodness [0,1] 0.9988963409457509 Centerline is valid? [True, True] Translation: X:33.44, Y:2.72, Z:0.11 [[ 9.98745883e-01 -4.77583250e-02 -1.50267479e-02 3.34387817e+01] [ 4.77605292e-02 9.98858792e-01 -2.12347756e-04 2.72087833e+00] [ 1.50197406e-02 -5.05603983e-04 9.99887070e-01 1.11940182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304391417999994 meters Centerline goodness [0,1] 0.9988963409457509 Centerline is valid? [True, True] Translation: X:33.47, Y:2.72, Z:0.11 [[ 9.98749647e-01 -4.76795494e-02 -1.50267645e-02 3.34704898e+01] [ 4.76817625e-02 9.98862556e-01 -2.11162664e-04 2.72124562e+00] [ 1.50197406e-02 -5.05603982e-04 9.99887070e-01 1.12208578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.334391417999996 meters Centerline goodness [0,1] 0.998683120579427 Centerline is valid? [True, True] Translation: X:33.50, Y:2.72, Z:0.11 [[ 9.98747355e-01 -4.76444960e-02 -1.52879821e-02 3.35022541e+01] [ 4.76468013e-02 9.98864223e-01 -2.13612668e-04 2.72267689e+00] [ 1.52807958e-02 -5.15078357e-04 9.99883109e-01 1.12822247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.364391418 meters Centerline goodness [0,1] 0.9985326017608779 Centerline is valid? [True, True] Translation: X:33.53, Y:2.72, Z:0.11 [[ 9.98774422e-01 -4.68852763e-02 -1.58563921e-02 3.35333253e+01] [ 4.68876787e-02 9.98900144e-01 -2.20421221e-04 2.72417066e+00] [ 1.58492868e-02 -5.23318338e-04 9.99874255e-01 1.13211276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.394391418 meters Centerline goodness [0,1] 0.9988071655270837 Centerline is valid? [True, True] Translation: X:33.56, Y:2.73, Z:0.11 [[ 9.98851471e-01 -4.49105944e-02 -1.66966479e-02 3.35640515e+01] [ 4.49129967e-02 9.98990875e-01 -2.31255350e-04 2.72835576e+00] [ 1.66901847e-02 -5.18906746e-04 9.99860575e-01 1.13242754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.424391418 meters Centerline goodness [0,1] 0.9986799804126125 Centerline is valid? [True, True] Translation: X:33.60, Y:2.73, Z:0.11 [[ 9.98926118e-01 -4.29160231e-02 -1.74592804e-02 3.35953662e+01] [ 4.29183576e-02 9.99078554e-01 -2.41126918e-04 2.73104344e+00] [ 1.74535408e-02 -5.08455662e-04 9.99847546e-01 1.12103079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.45439141799999 meters Centerline goodness [0,1] 0.9987420847280558 Centerline is valid? [True, True] Translation: X:33.63, Y:2.73, Z:0.11 [[ 9.99013663e-01 -4.06232889e-02 -1.79290063e-02 3.36255103e+01] [ 4.06254008e-02 9.99174417e-01 -2.46555858e-04 2.73383903e+00] [ 1.79242203e-02 -4.82060395e-04 9.99839232e-01 1.11295737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.484391417999994 meters Centerline goodness [0,1] 0.9985714285714286 Centerline is valid? [True, True] Translation: X:33.66, Y:2.74, Z:0.11 [[ 9.99096403e-01 -3.82738383e-02 -1.84794627e-02 3.36564732e+01] [ 3.82756997e-02 9.99267185e-01 -2.53079242e-04 2.73689860e+00] [ 1.84756070e-02 -4.54463805e-04 9.99829208e-01 1.11167259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.514391417999995 meters Centerline goodness [0,1] 0.9987594113620808 Centerline is valid? [True, True] Translation: X:33.69, Y:2.74, Z:0.11 [[ 9.99268699e-01 -3.33932123e-02 -1.86268707e-02 3.36861307e+01] [ 3.33942584e-02 9.99442224e-01 -2.54965277e-04 2.74437500e+00] [ 1.86249952e-02 -3.67251713e-04 9.99826472e-01 1.12352773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.544391418 meters Centerline goodness [0,1] 0.9987996741972821 Centerline is valid? [True, True] Translation: X:33.72, Y:2.75, Z:0.11 [[ 9.99373798e-01 -3.01769382e-02 -1.84760702e-02 3.37158823e+01] [ 3.01774082e-02 9.99544526e-01 -2.53430080e-04 2.74967262e+00] [ 1.84753026e-02 -3.04288531e-04 9.99829271e-01 1.12827752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.574391418 meters Centerline goodness [0,1] 0.9991212653778558 Centerline is valid? [True, True] Translation: X:33.75, Y:2.76, Z:0.11 [[ 9.99478273e-01 -2.68083952e-02 -1.80136339e-02 3.37454469e+01] [ 2.68082830e-02 9.99640563e-01 -2.47746648e-04 2.75516009e+00] [ 1.80138009e-02 -2.35297205e-04 9.99837711e-01 1.14056582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.604391418 meters Centerline goodness [0,1] 0.9991206434316354 Centerline is valid? [True, True] Translation: X:33.78, Y:2.77, Z:0.12 [[ 9.99645660e-01 -2.01302188e-02 -1.74163406e-02 3.37754478e+01] [ 2.01290834e-02 9.99797361e-01 -2.40506237e-04 2.76656083e+00] [ 1.74176528e-02 -1.10153957e-04 9.99848295e-01 1.16537018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63439141799999 meters Centerline goodness [0,1] 0.9991204925241864 Centerline is valid? [True, True] Translation: X:33.80, Y:2.77, Z:0.12 [[ 9.99701118e-01 -1.72860558e-02 -1.72877824e-02 3.38031885e+01] [ 1.72844862e-02 9.99850583e-01 -2.40217742e-04 2.77055518e+00] [ 1.72893518e-02 -5.86644918e-05 9.99850526e-01 1.15949754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.664391417999994 meters Centerline goodness [0,1] 0.998947684906795 Centerline is valid? [True, True] Translation: X:33.83, Y:2.77, Z:0.12 [[ 9.99726809e-01 -1.47601308e-02 -1.81230880e-02 3.38312436e+01] [ 1.47579180e-02 9.99891063e-01 -2.55836308e-04 2.77487813e+00] [ 1.81248899e-02 -1.16926313e-05 9.99835731e-01 1.16310869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.694391417999995 meters Centerline goodness [0,1] 0.9991822505326131 Centerline is valid? [True, True] Translation: X:33.86, Y:2.78, Z:0.12 [[ 9.99774033e-01 -1.23496141e-02 -1.73023269e-02 3.38584599e+01] [ 1.23471691e-02 9.99923740e-01 -2.48132820e-04 2.77961147e+00] [ 1.73040718e-02 3.44419931e-05 9.99850273e-01 1.18160384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.724391417999996 meters Centerline goodness [0,1] 0.9992048140984311 Centerline is valid? [True, True] Translation: X:33.89, Y:2.78, Z:0.12 [[ 9.99778923e-01 -1.20631377e-02 -1.72216467e-02 3.38850546e+01] [ 1.20606314e-02 9.99927237e-01 -2.49383325e-04 2.78129358e+00] [ 1.72234020e-02 4.16242581e-05 9.99851665e-01 1.18568786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.754391418 meters Centerline goodness [0,1] 0.9988347503344698 Centerline is valid? [True, True] Translation: X:33.91, Y:2.78, Z:0.12 [[ 9.99761467e-01 -1.17011842e-02 -1.84415686e-02 3.39140054e+01] [ 1.16981734e-02 9.99931537e-01 -2.71134192e-04 2.78215102e+00] [ 1.84434786e-02 5.53368511e-05 9.99829903e-01 1.16132514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.784391418 meters Centerline goodness [0,1] 0.9991157313548721 Centerline is valid? [True, True] Translation: X:33.94, Y:2.78, Z:0.12 [[ 9.99766449e-01 -1.28022575e-02 -1.74112028e-02 3.39419374e+01] [ 1.27996788e-02 9.99918047e-01 -2.59540148e-04 2.78302373e+00] [ 1.74130986e-02 3.66217295e-05 9.99848380e-01 1.17568887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81439141799999 meters Centerline goodness [0,1] 0.9990500248288965 Centerline is valid? [True, True] Translation: X:33.97, Y:2.78, Z:0.12 [[ 9.99732843e-01 -1.51270239e-02 -1.74761519e-02 3.39699352e+01] [ 1.51247098e-02 9.99885580e-01 -2.64585632e-04 2.78445799e+00] [ 1.74781547e-02 1.93220749e-07 9.99847245e-01 1.19543571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.844391417999994 meters Centerline goodness [0,1] 0.9993964996982498 Centerline is valid? [True, True] Translation: X:34.00, Y:2.78, Z:0.12 [[ 9.99713599e-01 -1.61515919e-02 -1.76591665e-02 3.39981232e+01] [ 1.61492894e-02 9.99869554e-01 -2.72989220e-04 2.78481844e+00] [ 1.76612722e-02 -1.22719550e-05 9.99844027e-01 1.19200453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.874391417999995 meters Centerline goodness [0,1] 0.9990293775074415 Centerline is valid? [True, True] Translation: X:34.03, Y:2.78, Z:0.12 [[ 9.99698575e-01 -1.74838833e-02 -1.72357831e-02 3.40253263e+01] [ 1.74818217e-02 9.99847145e-01 -2.70284160e-04 2.78415374e+00] [ 1.72378741e-02 -3.11101969e-05 9.99851416e-01 1.17079862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.904391417999996 meters Centerline goodness [0,1] 0.9988788270806382 Centerline is valid? [True, True] Translation: X:34.05, Y:2.78, Z:0.12 [[ 9.99654755e-01 -1.93621430e-02 -1.77617282e-02 3.40536193e+01] [ 1.93602123e-02 9.99812534e-01 -2.80660458e-04 2.78394335e+00] [ 1.77638326e-02 -6.33072663e-05 9.99842209e-01 1.18628596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.934391418 meters Centerline goodness [0,1] 0.999330337855353 Centerline is valid? [True, True] Translation: X:34.08, Y:2.78, Z:0.12 [[ 9.99627823e-01 -2.15477648e-02 -1.67305012e-02 3.40811174e+01] [ 2.15463006e-02 9.99767816e-01 -2.67785556e-04 2.78372249e+00] [ 1.67323869e-02 -9.27945162e-05 9.99860000e-01 1.20901111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.964391418 meters Centerline goodness [0,1] 0.9992233847481393 Centerline is valid? [True, True] Translation: X:34.11, Y:2.78, Z:0.12 [[ 9.99603502e-01 -2.30213585e-02 -1.62128318e-02 3.41104155e+01] [ 2.30201301e-02 9.99734967e-01 -2.62412277e-04 2.78356176e+00] [ 1.62145760e-02 -1.10913266e-04 9.99868529e-01 1.21746462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.994391418 meters Centerline goodness [0,1] 0.9992449085260614 Centerline is valid? [True, True] Translation: X:34.14, Y:2.78, Z:0.12 [[ 9.99580106e-01 -2.43288581e-02 -1.57390951e-02 3.41400948e+01] [ 2.43278528e-02 9.99704001e-01 -2.55353858e-04 2.78344738e+00] [ 1.57406488e-02 -1.27651754e-04 9.99876100e-01 1.22520289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02439141799999 meters Centerline goodness [0,1] 0.9990724762726488 Centerline is valid? [True, True] Translation: X:34.17, Y:2.78, Z:0.12 [[ 9.99513299e-01 -2.68706644e-02 -1.58471633e-02 3.41699438e+01] [ 2.68699594e-02 9.99638904e-01 -2.57441867e-04 2.78164730e+00] [ 1.58483586e-02 -1.68496063e-04 9.99874393e-01 1.21130374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.054391417999994 meters Centerline goodness [0,1] 0.9990936555891239 Centerline is valid? [True, True] Translation: X:34.20, Y:2.78, Z:0.12 [[ 9.99470910e-01 -2.88901445e-02 -1.49418698e-02 3.42002999e+01] [ 2.88897434e-02 9.99582575e-01 -2.42735107e-04 2.77999199e+00] [ 1.49426453e-02 -1.89060107e-04 9.99888335e-01 1.22628904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.084391417999996 meters Centerline goodness [0,1] 0.9991587394033521 Centerline is valid? [True, True] Translation: X:34.23, Y:2.78, Z:0.12 [[ 9.99428770e-01 -3.03658027e-02 -1.48341637e-02 3.42314996e+01] [ 3.03655736e-02 9.99538831e-01 -2.40730244e-04 2.77929124e+00] [ 1.48346326e-02 -2.09855160e-04 9.99889939e-01 1.23024714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.114391418 meters Centerline goodness [0,1] 0.9991156169111303 Centerline is valid? [True, True] Translation: X:34.26, Y:2.78, Z:0.12 [[ 9.99395332e-01 -3.10648447e-02 -1.56187921e-02 3.42628248e+01] [ 3.10646861e-02 9.99517344e-01 -2.52821629e-04 2.77855872e+00] [ 1.56191074e-02 -2.32524117e-04 9.99877987e-01 1.20794691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.144391418 meters Centerline goodness [0,1] 0.9991403395658714 Centerline is valid? [True, True] Translation: X:34.29, Y:2.78, Z:0.12 [[ 9.99366190e-01 -3.27364778e-02 -1.39835982e-02 3.42936312e+01] [ 3.27365200e-02 9.99463991e-01 -2.25942524e-04 2.77773072e+00] [ 1.39834994e-02 -2.31975021e-04 9.99902199e-01 1.23787339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.174391418 meters Centerline goodness [0,1] 0.999224405377456 Centerline is valid? [True, True] Translation: X:34.33, Y:2.78, Z:0.12 [[ 9.99365517e-01 -3.25600818e-02 -1.44362331e-02 3.43257482e+01] [ 3.25601178e-02 9.99469752e-01 -2.32603661e-04 2.77914389e+00] [ 1.44361519e-02 -2.37589371e-04 9.99895765e-01 1.23782220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20439141799999 meters Centerline goodness [0,1] 0.9994613462035681 Centerline is valid? [True, True] Translation: X:34.36, Y:2.78, Z:0.12 [[ 9.99370433e-01 -3.19217797e-02 -1.54834646e-02 3.43570510e+01] [ 3.19217624e-02 9.99490340e-01 -2.48327457e-04 2.77832229e+00] [ 1.54835004e-02 -2.46088361e-04 9.99880093e-01 1.21643437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.234391417999994 meters Centerline goodness [0,1] 0.9990534784666352 Centerline is valid? [True, True] Translation: X:34.39, Y:2.78, Z:0.12 [[ 9.99394846e-01 -3.05522524e-02 -1.66283599e-02 3.43879988e+01] [ 3.05520573e-02 9.99533142e-01 -2.65822111e-04 2.78148581e+00] [ 1.66287183e-02 -2.42369357e-04 9.99861704e-01 1.20747946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.264391417999995 meters Centerline goodness [0,1] 0.9991797262876139 Centerline is valid? [True, True] Translation: X:34.42, Y:2.78, Z:0.12 [[ 9.99429350e-01 -3.01470796e-02 -1.52357319e-02 3.44180590e+01] [ 3.01468755e-02 9.99545450e-01 -2.43118253e-04 2.78072471e+00] [ 1.52361358e-02 -2.16330194e-04 9.99883900e-01 1.22653826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.294391418 meters Centerline goodness [0,1] 0.9988350771222091 Centerline is valid? [True, True] Translation: X:34.45, Y:2.78, Z:0.12 [[ 9.99459738e-01 -2.89614412e-02 -1.55392360e-02 3.44489578e+01] [ 2.89610926e-02 9.99580509e-01 -2.47510208e-04 2.78389031e+00] [ 1.55398857e-02 -2.02656767e-04 9.99879228e-01 1.23090608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.324391418 meters Centerline goodness [0,1] 0.9992240375910678 Centerline is valid? [True, True] Translation: X:34.48, Y:2.79, Z:0.12 [[ 9.99493445e-01 -2.74466630e-02 -1.61100815e-02 3.44807490e+01] [ 2.74461022e-02 9.99623252e-01 -2.55948054e-04 2.78548252e+00] [ 1.61110370e-02 -1.86340541e-04 9.99870191e-01 1.23292333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.354391418 meters Centerline goodness [0,1] 0.9990926962044457 Centerline is valid? [True, True] Translation: X:34.51, Y:2.79, Z:0.12 [[ 9.99589489e-01 -2.33057140e-02 -1.66642554e-02 3.45112422e+01] [ 2.33045443e-02 9.99728377e-01 -2.64402131e-04 2.79029576e+00] [ 1.66658911e-02 -1.24059288e-04 9.99861107e-01 1.23181834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38439141799999 meters Centerline goodness [0,1] 0.9991778628761818 Centerline is valid? [True, True] Translation: X:34.54, Y:2.79, Z:0.12 [[ 9.99639413e-01 -2.07747783e-02 -1.70133261e-02 3.45404140e+01] [ 2.07731936e-02 9.99784178e-01 -2.69881480e-04 2.79323202e+00] [ 1.70152609e-02 -8.36369517e-05 9.99855226e-01 1.22951124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.414391417999994 meters Centerline goodness [0,1] 0.9991346299461307 Centerline is valid? [True, True] Translation: X:34.57, Y:2.80, Z:0.12 [[ 9.99692852e-01 -1.80113757e-02 -1.70233053e-02 3.45686368e+01] [ 1.80093809e-02 9.99837781e-01 -2.70483347e-04 2.79694818e+00] [ 1.70254156e-02 -3.61789210e-05 9.99855056e-01 1.23017160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.444391417999995 meters Centerline goodness [0,1] 0.999438832772166 Centerline is valid? [True, True] Translation: X:34.60, Y:2.80, Z:0.12 [[ 9.99734058e-01 -1.53226806e-02 -1.72345454e-02 3.45974447e+01] [ 1.53201847e-02 9.99882601e-01 -2.76849737e-04 2.80068988e+00] [ 1.72367642e-02 1.27396919e-05 9.99851436e-01 1.24164165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.474391417999996 meters Centerline goodness [0,1] 0.9995445377057713 Centerline is valid? [True, True] Translation: X:34.63, Y:2.81, Z:0.12 [[ 9.99811402e-01 -9.57954034e-03 -1.68935975e-02 3.46252153e+01] [ 9.57626785e-03 9.99954109e-01 -2.74597563e-04 2.80653549e+00] [ 1.68954527e-02 1.12768160e-04 9.99857255e-01 1.23917927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.504391418 meters Centerline goodness [0,1] 0.9995027134548442 Centerline is valid? [True, True] Translation: X:34.65, Y:2.81, Z:0.13 [[ 9.99834224e-01 -7.46387609e-03 -1.66076599e-02 3.46541959e+01] [ 7.46036962e-03 9.99972134e-01 -2.73080772e-04 2.80887277e+00] [ 1.66092353e-02 1.49136221e-04 9.99862046e-01 1.25113310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.534391418 meters Centerline goodness [0,1] 0.9996745356708905 Centerline is valid? [True, True] Translation: X:34.68, Y:2.81, Z:0.13 [[ 9.99852646e-01 -5.70631220e-03 -1.61902787e-02 3.46818135e+01] [ 5.70269935e-03 9.99983703e-01 -2.69308118e-04 2.81126530e+00] [ 1.61915516e-02 1.76940142e-04 9.99868893e-01 1.25872585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56439141799999 meters Centerline goodness [0,1] 0.9996741821973153 Centerline is valid? [True, True] Translation: X:34.71, Y:2.81, Z:0.13 [[ 9.99869091e-01 -2.93043946e-03 -1.59126541e-02 3.47108427e+01] [ 2.92655215e-03 9.99995682e-01 -2.67571202e-04 2.81463237e+00] [ 1.59133695e-02 2.20966963e-04 9.99873350e-01 1.27001161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.594391417999994 meters Centerline goodness [0,1] 0.999610077334662 Centerline is valid? [True, True] Translation: X:34.74, Y:2.82, Z:0.13 [[ 9.99867846e-01 -2.09682127e-03 -1.61212191e-02 3.47388582e+01] [ 2.09266665e-03 9.99997773e-01 -2.74576359e-04 2.81650342e+00] [ 1.61217589e-02 2.40803735e-04 9.99870007e-01 1.27469993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.624391417999995 meters Centerline goodness [0,1] 0.9995232936078007 Centerline is valid? [True, True] Translation: X:34.77, Y:2.82, Z:0.13 [[ 9.99863841e-01 -1.36687716e-03 -1.64448050e-02 3.47674433e+01] [ 1.36239775e-03 9.99999032e-01 -2.83590474e-04 2.81701851e+00] [ 1.64451767e-02 2.61147495e-04 9.99864735e-01 1.27633351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.654391417999996 meters Centerline goodness [0,1] 0.9996747332812906 Centerline is valid? [True, True] Translation: X:34.80, Y:2.82, Z:0.13 [[ 9.99868032e-01 -1.37145900e-03 -1.61875932e-02 3.47950254e+01] [ 1.36704182e-03 9.99999025e-01 -2.83937068e-04 2.81741821e+00] [ 1.61879668e-02 2.61770481e-04 9.99868932e-01 1.29246022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.684391418 meters Centerline goodness [0,1] 0.9996312524402412 Centerline is valid? [True, True] Translation: X:34.82, Y:2.82, Z:0.13 [[ 9.99874972e-01 -1.79189018e-03 -1.57108008e-02 3.48237178e+01] [ 1.78773120e-03 9.99998363e-01 -2.78761145e-04 2.81512171e+00] [ 1.57112746e-02 2.50639603e-04 9.99876539e-01 1.29265931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.714391418 meters Centerline goodness [0,1] 0.9997831131932244 Centerline is valid? [True, True] Translation: X:34.85, Y:2.81, Z:0.13 [[ 9.99869905e-01 -2.42423475e-03 -1.59466957e-02 3.48514489e+01] [ 2.41998147e-03 9.99997031e-01 -2.86009562e-04 2.81341581e+00] [ 1.59473417e-02 2.47381645e-04 9.99872802e-01 1.28586915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.744391418 meters Centerline goodness [0,1] 0.9996965164423056 Centerline is valid? [True, True] Translation: X:34.88, Y:2.81, Z:0.13 [[ 9.99873209e-01 -3.93669490e-03 -1.54294815e-02 3.48801172e+01] [ 3.93284413e-03 9.99992227e-01 -2.79907560e-04 2.81142193e+00] [ 1.54304634e-02 2.19190325e-04 9.99880919e-01 1.31115080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.77439141799999 meters Centerline goodness [0,1] 0.9992651667423113 Centerline is valid? [True, True] Translation: X:34.91, Y:2.81, Z:0.13 [[ 9.99856775e-01 -6.41010738e-03 -1.56633607e-02 3.49082706e+01] [ 6.40642023e-03 9.99979438e-01 -2.85565031e-04 2.80981841e+00] [ 1.56648692e-02 1.85178059e-04 9.99877281e-01 1.30251872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804391417999994 meters Centerline goodness [0,1] 0.999330583687836 Centerline is valid? [True, True] Translation: X:34.94, Y:2.81, Z:0.13 [[ 9.99846504e-01 -7.76452673e-03 -1.57060898e-02 3.49361492e+01] [ 7.76093681e-03 9.99969842e-01 -2.89507480e-04 2.80779339e+00] [ 1.57078640e-02 1.67569071e-04 9.99876610e-01 1.31664998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.834391417999996 meters Centerline goodness [0,1] 0.9994606954870998 Centerline is valid? [True, True] Translation: X:34.96, Y:2.81, Z:0.13 [[ 9.99832182e-01 -8.93856047e-03 -1.59909170e-02 3.49643245e+01] [ 8.93490624e-03 9.99960038e-01 -2.99949467e-04 2.80611857e+00] [ 1.59929591e-02 1.57021786e-04 9.99872092e-01 1.32021255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.864391418 meters Centerline goodness [0,1] 0.9992231501262381 Centerline is valid? [True, True] Translation: X:34.99, Y:2.81, Z:0.13 [[ 9.99815569e-01 -9.31161718e-03 -1.67964542e-02 3.49919293e+01] [ 9.30757570e-03 9.99956633e-01 -3.18772973e-04 2.80514060e+00] [ 1.67986940e-02 1.62379913e-04 9.99858879e-01 1.29528166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.894391418 meters Centerline goodness [0,1] 0.9991833050355692 Centerline is valid? [True, True] Translation: X:35.02, Y:2.80, Z:0.13 [[ 9.99809835e-01 -1.06251323e-02 -1.63524040e-02 3.50205506e+01] [ 1.06214287e-02 9.99943542e-01 -3.13321678e-04 2.80151016e+00] [ 1.63548098e-02 1.39576202e-04 9.99866241e-01 1.31534628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.924391418 meters Centerline goodness [0,1] 0.999397369950283 Centerline is valid? [True, True] Translation: X:35.05, Y:2.80, Z:0.13 [[ 9.99817291e-01 -1.06167495e-02 -1.58955640e-02 3.50474703e+01] [ 1.06131878e-02 9.99943631e-01 -3.08408397e-04 2.80031034e+00] [ 1.58979423e-02 1.39649442e-04 9.99873610e-01 1.31775897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.95439141799999 meters Centerline goodness [0,1] 0.9993122864327008 Centerline is valid? [True, True] Translation: X:35.08, Y:2.80, Z:0.13 [[ 9.99818343e-01 -1.06087752e-02 -1.58346292e-02 3.50750091e+01] [ 1.06051737e-02 9.99943715e-01 -3.11399724e-04 2.79901208e+00] [ 1.58370415e-02 1.43414163e-04 9.99874576e-01 1.32839233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.984391417999994 meters Centerline goodness [0,1] 0.9993130836106042 Centerline is valid? [True, True] Translation: X:35.10, Y:2.80, Z:0.13 [[ 9.99831805e-01 -1.02030068e-02 -1.52400910e-02 3.51030143e+01] [ 1.01995502e-02 9.99947937e-01 -3.04522740e-04 2.79705801e+00] [ 1.52424046e-02 1.49029448e-04 9.99883817e-01 1.34628002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.014391417999995 meters Centerline goodness [0,1] 0.9993989481592788 Centerline is valid? [True, True] Translation: X:35.13, Y:2.80, Z:0.13 [[ 9.99830686e-01 -9.19655670e-03 -1.59381141e-02 3.51306577e+01] [ 9.19259046e-03 9.99957695e-01 -3.22097437e-04 2.79691914e+00] [ 1.59404021e-02 1.75530345e-04 9.99872928e-01 1.33421679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.044391418 meters Centerline goodness [0,1] 0.9991644707243396 Centerline is valid? [True, True] Translation: X:35.16, Y:2.80, Z:0.13 [[ 9.99835306e-01 -9.40745263e-03 -1.55196672e-02 3.51580581e+01] [ 9.40368068e-03 9.99955734e-01 -3.16002413e-04 2.79598121e+00] [ 1.55219530e-02 1.70008375e-04 9.99879513e-01 1.34562177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.074391418 meters Centerline goodness [0,1] 0.9992719018352356 Centerline is valid? [True, True] Translation: X:35.19, Y:2.79, Z:0.13 [[ 9.99826614e-01 -8.85534685e-03 -1.63806110e-02 3.51866660e+01] [ 8.85100210e-03 9.99960772e-01 -3.37717340e-04 2.79164030e+00] [ 1.63829590e-02 1.92673963e-04 9.99865772e-01 1.34391851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.104391418 meters Centerline goodness [0,1] 0.9994226327944573 Centerline is valid? [True, True] Translation: X:35.21, Y:2.79, Z:0.13 [[ 9.99823431e-01 -8.67724321e-03 -1.66677064e-02 3.52145381e+01] [ 8.67263531e-03 9.99962331e-01 -3.48719991e-04 2.79006769e+00] [ 1.66701045e-02 2.04105479e-04 9.99861023e-01 1.34382535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13439141799999 meters Centerline goodness [0,1] 0.9990805089276168 Centerline is valid? [True, True] Translation: X:35.24, Y:2.79, Z:0.13 [[ 9.99826753e-01 -8.65869105e-03 -1.64769554e-02 3.52411000e+01] [ 8.65412262e-03 9.99962492e-01 -3.48544714e-04 2.78843393e+00] [ 1.64793553e-02 2.05890738e-04 9.99864185e-01 1.34101075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.164391417999994 meters Centerline goodness [0,1] 0.9992328183271177 Centerline is valid? [True, True] Translation: X:35.27, Y:2.79, Z:0.13 [[ 9.99828996e-01 -8.70186768e-03 -1.63173493e-02 3.52691348e+01] [ 8.69733305e-03 9.99962117e-01 -3.48846543e-04 2.78686066e+00] [ 1.63197667e-02 2.06869468e-04 9.99866802e-01 1.34909806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.194391417999995 meters Centerline goodness [0,1] 0.9992328183271177 Centerline is valid? [True, True] Translation: X:35.30, Y:2.79, Z:0.14 [[ 9.99826174e-01 -9.02047682e-03 -1.63172367e-02 3.52965138e+01] [ 9.01589966e-03 9.99959293e-01 -3.54053053e-04 2.78758723e+00] [ 1.63197662e-02 2.06876941e-04 9.99866802e-01 1.35142606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.224391417999996 meters Centerline goodness [0,1] 0.9994458653026428 Centerline is valid? [True, True] Translation: X:35.32, Y:2.79, Z:0.14 [[ 9.99830267e-01 -9.05388128e-03 -1.60457008e-02 3.53234563e+01] [ 9.04940013e-03 9.99958991e-01 -3.51860675e-04 2.78591249e+00] [ 1.60482285e-02 2.06596986e-04 9.99871198e-01 1.35698547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.254391418 meters Centerline goodness [0,1] 0.999126842150098 Centerline is valid? [True, True] Translation: X:35.35, Y:2.78, Z:0.14 [[ 9.99811578e-01 -1.04842050e-02 -1.63367450e-02 3.53513303e+01] [ 1.04796904e-02 9.99945021e-01 -3.61932217e-04 2.77994492e+00] [ 1.63396414e-02 1.90659990e-04 9.99866481e-01 1.35496203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.284391418 meters Centerline goodness [0,1] 0.9991069909848613 Centerline is valid? [True, True] Translation: X:35.38, Y:2.78, Z:0.14 [[ 9.99791671e-01 -1.16633017e-02 -1.67505525e-02 3.53790123e+01] [ 1.16586300e-02 9.99931965e-01 -3.76525467e-04 2.77652287e+00] [ 1.67538044e-02 1.81158532e-04 9.99859629e-01 1.35444421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31439141799999 meters Centerline goodness [0,1] 0.9992588514314755 Centerline is valid? [True, True] Translation: X:35.41, Y:2.77, Z:0.13 [[ 9.99740414e-01 -1.33831277e-02 -1.84390143e-02 3.54071897e+01] [ 1.33776441e-02 9.99910427e-01 -4.20710436e-04 2.76957225e+00] [ 1.84429931e-02 1.73930654e-04 9.99829898e-01 1.32772379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.344391417999994 meters Centerline goodness [0,1] 0.9993635707921422 Centerline is valid? [True, True] Translation: X:35.44, Y:2.77, Z:0.13 [[ 9.99720581e-01 -1.53898059e-02 -1.79419688e-02 3.54363854e+01] [ 1.53848408e-02 9.99881560e-01 -4.14737010e-04 2.76651467e+00] [ 1.79462265e-02 1.38586791e-04 9.99838944e-01 1.34561137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.374391417999995 meters Centerline goodness [0,1] 0.9993439986456746 Centerline is valid? [True, True] Translation: X:35.46, Y:2.76, Z:0.13 [[ 9.99717470e-01 -1.57155839e-02 -1.78325522e-02 3.54638418e+01] [ 1.57106648e-02 9.99876493e-01 -4.15920326e-04 2.76440650e+00] [ 1.78368862e-02 1.35641567e-04 9.99840901e-01 1.34752207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.404391417999996 meters Centerline goodness [0,1] 0.9995763699137913 Centerline is valid? [True, True] Translation: X:35.49, Y:2.76, Z:0.13 [[ 9.99718849e-01 -1.55896436e-02 -1.78657623e-02 3.54912036e+01] [ 1.55846417e-02 9.99878464e-01 -4.19176258e-04 2.76351088e+00] [ 1.78701257e-02 1.40626903e-04 9.99840307e-01 1.34453979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.434391418 meters Centerline goodness [0,1] 0.9994919559695173 Centerline is valid? [True, True] Translation: X:35.52, Y:2.76, Z:0.13 [[ 9.99749983e-01 -1.38124803e-02 -1.75837315e-02 3.55186986e+01] [ 1.38073253e-02 9.99904588e-01 -4.14543082e-04 2.76068367e+00] [ 1.75877796e-02 1.71655138e-04 9.99845308e-01 1.34353938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.464391418 meters Centerline goodness [0,1] 0.9993236102303953 Centerline is valid? [True, True] Translation: X:35.55, Y:2.76, Z:0.13 [[ 9.99761638e-01 -1.23335779e-02 -1.80152976e-02 3.55473140e+01] [ 1.23278636e-02 9.99923917e-01 -4.28216647e-04 2.75786773e+00] [ 1.80192084e-02 2.06024445e-04 9.99837620e-01 1.34591657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.494391418 meters Centerline goodness [0,1] 0.9997465199298705 Centerline is valid? [True, True] Translation: X:35.58, Y:2.76, Z:0.14 [[ 9.99790925e-01 -1.18930156e-02 -1.66331474e-02 3.55753956e+01] [ 1.18880333e-02 9.99929255e-01 -3.98389917e-04 2.75840198e+00] [ 1.66367087e-02 2.00571214e-04 9.99861580e-01 1.35446047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52439141799999 meters Centerline goodness [0,1] 0.999240442231412 Centerline is valid? [True, True] Translation: X:35.60, Y:2.75, Z:0.13 [[ 9.99797020e-01 -1.02966878e-02 -1.73175093e-02 3.56046284e+01] [ 1.02909890e-02 9.99946959e-01 -4.18164399e-04 2.75459459e+00] [ 1.73208964e-02 2.39865224e-04 9.99849953e-01 1.34645296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.554391417999994 meters Centerline goodness [0,1] 0.9992625679490961 Centerline is valid? [True, True] Translation: X:35.63, Y:2.75, Z:0.14 [[ 9.99830888e-01 -9.42831452e-03 -1.57892792e-02 3.56319578e+01] [ 9.42341832e-03 9.99955525e-01 -3.84468720e-04 2.75054057e+00] [ 1.57922019e-02 2.35614719e-04 9.99875268e-01 1.35366432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.584391417999996 meters Centerline goodness [0,1] 0.9993683013623634 Centerline is valid? [True, True] Translation: X:35.66, Y:2.75, Z:0.14 [[ 9.99833581e-01 -9.66850660e-03 -1.54702778e-02 3.56584860e+01] [ 9.66379333e-03 9.99953232e-01 -3.79394077e-04 2.74914910e+00] [ 1.54732224e-02 2.29829372e-04 9.99880256e-01 1.36013408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.614391418 meters Centerline goodness [0,1] 0.9996217931208371 Centerline is valid? [True, True] Translation: X:35.69, Y:2.75, Z:0.14 [[ 9.99830513e-01 -1.03838485e-02 -1.52026617e-02 3.56862038e+01] [ 1.03793195e-02 9.99946062e-01 -3.76776589e-04 2.74682082e+00] [ 1.52057541e-02 2.18919447e-04 9.99884362e-01 1.37274971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.644391418 meters Centerline goodness [0,1] 0.9997276003687872 Centerline is valid? [True, True] Translation: X:35.71, Y:2.74, Z:0.14 [[ 9.99815286e-01 -1.14289430e-02 -1.54522807e-02 3.57129995e+01] [ 1.14243106e-02 9.99934665e-01 -3.88028537e-04 2.74229377e+00] [ 1.54557059e-02 2.11425208e-04 9.99880531e-01 1.35551813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.674391418 meters Centerline goodness [0,1] 0.9995177691581927 Centerline is valid? [True, True] Translation: X:35.74, Y:2.74, Z:0.13 [[ 9.99810702e-01 -1.18352596e-02 -1.54430054e-02 3.57406669e+01] [ 1.18306010e-02 9.99929939e-01 -3.92987947e-04 2.73908956e+00] [ 1.54465745e-02 2.10213521e-04 9.99880672e-01 1.34171995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70439141799999 meters Centerline goodness [0,1] 0.9992892382306213 Centerline is valid? [True, True] Translation: X:35.77, Y:2.74, Z:0.13 [[ 9.99798817e-01 -1.24166980e-02 -1.57528372e-02 3.57681635e+01] [ 1.24118388e-02 9.99922888e-01 -4.06196237e-04 2.73642470e+00] [ 1.57566660e-02 2.10592841e-04 9.99875834e-01 1.33557720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.734391417999994 meters Centerline goodness [0,1] 0.9995604211583949 Centerline is valid? [True, True] Translation: X:35.80, Y:2.73, Z:0.14 [[ 9.99789994e-01 -1.39902565e-02 -1.49746941e-02 3.57966158e+01] [ 1.39859717e-02 9.99902115e-01 -3.90824705e-04 2.73227357e+00] [ 1.49786960e-02 1.81306981e-04 9.99887797e-01 1.37001683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.764391417999995 meters Centerline goodness [0,1] 0.9995183246073298 Centerline is valid? [True, True] Translation: X:35.83, Y:2.73, Z:0.14 [[ 9.99777472e-01 -1.53451112e-02 -1.44752853e-02 3.58257025e+01] [ 1.53411858e-02 9.99882244e-01 -3.82184833e-04 2.72598718e+00] [ 1.44794454e-02 1.60031745e-04 9.99895155e-01 1.37689585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.794391418 meters Centerline goodness [0,1] 0.9997072170985214 Centerline is valid? [True, True] Translation: X:35.85, Y:2.72, Z:0.14 [[ 9.99773231e-01 -1.60346915e-02 -1.40133854e-02 3.58537382e+01] [ 1.60310364e-02 9.99871425e-01 -3.73124497e-04 2.72443471e+00] [ 1.40175666e-02 1.48390791e-04 9.99901738e-01 1.37706206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.824391418 meters Centerline goodness [0,1] 0.9994352645889981 Centerline is valid? [True, True] Translation: X:35.88, Y:2.72, Z:0.14 [[ 9.99767208e-01 -1.64827950e-02 -1.39229349e-02 3.58804036e+01] [ 1.64792069e-02 9.99864139e-01 -3.72402594e-04 2.72220549e+00] [ 1.39271816e-02 1.42876975e-04 9.99903002e-01 1.37645859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.854391418 meters Centerline goodness [0,1] 0.9994778940333731 Centerline is valid? [True, True] Translation: X:35.91, Y:2.72, Z:0.14 [[ 9.99756776e-01 -1.70876771e-02 -1.39427428e-02 3.59086355e+01] [ 1.70840965e-02 9.99853986e-01 -3.75881949e-04 2.72046599e+00] [ 1.39471300e-02 1.37591360e-04 9.99902725e-01 1.37286158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88439141799999 meters Centerline goodness [0,1] 0.9997697347763287 Centerline is valid? [True, True] Translation: X:35.94, Y:2.72, Z:0.14 [[ 9.99760240e-01 -1.69567094e-02 -1.38539861e-02 3.59357769e+01] [ 1.69531139e-02 9.99856215e-01 -3.76933045e-04 2.71672751e+00] [ 1.38583857e-02 1.41974467e-04 9.99903958e-01 1.37539185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.914391417999994 meters Centerline goodness [0,1] 0.9995815812046277 Centerline is valid? [True, True] Translation: X:35.96, Y:2.71, Z:0.14 [[ 9.99755881e-01 -1.63310252e-02 -1.48820421e-02 3.59649251e+01] [ 1.63267590e-02 9.99866626e-01 -4.08123615e-04 2.71381357e+00] [ 1.48867223e-02 1.65048470e-04 9.99889173e-01 1.36492787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.944391417999995 meters Centerline goodness [0,1] 0.9994357602608042 Centerline is valid? [True, True] Translation: X:35.99, Y:2.71, Z:0.14 [[ 9.99762292e-01 -1.61567785e-02 -1.46395743e-02 3.59930559e+01] [ 1.61525620e-02 9.99869456e-01 -4.06219419e-04 2.71193734e+00] [ 1.46442264e-02 1.69656225e-04 9.99892753e-01 1.36861969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.974391417999996 meters Centerline goodness [0,1] 0.9996026933210657 Centerline is valid? [True, True] Translation: X:36.02, Y:2.71, Z:0.14 [[ 9.99776629e-01 -1.59079745e-02 -1.39150334e-02 3.60202213e+01] [ 1.59040893e-02 9.99873446e-01 -3.89834513e-04 2.70872787e+00] [ 1.39194738e-02 1.68441503e-04 9.99903105e-01 1.39389708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.004391418 meters Centerline goodness [0,1] 0.9995181429648873 Centerline is valid? [True, True] Translation: X:36.05, Y:2.71, Z:0.14 [[ 9.99789592e-01 -1.53030320e-02 -1.36597681e-02 3.60491421e+01] [ 1.52991923e-02 9.99882886e-01 -3.85555431e-04 2.70840745e+00] [ 1.36640685e-02 1.76490889e-04 9.99906627e-01 1.37972762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.034391418 meters Centerline goodness [0,1] 0.9996230997947988 Centerline is valid? [True, True] Translation: X:36.08, Y:2.71, Z:0.14 [[ 9.99791666e-01 -1.58494642e-02 -1.28615049e-02 3.60765392e+01] [ 1.58460679e-02 9.99874376e-01 -3.65936128e-04 2.70799755e+00] [ 1.28656891e-02 1.62055611e-04 9.99917220e-01 1.41019034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06439141799999 meters Centerline goodness [0,1] 0.9996653349787696 Centerline is valid? [True, True] Translation: X:36.10, Y:2.71, Z:0.14 [[ 9.99792261e-01 -1.59424741e-02 -1.26993023e-02 3.61043825e+01] [ 1.59391402e-02 9.99872898e-01 -3.63695876e-04 2.70672369e+00] [ 1.27034864e-02 1.61204363e-04 9.99919294e-01 1.41969207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.094391417999994 meters Centerline goodness [0,1] 0.9996640913671482 Centerline is valid? [True, True] Translation: X:36.13, Y:2.70, Z:0.14 [[ 9.99797638e-01 -1.66376509e-02 -1.13080060e-02 3.61328330e+01] [ 1.66350113e-02 9.99861575e-01 -3.27454803e-04 2.70262040e+00] [ 1.13118888e-02 1.39279731e-04 9.99936009e-01 1.42702900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.124391417999995 meters Centerline goodness [0,1] 0.9994764726823445 Centerline is valid? [True, True] Translation: X:36.16, Y:2.70, Z:0.14 [[ 9.99786569e-01 -1.64456016e-02 -1.25043359e-02 3.61610126e+01] [ 1.64423129e-02 9.99864749e-01 -3.65774288e-04 2.70158834e+00] [ 1.25086601e-02 1.60096016e-04 9.99921751e-01 1.39238941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.154391417999996 meters Centerline goodness [0,1] 0.9998109918726505 Centerline is valid? [True, True] Translation: X:36.19, Y:2.70, Z:0.14 [[ 9.99788031e-01 -1.73783692e-02 -1.10401988e-02 3.61892274e+01] [ 1.73758438e-02 9.99848976e-01 -3.24630384e-04 2.69929358e+00] [ 1.10441730e-02 1.32728803e-04 9.99939002e-01 1.42736116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.184391418 meters Centerline goodness [0,1] 0.9997906855049712 Centerline is valid? [True, True] Translation: X:36.22, Y:2.70, Z:0.14 [[ 9.99770185e-01 -1.79916427e-02 -1.16566661e-02 3.62168813e+01] [ 1.79888295e-02 9.99838128e-01 -3.46157426e-04 2.69504482e+00] [ 1.16610071e-02 1.36388096e-04 9.99931999e-01 1.41781056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.214391418 meters Centerline goodness [0,1] 0.9996018107133875 Centerline is valid? [True, True] Translation: X:36.24, Y:2.69, Z:0.14 [[ 9.99762184e-01 -1.81357966e-02 -1.21106880e-02 3.62445599e+01] [ 1.81327443e-02 9.99835523e-01 -3.61797744e-04 2.69369704e+00] [ 1.21152576e-02 1.42111694e-04 9.99926597e-01 1.40307337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24439141799999 meters Centerline goodness [0,1] 0.9998952265202632 Centerline is valid? [True, True] Translation: X:36.27, Y:2.69, Z:0.14 [[ 9.99763151e-01 -1.86812871e-02 -1.11647670e-02 3.62724931e+01] [ 1.86786875e-02 9.99825481e-01 -3.37073729e-04 2.69282670e+00] [ 1.11691156e-02 1.28450699e-04 9.99937615e-01 1.43151697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.27439141799999 meters Centerline goodness [0,1] 0.999916177703269 Centerline is valid? [True, True] Translation: X:36.30, Y:2.69, Z:0.14 [[ 9.99771218e-01 -1.84775985e-02 -1.07745124e-02 3.63000106e+01] [ 1.84751335e-02 9.99829266e-01 -3.28275772e-04 2.69257925e+00] [ 1.07787385e-02 1.29140114e-04 9.99941899e-01 1.43836809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.304391417999994 meters Centerline goodness [0,1] 0.9998322534650144 Centerline is valid? [True, True] Translation: X:36.33, Y:2.69, Z:0.14 [[ 9.99783260e-01 -1.73351447e-02 -1.15293862e-02 3.63280013e+01] [ 1.73322317e-02 9.99849723e-01 -3.52530157e-04 2.69246248e+00] [ 1.15337648e-02 1.52623756e-04 9.99933472e-01 1.40811896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.334391417999996 meters Centerline goodness [0,1] 0.9998114551472744 Centerline is valid? [True, True] Translation: X:36.36, Y:2.69, Z:0.14 [[ 9.99782439e-01 -1.70909110e-02 -1.19572560e-02 3.63563820e+01] [ 1.70877452e-02 9.99853927e-01 -3.66884416e-04 2.69088661e+00] [ 1.19617797e-02 1.62482053e-04 9.99928442e-01 1.40653825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.364391418 meters Centerline goodness [0,1] 0.9998322780829385 Centerline is valid? [True, True] Translation: X:36.38, Y:2.69, Z:0.14 [[ 9.99779931e-01 -1.73196722e-02 -1.18371555e-02 3.63843084e+01] [ 1.73165611e-02 9.99849990e-01 -3.65275860e-04 2.68980929e+00] [ 1.18417062e-02 1.60216649e-04 9.99929872e-01 1.40924113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.394391418 meters Centerline goodness [0,1] 0.9998954281172878 Centerline is valid? [True, True] Translation: X:36.41, Y:2.69, Z:0.14 [[ 9.99761605e-01 -1.88630075e-02 -1.09963470e-02 3.64120605e+01] [ 1.88603829e-02 9.99822069e-01 -3.42341995e-04 2.68748674e+00] [ 1.10008480e-02 1.34865069e-04 9.99939480e-01 1.44301766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.424391418 meters Centerline goodness [0,1] 0.9998328003845591 Centerline is valid? [True, True] Translation: X:36.44, Y:2.69, Z:0.14 [[ 9.99729139e-01 -2.00986266e-02 -1.17343116e-02 3.64405863e+01] [ 2.00957002e-02 9.99797994e-01 -3.67260249e-04 2.68663647e+00] [ 1.17393227e-02 1.31351564e-04 9.99931083e-01 1.42079068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.45439141799999 meters Centerline goodness [0,1] 0.9999373211039843 Centerline is valid? [True, True] Translation: X:36.47, Y:2.69, Z:0.14 [[ 9.99694190e-01 -2.21213295e-02 -1.10531679e-02 3.64681578e+01] [ 2.21188272e-02 9.99755288e-01 -3.48593249e-04 2.68595340e+00] [ 1.10581744e-02 1.04003535e-04 9.99938851e-01 1.43692200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.484391417999994 meters Centerline goodness [0,1] 0.9999163389943947 Centerline is valid? [True, True] Translation: X:36.50, Y:2.68, Z:0.14 [[ 9.99632928e-01 -2.46598099e-02 -1.12206847e-02 3.64974058e+01] [ 2.46573717e-02 9.99695898e-01 -3.55599563e-04 2.68200375e+00] [ 1.12260415e-02 7.87964384e-05 9.99936983e-01 1.43478940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.514391417999995 meters Centerline goodness [0,1] 0.9998740263284973 Centerline is valid? [True, True] Translation: X:36.53, Y:2.67, Z:0.14 [[ 9.99461863e-01 -3.06879618e-02 -1.15859286e-02 3.65264682e+01] [ 3.06857265e-02 9.99529013e-01 -3.70687323e-04 2.67491270e+00] [ 1.15918474e-02 1.49652062e-05 9.99932812e-01 1.42438613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.544391418 meters Centerline goodness [0,1] 0.9998952989215789 Centerline is valid? [True, True] Translation: X:36.55, Y:2.67, Z:0.14 [[ 9.99350552e-01 -3.39914026e-02 -1.19607593e-02 3.65549720e+01] [ 3.39892236e-02 9.99422125e-01 -3.85467218e-04 2.67194999e+00] [ 1.19669501e-02 -2.13200462e-05 9.99928393e-01 1.42856736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.574391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.58, Y:2.67, Z:0.15 [[ 9.99237151e-01 -3.74678462e-02 -1.10125273e-02 3.65841139e+01] [ 3.74661966e-02 9.99297832e-01 -3.56123924e-04 2.66935802e+00] [ 1.10181379e-02 -5.67452590e-05 9.99939297e-01 1.46359905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.604391418 meters Centerline goodness [0,1] 0.99989492266308 Centerline is valid? [True, True] Translation: X:36.61, Y:2.67, Z:0.14 [[ 9.99143921e-01 -3.96933414e-02 -1.16560935e-02 3.66138488e+01] [ 3.96916134e-02 9.99211905e-01 -3.79635144e-04 2.66735415e+00] [ 1.16619764e-02 -8.33390104e-05 9.99931993e-01 1.43794635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.63439141799999 meters Centerline goodness [0,1] 0.9998109561418249 Centerline is valid? [True, True] Translation: X:36.64, Y:2.66, Z:0.14 [[ 9.98991063e-01 -4.31567954e-02 -1.24236125e-02 3.66432607e+01] [ 4.31550934e-02 9.99068303e-01 -4.05176165e-04 2.66455446e+00] [ 1.24295236e-02 -1.31374791e-04 9.99922742e-01 1.43649653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.664391417999994 meters Centerline goodness [0,1] 0.9998742823618154 Centerline is valid? [True, True] Translation: X:36.67, Y:2.66, Z:0.15 [[ 9.98960952e-01 -4.41732155e-02 -1.12135216e-02 3.66733436e+01] [ 4.41718877e-02 9.99023879e-01 -3.66170124e-04 2.66416904e+00] [ 1.12187507e-02 -1.29532759e-04 9.99937059e-01 1.45670723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.694391417999995 meters Centerline goodness [0,1] 0.9998318161750793 Centerline is valid? [True, True] Translation: X:36.70, Y:2.67, Z:0.14 [[ 9.98974918e-01 -4.37262860e-02 -1.17100245e-02 3.67024260e+01] [ 4.37248003e-02 9.99043540e-01 -3.82985046e-04 2.66557344e+00] [ 1.17155708e-02 -1.29426027e-04 9.99931362e-01 1.44777789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.724391417999996 meters Centerline goodness [0,1] 0.9999370488500924 Centerline is valid? [True, True] Translation: X:36.73, Y:2.67, Z:0.15 [[ 9.99041369e-01 -4.27093525e-02 -9.60486898e-03 3.67318229e+01] [ 4.27083011e-02 9.99087535e-01 -3.14637513e-04 2.66767640e+00] [ 9.60954284e-03 -9.58717445e-05 9.99953823e-01 1.47863186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.754391418 meters Centerline goodness [0,1] 0.9998532433225712 Centerline is valid? [True, True] Translation: X:36.76, Y:2.67, Z:0.15 [[ 9.99099975e-01 -4.12259519e-02 -9.98302930e-03 3.67622023e+01] [ 4.12247383e-02 9.99149845e-01 -3.27403659e-04 2.67042238e+00] [ 9.98803971e-03 -8.44387822e-05 9.99950115e-01 1.47462967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.784391418 meters Centerline goodness [0,1] 0.9997901672367123 Centerline is valid? [True, True] Translation: X:36.79, Y:2.67, Z:0.15 [[ 9.99177588e-01 -3.95773437e-02 -8.81936162e-03 3.67915414e+01] [ 3.95763322e-02 9.99216508e-01 -2.89247638e-04 2.67240566e+00] [ 8.82389937e-03 -6.00282274e-05 9.99961067e-01 1.50226563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81439141799999 meters Centerline goodness [0,1] 0.9998532556286948 Centerline is valid? [True, True] Translation: X:36.82, Y:2.68, Z:0.15 [[ 9.99330463e-01 -3.52117286e-02 -9.93782495e-03 3.68220414e+01] [ 3.52102264e-02 9.99379875e-01 -3.26135662e-04 2.68046173e+00] [ 9.94314605e-03 -2.39957648e-05 9.99950565e-01 1.48355646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.844391417999994 meters Centerline goodness [0,1] 0.9997062957601696 Centerline is valid? [True, True] Translation: X:36.85, Y:2.68, Z:0.15 [[ 9.99394815e-01 -3.33405197e-02 -9.92040278e-03 3.68517283e+01] [ 3.33389299e-02 9.99444050e-01 -3.25626227e-04 2.68414493e+00] [ 9.92574408e-03 -5.30645035e-06 9.99950739e-01 1.48047866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.874391417999995 meters Centerline goodness [0,1] 0.9996225148896904 Centerline is valid? [True, True] Translation: X:36.88, Y:2.69, Z:0.15 [[ 9.99453938e-01 -3.13520876e-02 -1.04341792e-02 3.68824692e+01] [ 3.13502166e-02 9.99508402e-01 -3.42871574e-04 2.68731925e+00] [ 1.04397995e-02 1.55705679e-05 9.99945504e-01 1.47194195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.904391417999996 meters Centerline goodness [0,1] 0.9998322604994444 Centerline is valid? [True, True] Translation: X:36.91, Y:2.69, Z:0.15 [[ 9.99497937e-01 -3.03547687e-02 -9.08083949e-03 3.69115413e+01] [ 3.03533102e-02 9.99539188e-01 -2.98413574e-04 2.69027602e+00] [ 9.08571320e-03 2.26302129e-05 9.99958724e-01 1.50717583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.934391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.94, Y:2.70, Z:0.15 [[ 9.99567868e-01 -2.77922856e-02 -9.57422459e-03 3.69409488e+01] [ 2.77905448e-02 9.99613719e-01 -3.14843537e-04 2.69549332e+00] [ 9.57927647e-03 4.86345660e-05 9.99954116e-01 1.50206543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.964391418 meters Centerline goodness [0,1] 0.999937106918239 Centerline is valid? [True, True] Translation: X:36.97, Y:2.70, Z:0.15 [[ 9.99586065e-01 -2.71094455e-02 -9.63210116e-03 3.69701321e+01] [ 2.71076496e-02 9.99632470e-01 -3.16976342e-04 2.69810345e+00] [ 9.63715413e-03 5.57415104e-05 9.99953560e-01 1.50125661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99439141799999 meters Centerline goodness [0,1] 0.9997483749213671 Centerline is valid? [True, True] Translation: X:37.00, Y:2.70, Z:0.15 [[ 9.99600402e-01 -2.59513097e-02 -1.12056593e-02 3.69998664e+01] [ 2.59488010e-02 9.99663205e-01 -3.69237318e-04 2.70084800e+00] [ 1.12114675e-02 7.83163469e-05 9.99937146e-01 1.46078789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02439141799999 meters Centerline goodness [0,1] 0.9998112653609026 Centerline is valid? [True, True] Translation: X:37.03, Y:2.70, Z:0.15 [[ 9.99596852e-01 -2.59809925e-02 -1.14508137e-02 3.70283313e+01] [ 2.59783622e-02 9.99662434e-01 -3.78414290e-04 2.70282361e+00] [ 1.14567799e-02 8.07883467e-05 9.99934366e-01 1.45817681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.054391417999994 meters Centerline goodness [0,1] 0.9998320386311148 Centerline is valid? [True, True] Translation: X:37.06, Y:2.70, Z:0.15 [[ 9.99573331e-01 -2.69551366e-02 -1.12506658e-02 3.70567586e+01] [ 2.69526206e-02 9.99636642e-01 -3.75221384e-04 2.70338434e+00] [ 1.12566919e-02 7.18263607e-05 9.99936639e-01 1.46478834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.084391417999996 meters Centerline goodness [0,1] 0.9998115617344695 Centerline is valid? [True, True] Translation: X:37.09, Y:2.70, Z:0.15 [[ 9.99538930e-01 -2.87901653e-02 -9.64639526e-03 3.70860633e+01] [ 2.87883788e-02 9.99585476e-01 -3.24032242e-04 2.70387561e+00] [ 9.65172554e-03 4.61787606e-05 9.99953420e-01 1.49613745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.114391418 meters Centerline goodness [0,1] 0.9998115617344695 Centerline is valid? [True, True] Translation: X:37.12, Y:2.70, Z:0.15 [[ 9.99538930e-01 -2.87901684e-02 -9.64638276e-03 3.71160456e+01] [ 2.87883783e-02 9.99585476e-01 -3.24403949e-04 2.70488408e+00] [ 9.65172375e-03 4.65506604e-05 9.99953420e-01 1.49867892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.144391418 meters Centerline goodness [0,1] 0.9998116603189219 Centerline is valid? [True, True] Translation: X:37.15, Y:2.71, Z:0.15 [[ 9.99499976e-01 -3.00019978e-02 -9.98390449e-03 3.71453383e+01] [ 3.00001404e-02 9.99549838e-01 -3.35787662e-04 2.70504778e+00] [ 9.98948442e-03 3.61012241e-05 9.99950103e-01 1.49492587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.174391418 meters Centerline goodness [0,1] 0.9997905495978552 Centerline is valid? [True, True] Translation: X:37.18, Y:2.70, Z:0.15 [[ 9.99370081e-01 -3.39121135e-02 -1.04599575e-02 3.71754995e+01] [ 3.39102859e-02 9.99424819e-01 -3.52077572e-04 2.70372453e+00] [ 1.04658808e-02 -2.84435729e-06 9.99945231e-01 1.48683778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20439141799999 meters Centerline goodness [0,1] 0.9998116130112613 Centerline is valid? [True, True] Translation: X:37.20, Y:2.70, Z:0.15 [[ 9.99294934e-01 -3.59032665e-02 -1.09813388e-02 3.72047463e+01] [ 3.59013676e-02 9.99355270e-01 -3.70064974e-04 2.70329060e+00] [ 1.09875453e-02 -2.44410264e-05 9.99939635e-01 1.47803054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.234391417999994 meters Centerline goodness [0,1] 0.9995395659362508 Centerline is valid? [True, True] Translation: X:37.23, Y:2.70, Z:0.15 [[ 9.99223603e-01 -3.75301926e-02 -1.19864911e-02 3.72340080e+01] [ 3.75280440e-02 9.99295493e-01 -4.04209514e-04 2.70289945e+00] [ 1.19932165e-02 -4.59338758e-05 9.99928078e-01 1.46728535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.264391417999995 meters Centerline goodness [0,1] 0.9997283744254074 Centerline is valid? [True, True] Translation: X:37.26, Y:2.70, Z:0.15 [[ 9.99072057e-01 -4.15759824e-02 -1.12455858e-02 3.72633004e+01] [ 4.15743442e-02 9.99135341e-01 -3.79511274e-04 2.70102391e+00] [ 1.12516407e-02 -8.83687452e-05 9.99936694e-01 1.47975813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.294391418 meters Centerline goodness [0,1] 0.9999373080057676 Centerline is valid? [True, True] Translation: X:37.29, Y:2.70, Z:0.15 [[ 9.98977792e-01 -4.41850624e-02 -9.54206159e-03 3.72924516e+01] [ 4.41839988e-02 9.99023358e-01 -3.22351844e-04 2.70044188e+00] [ 9.54698555e-03 -9.95841046e-05 9.99954422e-01 1.51905139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.324391418 meters Centerline goodness [0,1] 0.9996661032158434 Centerline is valid? [True, True] Translation: X:37.32, Y:2.70, Z:0.15 [[ 9.98881893e-01 -4.59594849e-02 -1.10765190e-02 3.73231882e+01] [ 4.59581584e-02 9.98943295e-01 -3.74397513e-04 2.70014927e+00] [ 1.10820215e-02 -1.35077517e-04 9.99938583e-01 1.48924777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.354391418 meters Centerline goodness [0,1] 0.9996245463268115 Centerline is valid? [True, True] Translation: X:37.35, Y:2.70, Z:0.15 [[ 9.98659389e-01 -5.09123168e-02 -9.34669587e-03 3.73539674e+01] [ 5.09115891e-02 9.98703114e-01 -3.15927747e-04 2.69840298e+00] [ 9.35065888e-03 -1.60350929e-04 9.99956269e-01 1.53310103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38439141799999 meters Centerline goodness [0,1] 0.9996445076430857 Centerline is valid? [True, True] Translation: X:37.38, Y:2.70, Z:0.15 [[ 9.98537068e-01 -5.32760822e-02 -9.24023941e-03 3.73846718e+01] [ 5.32754725e-02 9.98579805e-01 -3.12280989e-04 2.69709039e+00] [ 9.24375357e-03 -1.80453977e-04 9.99957259e-01 1.53681248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.414391417999994 meters Centerline goodness [0,1] 0.9994370425971102 Centerline is valid? [True, True] Translation: X:37.42, Y:2.70, Z:0.15 [[ 9.98424289e-01 -5.50256590e-02 -1.10052568e-02 3.74151958e+01] [ 5.50249091e-02 9.98484913e-01 -3.71146368e-04 2.69590060e+00] [ 1.10090054e-02 -2.35001704e-04 9.99939371e-01 1.49806617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.444391417999995 meters Centerline goodness [0,1] 0.9998328911912769 Centerline is valid? [True, True] Translation: X:37.45, Y:2.69, Z:0.15 [[ 9.98262433e-01 -5.81258772e-02 -9.66937681e-03 3.74460850e+01] [ 5.81254481e-02 9.98309234e-01 -3.25639791e-04 2.69471835e+00] [ 9.67195625e-03 -2.36962890e-04 9.99953197e-01 1.53391327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.474391417999996 meters Centerline goodness [0,1] 0.9993951402648868 Centerline is valid? [True, True] Translation: X:37.48, Y:2.69, Z:0.15 [[ 9.97943446e-01 -6.30176862e-02 -1.17324679e-02 3.74770457e+01] [ 6.30173930e-02 9.98012351e-01 -3.95051229e-04 2.69308032e+00] [ 1.17340430e-02 -3.45110753e-04 9.99931094e-01 1.49492973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.504391418 meters Centerline goodness [0,1] 0.9994150458562266 Centerline is valid? [True, True] Translation: X:37.51, Y:2.69, Z:0.15 [[ 9.97781301e-01 -6.54511398e-02 -1.21911716e-02 3.75073797e+01] [ 6.54510068e-02 9.97855700e-01 -4.10313037e-04 2.69427567e+00] [ 1.21918855e-02 -3.88521780e-04 9.99925601e-01 1.49584733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.534391418 meters Centerline goodness [0,1] 0.9992485283680541 Centerline is valid? [True, True] Translation: X:37.54, Y:2.69, Z:0.15 [[ 9.97633500e-01 -6.76028050e-02 -1.25403639e-02 3.75365662e+01] [ 6.76028336e-02 9.97712222e-01 -4.22101302e-04 2.69444001e+00] [ 1.25402096e-02 -4.26661736e-04 9.99921277e-01 1.49577918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56439141799999 meters Centerline goodness [0,1] 0.9994550522940202 Centerline is valid? [True, True] Translation: X:37.57, Y:2.69, Z:0.15 [[ 9.97491023e-01 -7.00469009e-02 -1.02514105e-02 3.75654489e+01] [ 7.00470487e-02 9.97543629e-01 -3.45067325e-04 2.69496091e+00] [ 1.02504001e-02 -3.73879490e-04 9.99947393e-01 1.53549664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.594391417999994 meters Centerline goodness [0,1] 0.9993743221823642 Centerline is valid? [True, True] Translation: X:37.60, Y:2.69, Z:0.15 [[ 9.97285580e-01 -7.27083588e-02 -1.16175205e-02 3.75963090e+01] [ 7.27087321e-02 9.97353141e-01 -3.90784578e-04 2.69483455e+00] [ 1.16151838e-02 -4.54971357e-04 9.99932438e-01 1.51003092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.624391417999995 meters Centerline goodness [0,1] 0.999164194074136 Centerline is valid? [True, True] Translation: X:37.63, Y:2.70, Z:0.15 [[ 9.97158650e-01 -7.44682542e-02 -1.13624514e-02 3.76269579e+01] [ 7.44687254e-02 9.97223276e-01 -3.82204689e-04 2.69642553e+00] [ 1.13593632e-02 -4.65028564e-04 9.99935372e-01 1.52774541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.654391417999996 meters Centerline goodness [0,1] 0.9994557025623848 Centerline is valid? [True, True] Translation: X:37.66, Y:2.70, Z:0.15 [[ 9.97072952e-01 -7.52354302e-02 -1.36072623e-02 3.76573256e+01] [ 7.52361773e-02 9.97165637e-01 -4.57714561e-04 2.69958331e+00] [ 1.36031308e-02 -5.67383592e-04 9.99907312e-01 1.49827850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.684391418 meters Centerline goodness [0,1] 0.9993070284118352 Centerline is valid? [True, True] Translation: X:37.69, Y:2.71, Z:0.15 [[ 9.96934241e-01 -7.70162863e-02 -1.38061784e-02 3.76870827e+01] [ 7.70172243e-02 9.97029654e-01 -4.64520353e-04 2.71003403e+00] [ 1.38009449e-02 -6.00217296e-04 9.99904582e-01 1.50877108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.714391418 meters Centerline goodness [0,1] 0.9995798319327731 Centerline is valid? [True, True] Translation: X:37.72, Y:2.71, Z:0.15 [[ 9.96905814e-01 -7.75955915e-02 -1.25587231e-02 3.77169993e+01] [ 7.75964144e-02 9.96984763e-01 -4.22467573e-04 2.71023554e+00] [ 1.25536371e-02 -5.53351499e-04 9.99921047e-01 1.52681710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74439141799999 meters Centerline goodness [0,1] 0.9995175769779344 Centerline is valid? [True, True] Translation: X:37.75, Y:2.71, Z:0.15 [[ 9.96880098e-01 -7.80156228e-02 -1.19847147e-02 3.77470839e+01] [ 7.80164083e-02 9.96951994e-01 -4.02671928e-04 2.71319782e+00] [ 1.19795999e-02 -5.33588767e-04 9.99928100e-01 1.53594637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.77439141799999 meters Centerline goodness [0,1] 0.9990775487955722 Centerline is valid? [True, True] Translation: X:37.78, Y:2.72, Z:0.16 [[ 9.96861256e-01 -7.84886709e-02 -1.03520836e-02 3.77777476e+01] [ 7.84892832e-02 9.96914897e-01 -3.47741898e-04 2.72018630e+00] [ 1.03474401e-02 -4.65877194e-04 9.99946355e-01 1.55016540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.804391417999994 meters Centerline goodness [0,1] 0.9991178509168049 Centerline is valid? [True, True] Translation: X:37.81, Y:2.72, Z:0.16 [[ 9.96845278e-01 -7.87054292e-02 -1.02443293e-02 3.78102582e+01] [ 7.87060451e-02 9.96897808e-01 -3.43643161e-04 2.72359964e+00] [ 1.02395960e-02 -4.63731582e-04 9.99947466e-01 1.55260489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.834391417999996 meters Centerline goodness [0,1] 0.9992225094034336 Centerline is valid? [True, True] Translation: X:37.84, Y:2.73, Z:0.15 [[ 9.96804696e-01 -7.91164478e-02 -1.09993278e-02 3.78423925e+01] [ 7.91171931e-02 9.96865254e-01 -3.68032910e-04 2.72644182e+00] [ 1.09939651e-02 -5.03379008e-04 9.99939438e-01 1.54735701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.864391418 meters Centerline goodness [0,1] 0.9990977001846567 Centerline is valid? [True, True] Translation: X:37.87, Y:2.73, Z:0.15 [[ 9.96695502e-01 -8.03769377e-02 -1.17313576e-02 3.78738905e+01] [ 8.03778827e-02 9.96764387e-01 -3.91672861e-04 2.73247918e+00] [ 1.17248810e-02 -5.52563109e-04 9.99931109e-01 1.54363878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.894391418 meters Centerline goodness [0,1] 0.9990340801713458 Centerline is valid? [True, True] Translation: X:37.91, Y:2.74, Z:0.15 [[ 9.96654149e-01 -8.08305521e-02 -1.21213934e-02 3.79059620e+01] [ 8.08316023e-02 9.96727690e-01 -4.04044395e-04 2.73854030e+00] [ 1.21143876e-02 -5.77099129e-04 9.99926452e-01 1.53994443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.924391418 meters Centerline goodness [0,1] 0.9991188503094514 Centerline is valid? [True, True] Translation: X:37.94, Y:2.74, Z:0.15 [[ 9.96593795e-01 -8.15413199e-02 -1.23215509e-02 3.79379411e+01] [ 8.15424720e-02 9.96669784e-01 -4.09688332e-04 2.74175448e+00] [ 1.23139240e-02 -5.96436868e-04 9.99924003e-01 1.54270984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.95439141799999 meters Centerline goodness [0,1] 0.9990987969987845 Centerline is valid? [True, True] Translation: X:37.97, Y:2.74, Z:0.15 [[ 9.96433988e-01 -8.34171995e-02 -1.26838231e-02 3.79686874e+01] [ 8.34185832e-02 9.96514507e-01 -4.20845193e-04 2.74169953e+00] [ 1.26747194e-02 -6.38722095e-04 9.99919469e-01 1.54622790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.984391417999994 meters Centerline goodness [0,1] 0.9988469118202021 Centerline is valid? [True, True] Translation: X:38.00, Y:2.75, Z:0.15 [[ 9.96413813e-01 -8.34280332e-02 -1.41165105e-02 3.80008410e+01] [ 8.34297603e-02 9.96513551e-01 -4.67537828e-04 2.74881000e+00] [ 1.41062998e-02 -7.11875940e-04 9.99900248e-01 1.52904917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.014391417999995 meters Centerline goodness [0,1] 0.9989510562863196 Centerline is valid? [True, True] Translation: X:38.03, Y:2.75, Z:0.15 [[ 9.96337288e-01 -8.43578476e-02 -1.39914738e-02 3.80321043e+01] [ 8.43596482e-02 9.96435264e-01 -4.62496595e-04 2.75157078e+00] [ 1.39806132e-02 -7.19513208e-04 9.99902008e-01 1.54307143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.044391418 meters Centerline goodness [0,1] 0.9987188641996052 Centerline is valid? [True, True] Translation: X:38.06, Y:2.76, Z:0.16 [[ 9.96322821e-01 -8.45292710e-02 -1.39871215e-02 3.80637259e+01] [ 8.45310983e-02 9.96420735e-01 -4.61571835e-04 2.75602072e+00] [ 1.39760742e-02 -7.22472187e-04 9.99902069e-01 1.55024480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.074391418 meters Centerline goodness [0,1] 0.9987203155156499 Centerline is valid? [True, True] Translation: X:38.09, Y:2.76, Z:0.15 [[ 9.96436044e-01 -8.30821488e-02 -1.45796525e-02 3.80936062e+01] [ 8.30839917e-02 9.96542432e-01 -4.80295785e-04 2.76423491e+00] [ 1.45691464e-02 -7.32751699e-04 9.99893596e-01 1.54199616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.104391418 meters Centerline goodness [0,1] 0.998572927597062 Centerline is valid? [True, True] Translation: X:38.13, Y:2.77, Z:0.16 [[ 9.96529071e-01 -8.20777690e-02 -1.38942341e-02 3.81252202e+01] [ 8.20793535e-02 9.96625692e-01 -4.57126012e-04 2.76976911e+00] [ 1.38848706e-02 -6.84890392e-04 9.99903366e-01 1.55463493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13439141799999 meters Centerline goodness [0,1] 0.9987826889980271 Centerline is valid? [True, True] Translation: X:38.16, Y:2.77, Z:0.16 [[ 9.96667304e-01 -8.04805557e-02 -1.33103281e-02 3.81563556e+01] [ 8.04818858e-02 9.96755976e-01 -4.36555764e-04 2.77419141e+00] [ 1.33022833e-02 -6.36139449e-04 9.99911318e-01 1.57116654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.164391417999994 meters Centerline goodness [0,1] 0.9985298132862873 Centerline is valid? [True, True] Translation: X:38.19, Y:2.78, Z:0.16 [[ 9.97020645e-01 -7.59320392e-02 -1.35705304e-02 3.81863466e+01] [ 7.59330185e-02 9.97112822e-01 -4.43814552e-04 2.78300643e+00] [ 1.35650497e-02 -5.87959069e-04 9.99907818e-01 1.56102511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.194391417999995 meters Centerline goodness [0,1] 0.9986982173976946 Centerline is valid? [True, True] Translation: X:38.22, Y:2.79, Z:0.16 [[ 9.97166705e-01 -7.43172945e-02 -1.16405251e-02 3.82180804e+01] [ 7.43179082e-02 9.97234528e-01 -3.80436629e-04 2.79332660e+00] [ 1.16366066e-02 -4.85740737e-04 9.99932174e-01 1.60171701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.224391417999996 meters Centerline goodness [0,1] 0.9985327408401107 Centerline is valid? [True, True] Translation: X:38.25, Y:2.80, Z:0.16 [[ 9.97338793e-01 -7.20056771e-02 -1.14242592e-02 3.82496125e+01] [ 7.20061272e-02 9.97404120e-01 -3.72455432e-04 2.79702370e+00] [ 1.14214221e-02 -4.51152406e-04 9.99934672e-01 1.60833410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.254391418 meters Centerline goodness [0,1] 0.9987186758249837 Centerline is valid? [True, True] Translation: X:38.28, Y:2.81, Z:0.16 [[ 9.97652151e-01 -6.75182059e-02 -1.14663420e-02 3.82804406e+01] [ 6.75183724e-02 9.97717961e-01 -3.73026030e-04 2.81054080e+00] [ 1.14653615e-02 -4.02038531e-04 9.99934190e-01 1.61691728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.284391418 meters Centerline goodness [0,1] 0.9988231090935838 Centerline is valid? [True, True] Translation: X:38.31, Y:2.82, Z:0.16 [[ 9.97789582e-01 -6.53993750e-02 -1.17844170e-02 3.83126931e+01] [ 6.53994106e-02 9.97859094e-01 -3.82752994e-04 2.81668315e+00] [ 1.17842194e-02 -3.88786974e-04 9.99930488e-01 1.61139539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31439141799999 meters Centerline goodness [0,1] 0.9987164920254177 Centerline is valid? [True, True] Translation: X:38.34, Y:2.82, Z:0.16 [[ 9.97868886e-01 -6.42401995e-02 -1.14403778e-02 3.83446587e+01] [ 6.42401674e-02 9.97934398e-01 -3.70669565e-04 2.82087008e+00] [ 1.14405584e-02 -3.65052157e-04 9.99934488e-01 1.62008045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.344391417999994 meters Centerline goodness [0,1] 0.9989885367498315 Centerline is valid? [True, True] Translation: X:38.38, Y:2.82, Z:0.16 [[ 9.97929192e-01 -6.32617089e-02 -1.16311224e-02 3.83763445e+01] [ 6.32616203e-02 9.97996907e-01 -3.75900520e-04 2.82161785e+00] [ 1.16316043e-02 -3.60681549e-04 9.99932286e-01 1.61739718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.374391417999995 meters Centerline goodness [0,1] 0.9986518084725411 Centerline is valid? [True, True] Translation: X:38.41, Y:2.83, Z:0.16 [[ 9.97943200e-01 -6.28501917e-02 -1.26183845e-02 3.84078962e+01] [ 6.28500680e-02 9.98022897e-01 -4.06739657e-04 2.82911137e+00] [ 1.26190003e-02 -3.87163249e-04 9.99920302e-01 1.60747310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.404391417999996 meters Centerline goodness [0,1] 0.9988406652473599 Centerline is valid? [True, True] Translation: X:38.44, Y:2.83, Z:0.16 [[ 9.97957650e-01 -6.23504863e-02 -1.38905187e-02 3.84395620e+01] [ 6.23503047e-02 9.98054227e-01 -4.46560115e-04 2.83282706e+00] [ 1.38913342e-02 -4.20429993e-04 9.99903422e-01 1.59246191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.434391418 meters Centerline goodness [0,1] 0.9986928931334724 Centerline is valid? [True, True] Translation: X:38.47, Y:2.84, Z:0.16 [[ 9.97926235e-01 -6.29848947e-02 -1.32714578e-02 3.84720266e+01] [ 6.29847988e-02 9.98014396e-01 -4.25610485e-04 2.83667929e+00] [ 1.32719129e-02 -4.11172227e-04 9.99911840e-01 1.60981261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.464391418 meters Centerline goodness [0,1] 0.9989255693429119 Centerline is valid? [True, True] Translation: X:38.50, Y:2.84, Z:0.16 [[ 9.97884159e-01 -6.35416828e-02 -1.37717197e-02 3.85033933e+01] [ 6.35416468e-02 9.97979090e-01 -4.40610842e-04 2.83758824e+00] [ 1.37718854e-02 -4.35399167e-04 9.99905068e-01 1.61135663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49439141799999 meters Centerline goodness [0,1] 0.99900718208703 Centerline is valid? [True, True] Translation: X:38.54, Y:2.85, Z:0.16 [[ 9.97870205e-01 -6.35639110e-02 -1.46520378e-02 3.85350878e+01] [ 6.35638882e-02 9.97977662e-01 -4.67721175e-04 2.84509772e+00] [ 1.46521366e-02 -4.64615468e-04 9.99892544e-01 1.60260404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52439141799999 meters Centerline goodness [0,1] 0.9987515341317872 Centerline is valid? [True, True] Translation: X:38.57, Y:2.84, Z:0.16 [[ 9.97888382e-01 -6.33611874e-02 -1.42876564e-02 3.85667069e+01] [ 6.33611662e-02 9.97990559e-01 -4.54607090e-04 2.84392867e+00] [ 1.42877506e-02 -4.51635435e-04 9.99897823e-01 1.60901082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.554391417999994 meters Centerline goodness [0,1] 0.9988152661419988 Centerline is valid? [True, True] Translation: X:38.60, Y:2.85, Z:0.16 [[ 9.97925295e-01 -6.25746922e-02 -1.51496713e-02 3.85992546e+01] [ 6.25746043e-02 9.98040174e-01 -4.80284300e-04 2.84689470e+00] [ 1.51500342e-02 -4.68696832e-04 9.99885122e-01 1.59282647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.584391417999996 meters Centerline goodness [0,1] 0.9988763092057839 Centerline is valid? [True, True] Translation: X:38.63, Y:2.86, Z:0.16 [[ 9.98000439e-01 -6.17095950e-02 -1.36766245e-02 3.86317125e+01] [ 6.17094581e-02 9.98094062e-01 -4.32420134e-04 2.85552401e+00] [ 1.36772422e-02 -4.12421604e-04 9.99906377e-01 1.62437806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.614391418 meters Centerline goodness [0,1] 0.9991730104539961 Centerline is valid? [True, True] Translation: X:38.66, Y:2.86, Z:0.16 [[ 9.98029020e-01 -6.10101647e-02 -1.46913524e-02 3.86633848e+01] [ 6.10099536e-02 9.98137050e-01 -4.62964200e-04 2.85997543e+00] [ 1.46922287e-02 -4.34267021e-04 9.99891969e-01 1.61200840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.644391418 meters Centerline goodness [0,1] 0.9989165533650578 Centerline is valid? [True, True] Translation: X:38.69, Y:2.86, Z:0.16 [[ 9.98025956e-01 -6.13387416e-02 -1.34814434e-02 3.86948317e+01] [ 6.13386066e-02 9.98116925e-01 -4.23890507e-04 2.86185272e+00] [ 1.34820577e-02 -4.03879222e-04 9.99909031e-01 1.63537238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.674391418 meters Centerline goodness [0,1] 0.9989373684993518 Centerline is valid? [True, True] Translation: X:38.73, Y:2.86, Z:0.16 [[ 9.98028632e-01 -6.14057846e-02 -1.29684208e-02 3.87263387e+01] [ 6.14056798e-02 9.98112808e-01 -4.06645920e-04 2.86076380e+00] [ 1.29689173e-02 -3.90490423e-04 9.99915824e-01 1.63567538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70439141799999 meters Centerline goodness [0,1] 0.9987462813429664 Centerline is valid? [True, True] Translation: X:38.76, Y:2.86, Z:0.16 [[ 9.97972247e-01 -6.22516538e-02 -1.32712576e-02 3.87586711e+01] [ 6.22516391e-02 9.98060400e-01 -4.14607403e-04 2.86393225e+00] [ 1.32713267e-02 -4.12390856e-04 9.99911847e-01 1.63287732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.734391417999994 meters Centerline goodness [0,1] 0.9989164152466748 Centerline is valid? [True, True] Translation: X:38.79, Y:2.87, Z:0.16 [[ 9.97935273e-01 -6.28881378e-02 -1.30488488e-02 3.87901238e+01] [ 6.28881896e-02 9.98020496e-01 -4.06767065e-04 2.87206803e+00] [ 1.30485994e-02 -4.14691276e-04 9.99914777e-01 1.64441863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.764391417999995 meters Centerline goodness [0,1] 0.9989357626324975 Centerline is valid? [True, True] Translation: X:38.82, Y:2.87, Z:0.16 [[ 9.97900307e-01 -6.34287040e-02 -1.31064017e-02 3.88210905e+01] [ 6.34288134e-02 9.97986282e-01 -4.07751805e-04 2.87076936e+00] [ 1.31058722e-02 -4.24427853e-04 9.99914024e-01 1.64292047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.794391418 meters Centerline goodness [0,1] 0.9989353774087086 Centerline is valid? [True, True] Translation: X:38.85, Y:2.88, Z:0.16 [[ 9.97781403e-01 -6.50406699e-02 -1.42120680e-02 3.88526964e+01] [ 6.50409748e-02 9.97882497e-01 -4.41239782e-04 2.87774397e+00] [ 1.42106724e-02 -4.84105906e-04 9.99898906e-01 1.64037471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.824391418 meters Centerline goodness [0,1] 0.9984411369023468 Centerline is valid? [True, True] Translation: X:38.88, Y:2.88, Z:0.16 [[ 9.97712361e-01 -6.59812932e-02 -1.47143890e-02 3.88840535e+01] [ 6.59817420e-02 9.97820727e-01 -4.55498075e-04 2.87638709e+00] [ 1.47123767e-02 -5.16424961e-04 9.99891634e-01 1.63185645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.854391418 meters Centerline goodness [0,1] 0.9988891974451541 Centerline is valid? [True, True] Translation: X:38.92, Y:2.88, Z:0.16 [[ 9.97678028e-01 -6.64321675e-02 -1.50106726e-02 3.89159167e+01] [ 6.64327101e-02 9.97790800e-01 -4.63030732e-04 2.88163875e+00] [ 1.50082711e-02 -5.35244071e-04 9.99887226e-01 1.62541846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88439141799999 meters Centerline goodness [0,1] 0.99899658411614 Centerline is valid? [True, True] Translation: X:38.95, Y:2.88, Z:0.16 [[ 9.97589815e-01 -6.77907675e-02 -1.47977361e-02 3.89482679e+01] [ 6.77914615e-02 9.97699409e-01 -4.55283488e-04 2.88325522e+00] [ 1.47945566e-02 -5.48973984e-04 9.99890404e-01 1.64141240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.914391417999994 meters Centerline goodness [0,1] 0.9987175924936414 Centerline is valid? [True, True] Translation: X:38.98, Y:2.89, Z:0.16 [[ 9.97483293e-01 -6.91021145e-02 -1.58738009e-02 3.89803728e+01] [ 6.91031000e-02 9.97609405e-01 -4.87064522e-04 2.88733484e+00] [ 1.58695103e-02 -6.11090128e-04 9.99873885e-01 1.61986012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.944391417999995 meters Centerline goodness [0,1] 0.9989096506606234 Centerline is valid? [True, True] Translation: X:39.01, Y:2.89, Z:0.16 [[ 9.97458383e-01 -6.96618226e-02 -1.49667719e-02 3.90111042e+01] [ 6.96627771e-02 9.97570493e-01 -4.58196357e-04 2.88837939e+00] [ 1.49623288e-02 -5.85595098e-04 9.99887887e-01 1.63860470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.974391417999996 meters Centerline goodness [0,1] 0.9986285518364548 Centerline is valid? [True, True] Translation: X:39.04, Y:2.89, Z:0.16 [[ 9.97455033e-01 -6.95604097e-02 -1.56462863e-02 3.90438045e+01] [ 6.95614621e-02 9.97577553e-01 -4.77610901e-04 2.89209833e+00] [ 1.56416068e-02 -6.11983154e-04 9.99877475e-01 1.62540236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.004391418 meters Centerline goodness [0,1] 0.9986285518364548 Centerline is valid? [True, True] Translation: X:39.08, Y:2.89, Z:0.16 [[ 9.97463294e-01 -6.94418385e-02 -1.56463429e-02 3.90763593e+01] [ 6.94429055e-02 9.97585814e-01 -4.75750736e-04 2.89297088e+00] [ 1.56416067e-02 -6.11983616e-04 9.99877475e-01 1.62815772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.034391418 meters Centerline goodness [0,1] 0.99942098603933 Centerline is valid? [True, True] Translation: X:39.11, Y:2.90, Z:0.16 [[ 9.97521841e-01 -6.85809553e-02 -1.57108230e-02 3.91073343e+01] [ 6.85819470e-02 9.97645373e-01 -4.76273671e-04 2.89908848e+00] [ 1.57064931e-02 -6.02385438e-04 9.99876464e-01 1.64585783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06439141799999 meters Centerline goodness [0,1] 0.9989481592787378 Centerline is valid? [True, True] Translation: X:39.14, Y:2.90, Z:0.16 [[ 9.97590674e-01 -6.75447513e-02 -1.58288733e-02 3.91381729e+01] [ 6.75456425e-02 9.97716070e-01 -4.78923487e-04 2.90261230e+00] [ 1.58250701e-02 -5.91401815e-04 9.99874601e-01 1.64465475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.094391417999994 meters Centerline goodness [0,1] 0.9991618671022092 Centerline is valid? [True, True] Translation: X:39.17, Y:2.91, Z:0.17 [[ 9.97662246e-01 -6.65009671e-02 -1.57373619e-02 3.91703311e+01] [ 6.65017349e-02 9.97786196e-01 -4.75103712e-04 2.90779378e+00] [ 1.57341173e-02 -5.72568830e-04 9.99876047e-01 1.65321417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.124391417999995 meters Centerline goodness [0,1] 0.9995263724434876 Centerline is valid? [True, True] Translation: X:39.20, Y:2.92, Z:0.17 [[ 9.97811919e-01 -6.44609990e-02 -1.47021666e-02 3.92019484e+01] [ 6.44614639e-02 9.97920099e-01 -4.42756283e-04 2.91564201e+00] [ 1.47001281e-02 -5.05935686e-04 9.99891819e-01 1.67107857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.154391417999996 meters Centerline goodness [0,1] 0.9992666566011691 Centerline is valid? [True, True] Translation: X:39.23, Y:2.92, Z:0.17 [[ 9.97869262e-01 -6.37505550e-02 -1.38853537e-02 3.92337268e+01] [ 6.37509155e-02 9.97965754e-01 -4.17109596e-04 2.92117920e+00] [ 1.38836985e-02 -4.68983166e-04 9.99903507e-01 1.68785401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.184391418 meters Centerline goodness [0,1] 0.9993966167438854 Centerline is valid? [True, True] Translation: X:39.27, Y:2.93, Z:0.17 [[ 9.97927689e-01 -6.26737877e-02 -1.45713416e-02 3.92653267e+01] [ 6.26740877e-02 9.98033951e-01 -4.36509387e-04 2.92718291e+00] [ 1.45700513e-02 -4.77640736e-04 9.99893737e-01 1.68034474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.214391418 meters Centerline goodness [0,1] 0.9990707926354914 Centerline is valid? [True, True] Translation: X:39.30, Y:2.93, Z:0.17 [[ 9.98001154e-01 -6.15492137e-02 -1.43314688e-02 3.92960080e+01] [ 6.15494030e-02 9.98103946e-01 -4.28276815e-04 2.93234375e+00] [ 1.43306557e-02 -4.54672594e-04 9.99897208e-01 1.68013400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24439141799999 meters Centerline goodness [0,1] 0.9995668182802686 Centerline is valid? [True, True] Translation: X:39.33, Y:2.93, Z:0.17 [[ 9.98046051e-01 -6.11225321e-02 -1.29659311e-02 3.93269911e+01] [ 6.11226606e-02 9.98130187e-01 -3.86731399e-04 2.93422443e+00] [ 1.29653252e-02 -4.06536461e-04 9.99915864e-01 1.71140193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.27439141799999 meters Centerline goodness [0,1] 0.9992415870333051 Centerline is valid? [True, True] Translation: X:39.36, Y:2.94, Z:0.17 [[ 9.98089178e-01 -6.01123417e-02 -1.43003244e-02 3.93587342e+01] [ 6.01124090e-02 9.98191523e-01 -4.25515709e-04 2.93938469e+00] [ 1.43000413e-02 -4.34924325e-04 9.99897655e-01 1.69260414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.304391417999994 meters Centerline goodness [0,1] 0.9994779998694999 Centerline is valid? [True, True] Translation: X:39.39, Y:2.95, Z:0.17 [[ 9.98121183e-01 -5.94896626e-02 -1.46657617e-02 3.93902776e+01] [ 5.94896837e-02 9.98228826e-01 -4.35202512e-04 2.94697848e+00] [ 1.46656761e-02 -4.38076678e-04 9.99892357e-01 1.70921547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.334391417999996 meters Centerline goodness [0,1] 0.999149919351323 Centerline is valid? [True, True] Translation: X:39.42, Y:2.95, Z:0.17 [[ 9.98149168e-01 -5.86346359e-02 -1.61312802e-02 3.94220244e+01] [ 5.86345721e-02 9.98279399e-01 -4.77313794e-04 2.95051031e+00] [ 1.61315118e-02 -4.69420345e-04 9.99869769e-01 1.68951196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.364391418 meters Centerline goodness [0,1] 0.999237206869497 Centerline is valid? [True, True] Translation: X:39.45, Y:2.95, Z:0.17 [[ 9.98174188e-01 -5.84489250e-02 -1.52320013e-02 3.94537971e+01] [ 5.84488648e-02 9.98290303e-01 -4.49508341e-04 2.95347837e+00] [ 1.52322325e-02 -4.41605563e-04 9.99883885e-01 1.70706234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.394391418 meters Centerline goodness [0,1] 0.9995626599024732 Centerline is valid? [True, True] Translation: X:39.49, Y:2.96, Z:0.17 [[ 9.98251948e-01 -5.70748197e-02 -1.53464333e-02 3.94860415e+01] [ 5.70746153e-02 9.98369813e-01 -4.51642733e-04 2.95851157e+00] [ 1.53471932e-02 -4.25038538e-04 9.99882135e-01 1.71006700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.424391418 meters Centerline goodness [0,1] 0.9993228484054172 Centerline is valid? [True, True] Translation: X:39.52, Y:2.96, Z:0.17 [[ 9.98336145e-01 -5.54010872e-02 -1.59894131e-02 3.95177112e+01] [ 5.54006718e-02 9.98464093e-01 -4.69258230e-04 2.96180978e+00] [ 1.59908522e-02 -4.17346773e-04 9.99872051e-01 1.69555701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.45439141799999 meters Centerline goodness [0,1] 0.9994955697868234 Centerline is valid? [True, True] Translation: X:39.55, Y:2.97, Z:0.17 [[ 9.98447407e-01 -5.35987187e-02 -1.51641988e-02 3.95492006e+01] [ 5.35981629e-02 9.98562487e-01 -4.43346558e-04 2.96573512e+00] [ 1.51661628e-02 -3.70114975e-04 9.99884919e-01 1.71751688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.484391417999994 meters Centerline goodness [0,1] 0.9995172580255853 Centerline is valid? [True, True] Translation: X:39.58, Y:2.97, Z:0.17 [[ 9.98579230e-01 -5.12062755e-02 -1.47458002e-02 3.95814249e+01] [ 5.12055156e-02 9.98688045e-01 -4.29329235e-04 2.97092232e+00] [ 1.47484387e-02 -3.26347044e-04 9.99891183e-01 1.72599817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.514391417999995 meters Centerline goodness [0,1] 0.9994701167950898 Centerline is valid? [True, True] Translation: X:39.61, Y:2.98, Z:0.17 [[ 9.98863134e-01 -4.54420210e-02 -1.44035297e-02 3.96130155e+01] [ 4.54407111e-02 9.98966950e-01 -4.18369786e-04 2.98165418e+00] [ 1.44076617e-02 -2.36612474e-04 9.99896176e-01 1.73471319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.544391418 meters Centerline goodness [0,1] 0.9993820212319848 Centerline is valid? [True, True] Translation: X:39.64, Y:2.99, Z:0.17 [[ 9.98986781e-01 -4.25630328e-02 -1.46219075e-02 3.96442903e+01] [ 4.25613872e-02 9.99093764e-01 -4.23846533e-04 2.98642138e+00] [ 1.46266968e-02 -1.98911584e-04 9.99893004e-01 1.73099354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.574391418 meters Centerline goodness [0,1] 0.9997122684314202 Centerline is valid? [True, True] Translation: X:39.68, Y:2.99, Z:0.17 [[ 9.99077576e-01 -4.05569583e-02 -1.41113409e-02 3.96766398e+01] [ 4.05552386e-02 9.99177215e-01 -4.08125967e-04 2.99133934e+00] [ 1.41162827e-02 -1.64539296e-04 9.99900347e-01 1.74571445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.604391418 meters Centerline goodness [0,1] 0.9996233187830981 Centerline is valid? [True, True] Translation: X:39.71, Y:2.99, Z:0.18 [[ 9.99144836e-01 -3.91104040e-02 -1.34154147e-02 3.97075790e+01] [ 3.91087317e-02 9.99234886e-01 -3.87076928e-04 2.99377673e+00] [ 1.34202891e-02 -1.37913941e-04 9.99909934e-01 1.75494293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.63439141799999 meters Centerline goodness [0,1] 0.999755310866422 Centerline is valid? [True, True] Translation: X:39.74, Y:3.00, Z:0.17 [[ 9.99263664e-01 -3.58454559e-02 -1.36832970e-02 3.97383048e+01] [ 3.58434209e-02 9.99357340e-01 -3.94008991e-04 2.99847585e+00] [ 1.36886267e-02 -9.67373054e-05 9.99906302e-01 1.74061418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.664391417999994 meters Centerline goodness [0,1] 0.9995555555555555 Centerline is valid? [True, True] Translation: X:39.77, Y:3.00, Z:0.18 [[ 9.99292367e-01 -3.51638851e-02 -1.33516165e-02 3.97704129e+01] [ 3.51618979e-02 9.99381556e-01 -3.83629979e-04 3.00091144e+00] [ 1.33568492e-02 -8.61096673e-05 9.99910790e-01 1.75191133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.694391417999995 meters Centerline goodness [0,1] 0.9995999733315555 Centerline is valid? [True, True] Translation: X:39.80, Y:3.00, Z:0.18 [[ 9.99307745e-01 -3.49181956e-02 -1.28355418e-02 3.98020837e+01] [ 3.49163507e-02 9.99390171e-01 -3.67868704e-04 3.00306820e+00] [ 1.28405596e-02 -8.05562326e-05 9.99917553e-01 1.75956319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.724391417999996 meters Centerline goodness [0,1] 0.9995765828003477 Centerline is valid? [True, True] Translation: X:39.83, Y:3.00, Z:0.18 [[ 9.99244865e-01 -3.62899375e-02 -1.38830571e-02 3.98342232e+01] [ 3.62879268e-02 9.99341298e-01 -3.96794458e-04 3.00498727e+00] [ 1.38883120e-02 -1.07292535e-04 9.99903547e-01 1.76243552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.754391418 meters Centerline goodness [0,1] 0.9995544267700397 Centerline is valid? [True, True] Translation: X:39.87, Y:3.00, Z:0.18 [[ 9.99171534e-01 -3.80617947e-02 -1.44064634e-02 3.98669167e+01] [ 3.80598301e-02 9.99275378e-01 -4.10614364e-04 3.00454793e+00] [ 1.44116529e-02 -1.38033364e-04 9.99896137e-01 1.76345436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.784391418 meters Centerline goodness [0,1] 0.9997550929533563 Centerline is valid? [True, True] Translation: X:39.90, Y:3.00, Z:0.18 [[ 9.99109167e-01 -3.94982891e-02 -1.48579130e-02 3.98992815e+01] [ 3.94963758e-02 9.99219624e-01 -4.22295653e-04 3.00377804e+00] [ 1.48629982e-02 -1.64914260e-04 9.99889526e-01 1.75825160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81439141799999 meters Centerline goodness [0,1] 0.9993757385236216 Centerline is valid? [True, True] Translation: X:39.93, Y:3.00, Z:0.17 [[ 9.99027246e-01 -4.09691073e-02 -1.63124080e-02 3.99319901e+01] [ 4.09670191e-02 9.99160392e-01 -4.62292403e-04 3.00268384e+00] [ 1.63176516e-02 -2.06428023e-04 9.99866837e-01 1.73017048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.844391417999994 meters Centerline goodness [0,1] 0.9997997552564245 Centerline is valid? [True, True] Translation: X:39.96, Y:3.00, Z:0.17 [[ 9.98869020e-01 -4.45587811e-02 -1.65890325e-02 3.99643801e+01] [ 4.45571383e-02 9.99006728e-01 -4.68808201e-04 2.99881761e+00] [ 1.65934446e-02 -2.70881827e-04 9.99862283e-01 1.72762803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.874391417999995 meters Centerline goodness [0,1] 0.9997114701704546 Centerline is valid? [True, True] Translation: X:40.00, Y:3.00, Z:0.17 [[ 9.98790372e-01 -4.62911526e-02 -1.65807583e-02 3.99955649e+01] [ 4.62897692e-02 9.98927945e-01 -4.67414470e-04 2.99629895e+00] [ 1.65846199e-02 -3.00670402e-04 9.99862421e-01 1.73084630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.904391417999996 meters Centerline goodness [0,1] 0.9996450281758885 Centerline is valid? [True, True] Translation: X:40.03, Y:3.00, Z:0.17 [[ 9.98736306e-01 -4.73696037e-02 -1.67902451e-02 4.00279532e+01] [ 4.73683570e-02 9.98877378e-01 -4.72156617e-04 2.99663609e+00] [ 1.67937619e-02 -3.23766370e-04 9.99858922e-01 1.72644731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.934391418 meters Centerline goodness [0,1] 0.9998226439355311 Centerline is valid? [True, True] Translation: X:40.06, Y:3.00, Z:0.17 [[ 9.98701071e-01 -4.82285371e-02 -1.64371336e-02 4.00602569e+01] [ 4.82274795e-02 9.98836272e-01 -4.60954942e-04 2.99628694e+00] [ 1.64402365e-02 -3.32365331e-04 9.99864795e-01 1.74351344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.964391418 meters Centerline goodness [0,1] 0.9995790126739342 Centerline is valid? [True, True] Translation: X:40.09, Y:3.00, Z:0.18 [[ 9.98697995e-01 -4.85070007e-02 -1.57919280e-02 4.00919714e+01] [ 4.85060805e-02 9.98822790e-01 -4.41513858e-04 2.99590394e+00] [ 1.57947541e-02 -3.25065525e-04 9.99875202e-01 1.75207379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99439141799999 meters Centerline goodness [0,1] 0.9996902654867257 Centerline is valid? [True, True] Translation: X:40.12, Y:3.00, Z:0.17 [[ 9.98754100e-01 -4.73768712e-02 -1.56741578e-02 4.01246184e+01] [ 4.73758492e-02 9.98877039e-01 -4.36713489e-04 2.99722283e+00] [ 1.56772464e-02 -3.06407146e-04 9.99877057e-01 1.74737168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02439141799999 meters Centerline goodness [0,1] 0.9995127353266888 Centerline is valid? [True, True] Translation: X:40.16, Y:3.00, Z:0.18 [[ 9.98813723e-01 -4.62539232e-02 -1.52223916e-02 4.01571171e+01] [ 4.62528491e-02 9.98929675e-01 -4.22804090e-04 3.00004134e+00] [ 1.52256551e-02 -2.81776457e-04 9.99884043e-01 1.75781963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.054391417999994 meters Centerline goodness [0,1] 0.9997330960854093 Centerline is valid? [True, True] Translation: X:40.19, Y:3.00, Z:0.18 [[ 9.98907740e-01 -4.44354152e-02 -1.44506301e-02 4.01886214e+01] [ 4.44342712e-02 9.99012230e-01 -4.00379223e-04 3.00105608e+00] [ 1.44541472e-02 -2.42161312e-04 9.99895504e-01 1.78036084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.084391417999996 meters Centerline goodness [0,1] 0.9997559785261103 Centerline is valid? [True, True] Translation: X:40.22, Y:3.00, Z:0.18 [[ 9.98942244e-01 -4.35405443e-02 -1.47855764e-02 4.02204002e+01] [ 4.35392636e-02 9.99051633e-01 -4.08650727e-04 3.00252050e+00] [ 1.47893471e-02 -2.35534633e-04 9.99890604e-01 1.77797746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.114391418 meters Centerline goodness [0,1] 0.9995781433868425 Centerline is valid? [True, True] Translation: X:40.25, Y:3.00, Z:0.18 [[ 9.98981758e-01 -4.24794088e-02 -1.51969296e-02 4.02521252e+01] [ 4.24779519e-02 9.99097317e-01 -4.18788700e-04 3.00447641e+00] [ 1.52010015e-02 -2.27172174e-04 9.99884432e-01 1.76996650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.144391418 meters Centerline goodness [0,1] 0.9994667377682975 Centerline is valid? [True, True] Translation: X:40.28, Y:3.01, Z:0.18 [[ 9.99086925e-01 -3.97592609e-02 -1.56370510e-02 4.02835353e+01] [ 3.97574124e-02 9.99209269e-01 -4.29180951e-04 3.00718395e+00] [ 1.56417502e-02 -1.92899609e-04 9.99877642e-01 1.76064148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.174391418 meters Centerline goodness [0,1] 0.9995333748111279 Centerline is valid? [True, True] Translation: X:40.32, Y:3.01, Z:0.18 [[ 9.99154070e-01 -3.79028724e-02 -1.59536049e-02 4.03157454e+01] [ 3.79007411e-02 9.99281414e-01 -4.36024465e-04 3.00949256e+00] [ 1.59586674e-02 -1.68997830e-04 9.99872638e-01 1.76206345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20439141799999 meters Centerline goodness [0,1] 0.9995780215875272 Centerline is valid? [True, True] Translation: X:40.35, Y:3.01, Z:0.18 [[ 9.99213698e-01 -3.63678310e-02 -1.57913761e-02 4.03475350e+01] [ 3.63655711e-02 9.99338461e-01 -4.30329883e-04 3.01152504e+00] [ 1.57965796e-02 -1.44270896e-04 9.99875216e-01 1.76732053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.234391417999994 meters Centerline goodness [0,1] 0.9998666044153939 Centerline is valid? [True, True] Translation: X:40.38, Y:3.01, Z:0.18 [[ 9.99337139e-01 -3.27718150e-02 -1.58521531e-02 4.03799047e+01] [ 3.27691053e-02 9.99462856e-01 -4.30721061e-04 3.01436962e+00] [ 1.58577538e-02 -8.90253224e-05 9.99874254e-01 1.77733311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.264391417999995 meters Centerline goodness [0,1] 0.9997110597439545 Centerline is valid? [True, True] Translation: X:40.41, Y:3.02, Z:0.18 [[ 9.99389123e-01 -3.06777808e-02 -1.67407850e-02 4.04124422e+01] [ 3.06744879e-02 9.99529324e-01 -4.53497762e-04 3.01652071e+00] [ 1.67468178e-02 -6.02942760e-05 9.99859760e-01 1.76660899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.294391418 meters Centerline goodness [0,1] 0.999621245878264 Centerline is valid? [True, True] Translation: X:40.44, Y:3.02, Z:0.18 [[ 9.99438619e-01 -2.89058404e-02 -1.69381270e-02 4.04433797e+01] [ 2.89022455e-02 9.99582138e-01 -4.57038258e-04 3.01884310e+00] [ 1.69442602e-02 -3.27682196e-05 9.99856435e-01 1.77468786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.324391418 meters Centerline goodness [0,1] 0.9996212543165869 Centerline is valid? [True, True] Translation: X:40.47, Y:3.02, Z:0.18 [[ 9.99540164e-01 -2.48676294e-02 -1.73511206e-02 4.04748139e+01] [ 2.48632881e-02 9.99690752e-01 -4.65908882e-04 3.02371340e+00] [ 1.73573409e-02 3.42887294e-05 9.99849349e-01 1.77594356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.354391418 meters Centerline goodness [0,1] 0.999666273611142 Centerline is valid? [True, True] Translation: X:40.51, Y:3.03, Z:0.18 [[ 9.99587610e-01 -2.30725638e-02 -1.70957949e-02 4.05064989e+01] [ 2.30681106e-02 9.99733791e-01 -4.57666252e-04 3.02596446e+00] [ 1.71018033e-02 6.31098282e-05 9.99853751e-01 1.78698729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38439141799999 meters Centerline goodness [0,1] 0.9997333333333334 Centerline is valid? [True, True] Translation: X:40.54, Y:3.03, Z:0.18 [[ 9.99637404e-01 -2.09746518e-02 -1.68856202e-02 4.05371250e+01] [ 2.09700162e-02 9.99780003e-01 -4.51557277e-04 3.02758629e+00] [ 1.68913766e-02 9.73018153e-05 9.99857326e-01 1.78353154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.414391417999994 meters Centerline goodness [0,1] 0.9996225325843195 Centerline is valid? [True, True] Translation: X:40.57, Y:3.03, Z:0.18 [[ 9.99719557e-01 -1.69180744e-02 -1.65706179e-02 4.05672399e+01] [ 1.69130557e-02 9.99856866e-01 -4.42974930e-04 3.02888479e+00] [ 1.65757404e-02 1.62590918e-04 9.99862600e-01 1.77272041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.444391417999995 meters Centerline goodness [0,1] 0.9997778320854902 Centerline is valid? [True, True] Translation: X:40.60, Y:3.03, Z:0.18 [[ 9.99744213e-01 -1.58385016e-02 -1.61446984e-02 4.05960696e+01] [ 1.58335623e-02 9.99874547e-01 -4.33727274e-04 3.03045750e+00] [ 1.61495426e-02 1.77988244e-04 9.99869572e-01 1.79198935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.474391417999996 meters Centerline goodness [0,1] 0.9997782262535762 Centerline is valid? [True, True] Translation: X:40.63, Y:3.03, Z:0.18 [[ 9.99778673e-01 -1.41982677e-02 -1.55246573e-02 4.06250341e+01] [ 1.41934611e-02 9.99899180e-01 -4.19753791e-04 3.03276767e+00] [ 1.55290519e-02 1.99312268e-04 9.99879397e-01 1.80035689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.504391418 meters Centerline goodness [0,1] 0.9997780194898888 Centerline is valid? [True, True] Translation: X:40.65, Y:3.04, Z:0.18 [[ 9.99793772e-01 -1.34154878e-02 -1.52458921e-02 4.06536920e+01] [ 1.34107253e-02 9.99909986e-01 -4.14577613e-04 3.03531663e+00] [ 1.52500816e-02 2.10033645e-04 9.99883689e-01 1.81418996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.534391418 meters Centerline goodness [0,1] 0.9997333570349303 Centerline is valid? [True, True] Translation: X:40.68, Y:3.04, Z:0.18 [[ 9.99817081e-01 -1.20579487e-02 -1.48462225e-02 4.06809984e+01] [ 1.20532400e-02 9.99927274e-01 -4.06605245e-04 3.03844777e+00] [ 1.48500456e-02 2.27585786e-04 9.99889706e-01 1.82039798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56439141799999 meters Centerline goodness [0,1] 0.9999334073251942 Centerline is valid? [True, True] Translation: X:40.71, Y:3.04, Z:0.18 [[ 9.99818314e-01 -1.27152031e-02 -1.42007683e-02 4.07086454e+01] [ 1.27109248e-02 9.99919136e-01 -3.91495518e-04 3.03796947e+00] [ 1.42045979e-02 2.10919492e-04 9.99899087e-01 1.83179083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.594391417999994 meters Centerline goodness [0,1] 0.9998673182813295 Centerline is valid? [True, True] Translation: X:40.74, Y:3.03, Z:0.18 [[ 9.99799907e-01 -1.46776427e-02 -1.35909040e-02 4.07366000e+01] [ 1.46738610e-02 9.99892262e-01 -3.77936652e-04 3.03372734e+00] [ 1.35949870e-02 1.78429992e-04 9.99907568e-01 1.82315275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.624391417999995 meters Centerline goodness [0,1] 0.9998457708154317 Centerline is valid? [True, True] Translation: X:40.77, Y:3.03, Z:0.18 [[ 9.99774462e-01 -1.62757174e-02 -1.36428177e-02 4.07662830e+01] [ 1.62720361e-02 9.99867529e-01 -3.80806261e-04 3.03178239e+00] [ 1.36472084e-02 1.58723953e-04 9.99906860e-01 1.82247954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.654391417999996 meters Centerline goodness [0,1] 0.999911664679122 Centerline is valid? [True, True] Translation: X:40.80, Y:3.03, Z:0.18 [[ 9.99748137e-01 -1.80522167e-02 -1.33333812e-02 4.07957076e+01] [ 1.80488518e-02 9.99837037e-01 -3.72667967e-04 3.02998888e+00] [ 1.33379358e-02 1.31921885e-04 9.99911037e-01 1.82383830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.684391418 meters Centerline goodness [0,1] 0.999911678332487 Centerline is valid? [True, True] Translation: X:40.83, Y:3.03, Z:0.18 [[ 9.99717553e-01 -1.96572259e-02 -1.33569052e-02 4.08265561e+01] [ 1.96539880e-02 9.99806772e-01 -3.73646342e-04 3.02881916e+00] [ 1.33616692e-02 1.11024351e-04 9.99910723e-01 1.82653185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.714391418 meters Centerline goodness [0,1] 0.9999114319243628 Centerline is valid? [True, True] Translation: X:40.86, Y:3.03, Z:0.18 [[ 9.99655192e-01 -2.22096215e-02 -1.40082170e-02 4.08578319e+01] [ 2.22063137e-02 9.99753333e-01 -3.91648241e-04 3.02590081e+00] [ 1.40134600e-02 8.04423369e-05 9.99901803e-01 1.83701180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74439141799999 meters Centerline goodness [0,1] 0.9997126754337495 Centerline is valid? [True, True] Translation: X:40.89, Y:3.02, Z:0.18 [[ 9.99637813e-01 -2.29657682e-02 -1.40291468e-02 4.08894399e+01] [ 2.29625327e-02 9.99736250e-01 -3.91682840e-04 3.02490111e+00] [ 1.40344419e-02 6.93962356e-05 9.99901510e-01 1.82550490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.77439141799999 meters Centerline goodness [0,1] 0.9999778726793973 Centerline is valid? [True, True] Translation: X:40.92, Y:3.02, Z:0.18 [[ 9.99624683e-01 -2.39828793e-02 -1.32406293e-02 4.09211676e+01] [ 2.39800931e-02 9.99712368e-01 -3.69170672e-04 3.02308301e+00] [ 1.32456747e-02 5.15205919e-05 9.99912271e-01 1.84215138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.804391417999994 meters Centerline goodness [0,1] 0.9999779643463124 Centerline is valid? [True, True] Translation: X:40.95, Y:3.02, Z:0.19 [[ 9.99613338e-01 -2.45853274e-02 -1.29898131e-02 4.09525442e+01] [ 2.45827032e-02 9.99697734e-01 -3.61671398e-04 3.02094869e+00] [ 1.29947786e-02 4.22068323e-05 9.99915563e-01 1.85342790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.834391417999996 meters Centerline goodness [0,1] 0.9998241758241758 Centerline is valid? [True, True] Translation: X:40.98, Y:3.02, Z:0.19 [[ 9.99622339e-01 -2.45923480e-02 -1.22635912e-02 4.09841135e+01] [ 2.45900164e-02 9.99697562e-01 -3.40896623e-04 3.01772440e+00] [ 1.22682656e-02 3.92059722e-05 9.99924741e-01 1.85254089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.864391418 meters Centerline goodness [0,1] 0.9997370496976071 Centerline is valid? [True, True] Translation: X:41.02, Y:3.02, Z:0.19 [[ 9.99636604e-01 -2.40906756e-02 -1.20954021e-02 4.10157741e+01] [ 2.40883795e-02 9.99709777e-01 -3.35499908e-04 3.01771206e+00] [ 1.20999742e-02 4.40193520e-05 9.99926792e-01 1.85644700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.894391418 meters Centerline goodness [0,1] 0.9996499671844236 Centerline is valid? [True, True] Translation: X:41.05, Y:3.02, Z:0.19 [[ 9.99663943e-01 -2.30164338e-02 -1.19266400e-02 4.10484451e+01] [ 2.30141342e-02 9.99735085e-01 -3.30043742e-04 3.01806870e+00] [ 1.19310769e-02 5.54515348e-05 9.99928821e-01 1.85754847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.924391418 meters Centerline goodness [0,1] 0.9996499671844236 Centerline is valid? [True, True] Translation: X:41.08, Y:3.02, Z:0.19 [[ 9.99664871e-01 -2.29760635e-02 -1.19266629e-02 4.10792839e+01] [ 2.29737708e-02 9.99736014e-01 -3.29216654e-04 3.01888268e+00] [ 1.19310785e-02 5.51059043e-05 9.99928821e-01 1.86015885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.95439141799999 meters Centerline goodness [0,1] 0.9994972677595628 Centerline is valid? [True, True] Translation: X:41.11, Y:3.02, Z:0.19 [[ 9.99710109e-01 -2.10978165e-02 -1.16008639e-02 4.11107696e+01] [ 2.10955270e-02 9.99777413e-01 -3.19701361e-04 3.02022844e+00] [ 1.16050267e-02 7.48823456e-05 9.99932657e-01 1.87924833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.984391417999994 meters Centerline goodness [0,1] 0.9996284802657459 Centerline is valid? [True, True] Translation: X:41.14, Y:3.02, Z:0.19 [[ 9.99742062e-01 -1.95082211e-02 -1.16292466e-02 4.11416253e+01] [ 1.95058195e-02 9.99809692e-01 -3.19910147e-04 3.02068000e+00] [ 1.16332743e-02 9.29896453e-05 9.99932327e-01 1.87797142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.014391417999995 meters Centerline goodness [0,1] 0.9997160518096236 Centerline is valid? [True, True] Translation: X:41.17, Y:3.02, Z:0.19 [[ 9.99803587e-01 -1.61617070e-02 -1.14711135e-02 4.11732859e+01] [ 1.61591532e-02 9.99869383e-01 -3.15280971e-04 3.01896585e+00] [ 1.14747107e-02 1.29855564e-04 9.99934155e-01 1.87617116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.044391418 meters Centerline goodness [0,1] 0.9994988014818044 Centerline is valid? [True, True] Translation: X:41.20, Y:3.02, Z:0.19 [[ 9.99829480e-01 -1.43537399e-02 -1.16181770e-02 4.12037369e+01] [ 1.43510021e-02 9.99896968e-01 -3.18983965e-04 3.01893560e+00] [ 1.16215586e-02 1.52197090e-04 9.99932456e-01 1.87780914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.074391418 meters Centerline goodness [0,1] 0.9994774543316859 Centerline is valid? [True, True] Translation: X:41.23, Y:3.02, Z:0.19 [[ 9.99852460e-01 -1.28440408e-02 -1.14056483e-02 4.12329113e+01] [ 1.28413039e-02 9.99917498e-01 -3.13159663e-04 3.01944928e+00] [ 1.14087295e-02 1.66650063e-04 9.99934904e-01 1.87989211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.104391418 meters Centerline goodness [0,1] 0.9991941806777593 Centerline is valid? [True, True] Translation: X:41.26, Y:3.02, Z:0.19 [[ 9.99874750e-01 -1.10076052e-02 -1.13717984e-02 4.12621920e+01] [ 1.10047641e-02 9.99939397e-01 -3.12377822e-04 3.01916684e+00] [ 1.13745478e-02 1.87194737e-04 9.99935290e-01 1.86277587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.13439141799999 meters Centerline goodness [0,1] 0.999521395783932 Centerline is valid? [True, True] Translation: X:41.29, Y:3.02, Z:0.19 [[ 9.99888683e-01 -1.00555662e-02 -1.10229999e-02 4.12905877e+01] [ 1.00528274e-02 9.99949423e-01 -3.03848298e-04 3.01911028e+00] [ 1.10254977e-02 1.93002159e-04 9.99939199e-01 1.89179421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.164391417999994 meters Centerline goodness [0,1] 0.9995214790647091 Centerline is valid? [True, True] Translation: X:41.32, Y:3.02, Z:0.19 [[ 9.99879921e-01 -1.00100493e-02 -1.18297547e-02 4.13196771e+01] [ 1.00068500e-02 9.99949876e-01 -3.29605593e-04 3.01876189e+00] [ 1.18324611e-02 2.11187433e-04 9.99929972e-01 1.88899426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.194391417999995 meters Centerline goodness [0,1] 0.9993486332153636 Centerline is valid? [True, True] Translation: X:41.35, Y:3.02, Z:0.19 [[ 9.99863807e-01 -1.05788906e-02 -1.26670482e-02 4.13481397e+01] [ 1.05752204e-02 9.99944017e-01 -3.56689206e-04 3.01734083e+00] [ 1.26701125e-02 2.22683801e-04 9.99919706e-01 1.87012409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.224391417999996 meters Centerline goodness [0,1] 0.999480418263298 Centerline is valid? [True, True] Translation: X:41.38, Y:3.01, Z:0.19 [[ 9.99826514e-01 -1.26465959e-02 -1.36750149e-02 4.13773658e+01] [ 1.26424558e-02 9.99920005e-01 -3.89157065e-04 3.01193328e+00] [ 1.36788425e-02 2.16203779e-04 9.99906417e-01 1.86172714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.254391418 meters Centerline goodness [0,1] 0.9991783428472583 Centerline is valid? [True, True] Translation: X:41.41, Y:3.01, Z:0.19 [[ 9.99801412e-01 -1.44898825e-02 -1.36813371e-02 4.14055871e+01] [ 1.44858577e-02 9.99894997e-01 -3.93241706e-04 3.01114689e+00] [ 1.36855985e-02 1.94977711e-04 9.99906329e-01 1.86094751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.284391418 meters Centerline goodness [0,1] 0.9993724981066753 Centerline is valid? [True, True] Translation: X:41.43, Y:3.01, Z:0.19 [[ 9.99766143e-01 -1.63487638e-02 -1.41554990e-02 4.14340082e+01] [ 1.63445841e-02 9.99866334e-01 -4.10916954e-04 3.00915371e+00] [ 1.41603249e-02 1.79455114e-04 9.99899721e-01 1.86674348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31439141799999 meters Centerline goodness [0,1] 0.9993511128414768 Centerline is valid? [True, True] Translation: X:41.46, Y:3.01, Z:0.18 [[ 9.99743517e-01 -1.77148359e-02 -1.41097171e-02 4.14626716e+01] [ 1.77107640e-02 9.99843067e-01 -4.13499664e-04 3.00654496e+00] [ 1.41148279e-02 1.63499740e-04 9.99900367e-01 1.84074494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.344391417999994 meters Centerline goodness [0,1] 0.9993312768298207 Centerline is valid? [True, True] Translation: X:41.49, Y:3.00, Z:0.19 [[ 9.99666682e-01 -2.22724466e-02 -1.30561573e-02 4.14915114e+01] [ 2.22693164e-02 9.99751934e-01 -3.85101977e-04 3.00038737e+00] [ 1.30614957e-02 9.42219181e-05 9.99914691e-01 1.86439004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.374391417999995 meters Centerline goodness [0,1] 0.999569151227919 Centerline is valid? [True, True] Translation: X:41.52, Y:3.00, Z:0.19 [[ 9.99621373e-01 -2.48291869e-02 -1.18584024e-02 4.15233847e+01] [ 2.48267807e-02 9.99691707e-01 -3.50096366e-04 2.99759062e+00] [ 1.18634391e-02 5.55578552e-05 9.99929625e-01 1.89149257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.404391417999996 meters Centerline goodness [0,1] 0.9993967597380213 Centerline is valid? [True, True] Translation: X:41.56, Y:3.00, Z:0.19 [[ 9.99573423e-01 -2.68943458e-02 -1.13870627e-02 4.15552319e+01] [ 2.68922662e-02 9.99638281e-01 -3.35737255e-04 2.99518181e+00] [ 1.13919732e-02 2.93701172e-05 9.99935109e-01 1.89780461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.434391418 meters Centerline goodness [0,1] 0.9992260727491615 Centerline is valid? [True, True] Translation: X:41.59, Y:2.99, Z:0.19 [[ 9.99494819e-01 -2.99710365e-02 -1.05756248e-02 4.15870160e+01] [ 2.99694197e-02 9.99550768e-01 -3.11364797e-04 2.99045766e+00] [ 1.05802058e-02 -5.73783663e-06 9.99944028e-01 1.90579416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.464391418 meters Centerline goodness [0,1] 0.9990537430912493 Centerline is valid? [True, True] Translation: X:41.62, Y:2.99, Z:0.19 [[ 9.99470241e-01 -3.04932394e-02 -1.13754076e-02 4.16195072e+01] [ 3.04914116e-02 9.99534973e-01 -3.34120550e-04 2.98907684e+00] [ 1.13803062e-02 -1.29086896e-05 9.99935242e-01 1.88492074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49439141799999 meters Centerline goodness [0,1] 0.9992903988818407 Centerline is valid? [True, True] Translation: X:41.65, Y:2.99, Z:0.19 [[ 9.99451816e-01 -3.15113371e-02 -1.01539230e-02 4.16519556e+01] [ 3.15099409e-02 9.99503394e-01 -2.97490187e-04 2.98780174e+00] [ 1.01582548e-02 -2.26224068e-05 9.99948403e-01 1.91368963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52439141799999 meters Centerline goodness [0,1] 0.9993562646181576 Centerline is valid? [True, True] Translation: X:41.68, Y:2.99, Z:0.19 [[ 9.99442627e-01 -3.15384814e-02 -1.09434417e-02 4.16838038e+01] [ 3.15368716e-02 9.99502538e-01 -3.19683663e-04 2.98656326e+00] [ 1.09480801e-02 -2.56164362e-05 9.99940068e-01 1.89117260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.554391417999994 meters Centerline goodness [0,1] 0.9993145990404386 Centerline is valid? [True, True] Translation: X:41.72, Y:2.98, Z:0.19 [[ 9.99430588e-01 -3.24338846e-02 -9.30287245e-03 4.17164921e+01] [ 3.24327660e-02 9.99473883e-01 -2.71112830e-04 2.98353926e+00] [ 9.30677129e-03 -3.07594299e-05 9.99956691e-01 1.92273587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.584391417999996 meters Centerline goodness [0,1] 0.9992083529462108 Centerline is valid? [True, True] Translation: X:41.75, Y:2.98, Z:0.19 [[ 9.99449499e-01 -3.15701548e-02 -1.01992411e-02 4.17477166e+01] [ 3.15687741e-02 9.99501538e-01 -2.96372740e-04 2.98246461e+00] [ 1.02035137e-02 -2.57679523e-05 9.99947942e-01 1.89943453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.614391418 meters Centerline goodness [0,1] 0.9990800564802533 Centerline is valid? [True, True] Translation: X:41.78, Y:2.98, Z:0.19 [[ 9.99457234e-01 -3.15223492e-02 -9.56971452e-03 4.17798732e+01] [ 3.15211370e-02 9.99503047e-01 -2.77507636e-04 2.98212901e+00] [ 9.57370651e-03 -2.42912678e-05 9.99954171e-01 1.91650343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.644391418 meters Centerline goodness [0,1] 0.9990801155203766 Centerline is valid? [True, True] Translation: X:41.81, Y:2.98, Z:0.19 [[ 9.99526014e-01 -2.92977112e-02 -9.45473927e-03 4.18125314e+01] [ 2.92964356e-02 9.99570730e-01 -2.73413336e-04 2.98160038e+00] [ 9.45869102e-03 -3.70641851e-06 9.99955266e-01 1.92532806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.674391418 meters Centerline goodness [0,1] 0.9992937701971023 Centerline is valid? [True, True] Translation: X:41.84, Y:2.98, Z:0.19 [[ 9.99566697e-01 -2.78570127e-02 -9.50820945e-03 4.18437125e+01] [ 2.78556647e-02 9.99611918e-01 -2.74209050e-04 2.98193836e+00] [ 9.51215813e-03 9.23274085e-06 9.99954758e-01 1.93100767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70439141799999 meters Centerline goodness [0,1] 0.9994656635390172 Centerline is valid? [True, True] Translation: X:41.88, Y:2.98, Z:0.19 [[ 9.99611108e-01 -2.59244670e-02 -1.02739656e-02 4.18762773e+01] [ 2.59227981e-02 9.99663904e-01 -2.95598998e-04 2.98223290e+00] [ 1.02781758e-02 2.91541067e-05 9.99947178e-01 1.92328853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.734391417999994 meters Centerline goodness [0,1] 0.9993589743589744 Centerline is valid? [True, True] Translation: X:41.91, Y:2.98, Z:0.19 [[ 9.99651867e-01 -2.37963735e-02 -1.13963575e-02 4.19071770e+01] [ 2.37941922e-02 9.99716825e-01 -3.26972265e-04 2.98253386e+00] [ 1.14009111e-02 5.56913139e-05 9.99935006e-01 1.89888090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.764391417999995 meters Centerline goodness [0,1] 0.9995083368961094 Centerline is valid? [True, True] Translation: X:41.94, Y:2.98, Z:0.19 [[ 9.99728695e-01 -2.04929026e-02 -1.10714203e-02 4.19380589e+01] [ 2.04906478e-02 9.99789994e-01 -3.17061921e-04 2.98312745e+00] [ 1.10755928e-02 9.01153259e-05 9.99938660e-01 1.91406057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.794391418 meters Centerline goodness [0,1] 0.9992110537762804 Centerline is valid? [True, True] Translation: X:41.97, Y:2.98, Z:0.19 [[ 9.99765095e-01 -1.84375349e-02 -1.13934923e-02 4.19681108e+01] [ 1.84350181e-02 9.99830008e-01 -3.25890649e-04 2.98431324e+00] [ 1.13975641e-02 1.15774859e-04 9.99935039e-01 1.90862667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.824391418 meters Centerline goodness [0,1] 0.9993814916714654 Centerline is valid? [True, True] Translation: X:42.00, Y:2.99, Z:0.19 [[ 9.99803790e-01 -1.64919446e-02 -1.09726132e-02 4.19987068e+01] [ 1.64894949e-02 9.99863990e-01 -3.13695110e-04 2.98544917e+00] [ 1.09762942e-02 1.32700711e-04 9.99939750e-01 1.92083147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.854391418 meters Centerline goodness [0,1] 0.9995517705064993 Centerline is valid? [True, True] Translation: X:42.03, Y:2.99, Z:0.19 [[ 9.99859351e-01 -1.33642847e-02 -1.01328028e-02 4.20288705e+01] [ 1.33620351e-02 9.99910682e-01 -2.89685843e-04 2.98534997e+00] [ 1.01357692e-02 1.54250232e-04 9.99948620e-01 1.92964416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88439141799999 meters Centerline goodness [0,1] 0.9994876721101505 Centerline is valid? [True, True] Translation: X:42.06, Y:2.98, Z:0.19 [[ 9.99870527e-01 -1.22270218e-02 -1.04608161e-02 4.20583695e+01] [ 1.22245611e-02 9.99925233e-01 -2.99139788e-04 2.98499319e+00] [ 1.04636915e-02 1.71222172e-04 9.99945239e-01 1.91306808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.914391417999994 meters Centerline goodness [0,1] 0.9993177117758684 Centerline is valid? [True, True] Translation: X:42.09, Y:2.98, Z:0.19 [[ 9.99874237e-01 -1.21993552e-02 -1.01334373e-02 4.20874318e+01] [ 1.21970406e-02 9.99925571e-01 -2.90187062e-04 2.98466481e+00] [ 1.01362231e-02 1.66552622e-04 9.99948613e-01 1.92640516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.944391417999995 meters Centerline goodness [0,1] 0.9996172248803827 Centerline is valid? [True, True] Translation: X:42.12, Y:2.98, Z:0.19 [[ 9.99872182e-01 -1.23998968e-02 -1.00927011e-02 4.21166992e+01] [ 1.23976055e-02 9.99923105e-01 -2.89561640e-04 2.98134452e+00] [ 1.00955156e-02 1.64399302e-04 9.99949025e-01 1.92844160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.974391417999996 meters Centerline goodness [0,1] 0.9993190475177154 Centerline is valid? [True, True] Translation: X:42.15, Y:2.98, Z:0.19 [[ 9.99858393e-01 -1.32113964e-02 -1.04236407e-02 4.21465843e+01] [ 1.32089922e-02 9.99912713e-01 -2.99463932e-04 2.97718164e+00] [ 1.04266872e-02 1.61735737e-04 9.99945628e-01 1.93279882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.004391418 meters Centerline goodness [0,1] 0.9994480298913043 Centerline is valid? [True, True] Translation: X:42.18, Y:2.98, Z:0.19 [[ 9.99851404e-01 -1.43310268e-02 -9.58078393e-03 4.21753509e+01] [ 1.43290434e-02 9.99897296e-01 -2.75636680e-04 2.97607607e+00] [ 9.58375010e-03 1.38312253e-04 9.99954065e-01 1.93550177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.034391418 meters Centerline goodness [0,1] 0.9994699234569472 Centerline is valid? [True, True] Translation: X:42.20, Y:2.97, Z:0.19 [[ 9.99837921e-01 -1.47987383e-02 -1.02532206e-02 4.22048513e+01] [ 1.47964849e-02 9.99890482e-01 -2.95606833e-04 2.97261246e+00] [ 1.02564723e-02 1.43847298e-04 9.99947391e-01 1.91687209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06439141799999 meters Centerline goodness [0,1] 0.9994924287285339 Centerline is valid? [True, True] Translation: X:42.23, Y:2.97, Z:0.19 [[ 9.99780698e-01 -1.89785133e-02 -8.85274526e-03 4.22343800e+01] [ 1.89769945e-02 9.99819888e-01 -2.55540226e-04 2.96585164e+00] [ 8.85600054e-03 8.74856875e-05 9.99960781e-01 1.94747486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.094391417999994 meters Centerline goodness [0,1] 0.9992598858109537 Centerline is valid? [True, True] Translation: X:42.26, Y:2.96, Z:0.19 [[ 9.99741982e-01 -2.07495809e-02 -9.24251883e-03 4.22647111e+01] [ 2.07479983e-02 9.99784701e-01 -2.67091039e-04 2.96427902e+00] [ 9.24607096e-03 7.52583591e-05 9.99957251e-01 1.93106737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.124391417999995 meters Centerline goodness [0,1] 0.9989866362657547 Centerline is valid? [True, True] Translation: X:42.30, Y:2.96, Z:0.19 [[ 9.99692033e-01 -2.30284388e-02 -9.24819864e-03 4.22960284e+01] [ 2.30269573e-02 9.99734809e-01 -2.66650925e-04 2.95951372e+00] [ 9.25188665e-03 5.36109303e-05 9.99957199e-01 1.93249392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.154391417999996 meters Centerline goodness [0,1] 0.9991991063713196 Centerline is valid? [True, True] Translation: X:42.33, Y:2.95, Z:0.20 [[ 9.99551259e-01 -2.88956406e-02 -7.89448260e-03 4.23271027e+01] [ 2.88947462e-02 9.99582434e-01 -2.27349397e-04 2.95256783e+00] [ 7.89775554e-03 -8.61695257e-07 9.99968812e-01 1.96208909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.184391418 meters Centerline goodness [0,1] 0.9991161802150628 Centerline is valid? [True, True] Translation: X:42.36, Y:2.95, Z:0.20 [[ 9.99472883e-01 -3.13966621e-02 -8.25863915e-03 4.23589313e+01] [ 3.13957715e-02 9.99507003e-01 -2.37496141e-04 2.94908496e+00] [ 8.26202425e-03 -2.19153948e-05 9.99965869e-01 1.95038443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.214391418 meters Centerline goodness [0,1] 0.9993691117092867 Centerline is valid? [True, True] Translation: X:42.39, Y:2.95, Z:0.20 [[ 9.99377370e-01 -3.44266357e-02 -7.72519264e-03 4.23909883e+01] [ 3.44259514e-02 9.99407227e-01 -2.21576766e-04 2.94534344e+00] [ 7.72824149e-03 -4.45083002e-05 9.99970136e-01 1.95995498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24439141799999 meters Centerline goodness [0,1] 0.9994320572149769 Centerline is valid? [True, True] Translation: X:42.42, Y:2.94, Z:0.20 [[ 9.99258187e-01 -3.76267744e-02 -8.20378977e-03 4.24221259e+01] [ 3.76261164e-02 9.99291859e-01 -2.34596046e-04 2.94051294e+00] [ 8.20680742e-03 -7.42547286e-05 9.99966321e-01 1.95608662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.27439141799999 meters Centerline goodness [0,1] 0.9989297630789248 Centerline is valid? [True, True] Translation: X:42.45, Y:2.93, Z:0.19 [[ 9.99026892e-01 -4.29937269e-02 -9.83909369e-03 4.24546248e+01] [ 4.29930476e-02 9.99075332e-01 -2.80639879e-04 2.93343678e+00] [ 9.84206155e-03 -1.42645838e-04 9.99951556e-01 1.92333384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.304391417999994 meters Centerline goodness [0,1] 0.9989937317875935 Centerline is valid? [True, True] Translation: X:42.49, Y:2.93, Z:0.19 [[ 9.98913657e-01 -4.54228658e-02 -1.04052899e-02 4.24856880e+01] [ 4.54222466e-02 9.98967833e-01 -2.95941547e-04 2.92856827e+00] [ 1.04079924e-02 -1.77011592e-04 9.99945820e-01 1.92039756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.334391417999996 meters Centerline goodness [0,1] 0.9987824078933557 Centerline is valid? [True, True] Translation: X:42.52, Y:2.93, Z:0.19 [[ 9.98821784e-01 -4.74897334e-02 -9.98845376e-03 4.25179536e+01] [ 4.74892723e-02 9.98871708e-01 -2.83467763e-04 2.92892232e+00] [ 9.99064568e-03 -1.91210624e-04 9.99950074e-01 1.93166907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.364391418 meters Centerline goodness [0,1] 0.9989933941491035 Centerline is valid? [True, True] Translation: X:42.55, Y:2.93, Z:0.19 [[ 9.98735345e-01 -4.93674087e-02 -9.51678612e-03 4.25496923e+01] [ 4.93670822e-02 9.98780666e-01 -2.69357327e-04 2.92626476e+00] [ 9.51847945e-03 -2.00799280e-04 9.99954678e-01 1.94149593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.394391418 meters Centerline goodness [0,1] 0.9990142203951508 Centerline is valid? [True, True] Translation: X:42.58, Y:2.93, Z:0.20 [[ 9.98716095e-01 -4.99361690e-02 -8.51712440e-03 4.25823434e+01] [ 4.99359322e-02 9.98752394e-01 -2.40595886e-04 2.92666963e+00] [ 8.51851282e-03 -1.85023563e-04 9.99963700e-01 1.96333327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.424391418 meters Centerline goodness [0,1] 0.9988266353769434 Centerline is valid? [True, True] Translation: X:42.62, Y:2.93, Z:0.20 [[ 9.98700497e-01 -5.02171190e-02 -8.69238790e-03 4.26150016e+01] [ 5.02168893e-02 9.98738306e-01 -2.44817819e-04 2.92608070e+00] [ 8.69371481e-03 -1.92005003e-04 9.99962191e-01 1.96043827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.45439141799999 meters Centerline goodness [0,1] 0.9989106753812637 Centerline is valid? [True, True] Translation: X:42.65, Y:2.92, Z:0.20 [[ 9.98648455e-01 -5.12897220e-02 -8.40401555e-03 4.26474948e+01] [ 5.12895509e-02 9.98683797e-01 -2.36033123e-04 2.92422468e+00] [ 8.40506023e-03 -1.95324070e-04 9.99964658e-01 1.96322161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.484391417999994 meters Centerline goodness [0,1] 0.9990778001341382 Centerline is valid? [True, True] Translation: X:42.68, Y:2.92, Z:0.20 [[ 9.98604838e-01 -5.22129115e-02 -7.88606141e-03 4.26795120e+01] [ 5.22127943e-02 9.98635957e-01 -2.20885651e-04 2.92424688e+00] [ 7.88683757e-03 -1.91175822e-04 9.99968880e-01 1.97616548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.514391417999995 meters Centerline goodness [0,1] 0.9988884461315828 Centerline is valid? [True, True] Translation: X:42.71, Y:2.92, Z:0.20 [[ 9.98566602e-01 -5.28248409e-02 -8.61839785e-03 4.27103822e+01] [ 5.28247303e-02 9.98603770e-01 -2.40625243e-04 2.92169471e+00] [ 8.61907558e-03 -2.14984211e-04 9.99962832e-01 1.97074185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.544391418 meters Centerline goodness [0,1] 0.9988459682326528 Centerline is valid? [True, True] Translation: X:42.74, Y:2.92, Z:0.20 [[ 9.98483818e-01 -5.41652725e-02 -9.80757241e-03 4.27428665e+01] [ 5.41652008e-02 9.98531951e-01 -2.73126257e-04 2.92209575e+00] [ 9.80796836e-03 -2.58516980e-04 9.99951867e-01 1.95352634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.574391418 meters Centerline goodness [0,1] 0.9986982173976946 Centerline is valid? [True, True] Translation: X:42.77, Y:2.92, Z:0.19 [[ 9.98443085e-01 -5.47920997e-02 -1.04514053e-02 4.27748023e+01] [ 5.47920619e-02 9.98497744e-01 -2.90165032e-04 2.92220463e+00] [ 1.04516033e-02 -2.82940775e-04 9.99945340e-01 1.93698643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.604391418 meters Centerline goodness [0,1] 0.9992231786689062 Centerline is valid? [True, True] Translation: X:42.81, Y:2.92, Z:0.20 [[ 9.98369460e-01 -5.62903175e-02 -9.47741285e-03 4.28072714e+01] [ 5.62903605e-02 9.98414406e-01 -2.62414506e-04 2.92193992e+00] [ 9.47715692e-03 -2.71500358e-04 9.99955054e-01 1.96902706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.63439141799999 meters Centerline goodness [0,1] 0.9992858643142197 Centerline is valid? [True, True] Translation: X:42.84, Y:2.92, Z:0.20 [[ 9.98321398e-01 -5.71379430e-02 -9.46791780e-03 4.28396917e+01] [ 5.71380314e-02 9.98366254e-01 -2.61381328e-04 2.92222863e+00] [ 9.46738442e-03 -2.80035612e-04 9.99955144e-01 1.97313362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.664391417999994 meters Centerline goodness [0,1] 0.9987201544207125 Centerline is valid? [True, True] Translation: X:42.87, Y:2.92, Z:0.19 [[ 9.98231679e-01 -5.81175852e-02 -1.24844341e-02 4.28714151e+01] [ 5.81178329e-02 9.98309671e-01 -3.43263991e-04 2.92236855e+00] [ 1.24832810e-02 -3.82911266e-04 9.99922007e-01 1.93132250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.694391417999995 meters Centerline goodness [0,1] 0.9987411619075593 Centerline is valid? [True, True] Translation: X:42.90, Y:2.92, Z:0.20 [[ 9.98192893e-01 -5.89699800e-02 -1.15538137e-02 4.29033883e+01] [ 5.89702629e-02 9.98259690e-01 -3.16482222e-04 2.92357104e+00] [ 1.15523694e-02 -3.65421126e-04 9.99933202e-01 1.95516239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.724391417999996 meters Centerline goodness [0,1] 0.9988026216284346 Centerline is valid? [True, True] Translation: X:42.94, Y:2.93, Z:0.19 [[ 9.98203386e-01 -5.84639818e-02 -1.31134476e-02 4.29352556e+01] [ 5.84643179e-02 9.98289435e-01 -3.58049363e-04 2.92501516e+00] [ 1.31119492e-02 -4.09262683e-04 9.99913951e-01 1.93452069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.754391418 meters Centerline goodness [0,1] 0.998655264429643 Centerline is valid? [True, True] Translation: X:42.97, Y:2.93, Z:0.19 [[ 9.98228074e-01 -5.78735005e-02 -1.38336634e-02 4.29663269e+01] [ 5.78738380e-02 9.98323834e-01 -3.76255407e-04 2.92643881e+00] [ 1.38322511e-02 -4.25018485e-04 9.99904240e-01 1.92667023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.784391418 meters Centerline goodness [0,1] 0.999013786012548 Centerline is valid? [True, True] Translation: X:43.00, Y:2.93, Z:0.20 [[ 9.98352063e-01 -5.60458878e-02 -1.23294920e-02 4.29961976e+01] [ 5.60460304e-02 9.98428130e-01 -3.34233951e-04 2.93043270e+00] [ 1.23288441e-02 -3.57335931e-04 9.99923933e-01 1.96434411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81439141799999 meters Centerline goodness [0,1] 0.999013786012548 Centerline is valid? [True, True] Translation: X:43.03, Y:2.93, Z:0.20 [[ 9.98356496e-01 -5.59668759e-02 -1.23295049e-02 4.30278890e+01] [ 5.59670182e-02 9.98432562e-01 -3.33760695e-04 2.93121249e+00] [ 1.23288587e-02 -3.56833465e-04 9.99923933e-01 1.96702873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.844391417999994 meters Centerline goodness [0,1] 0.9990953462930237 Centerline is valid? [True, True] Translation: X:43.06, Y:2.93, Z:0.19 [[ 9.98519490e-01 -5.27427266e-02 -1.33053722e-02 4.30597036e+01] [ 5.27426198e-02 9.98608075e-01 -3.59167999e-04 2.93429988e+00] [ 1.33057956e-02 -3.43123942e-04 9.99911415e-01 1.94215376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.874391417999995 meters Centerline goodness [0,1] 0.9986766373986472 Centerline is valid? [True, True] Translation: X:43.09, Y:2.94, Z:0.20 [[ 9.98671801e-01 -5.00054045e-02 -1.24134281e-02 4.30910704e+01] [ 5.00051079e-02 9.98748906e-01 -3.34468163e-04 2.93858863e+00] [ 1.24146229e-02 -2.86710887e-04 9.99922894e-01 1.95539250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.904391417999996 meters Centerline goodness [0,1] 0.9990748917202809 Centerline is valid? [True, True] Translation: X:43.12, Y:2.94, Z:0.20 [[ 9.98832674e-01 -4.69870297e-02 -1.12030450e-02 4.31218193e+01] [ 4.69866028e-02 9.98895474e-01 -3.01446952e-04 2.94211704e+00] [ 1.12048350e-02 -2.25297960e-04 9.99937198e-01 1.98604773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.934391418 meters Centerline goodness [0,1] 0.9990105471463758 Centerline is valid? [True, True] Translation: X:43.15, Y:2.95, Z:0.20 [[ 9.99173888e-01 -3.92250775e-02 -1.06270940e-02 4.31534652e+01] [ 3.92242592e-02 9.99230392e-01 -2.85503537e-04 2.95439119e+00] [ 1.06301142e-02 -1.31572208e-04 9.99943490e-01 1.99901071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.964391418 meters Centerline goodness [0,1] 0.9989482098531701 Centerline is valid? [True, True] Translation: X:43.19, Y:2.96, Z:0.20 [[ 9.99335338e-01 -3.46414122e-02 -1.13513872e-02 4.31850930e+01] [ 3.46401917e-02 9.99399802e-01 -3.04175978e-04 2.95886570e+00] [ 1.13551112e-02 -8.92404252e-05 9.99935525e-01 1.98301779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99439141799999 meters Centerline goodness [0,1] 0.999052112735392 Centerline is valid? [True, True] Translation: X:43.22, Y:2.96, Z:0.20 [[ 9.99448107e-01 -3.15562164e-02 -1.03771972e-02 4.32161787e+01] [ 3.15550374e-02 9.99501977e-01 -2.77370068e-04 2.96454522e+00] [ 1.03807818e-02 -5.02358557e-05 9.99946117e-01 2.01955333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02439141799999 meters Centerline goodness [0,1] 0.9992220843933309 Centerline is valid? [True, True] Translation: X:43.25, Y:2.97, Z:0.20 [[ 9.99620204e-01 -2.52607735e-02 -1.10154872e-02 4.32465027e+01] [ 2.52590671e-02 9.99680896e-01 -2.94027052e-04 2.97230751e+00] [ 1.10193995e-02 1.56744501e-05 9.99939284e-01 2.01386582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.054391417999994 meters Centerline goodness [0,1] 0.9990308648477826 Centerline is valid? [True, True] Translation: X:43.28, Y:2.98, Z:0.20 [[ 9.99672109e-01 -2.27817038e-02 -1.16905698e-02 4.32781990e+01] [ 2.27796159e-02 9.99740462e-01 -3.11742786e-04 2.97507711e+00] [ 1.16946377e-02 4.53338774e-05 9.99931614e-01 1.99509435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.084391417999996 meters Centerline goodness [0,1] 0.9991986672571224 Centerline is valid? [True, True] Translation: X:43.31, Y:2.98, Z:0.20 [[ 9.99689649e-01 -2.19455699e-02 -1.17897045e-02 4.33079943e+01] [ 2.19433931e-02 9.99759165e-01 -3.13978850e-04 2.97834727e+00] [ 1.17937556e-02 5.51752850e-05 9.99930450e-01 2.01269243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.114391418 meters Centerline goodness [0,1] 0.999177562210038 Centerline is valid? [True, True] Translation: X:43.34, Y:2.98, Z:0.20 [[ 9.99696168e-01 -2.14732170e-02 -1.21025924e-02 4.33377823e+01] [ 2.14708898e-02 9.99769422e-01 -3.22205948e-04 2.98057449e+00] [ 1.21067207e-02 6.22546231e-05 9.99926709e-01 2.01323482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.144391418 meters Centerline goodness [0,1] 0.9994942150850351 Centerline is valid? [True, True] Translation: X:43.37, Y:2.98, Z:0.20 [[ 9.99677873e-01 -2.22305178e-02 -1.22456067e-02 4.33686304e+01] [ 2.22281901e-02 9.99752870e-01 -3.26170250e-04 2.98146156e+00] [ 1.22498314e-02 5.38675075e-05 9.99924967e-01 2.02046810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.174391418 meters Centerline goodness [0,1] 0.9994944494765445 Centerline is valid? [True, True] Translation: X:43.40, Y:2.98, Z:0.20 [[ 9.99648181e-01 -2.34206563e-02 -1.24493730e-02 4.33996157e+01] [ 2.34183428e-02 9.99725698e-01 -3.31597707e-04 2.98145020e+00] [ 1.24537244e-02 3.99373594e-05 9.99922449e-01 2.02618479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20439141799999 meters Centerline goodness [0,1] 0.9992001010398687 Centerline is valid? [True, True] Translation: X:43.43, Y:2.98, Z:0.20 [[ 9.99619060e-01 -2.47835884e-02 -1.21453197e-02 4.34289164e+01] [ 2.47814873e-02 9.99692839e-01 -3.23478951e-04 2.98104443e+00] [ 1.21496061e-02 2.23766387e-05 9.99926191e-01 2.01789402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.234391417999994 meters Centerline goodness [0,1] 0.9989889628443845 Centerline is valid? [True, True] Translation: X:43.46, Y:2.98, Z:0.20 [[ 9.99555874e-01 -2.66144849e-02 -1.34061506e-02 4.34594777e+01] [ 2.66120903e-02 9.99645772e-01 -3.57008954e-04 2.98006678e+00] [ 1.34109033e-02 8.47082567e-08 9.99910070e-01 1.99836717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.264391417999995 meters Centerline goodness [0,1] 0.9991160127967671 Centerline is valid? [True, True] Translation: X:43.49, Y:2.98, Z:0.20 [[ 9.99538686e-01 -2.71068962e-02 -1.36978829e-02 4.34902630e+01] [ 2.71044425e-02 9.99632541e-01 -3.64777856e-04 2.98053951e+00] [ 1.37027375e-02 -6.66390114e-06 9.99906113e-01 1.98689077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.294391418 meters Centerline goodness [0,1] 0.9993050876010782 Centerline is valid? [True, True] Translation: X:43.52, Y:2.98, Z:0.20 [[ 9.99522714e-01 -2.79104886e-02 -1.32419371e-02 4.35205346e+01] [ 2.79082673e-02 9.99610426e-01 -3.52540442e-04 2.98147654e+00] [ 1.32466180e-02 -1.71873417e-05 9.99912260e-01 2.01219652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.324391418 meters Centerline goodness [0,1] 0.9991992582602832 Centerline is valid? [True, True] Translation: X:43.55, Y:2.98, Z:0.20 [[ 9.99533019e-01 -2.75951669e-02 -1.31244692e-02 4.35508814e+01] [ 2.75929599e-02 9.99619181e-01 -3.49245339e-04 2.98345801e+00] [ 1.31291087e-02 -1.30607043e-05 9.99913809e-01 2.02830765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.354391418 meters Centerline goodness [0,1] 0.9994323557237464 Centerline is valid? [True, True] Translation: X:43.58, Y:2.99, Z:0.20 [[ 9.99580395e-01 -2.60992474e-02 -1.25643503e-02 4.35809619e+01] [ 2.60971076e-02 9.99659357e-01 -3.34258926e-04 2.98592330e+00] [ 1.25687942e-02 6.22546690e-06 9.99921010e-01 2.02754051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38439141799999 meters Centerline goodness [0,1] 0.9992849180810567 Centerline is valid? [True, True] Translation: X:43.61, Y:2.99, Z:0.20 [[ 9.99605089e-01 -2.53065930e-02 -1.22164911e-02 4.36109888e+01] [ 2.53045137e-02 9.99679737e-01 -3.24766871e-04 2.98752961e+00] [ 1.22207974e-02 1.55062497e-05 9.99925323e-01 2.04437694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.414391417999994 meters Centerline goodness [0,1] 0.9994317105512408 Centerline is valid? [True, True] Translation: X:43.64, Y:2.99, Z:0.21 [[ 9.99634511e-01 -2.42241943e-02 -1.20013279e-02 4.36413284e+01] [ 2.42221116e-02 9.99706551e-01 -3.18882887e-04 2.98900377e+00] [ 1.20055308e-02 2.80688351e-05 9.99927931e-01 2.05521854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.444391417999995 meters Centerline goodness [0,1] 0.9993262448678808 Centerline is valid? [True, True] Translation: X:43.67, Y:2.99, Z:0.20 [[ 9.99669364e-01 -2.29695353e-02 -1.15569631e-02 4.36717758e+01] [ 2.29675209e-02 9.99736165e-01 -3.07014267e-04 2.99031516e+00] [ 1.15609660e-02 4.14779650e-05 9.99933169e-01 2.04834243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.474391417999996 meters Centerline goodness [0,1] 0.9993262732383098 Centerline is valid? [True, True] Translation: X:43.70, Y:2.99, Z:0.20 [[ 9.99708318e-01 -2.09155878e-02 -1.20754514e-02 4.37018413e+01] [ 2.09132408e-02 9.99781243e-01 -3.20611840e-04 2.99159855e+00] [ 1.20795156e-02 6.79815008e-05 9.99927038e-01 2.03854899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.504391418 meters Centerline goodness [0,1] 0.9992629096116586 Centerline is valid? [True, True] Translation: X:43.73, Y:2.99, Z:0.20 [[ 9.99705698e-01 -2.09547861e-02 -1.22235495e-02 4.37311960e+01] [ 2.09523832e-02 9.99780422e-01 -3.24619779e-04 2.99262799e+00] [ 1.22276678e-02 6.84117483e-05 9.99925237e-01 2.04865452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.534391418 meters Centerline goodness [0,1] 0.9994945559463387 Centerline is valid? [True, True] Translation: X:43.76, Y:2.99, Z:0.20 [[ 9.99709430e-01 -2.06264251e-02 -1.24741958e-02 4.37607466e+01] [ 2.06238929e-02 9.99787250e-01 -3.31612286e-04 2.99334702e+00] [ 1.24783819e-02 7.42494506e-05 9.99922139e-01 2.04555546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56439141799999 meters Centerline goodness [0,1] 0.9996629024102478 Centerline is valid? [True, True] Translation: X:43.79, Y:2.99, Z:0.21 [[ 9.99710390e-01 -2.08870616e-02 -1.19526572e-02 4.37903613e+01] [ 2.08847506e-02 9.99781839e-01 -3.18144977e-04 2.99349530e+00] [ 1.19566948e-02 6.84245743e-05 9.99928514e-01 2.05475831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.594391417999994 meters Centerline goodness [0,1] 0.9993061396131203 Centerline is valid? [True, True] Translation: X:43.82, Y:2.99, Z:0.21 [[ 9.99696932e-01 -2.14545322e-02 -1.20725842e-02 4.38200162e+01] [ 2.14522122e-02 9.99769823e-01 -3.21650806e-04 2.99350732e+00] [ 1.20767062e-02 6.25696872e-05 9.99927072e-01 2.05199169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.624391417999995 meters Centerline goodness [0,1] 0.999221298537304 Centerline is valid? [True, True] Translation: X:43.85, Y:2.99, Z:0.20 [[ 9.99697222e-01 -2.11211561e-02 -1.26237955e-02 4.38491816e+01] [ 2.11185874e-02 9.99776921e-01 -3.36767819e-04 2.99360487e+00] [ 1.26280923e-02 7.00691249e-05 9.99920260e-01 2.02752992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.654391417999996 meters Centerline goodness [0,1] 0.9992627543497493 Centerline is valid? [True, True] Translation: X:43.88, Y:2.99, Z:0.20 [[ 9.99683154e-01 -2.18090019e-02 -1.25681840e-02 4.38783779e+01] [ 2.18065071e-02 9.99762154e-01 -3.35528998e-04 2.99426668e+00] [ 1.25725123e-02 6.13544934e-05 9.99920961e-01 2.04983181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.684391418 meters Centerline goodness [0,1] 0.9994096687820202 Centerline is valid? [True, True] Translation: X:43.91, Y:2.99, Z:0.20 [[ 9.99677055e-01 -2.12723769e-02 -1.39022295e-02 4.39080184e+01] [ 2.12692669e-02 9.99773715e-01 -3.71535734e-04 2.99490837e+00] [ 1.39069870e-02 7.57255194e-05 9.99903290e-01 2.01860125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.714391418 meters Centerline goodness [0,1] 0.9993873584586784 Centerline is valid? [True, True] Translation: X:43.94, Y:2.99, Z:0.20 [[ 9.99678208e-01 -2.18325049e-02 -1.29159762e-02 4.39372453e+01] [ 2.18298610e-02 9.99761640e-01 -3.45666580e-04 2.99486840e+00] [ 1.29204443e-02 6.36013826e-05 9.99916526e-01 2.04271881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74439141799999 meters Centerline goodness [0,1] 0.9993448305013103 Centerline is valid? [True, True] Translation: X:43.97, Y:3.00, Z:0.20 [[ 9.99679197e-01 -2.18516983e-02 -1.28065242e-02 4.39670294e+01] [ 2.18490949e-02 9.99761221e-01 -3.43175744e-04 2.99599471e+00] [ 1.28109653e-02 6.32546886e-05 9.99917934e-01 2.04020631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.77439141799999 meters Centerline goodness [0,1] 0.9990926738690075 Centerline is valid? [True, True] Translation: X:44.00, Y:3.00, Z:0.21 [[ 9.99668599e-01 -2.25192362e-02 -1.24730095e-02 4.39965845e+01] [ 2.25168145e-02 9.99746408e-01 -3.34573481e-04 2.99537676e+00] [ 1.24773808e-02 5.36101628e-05 9.99922153e-01 2.06000752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.804391417999994 meters Centerline goodness [0,1] 0.9993664202745512 Centerline is valid? [True, True] Translation: X:44.03, Y:3.00, Z:0.20 [[ 9.99658467e-01 -2.26094200e-02 -1.31058822e-02 4.40262856e+01] [ 2.26067494e-02 9.99744373e-01 -3.51897508e-04 2.99590705e+00] [ 1.31104882e-02 5.54959283e-05 9.99914052e-01 2.04643825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.834391417999996 meters Centerline goodness [0,1] 0.9992606362752968 Centerline is valid? [True, True] Translation: X:44.06, Y:3.00, Z:0.21 [[ 9.99656388e-01 -2.30564034e-02 -1.24703152e-02 4.40560681e+01] [ 2.30540188e-02 9.99734165e-01 -3.34963378e-04 2.99684756e+00] [ 1.24747232e-02 4.73574007e-05 9.99922186e-01 2.07638861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.864391418 meters Centerline goodness [0,1] 0.9990925206820868 Centerline is valid? [True, True] Translation: X:44.09, Y:3.00, Z:0.21 [[ 9.99652498e-01 -2.28136520e-02 -1.32068162e-02 4.40860078e+01] [ 2.28109500e-02 9.99739733e-01 -3.55211737e-04 2.99768842e+00] [ 1.32114826e-02 5.38282756e-05 9.99912723e-01 2.06031028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.894391418 meters Centerline goodness [0,1] 0.9992197055970307 Centerline is valid? [True, True] Translation: X:44.12, Y:3.00, Z:0.21 [[ 9.99657818e-01 -2.28834318e-02 -1.26726241e-02 4.41155154e+01] [ 2.28809453e-02 9.99738139e-01 -3.41180098e-04 2.99743423e+00] [ 1.26771130e-02 5.11017318e-05 9.99919641e-01 2.07520478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.924391418 meters Centerline goodness [0,1] 0.9992412746585736 Centerline is valid? [True, True] Translation: X:44.15, Y:3.00, Z:0.21 [[ 9.99662568e-01 -2.23787160e-02 -1.31887515e-02 4.41451880e+01] [ 2.23759729e-02 9.99749563e-01 -3.55528204e-04 2.99744916e+00] [ 1.31934048e-02 6.02970907e-05 9.99912961e-01 2.05284994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.95439141799999 meters Centerline goodness [0,1] 0.9991780302231964 Centerline is valid? [True, True] Translation: X:44.17, Y:3.00, Z:0.21 [[ 9.99659496e-01 -2.26829117e-02 -1.28987747e-02 4.41747239e+01] [ 2.26803088e-02 9.99742708e-01 -3.48058316e-04 2.99746213e+00] [ 1.29033510e-02 5.53916061e-05 9.99916747e-01 2.05688830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.984391417999994 meters Centerline goodness [0,1] 0.999053129931615 Centerline is valid? [True, True] Translation: X:44.20, Y:3.00, Z:0.21 [[ 9.99636098e-01 -2.40252755e-02 -1.22661360e-02 4.42047901e+01] [ 2.40230168e-02 9.99711351e-01 -3.31470141e-04 2.99703173e+00] [ 1.22705591e-02 3.66799269e-05 9.99924713e-01 2.08911547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.014391417999995 meters Centerline goodness [0,1] 0.999368075156928 Centerline is valid? [True, True] Translation: X:44.24, Y:3.00, Z:0.21 [[ 9.99624568e-01 -2.45055707e-02 -1.22555903e-02 4.42350423e+01] [ 2.45033477e-02 9.99699693e-01 -3.31529193e-04 2.99667737e+00] [ 1.22600342e-02 3.11017357e-05 9.99924842e-01 2.09292494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.044391418 meters Centerline goodness [0,1] 0.9996211244185312 Centerline is valid? [True, True] Translation: X:44.27, Y:3.00, Z:0.21 [[ 9.99612731e-01 -2.48536071e-02 -1.25174227e-02 4.42658544e+01] [ 2.48513154e-02 9.99691101e-01 -3.38612090e-04 2.99667190e+00] [ 1.25219718e-02 2.74065366e-05 9.99921597e-01 2.09470561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.074391418 meters Centerline goodness [0,1] 0.9995161968868321 Centerline is valid? [True, True] Translation: X:44.30, Y:3.00, Z:0.21 [[ 9.99607229e-01 -2.46554866e-02 -1.33227201e-02 4.42960735e+01] [ 2.46528730e-02 9.99696007e-01 -3.60396400e-04 2.99654533e+00] [ 1.33275558e-02 3.18115222e-05 9.99911184e-01 2.08234717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.104391418 meters Centerline goodness [0,1] 0.9991159011493285 Centerline is valid? [True, True] Translation: X:44.33, Y:3.00, Z:0.21 [[ 9.99607028e-01 -2.49021100e-02 -1.28714804e-02 4.43253915e+01] [ 2.48996897e-02 9.99689894e-01 -3.48277573e-04 2.99718491e+00] [ 1.28761617e-02 2.76448421e-05 9.99917098e-01 2.09621062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.13439141799999 meters Centerline goodness [0,1] 0.9993048680302488 Centerline is valid? [True, True] Translation: X:44.36, Y:3.00, Z:0.21 [[ 9.99599211e-01 -2.48376758e-02 -1.35833750e-02 4.43563831e+01] [ 2.48349721e-02 9.99691497e-01 -3.67718102e-04 2.99711930e+00] [ 1.35883178e-02 3.02279851e-05 9.99907674e-01 2.08379070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.164391417999994 meters Centerline goodness [0,1] 0.999201697443331 Centerline is valid? [True, True] Translation: X:44.39, Y:3.00, Z:0.21 [[ 9.99598553e-01 -2.49896910e-02 -1.33509682e-02 4.43861322e+01] [ 2.49870913e-02 9.99687709e-01 -3.61525772e-04 2.99719130e+00] [ 1.33558332e-02 2.77787781e-05 9.99910806e-01 2.08418284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.194391417999995 meters Centerline goodness [0,1] 0.999474049607641 Centerline is valid? [True, True] Translation: X:44.42, Y:3.00, Z:0.21 [[ 9.99557914e-01 -2.69388737e-02 -1.25807133e-02 4.44157091e+01] [ 2.69367155e-02 9.99637083e-01 -3.40997962e-04 2.99571134e+00] [ 1.25853336e-02 1.96411820e-06 9.99920802e-01 2.09834883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.224391417999996 meters Centerline goodness [0,1] 0.9992200674536257 Centerline is valid? [True, True] Translation: X:44.45, Y:2.99, Z:0.21 [[ 9.99526437e-01 -2.81943401e-02 -1.23280180e-02 4.44467302e+01] [ 2.81923590e-02 9.99602460e-01 -3.34486676e-04 2.99464244e+00] [ 1.23325477e-02 -1.32276321e-05 9.99923951e-01 2.09859684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.254391418 meters Centerline goodness [0,1] 0.999368979008035 Centerline is valid? [True, True] Translation: X:44.48, Y:2.99, Z:0.21 [[ 9.99495923e-01 -2.94466232e-02 -1.18657712e-02 4.44777771e+01] [ 2.94448778e-02 9.99566354e-01 -3.21806108e-04 2.99378198e+00] [ 1.18701018e-02 -2.77422913e-05 9.99929547e-01 2.09839688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.284391418 meters Centerline goodness [0,1] 0.9993488626100107 Centerline is valid? [True, True] Translation: X:44.51, Y:2.99, Z:0.21 [[ 9.99447864e-01 -3.11895173e-02 -1.14534171e-02 4.45094693e+01] [ 3.11880108e-02 9.99513488e-01 -3.10166688e-04 2.99308692e+00] [ 1.14575188e-02 -4.72138626e-05 9.99934359e-01 2.10434335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31439141799999 meters Centerline goodness [0,1] 0.9991811711352327 Centerline is valid? [True, True] Translation: X:44.54, Y:2.99, Z:0.21 [[ 9.99307150e-01 -3.54060118e-02 -1.14731893e-02 4.45393586e+01] [ 3.54047819e-02 9.99373006e-01 -3.10354237e-04 2.99015832e+00] [ 1.14769840e-02 -9.60665550e-05 9.99934133e-01 2.10563744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.344391417999994 meters Centerline goodness [0,1] 0.9992226890756303 Centerline is valid? [True, True] Translation: X:44.57, Y:2.99, Z:0.21 [[ 9.99227178e-01 -3.76218784e-02 -1.13860224e-02 4.45710261e+01] [ 3.76208123e-02 9.99292039e-01 -3.07878123e-04 2.98914633e+00] [ 1.13895445e-02 -1.20711224e-04 9.99935130e-01 2.10369658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.374391417999995 meters Centerline goodness [0,1] 0.9991173503698723 Centerline is valid? [True, True] Translation: X:44.60, Y:2.99, Z:0.21 [[ 9.99145954e-01 -3.97242471e-02 -1.13730740e-02 4.46026901e+01] [ 3.97233278e-02 9.99210670e-01 -3.06809096e-04 2.98639263e+00] [ 1.13762847e-02 -1.45229280e-04 9.99935277e-01 2.09641195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.404391417999996 meters Centerline goodness [0,1] 0.9991807066929961 Centerline is valid? [True, True] Translation: X:44.64, Y:2.99, Z:0.21 [[ 9.99075285e-01 -4.16392854e-02 -1.07119288e-02 4.46352848e+01] [ 4.16385929e-02 9.99132696e-01 -2.87759361e-04 2.98544993e+00] [ 1.07146204e-02 -1.58536377e-04 9.99942584e-01 2.10171315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.434391418 meters Centerline goodness [0,1] 0.999116774966879 Centerline is valid? [True, True] Translation: X:44.67, Y:2.98, Z:0.21 [[ 9.98948181e-01 -4.50573153e-02 -8.50707338e-03 4.46670305e+01] [ 4.50570071e-02 9.98984391e-01 -2.27984047e-04 2.97945863e+00] [ 8.50870587e-03 -1.55559016e-04 9.99963788e-01 2.11069501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.464391418 meters Centerline goodness [0,1] 0.9990957648147369 Centerline is valid? [True, True] Translation: X:44.70, Y:2.98, Z:0.21 [[ 9.98902196e-01 -4.61780151e-02 -7.87366250e-03 4.46991658e+01] [ 4.61777891e-02 9.98933215e-01 -2.10585225e-04 2.97989677e+00] [ 7.87498740e-03 -1.53234283e-04 9.99968980e-01 2.11989946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49439141799999 meters Centerline goodness [0,1] 0.9990752416981925 Centerline is valid? [True, True] Translation: X:44.73, Y:2.98, Z:0.21 [[ 9.98893151e-01 -4.64199411e-02 -7.59354150e-03 4.47306028e+01] [ 4.64197424e-02 9.98922002e-01 -2.02505529e-04 2.97901535e+00] [ 7.59475597e-03 -1.50208854e-04 9.99971148e-01 2.12538504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52439141799999 meters Centerline goodness [0,1] 0.9990522524799393 Centerline is valid? [True, True] Translation: X:44.76, Y:2.98, Z:0.21 [[ 9.98903911e-01 -4.61644681e-02 -7.73424772e-03 4.47625094e+01] [ 4.61642577e-02 9.98933841e-01 -2.05815139e-04 2.98344730e+00] [ 7.73550313e-03 -1.51456257e-04 9.99970069e-01 2.12772849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.554391417999994 meters Centerline goodness [0,1] 0.9990315177800703 Centerline is valid? [True, True] Translation: X:44.79, Y:2.99, Z:0.21 [[ 9.98974583e-01 -4.46585034e-02 -7.44320756e-03 4.47947516e+01] [ 4.46582711e-02 9.99002302e-01 -1.97490632e-04 2.98575265e+00] [ 7.44460112e-03 -1.35112660e-04 9.99972279e-01 2.12929470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.584391417999996 meters Centerline goodness [0,1] 0.9991154356479434 Centerline is valid? [True, True] Translation: X:44.83, Y:2.99, Z:0.21 [[ 9.99022343e-01 -4.35297409e-02 -7.71493443e-03 4.48262368e+01] [ 4.35294629e-02 9.99052123e-01 -2.04028683e-04 2.98664395e+00] [ 7.71650294e-03 -1.31997739e-04 9.99970219e-01 2.12311829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.614391418 meters Centerline goodness [0,1] 0.999304897314376 Centerline is valid? [True, True] Translation: X:44.86, Y:2.99, Z:0.21 [[ 9.99087315e-01 -4.18840366e-02 -8.38242774e-03 4.48587074e+01] [ 4.18836551e-02 9.99122470e-01 -2.21128042e-04 2.98872583e+00] [ 8.38433364e-03 -1.30160491e-04 9.99964842e-01 2.11875753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.644391418 meters Centerline goodness [0,1] 0.9990526914089637 Centerline is valid? [True, True] Translation: X:44.89, Y:2.99, Z:0.21 [[ 9.99149548e-01 -4.03486620e-02 -8.49505546e-03 4.48904789e+01] [ 4.03482207e-02 9.99185654e-01 -2.23397909e-04 2.99060183e+00] [ 8.49715135e-03 -1.19552452e-04 9.99963891e-01 2.11375463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67439141799999 meters Centerline goodness [0,1] 0.9992204782471295 Centerline is valid? [True, True] Translation: X:44.92, Y:3.00, Z:0.21 [[ 9.99312060e-01 -3.62112304e-02 -8.00961116e-03 4.49217991e+01] [ 3.62107101e-02 9.99344155e-01 -2.10014596e-04 2.99526819e+00] [ 8.01196299e-03 -8.01635890e-05 9.99967900e-01 2.11835887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70439141799999 meters Centerline goodness [0,1] 0.9990948130683732 Centerline is valid? [True, True] Translation: X:44.95, Y:3.00, Z:0.21 [[ 9.99403131e-01 -3.35191306e-02 -8.35760476e-03 4.49535658e+01] [ 3.35184743e-02 9.99438074e-01 -2.18616511e-04 2.99900188e+00] [ 8.36023624e-03 -6.16481349e-05 9.99965051e-01 2.11074429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.734391417999994 meters Centerline goodness [0,1] 0.9990948130683732 Centerline is valid? [True, True] Translation: X:44.99, Y:3.00, Z:0.21 [[ 9.99405766e-01 -3.34404641e-02 -8.35762196e-03 4.49852468e+01] [ 3.34398106e-02 9.99440709e-01 -2.17957058e-04 2.99975017e+00] [ 8.36023621e-03 -6.16497556e-05 9.99965051e-01 2.11342673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.764391417999995 meters Centerline goodness [0,1] 0.99934739589912 Centerline is valid? [True, True] Translation: X:45.02, Y:3.01, Z:0.21 [[ 9.99551366e-01 -2.90272066e-02 -7.38159939e-03 4.50175013e+01] [ 2.90265802e-02 9.99578622e-01 -1.92001120e-04 3.00625912e+00] [ 7.38406220e-03 -2.23476049e-05 9.99972737e-01 2.12907354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.794391418 meters Centerline goodness [0,1] 0.9992214132401835 Centerline is valid? [True, True] Translation: X:45.05, Y:3.01, Z:0.21 [[ 9.99599252e-01 -2.71716138e-02 -7.93966881e-03 4.50500819e+01] [ 2.71708360e-02 9.99630783e-01 -2.05832519e-04 3.00927315e+00] [ 7.94233016e-03 -9.97740713e-06 9.99968459e-01 2.12565015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.824391418 meters Centerline goodness [0,1] 0.9994099922034684 Centerline is valid? [True, True] Translation: X:45.08, Y:3.01, Z:0.21 [[ 9.99637985e-01 -2.55524987e-02 -8.42431115e-03 4.50821053e+01] [ 2.55515715e-02 9.99673482e-01 -2.17679595e-04 3.01139672e+00] [ 8.42712272e-03 2.34640243e-06 9.99964491e-01 2.12003565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.854391418 meters Centerline goodness [0,1] 0.9993903592675902 Centerline is valid? [True, True] Translation: X:45.11, Y:3.01, Z:0.21 [[ 9.99664082e-01 -2.43578309e-02 -8.85547444e-03 4.51129006e+01] [ 2.43567663e-02 9.99703304e-01 -2.28062268e-04 3.01304752e+00] [ 8.85840216e-03 1.22949367e-05 9.99960764e-01 2.11198579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88439141799999 meters Centerline goodness [0,1] 0.999474082800404 Centerline is valid? [True, True] Translation: X:45.14, Y:3.01, Z:0.21 [[ 9.99669860e-01 -2.39550189e-02 -9.29128947e-03 4.51443134e+01] [ 2.39538350e-02 9.99713037e-01 -2.38706515e-04 3.01417626e+00] [ 9.29434144e-03 1.60656944e-05 9.99956807e-01 2.11037074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.914391417999994 meters Centerline goodness [0,1] 0.9995374361346482 Centerline is valid? [True, True] Translation: X:45.18, Y:3.02, Z:0.21 [[ 9.99653383e-01 -2.44272585e-02 -9.81954746e-03 4.51758217e+01] [ 2.44259630e-02 9.99701610e-01 -2.51858785e-04 3.01507747e+00] [ 9.82276963e-03 1.19195835e-05 9.99951755e-01 2.10714803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.944391417999995 meters Centerline goodness [0,1] 0.9993274626426515 Centerline is valid? [True, True] Translation: X:45.21, Y:3.02, Z:0.21 [[ 9.99630061e-01 -2.52774781e-02 -1.00394047e-02 4.52069490e+01] [ 2.52761710e-02 9.99680473e-01 -2.57081501e-04 3.01607447e+00] [ 1.00426952e-02 3.22868798e-06 9.99949571e-01 2.10955061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.974391417999996 meters Centerline goodness [0,1] 0.9992644740989808 Centerline is valid? [True, True] Translation: X:45.24, Y:3.02, Z:0.21 [[ 9.99602393e-01 -2.59579978e-02 -1.10108530e-02 4.52377949e+01] [ 2.59564715e-02 9.99663034e-01 -2.81529020e-04 3.01657446e+00] [ 1.10144507e-02 -4.38581067e-06 9.99939339e-01 2.08989307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.004391418 meters Centerline goodness [0,1] 0.9992439833676341 Centerline is valid? [True, True] Translation: X:45.27, Y:3.02, Z:0.21 [[ 9.99518535e-01 -2.92415905e-02 -1.03743266e-02 4.52689745e+01] [ 2.92404149e-02 9.99572373e-01 -2.65015321e-04 3.01545347e+00] [ 1.03776398e-02 -3.84618899e-05 9.99946150e-01 2.10930169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.034391418 meters Centerline goodness [0,1] 0.9992639636608345 Centerline is valid? [True, True] Translation: X:45.30, Y:3.01, Z:0.21 [[ 9.99473883e-01 -3.08416832e-02 -1.00373368e-02 4.53000270e+01] [ 3.08406674e-02 9.99524281e-01 -2.56007114e-04 3.01480549e+00] [ 1.00404575e-02 -5.36857417e-05 9.99949592e-01 2.11690930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06439141799999 meters Centerline goodness [0,1] 0.9990949464334575 Centerline is valid? [True, True] Translation: X:45.33, Y:3.01, Z:0.21 [[ 9.99423406e-01 -3.25697289e-02 -9.59520756e-03 4.53311931e+01] [ 3.25688841e-02 9.99469463e-01 -2.44329289e-04 3.01365227e+00] [ 9.59807469e-03 -6.83167932e-05 9.99953935e-01 2.12423452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.094391417999994 meters Centerline goodness [0,1] 0.9988433714670256 Centerline is valid? [True, True] Translation: X:45.36, Y:3.01, Z:0.21 [[ 9.99359124e-01 -3.45250460e-02 -9.45315507e-03 4.53633015e+01] [ 3.45243191e-02 9.99403829e-01 -2.40120484e-04 3.01267446e+00] [ 9.45580955e-03 -8.63971459e-05 9.99955289e-01 2.11479140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.124391417999995 meters Centerline goodness [0,1] 0.9990532096193903 Centerline is valid? [True, True] Translation: X:45.39, Y:3.01, Z:0.21 [[ 9.99309342e-01 -3.59577435e-02 -9.37441716e-03 4.53940206e+01] [ 3.59570994e-02 9.99353306e-01 -2.37305201e-04 3.01218714e+00] [ 9.37688774e-03 -9.99355453e-05 9.99956031e-01 2.13943027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.154391417999996 meters Centerline goodness [0,1] 0.999220412549251 Centerline is valid? [True, True] Translation: X:45.43, Y:3.01, Z:0.21 [[ 9.99277108e-01 -3.67271642e-02 -9.81719066e-03 4.54258296e+01] [ 3.67265082e-02 9.99325324e-01 -2.47150482e-04 3.01403142e+00] [ 9.81964437e-03 -1.13579315e-04 9.99951780e-01 2.14127856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.184391418 meters Centerline goodness [0,1] 0.9989674210814684 Centerline is valid? [True, True] Translation: X:45.46, Y:3.01, Z:0.21 [[ 9.99266184e-01 -3.68775659e-02 -1.03507889e-02 4.54566842e+01] [ 3.68768535e-02 9.99319784e-01 -2.59738093e-04 3.01386821e+00] [ 1.03533266e-02 -1.22157033e-04 9.99946395e-01 2.12183699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.214391418 meters Centerline goodness [0,1] 0.999074658254469 Centerline is valid? [True, True] Translation: X:45.49, Y:3.01, Z:0.21 [[ 9.99221815e-01 -3.83200105e-02 -9.34570536e-03 4.54891714e+01] [ 3.83194978e-02 9.99265511e-01 -2.33981092e-04 3.01368959e+00] [ 9.34780720e-03 -1.24323725e-04 9.99956301e-01 2.14144542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24439141799999 meters Centerline goodness [0,1] 0.9987210131253407 Centerline is valid? [True, True] Translation: X:45.52, Y:3.01, Z:0.21 [[ 9.99216579e-01 -3.84278047e-02 -9.46217404e-03 4.55215929e+01] [ 3.84272913e-02 9.99261371e-01 -2.36126762e-04 3.01393994e+00] [ 9.46425883e-03 -1.27663943e-04 9.99955205e-01 2.13844142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.27439141799999 meters Centerline goodness [0,1] 0.9991168492545787 Centerline is valid? [True, True] Translation: X:45.55, Y:3.01, Z:0.21 [[ 9.99192136e-01 -3.90364631e-02 -9.55143411e-03 4.55541250e+01] [ 3.90359752e-02 9.99237778e-01 -2.37581171e-04 3.01475615e+00] [ 9.55342812e-03 -1.35460307e-04 9.99954356e-01 2.14505182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.304391417999994 meters Centerline goodness [0,1] 0.9989494694820884 Centerline is valid? [True, True] Translation: X:45.59, Y:3.02, Z:0.21 [[ 9.99184781e-01 -3.91198211e-02 -9.97059009e-03 4.55863311e+01] [ 3.91193018e-02 9.99234517e-01 -2.47180958e-04 3.01638971e+00] [ 9.97262745e-03 -1.43063071e-04 9.99950262e-01 2.14545753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.334391417999996 meters Centerline goodness [0,1] 0.9989699173831698 Centerline is valid? [True, True] Translation: X:45.62, Y:3.02, Z:0.21 [[ 9.99190986e-01 -3.88966945e-02 -1.02186734e-02 4.56171907e+01] [ 3.88961456e-02 9.99243227e-01 -2.52530670e-04 3.01839121e+00] [ 1.02207628e-02 -1.45140639e-04 9.99947756e-01 2.14560529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.364391418 meters Centerline goodness [0,1] 0.998906414300736 Centerline is valid? [True, True] Translation: X:45.65, Y:3.02, Z:0.21 [[ 9.99227301e-01 -3.77212100e-02 -1.10413274e-02 4.56490302e+01] [ 3.77205050e-02 9.99288291e-01 -2.72160757e-04 3.02010927e+00] [ 1.10437354e-02 -1.44533986e-04 9.99939006e-01 2.11917310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.394391418 meters Centerline goodness [0,1] 0.9991179991179991 Centerline is valid? [True, True] Translation: X:45.68, Y:3.02, Z:0.21 [[ 9.99230463e-01 -3.76372455e-02 -1.10417562e-02 4.56799071e+01] [ 3.76365427e-02 9.99291457e-01 -2.71513251e-04 3.02093310e+00] [ 1.10441516e-02 -1.44269216e-04 9.99939001e-01 2.13032712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42439141799999 meters Centerline goodness [0,1] 0.9990751250683146 Centerline is valid? [True, True] Translation: X:45.71, Y:3.02, Z:0.21 [[ 9.99265867e-01 -3.62338588e-02 -1.24432874e-02 4.57110062e+01] [ 3.62328673e-02 9.99343327e-01 -3.05178262e-04 3.02272791e+00] [ 1.24461740e-02 -1.45901761e-04 9.99922533e-01 2.11940152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.45439141799999 meters Centerline goodness [0,1] 0.9991173503698723 Centerline is valid? [True, True] Translation: X:45.74, Y:3.02, Z:0.21 [[ 9.99313963e-01 -3.46559416e-02 -1.30602327e-02 4.57425251e+01] [ 3.46547236e-02 9.99399294e-01 -3.19620694e-04 3.02470048e+00] [ 1.30634641e-02 -1.33197331e-04 9.99914660e-01 2.10179265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.484391417999994 meters Centerline goodness [0,1] 0.9990957648147369 Centerline is valid? [True, True] Translation: X:45.77, Y:3.03, Z:0.21 [[ 9.99354373e-01 -3.33569349e-02 -1.33473529e-02 4.57741450e+01] [ 3.33555538e-02 9.99443495e-01 -3.26137018e-04 3.02766046e+00] [ 1.33508040e-02 -1.19281892e-04 9.99910867e-01 2.11574453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.514391417999995 meters Centerline goodness [0,1] 0.9990761348843069 Centerline is valid? [True, True] Translation: X:45.80, Y:3.03, Z:0.21 [[ 9.99431132e-01 -3.08272304e-02 -1.36782237e-02 4.58041862e+01] [ 3.08255475e-02 9.99524724e-01 -3.33894229e-04 3.03059218e+00] [ 1.36820158e-02 -8.79344462e-05 9.99906393e-01 2.10032043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.544391418 meters Centerline goodness [0,1] 0.9991190536118801 Centerline is valid? [True, True] Translation: X:45.83, Y:3.04, Z:0.21 [[ 9.99545279e-01 -2.70089167e-02 -1.34072594e-02 4.58342845e+01] [ 2.70069564e-02 9.99635192e-01 -3.27279817e-04 3.03642407e+00] [ 1.34112078e-02 -3.49582741e-05 9.99910065e-01 2.12563475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.574391418 meters Centerline goodness [0,1] 0.9993471897571967 Centerline is valid? [True, True] Translation: X:45.86, Y:3.04, Z:0.21 [[ 9.99603681e-01 -2.47444115e-02 -1.34236888e-02 4.58647146e+01] [ 2.47422422e-02 9.99693810e-01 -3.27680869e-04 3.03963820e+00] [ 1.34276868e-02 -4.58115596e-06 9.99909845e-01 2.13185825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.604391418 meters Centerline goodness [0,1] 0.9993467770824115 Centerline is valid? [True, True] Translation: X:45.89, Y:3.04, Z:0.21 [[ 9.99664181e-01 -2.20005559e-02 -1.36931074e-02 4.58944427e+01] [ 2.19980398e-02 9.99757958e-01 -3.34356179e-04 3.04268801e+00] [ 1.36971491e-02 3.30223737e-05 9.99906189e-01 2.11437924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63439141799999 meters Centerline goodness [0,1] 0.9992417061611374 Centerline is valid? [True, True] Translation: X:45.92, Y:3.05, Z:0.21 [[ 9.99713928e-01 -1.95403317e-02 -1.37927008e-02 4.59234895e+01] [ 1.95375384e-02 9.99809067e-01 -3.37249772e-04 3.04650785e+00] [ 1.37966573e-02 6.76778733e-05 9.99904819e-01 2.13606645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.664391417999994 meters Centerline goodness [0,1] 0.9992620548609501 Centerline is valid? [True, True] Translation: X:45.95, Y:3.05, Z:0.22 [[ 9.99725935e-01 -1.89578117e-02 -1.37352272e-02 4.59521019e+01] [ 1.89549595e-02 9.99820282e-01 -3.37813683e-04 3.04771578e+00] [ 1.37391630e-02 7.73704232e-05 9.99905610e-01 2.15047676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.694391417999995 meters Centerline goodness [0,1] 0.9993256485364466 Centerline is valid? [True, True] Translation: X:45.98, Y:3.05, Z:0.22 [[ 9.99729844e-01 -1.89632268e-02 -1.34400740e-02 4.59810552e+01] [ 1.89604460e-02 9.99820179e-01 -3.34308483e-04 3.04887347e+00] [ 1.34439967e-02 7.93883711e-05 9.99909622e-01 2.15691933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.724391417999996 meters Centerline goodness [0,1] 0.999262599022417 Centerline is valid? [True, True] Translation: X:46.01, Y:3.05, Z:0.22 [[ 9.99716151e-01 -1.94980141e-02 -1.36910752e-02 4.60099185e+01] [ 1.94951250e-02 9.99809893e-01 -3.44458202e-04 3.04941501e+00] [ 1.36951887e-02 7.74512041e-05 9.99906214e-01 2.15791457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.754391418 meters Centerline goodness [0,1] 0.9994304878820477 Centerline is valid? [True, True] Translation: X:46.04, Y:3.05, Z:0.22 [[ 9.99661935e-01 -2.22543665e-02 -1.34446309e-02 4.60382996e+01] [ 2.22517943e-02 9.99752340e-01 -3.40891164e-04 3.04688217e+00] [ 1.34488875e-02 4.16087588e-05 9.99909559e-01 2.15585138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.784391418 meters Centerline goodness [0,1] 0.9992621170914764 Centerline is valid? [True, True] Translation: X:46.07, Y:3.05, Z:0.21 [[ 9.99627290e-01 -2.33107221e-02 -1.42088115e-02 4.60681553e+01] [ 2.33079450e-02 9.99728268e-01 -3.61033678e-04 3.04500851e+00] [ 1.42133665e-02 2.97209186e-05 9.99898985e-01 2.13482099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81439141799999 meters Centerline goodness [0,1] 0.9991999831575401 Centerline is valid? [True, True] Translation: X:46.10, Y:3.04, Z:0.21 [[ 9.99569832e-01 -2.54918337e-02 -1.45022997e-02 4.60982725e+01] [ 2.54891616e-02 9.99675030e-01 -3.69084554e-04 3.04368560e+00] [ 1.45069956e-02 -7.25676182e-07 9.99894768e-01 2.13642957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.844391417999994 meters Centerline goodness [0,1] 0.9992410027197403 Centerline is valid? [True, True] Translation: X:46.13, Y:3.04, Z:0.21 [[ 9.99456220e-01 -2.94279423e-02 -1.48748545e-02 4.61268396e+01] [ 2.94255544e-02 9.99566903e-01 -3.79413607e-04 3.04090854e+00] [ 1.48795776e-02 -5.84935511e-05 9.99889291e-01 2.14022901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.874391417999995 meters Centerline goodness [0,1] 0.999303709330295 Centerline is valid? [True, True] Translation: X:46.16, Y:3.04, Z:0.21 [[ 9.99408596e-01 -3.08868842e-02 -1.51148248e-02 4.61569267e+01] [ 3.08845755e-02 9.99522883e-01 -3.86199393e-04 3.04042812e+00] [ 1.51195417e-02 -8.08439533e-05 9.99885690e-01 2.14339854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.904391417999996 meters Centerline goodness [0,1] 0.9990500517194064 Centerline is valid? [True, True] Translation: X:46.19, Y:3.04, Z:0.21 [[ 9.99379285e-01 -3.17278371e-02 -1.53097656e-02 4.61879210e+01] [ 3.17255671e-02 9.99496541e-01 -3.91180333e-04 3.04048981e+00] [ 1.53144691e-02 -9.47734741e-05 9.99882722e-01 2.13731818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.934391418 meters Centerline goodness [0,1] 0.9991773887365535 Centerline is valid? [True, True] Translation: X:46.22, Y:3.04, Z:0.22 [[ 9.99362001e-01 -3.22615470e-02 -1.53226239e-02 4.62175919e+01] [ 3.22593338e-02 9.99479456e-01 -3.91645269e-04 3.04070569e+00] [ 1.53272829e-02 -1.02902239e-04 9.99882525e-01 2.15455658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.964391418 meters Centerline goodness [0,1] 0.9991774754824423 Centerline is valid? [True, True] Translation: X:46.25, Y:3.04, Z:0.22 [[ 9.99384286e-01 -3.16404987e-02 -1.51633999e-02 4.62468249e+01] [ 3.16382553e-02 9.99499310e-01 -3.87873502e-04 3.04169472e+00] [ 1.51680803e-02 -9.21088349e-05 9.99884954e-01 2.16079637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99439141799999 meters Centerline goodness [0,1] 0.9992837430744275 Centerline is valid? [True, True] Translation: X:46.28, Y:3.04, Z:0.22 [[ 9.99400691e-01 -3.15479773e-02 -1.42472499e-02 4.62776560e+01] [ 3.15459851e-02 9.99502235e-01 -3.64594740e-04 3.04328636e+00] [ 1.42516604e-02 -8.50672997e-05 9.99898436e-01 2.18704532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02439141799999 meters Centerline goodness [0,1] 0.9989676603813337 Centerline is valid? [True, True] Translation: X:46.31, Y:3.04, Z:0.22 [[ 9.99427166e-01 -3.02504096e-02 -1.51740902e-02 4.63083653e+01] [ 3.02480003e-02 9.99542349e-01 -3.88313078e-04 3.04496594e+00] [ 1.51788924e-02 -7.08952466e-05 9.99884791e-01 2.17190898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.054391417999994 meters Centerline goodness [0,1] 0.9994102655911035 Centerline is valid? [True, True] Translation: X:46.34, Y:3.05, Z:0.22 [[ 9.99453907e-01 -2.98043431e-02 -1.42684429e-02 4.63389305e+01] [ 2.98021674e-02 9.99555750e-01 -3.65137079e-04 3.04645334e+00] [ 1.42729868e-02 -6.02928434e-05 9.99898134e-01 2.20532911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.084391417999996 meters Centerline goodness [0,1] 0.9994322602350864 Centerline is valid? [True, True] Translation: X:46.37, Y:3.05, Z:0.22 [[ 9.99510625e-01 -2.80873555e-02 -1.37699419e-02 4.63696020e+01] [ 2.80851661e-02 9.99605472e-01 -3.52380172e-04 3.04821840e+00] [ 1.37744067e-02 -3.45233802e-05 9.99905128e-01 2.21279853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.114391418 meters Centerline goodness [0,1] 0.9992644277247699 Centerline is valid? [True, True] Translation: X:46.40, Y:3.05, Z:0.22 [[ 9.99525885e-01 -2.75622493e-02 -1.37232155e-02 4.63999022e+01] [ 2.75600253e-02 9.99620089e-01 -3.51184418e-04 3.04941580e+00] [ 1.37276813e-02 -2.71942497e-05 9.99905771e-01 2.22041818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.144391418 meters Centerline goodness [0,1] 0.9992232439014149 Centerline is valid? [True, True] Translation: X:46.43, Y:3.05, Z:0.22 [[ 9.99535679e-01 -2.72882936e-02 -1.35564078e-02 4.64300481e+01] [ 2.72860982e-02 9.99627605e-01 -3.46915720e-04 3.05050105e+00] [ 1.35608262e-02 -2.31468341e-05 9.99908048e-01 2.22602822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17439141799999 meters Centerline goodness [0,1] 0.9990781865415235 Centerline is valid? [True, True] Translation: X:46.46, Y:3.05, Z:0.22 [[ 9.99513364e-01 -2.76345538e-02 -1.44695373e-02 4.64597336e+01] [ 2.76320871e-02 9.99618092e-01 -3.70404586e-04 3.04979857e+00] [ 1.44742473e-02 -2.95991820e-05 9.99895242e-01 2.20152374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20439141799999 meters Centerline goodness [0,1] 0.9994557025623848 Centerline is valid? [True, True] Translation: X:46.49, Y:3.05, Z:0.22 [[ 9.99475723e-01 -2.88827877e-02 -1.46309114e-02 4.64898576e+01] [ 2.88803933e-02 9.99582804e-01 -3.74957086e-04 3.05012153e+00] [ 1.46356373e-02 -4.77859722e-05 9.99892892e-01 2.22191608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.234391417999994 meters Centerline goodness [0,1] 0.9991194599354271 Centerline is valid? [True, True] Translation: X:46.52, Y:3.05, Z:0.22 [[ 9.99439774e-01 -2.96797862e-02 -1.54676694e-02 4.65207878e+01] [ 2.96771999e-02 9.99559456e-01 -3.96761937e-04 3.04975294e+00] [ 1.54726310e-02 -6.24974557e-05 9.99880290e-01 2.20792711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.264391417999995 meters Centerline goodness [0,1] 0.9991209159218871 Centerline is valid? [True, True] Translation: X:46.55, Y:3.05, Z:0.22 [[ 9.99342357e-01 -3.20457982e-02 -1.69682161e-02 4.65504206e+01] [ 3.20430239e-02 9.99486396e-01 -4.35420393e-04 3.04780961e+00] [ 1.69734545e-02 -1.08578913e-04 9.99855935e-01 2.20651683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.294391418 meters Centerline goodness [0,1] 0.999183092101129 Centerline is valid? [True, True] Translation: X:46.58, Y:3.05, Z:0.22 [[ 9.99301816e-01 -3.20851014e-02 -1.91422561e-02 4.65805558e+01] [ 3.20815660e-02 9.99485133e-01 -4.91827550e-04 3.04697646e+00] [ 1.91481808e-02 -1.22629389e-04 9.99816649e-01 2.18387172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.324391418 meters Centerline goodness [0,1] 0.9990785340314137 Centerline is valid? [True, True] Translation: X:46.61, Y:3.05, Z:0.22 [[ 9.99278370e-01 -3.32859315e-02 -1.82971847e-02 4.66084839e+01] [ 3.32828787e-02 9.99445860e-01 -4.71418214e-04 3.04604058e+00] [ 1.83027371e-02 -1.37904955e-04 9.99832481e-01 2.19967528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.354391418 meters Centerline goodness [0,1] 0.9990360637874312 Centerline is valid? [True, True] Translation: X:46.64, Y:3.05, Z:0.22 [[ 9.99266339e-01 -3.38173885e-02 -1.79768817e-02 4.66384321e+01] [ 3.38145061e-02 9.99428018e-01 -4.64369358e-04 3.04560097e+00] [ 1.79823030e-02 -1.43850706e-04 9.99838295e-01 2.21355468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38439141799999 meters Centerline goodness [0,1] 0.9992245625065493 Centerline is valid? [True, True] Translation: X:46.67, Y:3.04, Z:0.22 [[ 9.99273619e-01 -3.41753934e-02 -1.68605367e-02 4.66669752e+01] [ 3.41728951e-02 9.99415841e-01 -4.36342291e-04 3.04486496e+00] [ 1.68655997e-02 -1.40148013e-04 9.99857756e-01 2.23059039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.414391417999994 meters Centerline goodness [0,1] 0.9993723980669861 Centerline is valid? [True, True] Translation: X:46.70, Y:3.05, Z:0.22 [[ 9.99282559e-01 -3.39729226e-02 -1.67393895e-02 4.66966208e+01] [ 3.39704179e-02 9.99422745e-01 -4.34026572e-04 3.04568591e+00] [ 1.67444717e-02 -1.34928873e-04 9.99859792e-01 2.23898182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.444391417999995 meters Centerline goodness [0,1] 0.9992044883604086 Centerline is valid? [True, True] Translation: X:46.73, Y:3.05, Z:0.22 [[ 9.99290950e-01 -3.33832704e-02 -1.74113564e-02 4.67261755e+01] [ 3.33804621e-02 9.99442615e-01 -4.51967705e-04 3.04606188e+00] [ 1.74167398e-02 -1.29551886e-04 9.99848309e-01 2.22349242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.474391417999996 meters Centerline goodness [0,1] 0.9992464993616175 Centerline is valid? [True, True] Translation: X:46.76, Y:3.05, Z:0.22 [[ 9.99285238e-01 -3.37620501e-02 -1.70040277e-02 4.67557322e+01] [ 3.37594180e-02 9.99429891e-01 -4.41897737e-04 3.04715272e+00] [ 1.70092529e-02 -1.32464193e-04 9.99855323e-01 2.24855872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.504391418 meters Centerline goodness [0,1] 0.9992669082378569 Centerline is valid? [True, True] Translation: X:46.79, Y:3.05, Z:0.22 [[ 9.99305198e-01 -3.29509256e-02 -1.74171674e-02 4.67852628e+01] [ 3.29480351e-02 9.99456963e-01 -4.52966349e-04 3.04540116e+00] [ 1.74226349e-02 -1.21209815e-04 9.99848207e-01 2.23586879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.534391418 meters Centerline goodness [0,1] 0.999266385797229 Centerline is valid? [True, True] Translation: X:46.81, Y:3.05, Z:0.22 [[ 9.99313040e-01 -3.19927960e-02 -1.87058743e-02 4.68146885e+01] [ 3.19892868e-02 9.99488093e-01 -4.86866297e-04 3.04516120e+00] [ 1.87118748e-02 -1.11855739e-04 9.99824911e-01 2.22000746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56439141799999 meters Centerline goodness [0,1] 0.9994128625049802 Centerline is valid? [True, True] Translation: X:46.84, Y:3.05, Z:0.23 [[ 9.99343334e-01 -3.19898397e-02 -1.70161825e-02 4.68429841e+01] [ 3.19868902e-02 9.99488189e-01 -4.45538195e-04 3.04546720e+00] [ 1.70217261e-02 -9.90491349e-05 9.99855115e-01 2.25080384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.594391417999994 meters Centerline goodness [0,1] 0.9992656007385958 Centerline is valid? [True, True] Translation: X:46.87, Y:3.05, Z:0.22 [[ 9.99368013e-01 -3.11253369e-02 -1.71693724e-02 4.68713478e+01] [ 3.11221553e-02 9.99515486e-01 -4.52533950e-04 3.04562120e+00] [ 1.71751389e-02 -8.20999209e-05 9.99852493e-01 2.24900685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.624391417999995 meters Centerline goodness [0,1] 0.9992656007385958 Centerline is valid? [True, True] Translation: X:46.90, Y:3.05, Z:0.23 [[ 9.99359550e-01 -3.13959264e-02 -1.71692935e-02 4.68995895e+01] [ 3.13927336e-02 9.99507023e-01 -4.55511019e-04 3.04647795e+00] [ 1.71751307e-02 -8.37717714e-05 9.99852493e-01 2.25140141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.654391417999996 meters Centerline goodness [0,1] 0.9992654311918904 Centerline is valid? [True, True] Translation: X:46.93, Y:3.05, Z:0.23 [[ 9.99448356e-01 -2.89268268e-02 -1.63163257e-02 4.69282258e+01] [ 2.89235714e-02 9.99581531e-01 -4.35512252e-04 3.04769659e+00] [ 1.63220958e-02 -3.66544076e-05 9.99866785e-01 2.27070986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.684391418 meters Centerline goodness [0,1] 0.9994541026287058 Centerline is valid? [True, True] Translation: X:46.96, Y:3.05, Z:0.23 [[ 9.99487265e-01 -2.75722730e-02 -1.62781148e-02 4.69571039e+01] [ 2.75688113e-02 9.99619813e-01 -4.37064481e-04 3.04905139e+00] [ 1.62839770e-02 -1.19278934e-05 9.99867407e-01 2.27271871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.714391418 meters Centerline goodness [0,1] 0.9990759020456168 Centerline is valid? [True, True] Translation: X:46.99, Y:3.05, Z:0.23 [[ 9.99516925e-01 -2.56359081e-02 -1.75703230e-02 4.69860741e+01] [ 2.56314904e-02 9.99671346e-01 -4.76617699e-04 3.05014047e+00] [ 1.75767670e-02 2.60338919e-05 9.99845516e-01 2.25178195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74439141799999 meters Centerline goodness [0,1] 0.9994103773584906 Centerline is valid? [True, True] Translation: X:47.01, Y:3.05, Z:0.23 [[ 9.99558702e-01 -2.48552700e-02 -1.62670762e-02 4.70135999e+01] [ 2.48513074e-02 9.99691059e-01 -4.45727720e-04 3.05085348e+00] [ 1.62731293e-02 4.12729110e-05 9.99867583e-01 2.27989497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.77439141799999 meters Centerline goodness [0,1] 0.9994329398916285 Centerline is valid? [True, True] Translation: X:47.04, Y:3.05, Z:0.23 [[ 9.99617537e-01 -2.12843874e-02 -1.76565453e-02 4.70412123e+01] [ 2.12790970e-02 9.99773456e-01 -4.87472822e-04 3.05134738e+00] [ 1.76629209e-02 1.11571042e-04 9.99843992e-01 2.26047998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.804391417999994 meters Centerline goodness [0,1] 0.9994536896957472 Centerline is valid? [True, True] Translation: X:47.07, Y:3.05, Z:0.23 [[ 9.99635946e-01 -1.99553066e-02 -1.81593495e-02 4.70695389e+01] [ 1.99494299e-02 9.99800863e-01 -5.04727237e-04 3.05235045e+00] [ 1.81658053e-02 1.42274818e-04 9.99834978e-01 2.25869799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.834391417999996 meters Centerline goodness [0,1] 0.9995379413185475 Centerline is valid? [True, True] Translation: X:47.10, Y:3.05, Z:0.23 [[ 9.99653472e-01 -1.89683568e-02 -1.82520279e-02 4.70983726e+01] [ 1.89621665e-02 9.99820071e-01 -5.12175901e-04 3.05319325e+00] [ 1.82584589e-02 1.65900426e-04 9.99833287e-01 2.27189493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.864391418 meters Centerline goodness [0,1] 0.9994957029690488 Centerline is valid? [True, True] Translation: X:47.13, Y:3.05, Z:0.23 [[ 9.99687524e-01 -1.74242425e-02 -1.79234742e-02 4.71263478e+01] [ 1.74179687e-02 9.99848168e-01 -5.06095040e-04 3.05405384e+00] [ 1.79295712e-02 1.93746384e-04 9.99839234e-01 2.26852148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.894391418 meters Centerline goodness [0,1] 0.9994124682627945 Centerline is valid? [True, True] Translation: X:47.15, Y:3.05, Z:0.23 [[ 9.99683534e-01 -1.72973756e-02 -1.82656352e-02 4.71547259e+01] [ 1.72907684e-02 9.99850368e-01 -5.19604353e-04 3.05444572e+00] [ 1.82718899e-02 2.03613047e-04 9.99833034e-01 2.25515527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92439141799999 meters Centerline goodness [0,1] 0.9993491223649954 Centerline is valid? [True, True] Translation: X:47.18, Y:3.05, Z:0.23 [[ 9.99670463e-01 -1.77747203e-02 -1.85209280e-02 4.71830508e+01] [ 1.77678984e-02 9.99841996e-01 -5.32834205e-04 3.05322792e+00] [ 1.85274726e-02 2.03580649e-04 9.99828331e-01 2.25003070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.95439141799999 meters Centerline goodness [0,1] 0.9994767466197831 Centerline is valid? [True, True] Translation: X:47.21, Y:3.05, Z:0.22 [[ 9.99664175e-01 -1.82920384e-02 -1.83558976e-02 4.72106943e+01] [ 1.82853554e-02 9.99832667e-01 -5.31862070e-04 3.05188175e+00] [ 1.83625549e-02 1.96039345e-04 9.99831375e-01 2.24811440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.984391417999994 meters Centerline goodness [0,1] 0.9995183750392629 Centerline is valid? [True, True] Translation: X:47.24, Y:3.05, Z:0.23 [[ 9.99629388e-01 -2.08875234e-02 -1.74584407e-02 4.72395485e+01] [ 2.08818118e-02 9.99781821e-01 -5.09407550e-04 3.04755532e+00] [ 1.74652719e-02 1.44654885e-04 9.99847460e-01 2.28381322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.014391417999995 meters Centerline goodness [0,1] 0.9995191905677733 Centerline is valid? [True, True] Translation: X:47.27, Y:3.05, Z:0.23 [[ 9.99587918e-01 -2.23147165e-02 -1.80567801e-02 4.72667905e+01] [ 2.23087656e-02 9.99750988e-01 -5.30955773e-04 3.04801504e+00] [ 1.80641319e-02 1.27912502e-04 9.99836822e-01 2.26970871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.044391418 meters Centerline goodness [0,1] 0.999517991491502 Centerline is valid? [True, True] Translation: X:47.29, Y:3.05, Z:0.23 [[ 9.99529374e-01 -2.37997404e-02 -1.93546477e-02 4.72946553e+01] [ 2.37930838e-02 9.99716740e-01 -5.74166293e-04 3.04666090e+00] [ 1.93628303e-02 1.13389323e-04 9.99812516e-01 2.26449310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.074391418 meters Centerline goodness [0,1] 0.9994759898551636 Centerline is valid? [True, True] Translation: X:47.32, Y:3.05, Z:0.23 [[ 9.99482270e-01 -2.54768430e-02 -1.96500096e-02 4.73212741e+01] [ 2.54702161e-02 9.99675409e-01 -5.87483299e-04 3.04561478e+00] [ 1.96585986e-02 8.66891515e-05 9.99806747e-01 2.25846983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.104391418 meters Centerline goodness [0,1] 0.9995396526469973 Centerline is valid? [True, True] Translation: X:47.35, Y:3.04, Z:0.23 [[ 9.99410909e-01 -2.89385656e-02 -1.84497662e-02 4.73493143e+01] [ 2.89332735e-02 9.99581192e-01 -5.53760440e-04 3.03983497e+00] [ 1.84580643e-02 1.96220954e-05 9.99829635e-01 2.26532720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13439141799999 meters Centerline goodness [0,1] 0.9993704620808327 Centerline is valid? [True, True] Translation: X:47.38, Y:3.04, Z:0.23 [[ 9.99344346e-01 -3.10797902e-02 -1.85721752e-02 4.73772290e+01] [ 3.10747197e-02 9.99516907e-01 -5.61612287e-04 3.03749129e+00] [ 1.85806579e-02 -1.58810767e-05 9.99827365e-01 2.27992899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.164391417999994 meters Centerline goodness [0,1] 0.9994771077785447 Centerline is valid? [True, True] Translation: X:47.41, Y:3.04, Z:0.23 [[ 9.99295137e-01 -3.29815532e-02 -1.79289199e-02 4.74056384e+01] [ 3.29770272e-02 9.99455960e-01 -5.48109888e-04 3.03630612e+00] [ 1.79372434e-02 -4.35189340e-05 9.99839114e-01 2.29379508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.194391417999995 meters Centerline goodness [0,1] 0.9995599513851054 Centerline is valid? [True, True] Translation: X:47.43, Y:3.03, Z:0.23 [[ 9.99254243e-01 -3.47457810e-02 -1.68430474e-02 4.74332290e+01] [ 3.47419761e-02 9.99396181e-01 -5.18539099e-04 3.03491407e+00] [ 1.68508943e-02 -6.70083562e-05 9.99858011e-01 2.30602090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.224391417999996 meters Centerline goodness [0,1] 0.9992230318556939 Centerline is valid? [True, True] Translation: X:47.46, Y:3.03, Z:0.23 [[ 9.99144606e-01 -3.83411752e-02 -1.54922830e-02 4.74616541e+01] [ 3.83383423e-02 9.99264700e-01 -4.79918924e-04 3.03420953e+00] [ 1.54992922e-02 -1.14440044e-04 9.99879872e-01 2.34977171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.254391418 meters Centerline goodness [0,1] 0.9993905130199029 Centerline is valid? [True, True] Translation: X:47.49, Y:3.03, Z:0.24 [[ 9.99105584e-01 -3.94333289e-02 -1.52657660e-02 4.74911778e+01] [ 3.94306648e-02 9.99222196e-01 -4.75577157e-04 3.03397820e+00] [ 1.52726458e-02 -1.26787509e-04 9.99883358e-01 2.35157200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.284391418 meters Centerline goodness [0,1] 0.9994755061365782 Centerline is valid? [True, True] Translation: X:47.52, Y:3.03, Z:0.23 [[ 9.99056640e-01 -4.00476281e-02 -1.67933564e-02 4.75211212e+01] [ 4.00444851e-02 9.99197761e-01 -5.23515340e-04 3.03340897e+00] [ 1.68008497e-02 -1.49459834e-04 9.99858845e-01 2.32721110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31439141799999 meters Centerline goodness [0,1] 0.9995381741083611 Centerline is valid? [True, True] Translation: X:47.55, Y:3.03, Z:0.23 [[ 9.99021875e-01 -4.06535803e-02 -1.73948267e-02 4.75505202e+01] [ 4.06502908e-02 9.99173288e-01 -5.42790472e-04 3.03317671e+00] [ 1.74025126e-02 -1.64845210e-04 9.99848551e-01 2.32682324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.344391417999994 meters Centerline goodness [0,1] 0.9994540682414698 Centerline is valid? [True, True] Translation: X:47.58, Y:3.03, Z:0.23 [[ 9.99022503e-01 -4.05953089e-02 -1.74945625e-02 4.75804253e+01] [ 4.05919605e-02 9.99175657e-01 -5.46598079e-04 3.03403625e+00] [ 1.75023303e-02 -1.64074808e-04 9.99846809e-01 2.32923553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.374391417999995 meters Centerline goodness [0,1] 0.9994536093306714 Centerline is valid? [True, True] Translation: X:47.61, Y:3.04, Z:0.23 [[ 9.99046635e-01 -4.04178212e-02 -1.64991093e-02 4.76102374e+01] [ 4.04148082e-02 9.99182855e-01 -5.16137161e-04 3.03540391e+00] [ 1.65064883e-02 -1.51163244e-04 9.99863747e-01 2.34726941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.404391417999996 meters Centerline goodness [0,1] 0.9994534140598722 Centerline is valid? [True, True] Translation: X:47.64, Y:3.04, Z:0.23 [[ 9.99087585e-01 -3.89306169e-02 -1.75614425e-02 4.76399635e+01] [ 3.89269642e-02 9.99241907e-01 -5.49913601e-04 3.03638709e+00] [ 1.75695378e-02 -1.34201791e-04 9.99845635e-01 2.32903790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.434391418 meters Centerline goodness [0,1] 0.9994334277620397 Centerline is valid? [True, True] Translation: X:47.67, Y:3.04, Z:0.24 [[ 9.99206478e-01 -3.61654971e-02 -1.66874300e-02 4.76698438e+01] [ 3.61618054e-02 9.99345811e-01 -5.23020787e-04 3.04043559e+00] [ 1.66954286e-02 -8.08418361e-05 9.99860618e-01 2.35008175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.464391418 meters Centerline goodness [0,1] 0.9992652615668822 Centerline is valid? [True, True] Translation: X:47.70, Y:3.04, Z:0.23 [[ 9.99267311e-01 -3.39589323e-02 -1.76531035e-02 4.76992697e+01] [ 3.39544441e-02 9.99423228e-01 -5.53990507e-04 3.04329278e+00] [ 1.76617346e-02 -4.58167135e-05 9.99844018e-01 2.34335645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49439141799999 meters Centerline goodness [0,1] 0.9994535404274996 Centerline is valid? [True, True] Translation: X:47.73, Y:3.05, Z:0.24 [[ 9.99320813e-01 -3.29805533e-02 -1.64376153e-02 4.77274715e+01] [ 3.29764875e-02 9.99455993e-01 -5.18402202e-04 3.04581185e+00] [ 1.64457703e-02 -2.40047062e-05 9.99864759e-01 2.36528737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52439141799999 meters Centerline goodness [0,1] 0.9994745249705734 Centerline is valid? [True, True] Translation: X:47.76, Y:3.05, Z:0.24 [[ 9.99350342e-01 -3.14623145e-02 -1.75788521e-02 4.77560359e+01] [ 3.14573752e-02 9.99504939e-01 -5.57490701e-04 3.04730713e+00] [ 1.75876894e-02 4.14397729e-06 9.99845325e-01 2.35726815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.554391417999994 meters Centerline goodness [0,1] 0.9993507853403142 Centerline is valid? [True, True] Translation: X:47.78, Y:3.05, Z:0.23 [[ 9.99354472e-01 -2.95961936e-02 -2.03643099e-02 4.77841273e+01] [ 2.95890932e-02 9.99561936e-01 -6.49958358e-04 3.04924571e+00] [ 2.03746254e-02 4.69773265e-05 9.99792415e-01 2.30436325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.584391417999996 meters Centerline goodness [0,1] 0.9994983487312403 Centerline is valid? [True, True] Translation: X:47.81, Y:3.05, Z:0.23 [[ 9.99364430e-01 -2.98689244e-02 -1.94572082e-02 4.78116967e+01] [ 2.98624149e-02 9.99553823e-01 -6.25078922e-04 3.05066098e+00] [ 1.94671972e-02 4.36424169e-05 9.99810495e-01 2.31703687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.614391418 meters Centerline goodness [0,1] 0.9994354535190064 Centerline is valid? [True, True] Translation: X:47.84, Y:3.05, Z:0.23 [[ 9.99362520e-01 -2.94814797e-02 -2.01344651e-02 4.78394976e+01] [ 2.94743802e-02 9.99565325e-01 -6.49335415e-04 3.05243092e+00] [ 2.01448566e-02 5.54705959e-05 9.99797070e-01 2.31146125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.644391418 meters Centerline goodness [0,1] 0.9992453304823596 Centerline is valid? [True, True] Translation: X:47.87, Y:3.05, Z:0.23 [[ 9.99367738e-01 -2.84550463e-02 -2.13174510e-02 4.78677767e+01] [ 2.84467547e-02 9.99595070e-01 -6.92160366e-04 3.05358222e+00] [ 2.13285144e-02 8.53104398e-05 9.99772518e-01 2.30413126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67439141799999 meters Centerline goodness [0,1] 0.9994140175376179 Centerline is valid? [True, True] Translation: X:47.90, Y:3.05, Z:0.23 [[ 9.99361801e-01 -2.85063902e-02 -2.15261691e-02 4.78959524e+01] [ 2.84977993e-02 9.99593606e-01 -7.05808243e-04 3.05486305e+00] [ 2.15375411e-02 9.19093505e-05 9.99768036e-01 2.30304824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70439141799999 meters Centerline goodness [0,1] 0.9992464520450455 Centerline is valid? [True, True] Translation: X:47.92, Y:3.06, Z:0.23 [[ 9.99381199e-01 -2.86360016e-02 -2.04254263e-02 4.79241785e+01] [ 2.86281534e-02 9.99589901e-01 -6.76592861e-04 3.05588590e+00] [ 2.04364248e-02 9.14319459e-05 9.99791150e-01 2.33307404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.734391417999994 meters Centerline goodness [0,1] 0.9995186169656125 Centerline is valid? [True, True] Translation: X:47.95, Y:3.06, Z:0.23 [[ 9.99402945e-01 -2.84999810e-02 -1.95321653e-02 4.79519634e+01] [ 2.84926994e-02 9.99593789e-01 -6.51042024e-04 3.05732523e+00] [ 1.95427858e-02 9.41292001e-05 9.99809017e-01 2.34933798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.764391417999995 meters Centerline goodness [0,1] 0.9993107769423559 Centerline is valid? [True, True] Translation: X:47.98, Y:3.06, Z:0.24 [[ 9.99386857e-01 -2.91855247e-02 -1.93420478e-02 4.79797425e+01] [ 2.91784208e-02 9.99574008e-01 -6.49447738e-04 3.05762914e+00] [ 1.93527628e-02 8.46791233e-05 9.99812714e-01 2.35825982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.794391418 meters Centerline goodness [0,1] 0.9994548351924851 Centerline is valid? [True, True] Translation: X:48.01, Y:3.06, Z:0.24 [[ 9.99358774e-01 -2.99471717e-02 -1.96267325e-02 4.80071491e+01] [ 2.99398911e-02 9.99551480e-01 -6.64751116e-04 3.05782559e+00] [ 1.96378369e-02 7.67026263e-05 9.99807156e-01 2.35592366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.824391418 meters Centerline goodness [0,1] 0.9994560441859492 Centerline is valid? [True, True] Translation: X:48.04, Y:3.06, Z:0.24 [[ 9.99324568e-01 -3.11897346e-02 -1.94321507e-02 4.80350742e+01] [ 3.11827185e-02 9.99513480e-01 -6.64024370e-04 3.05785172e+00] [ 1.94434073e-02 5.76285817e-05 9.99810957e-01 2.36079679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.854391418 meters Centerline goodness [0,1] 0.9994775339602926 Centerline is valid? [True, True] Translation: X:48.06, Y:3.06, Z:0.24 [[ 9.99240560e-01 -3.45478031e-02 -1.80209167e-02 4.80636828e+01] [ 3.45422141e-02 9.99403046e-01 -6.21409404e-04 3.05557532e+00] [ 1.80316274e-02 -1.54488244e-06 9.99837417e-01 2.38725767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88439141799999 meters Centerline goodness [0,1] 0.9993940786861955 Centerline is valid? [True, True] Translation: X:48.09, Y:3.05, Z:0.24 [[ 9.99167146e-01 -3.65599238e-02 -1.81214563e-02 4.80929390e+01] [ 3.65545044e-02 9.99331462e-01 -6.30320337e-04 3.05426950e+00] [ 1.81323859e-02 -3.26254830e-05 9.99835594e-01 2.38581624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.914391417999994 meters Centerline goodness [0,1] 0.9993289575775368 Centerline is valid? [True, True] Translation: X:48.12, Y:3.05, Z:0.24 [[ 9.98993529e-01 -4.08874077e-02 -1.84431456e-02 4.81219077e+01] [ 4.08824261e-02 9.99163755e-01 -6.47218682e-04 3.05038175e+00] [ 1.84541857e-02 -1.07433262e-04 9.99829701e-01 2.39342585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.944391417999995 meters Centerline goodness [0,1] 0.9993289575775368 Centerline is valid? [True, True] Translation: X:48.15, Y:3.05, Z:0.24 [[ 9.98980689e-01 -4.12000203e-02 -1.84429415e-02 4.81501421e+01] [ 4.11949852e-02 9.99150913e-01 -6.52996623e-04 3.05152817e+00] [ 1.84541853e-02 -1.07425687e-04 9.99829701e-01 2.39582446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.974391417999996 meters Centerline goodness [0,1] 0.9994544920481725 Centerline is valid? [True, True] Translation: X:48.18, Y:3.05, Z:0.24 [[ 9.98803580e-01 -4.57479881e-02 -1.72780434e-02 4.81789977e+01] [ 4.57441962e-02 9.98952997e-01 -6.14820837e-04 3.04775079e+00] [ 1.72880801e-02 -1.76284955e-04 9.99850534e-01 2.40896904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.004391418 meters Centerline goodness [0,1] 0.9993076826249319 Centerline is valid? [True, True] Translation: X:48.21, Y:3.05, Z:0.24 [[ 9.98691456e-01 -4.81612178e-02 -1.72009325e-02 4.82082927e+01] [ 4.81578019e-02 9.98839552e-01 -6.12980992e-04 3.04719554e+00] [ 1.72104936e-02 -2.16180218e-04 9.99851865e-01 2.42051911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.034391418 meters Centerline goodness [0,1] 0.9992442531751863 Centerline is valid? [True, True] Translation: X:48.24, Y:3.05, Z:0.24 [[ 9.98595896e-01 -4.93672646e-02 -1.92122449e-02 4.82383341e+01] [ 4.93632151e-02 9.98780658e-01 -6.85242250e-04 3.04644441e+00] [ 1.92226471e-02 -2.64098079e-04 9.99815193e-01 2.40400463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06439141799999 meters Centerline goodness [0,1] 0.9995796729855828 Centerline is valid? [True, True] Translation: X:48.27, Y:3.04, Z:0.24 [[ 9.98397341e-01 -5.36288224e-02 -1.80748342e-02 4.82684343e+01] [ 5.36259264e-02 9.98560886e-01 -6.45214169e-04 3.04423423e+00] [ 1.80834245e-02 -3.25099615e-04 9.99836429e-01 2.42372024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.094391417999994 meters Centerline goodness [0,1] 0.9990965057886664 Centerline is valid? [True, True] Translation: X:48.30, Y:3.04, Z:0.24 [[ 9.98332536e-01 -5.41877167e-02 -1.98957017e-02 4.82976161e+01] [ 5.41843018e-02 9.98530698e-01 -7.11065081e-04 3.04106001e+00] [ 1.99049999e-02 -3.68155301e-04 9.99801808e-01 2.38613891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.124391417999995 meters Centerline goodness [0,1] 0.9993936099029775 Centerline is valid? [True, True] Translation: X:48.33, Y:3.04, Z:0.24 [[ 9.98293117e-01 -5.52086312e-02 -1.90488511e-02 4.83266180e+01] [ 5.52056192e-02 9.98474772e-01 -6.84333999e-04 3.04209511e+00] [ 1.90575784e-02 -3.68437696e-04 9.99818320e-01 2.40276470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.154391417999996 meters Centerline goodness [0,1] 0.9991638096830838 Centerline is valid? [True, True] Translation: X:48.36, Y:3.04, Z:0.24 [[ 9.98274962e-01 -5.49661586e-02 -2.06354271e-02 4.83553393e+01] [ 5.49624990e-02 9.98488142e-01 -7.44877858e-04 3.04142960e+00] [ 2.06451723e-02 -3.90581725e-04 9.99786789e-01 2.38025601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.184391418 meters Centerline goodness [0,1] 0.9993102150874773 Centerline is valid? [True, True] Translation: X:48.38, Y:3.04, Z:0.24 [[ 9.98321679e-01 -5.40589834e-02 -2.07713977e-02 4.83841555e+01] [ 5.40549930e-02 9.98537675e-01 -7.53933002e-04 3.04321111e+00] [ 2.07817801e-02 -3.70130099e-04 9.99783967e-01 2.38375687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.214391418 meters Centerline goodness [0,1] 0.9995805369127517 Centerline is valid? [True, True] Translation: X:48.41, Y:3.05, Z:0.24 [[ 9.98382190e-01 -5.36101439e-02 -1.89461095e-02 4.84129497e+01] [ 5.36066420e-02 9.98561890e-01 -6.93015162e-04 3.04584404e+00] [ 1.89560155e-02 -3.23743314e-04 9.99820266e-01 2.41673455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24439141799999 meters Centerline goodness [0,1] 0.9994348981770234 Centerline is valid? [True, True] Translation: X:48.44, Y:3.05, Z:0.24 [[ 9.98461513e-01 -5.22264173e-02 -1.86281565e-02 4.84419743e+01] [ 5.22226908e-02 9.98635228e-01 -6.86770226e-04 3.04891591e+00] [ 1.86386009e-02 -2.87098821e-04 9.99826245e-01 2.42347477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.27439141799999 meters Centerline goodness [0,1] 0.9995189089692101 Centerline is valid? [True, True] Translation: X:48.47, Y:3.05, Z:0.24 [[ 9.98558816e-01 -5.04325668e-02 -1.83533831e-02 4.84708191e+01] [ 5.04285500e-02 9.98727438e-01 -6.81893826e-04 3.05207691e+00] [ 1.83644169e-02 -2.44623404e-04 9.99831330e-01 2.42937697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.304391417999994 meters Centerline goodness [0,1] 0.9992468146536394 Centerline is valid? [True, True] Translation: X:48.50, Y:3.06, Z:0.24 [[ 9.98755810e-01 -4.59220312e-02 -1.94422087e-02 4.84995949e+01] [ 4.59166060e-02 9.98945013e-01 -7.25589977e-04 3.05724936e+00] [ 1.94550180e-02 -1.68033030e-04 9.99810719e-01 2.40868262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.334391417999996 meters Centerline goodness [0,1] 0.9993697876184274 Centerline is valid? [True, True] Translation: X:48.53, Y:3.06, Z:0.24 [[ 9.98791628e-01 -4.50726989e-02 -1.95891842e-02 4.85285258e+01] [ 4.50669556e-02 9.98983698e-01 -7.34771778e-04 3.06020518e+00] [ 1.96023938e-02 -1.48940994e-04 9.99807844e-01 2.40945002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.364391418 meters Centerline goodness [0,1] 0.9994121845740438 Centerline is valid? [True, True] Translation: X:48.56, Y:3.06, Z:0.24 [[ 9.98817550e-01 -4.44720515e-02 -1.96402454e-02 4.85557850e+01] [ 4.44660922e-02 9.99010620e-01 -7.40236669e-04 3.06238690e+00] [ 1.96537336e-02 -1.33963587e-04 9.99806838e-01 2.40631112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.394391418 meters Centerline goodness [0,1] 0.9995191503595919 Centerline is valid? [True, True] Translation: X:48.58, Y:3.06, Z:0.24 [[ 9.98843660e-01 -4.37635688e-02 -1.99020693e-02 4.85834706e+01] [ 4.37572691e-02 9.99041909e-01 -7.52108124e-04 3.06446398e+00] [ 1.99159163e-02 -1.19621772e-04 9.99801651e-01 2.39854694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42439141799999 meters Centerline goodness [0,1] 0.9996656846152239 Centerline is valid? [True, True] Translation: X:48.61, Y:3.07, Z:0.24 [[ 9.98854899e-01 -4.34732753e-02 -1.99741247e-02 4.86122445e+01] [ 4.34667876e-02 9.99054584e-01 -7.59043896e-04 3.06648410e+00] [ 1.99882390e-02 -1.10036321e-04 9.99800209e-01 2.40903616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.45439141799999 meters Centerline goodness [0,1] 0.9993953924736787 Centerline is valid? [True, True] Translation: X:48.64, Y:3.07, Z:0.24 [[ 9.98872566e-01 -4.26830972e-02 -2.07786013e-02 4.86405057e+01] [ 4.26758126e-02 9.99088657e-01 -7.94080156e-04 3.06746819e+00] [ 2.07935586e-02 -9.35588105e-05 9.99783786e-01 2.38354914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.484391417999994 meters Centerline goodness [0,1] 0.9992880028479886 Centerline is valid? [True, True] Translation: X:48.67, Y:3.07, Z:0.24 [[ 9.98877604e-01 -4.27676506e-02 -2.03583207e-02 4.86686067e+01] [ 4.27605690e-02 9.99085042e-01 -7.83233992e-04 3.06946724e+00] [ 2.03731907e-02 -8.81784828e-05 9.99792441e-01 2.40165509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.514391417999995 meters Centerline goodness [0,1] 0.9995817212171912 Centerline is valid? [True, True] Translation: X:48.70, Y:3.07, Z:0.24 [[ 9.98884468e-01 -4.36271859e-02 -1.80690085e-02 4.86962710e+01] [ 4.36216852e-02 9.99047877e-01 -6.98631056e-04 3.07106016e+00] [ 1.80822839e-02 -9.03488928e-05 9.99836498e-01 2.43802201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.544391418 meters Centerline goodness [0,1] 0.9995817212171912 Centerline is valid? [True, True] Translation: X:48.72, Y:3.07, Z:0.24 [[ 9.98871989e-01 -4.39120275e-02 -1.80688686e-02 4.87245065e+01] [ 4.39065083e-02 9.99035397e-01 -7.02234536e-04 3.07232324e+00] [ 1.80822759e-02 -9.18985229e-05 9.99836498e-01 2.44041753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.574391418 meters Centerline goodness [0,1] 0.9995416189186374 Centerline is valid? [True, True] Translation: X:48.75, Y:3.07, Z:0.24 [[ 9.98847460e-01 -4.44894272e-02 -1.80122722e-02 4.87534099e+01] [ 4.44839825e-02 9.99009850e-01 -7.03022316e-04 3.07310949e+00] [ 1.80257145e-02 -9.90455486e-05 9.99837519e-01 2.44568849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.604391418 meters Centerline goodness [0,1] 0.9996443068167552 Centerline is valid? [True, True] Translation: X:48.78, Y:3.07, Z:0.24 [[ 9.98821236e-01 -4.50077245e-02 -1.81781165e-02 4.87817785e+01] [ 4.50022060e-02 9.98986633e-01 -7.12734665e-04 3.07398338e+00] [ 1.81917740e-02 -1.06160825e-04 9.99834510e-01 2.44330441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63439141799999 meters Centerline goodness [0,1] 0.9993936225823314 Centerline is valid? [True, True] Translation: X:48.81, Y:3.07, Z:0.24 [[ 9.98776721e-01 -4.58383025e-02 -1.85448702e-02 4.88105769e+01] [ 4.58326053e-02 9.98948866e-01 -7.32332873e-04 3.07459060e+00] [ 1.85589460e-02 -1.18522692e-04 9.99827761e-01 2.43958428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.664391417999994 meters Centerline goodness [0,1] 0.9995398837160664 Centerline is valid? [True, True] Translation: X:48.84, Y:3.07, Z:0.24 [[ 9.98681765e-01 -4.79136235e-02 -1.84123958e-02 4.88379714e+01] [ 4.79082903e-02 9.98851471e-01 -7.30887320e-04 3.07406080e+00] [ 1.84262681e-02 -1.52182565e-04 9.99830210e-01 2.44668538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.694391417999995 meters Centerline goodness [0,1] 0.9995185363505056 Centerline is valid? [True, True] Translation: X:48.87, Y:3.08, Z:0.25 [[ 9.98654932e-01 -4.86590348e-02 -1.79060026e-02 4.88677738e+01] [ 4.86540818e-02 9.98815435e-01 -7.12399976e-04 3.07564565e+00] [ 1.79194564e-02 -1.59758365e-04 9.99839421e-01 2.46790272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.724391417999996 meters Centerline goodness [0,1] 0.9994359959893048 Centerline is valid? [True, True] Translation: X:48.90, Y:3.07, Z:0.25 [[ 9.98613400e-01 -4.93655556e-02 -1.82844255e-02 4.88962653e+01] [ 4.93604910e-02 9.98780762e-01 -7.28468026e-04 3.07445056e+00] [ 1.82980937e-02 -1.75070287e-04 9.99832561e-01 2.45072642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.754391418 meters Centerline goodness [0,1] 0.9996440014239943 Centerline is valid? [True, True] Translation: X:48.93, Y:3.08, Z:0.25 [[ 9.98542376e-01 -5.13427732e-02 -1.66446051e-02 4.89253670e+01] [ 5.13388022e-02 9.98681072e-01 -6.66056226e-04 3.07544278e+00] [ 1.66568492e-02 -1.89428722e-04 9.99861247e-01 2.48078197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.784391418 meters Centerline goodness [0,1] 0.9996863433912553 Centerline is valid? [True, True] Translation: X:48.96, Y:3.08, Z:0.25 [[ 9.98520930e-01 -5.19565869e-02 -1.60145092e-02 4.89554370e+01] [ 5.19529461e-02 9.98649326e-01 -6.43570172e-04 3.07617736e+00] [ 1.60263165e-02 -1.89382644e-04 9.99871552e-01 2.48995306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81439141799999 meters Centerline goodness [0,1] 0.9994557595294413 Centerline is valid? [True, True] Translation: X:48.99, Y:3.08, Z:0.25 [[ 9.98495750e-01 -5.23994131e-02 -1.61412214e-02 4.89861767e+01] [ 5.23957665e-02 9.98626188e-01 -6.49021257e-04 3.07770838e+00] [ 1.61530547e-02 -1.97686700e-04 9.99869511e-01 2.48969084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.844391417999994 meters Centerline goodness [0,1] 0.9994566126065876 Centerline is valid? [True, True] Translation: X:49.02, Y:3.08, Z:0.25 [[ 9.98462809e-01 -5.32024595e-02 -1.55408247e-02 4.90152025e+01] [ 5.31991740e-02 9.98583726e-01 -6.25033161e-04 3.07798334e+00] [ 1.55520679e-02 -2.02686671e-04 9.99879039e-01 2.50088044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.874391417999995 meters Centerline goodness [0,1] 0.9992485126813485 Centerline is valid? [True, True] Translation: X:49.05, Y:3.08, Z:0.25 [[ 9.98440045e-01 -5.35273906e-02 -1.58838084e-02 4.90458351e+01] [ 5.35239991e-02 9.98566359e-01 -6.38856509e-04 3.07827175e+00] [ 1.58952330e-02 -2.12305024e-04 9.99873640e-01 2.49702502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.904391417999996 meters Centerline goodness [0,1] 0.9994776103809265 Centerline is valid? [True, True] Translation: X:49.08, Y:3.08, Z:0.25 [[ 9.98450579e-01 -5.32285185e-02 -1.62224202e-02 4.90754401e+01] [ 5.32249418e-02 9.98582335e-01 -6.52455034e-04 3.07835316e+00] [ 1.62341515e-02 -2.11993264e-04 9.99868195e-01 2.48773420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.934391418 meters Centerline goodness [0,1] 0.999268318177067 Centerline is valid? [True, True] Translation: X:49.11, Y:3.08, Z:0.25 [[ 9.98465594e-01 -5.28205239e-02 -1.66267882e-02 4.91055908e+01] [ 5.28167070e-02 9.98604000e-01 -6.68901351e-04 3.08000901e+00] [ 1.66389089e-02 -2.10297217e-04 9.99861542e-01 2.48349966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.964391418 meters Centerline goodness [0,1] 0.9994774684390937 Centerline is valid? [True, True] Translation: X:49.14, Y:3.08, Z:0.25 [[ 9.98534524e-01 -5.14885863e-02 -1.66652028e-02 4.91359321e+01] [ 5.14845663e-02 9.98673565e-01 -6.70446783e-04 3.08422092e+00] [ 1.66776179e-02 -1.88536479e-04 9.99860901e-01 2.49745154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99439141799999 meters Centerline goodness [0,1] 0.9993095367619367 Centerline is valid? [True, True] Translation: X:49.17, Y:3.09, Z:0.25 [[ 9.98634229e-01 -4.95710244e-02 -1.65042345e-02 4.91662222e+01] [ 4.95668198e-02 9.98770589e-01 -6.63970973e-04 3.08790502e+00] [ 1.65168577e-02 -1.54998276e-04 9.99863575e-01 2.50046447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02439141799999 meters Centerline goodness [0,1] 0.9992444593687039 Centerline is valid? [True, True] Translation: X:49.20, Y:3.09, Z:0.25 [[ 9.98726126e-01 -4.78707201e-02 -1.59536396e-02 4.91966971e+01] [ 4.78665745e-02 9.98853532e-01 -6.41820352e-04 3.09133422e+00] [ 1.59660736e-02 -1.22643323e-04 9.99872527e-01 2.51025942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.054391417999994 meters Centerline goodness [0,1] 0.9995393731287033 Centerline is valid? [True, True] Translation: X:49.23, Y:3.09, Z:0.25 [[ 9.98783900e-01 -4.66946061e-02 -1.58219561e-02 4.92260329e+01] [ 4.66903785e-02 9.98909207e-01 -6.36684030e-04 3.09440507e+00] [ 1.58344274e-02 -1.02823362e-04 9.99874622e-01 2.52671083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.084391417999996 meters Centerline goodness [0,1] 0.9996437627040506 Centerline is valid? [True, True] Translation: X:49.26, Y:3.10, Z:0.25 [[ 9.98854164e-01 -4.51704400e-02 -1.58110892e-02 4.92558955e+01] [ 4.51660218e-02 9.98979292e-01 -6.36591020e-04 3.09734723e+00] [ 1.58237058e-02 -7.82624088e-05 9.99874794e-01 2.52398679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.114391418 meters Centerline goodness [0,1] 0.9994775121217188 Centerline is valid? [True, True] Translation: X:49.29, Y:3.10, Z:0.25 [[ 9.98954085e-01 -4.25601770e-02 -1.67142650e-02 4.92863643e+01] [ 4.25548710e-02 9.99093904e-01 -6.73148378e-04 3.10259750e+00] [ 1.67277696e-02 -3.88290690e-05 9.99860080e-01 2.52132378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.144391418 meters Centerline goodness [0,1] 0.9995189089692101 Centerline is valid? [True, True] Translation: X:49.32, Y:3.11, Z:0.25 [[ 9.98990914e-01 -4.15944491e-02 -1.69427398e-02 4.93156142e+01] [ 4.15888519e-02 9.99134576e-01 -6.82720273e-04 3.10529020e+00] [ 1.69564745e-02 -2.25977449e-05 9.99856228e-01 2.52314536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17439141799999 meters Centerline goodness [0,1] 0.9995188586490388 Centerline is valid? [True, True] Translation: X:49.35, Y:3.11, Z:0.25 [[ 9.99036423e-01 -4.04469303e-02 -1.70373609e-02 4.93451399e+01] [ 4.04410908e-02 9.99181688e-01 -6.87278778e-04 3.10772397e+00] [ 1.70512173e-02 -2.39292705e-06 9.99854617e-01 2.51870715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20439141799999 meters Centerline goodness [0,1] 0.9993515187013639 Centerline is valid? [True, True] Translation: X:49.37, Y:3.11, Z:0.25 [[ 9.99063749e-01 -3.98943543e-02 -1.67351407e-02 4.93742294e+01] [ 3.98886305e-02 9.99203903e-01 -6.75813660e-04 3.11005610e+00] [ 1.67487791e-02 7.63908596e-06 9.99859729e-01 2.52894610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.234391417999994 meters Centerline goodness [0,1] 0.9995611376982717 Centerline is valid? [True, True] Translation: X:49.40, Y:3.11, Z:0.25 [[ 9.99115103e-01 -3.87278987e-02 -1.64060973e-02 4.94037780e+01] [ 3.87222288e-02 9.99249793e-01 -6.63241664e-04 3.11362505e+00] [ 1.64194753e-02 2.73741116e-05 9.99865191e-01 2.53938554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.264391417999995 meters Centerline goodness [0,1] 0.9995183851243823 Centerline is valid? [True, True] Translation: X:49.43, Y:3.12, Z:0.25 [[ 9.99124168e-01 -3.84209463e-02 -1.65749011e-02 4.94327190e+01] [ 3.84150993e-02 9.99261642e-01 -6.71120598e-04 3.11561120e+00] [ 1.65884480e-02 3.38063386e-05 9.99862402e-01 2.54093247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.294391418 meters Centerline goodness [0,1] 0.999728397125188 Centerline is valid? [True, True] Translation: X:49.46, Y:3.12, Z:0.25 [[ 9.99124716e-01 -3.84070297e-02 -1.65741645e-02 4.94611359e+01] [ 3.84011586e-02 9.99262177e-01 -6.72460732e-04 3.11698792e+00] [ 1.65877629e-02 3.54050176e-05 9.99862413e-01 2.53693919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.324391418 meters Centerline goodness [0,1] 0.9994354889293107 Centerline is valid? [True, True] Translation: X:49.49, Y:3.12, Z:0.25 [[ 9.99084148e-01 -3.95531887e-02 -1.63220980e-02 4.94903658e+01] [ 3.95476313e-02 9.99217466e-01 -6.63240131e-04 3.11580636e+00] [ 1.63355587e-02 1.71323863e-05 9.99866566e-01 2.52807607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.354391418 meters Centerline goodness [0,1] 0.9994144341970429 Centerline is valid? [True, True] Translation: X:49.52, Y:3.12, Z:0.25 [[ 9.99047075e-01 -4.06989518e-02 -1.57650508e-02 4.95200103e+01] [ 4.06938999e-02 9.99171454e-01 -6.41240620e-04 3.11539629e+00] [ 1.57780865e-02 -9.11832679e-07 9.99875518e-01 2.53354336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38439141799999 meters Centerline goodness [0,1] 0.999414311711674 Centerline is valid? [True, True] Translation: X:49.55, Y:3.12, Z:0.25 [[ 9.98984659e-01 -4.25127109e-02 -1.49104447e-02 4.95494832e+01] [ 4.25083851e-02 9.99095926e-01 -6.07069460e-04 3.11533872e+00] [ 1.49227727e-02 -2.73658483e-05 9.99888649e-01 2.54839487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.414391417999994 meters Centerline goodness [0,1] 0.9995189592788573 Centerline is valid? [True, True] Translation: X:49.58, Y:3.12, Z:0.26 [[ 9.98923322e-01 -4.40540294e-02 -1.45409740e-02 4.95796973e+01] [ 4.40500737e-02 9.99029149e-01 -5.92362996e-04 3.11532065e+00] [ 1.45529528e-02 -4.88057645e-05 9.99894099e-01 2.56027123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.444391417999995 meters Centerline goodness [0,1] 0.9994972769166317 Centerline is valid? [True, True] Translation: X:49.61, Y:3.11, Z:0.26 [[ 9.98836801e-01 -4.59794290e-02 -1.45236573e-02 4.96093844e+01] [ 4.59756843e-02 9.98942384e-01 -5.91785733e-04 3.11406803e+00] [ 1.45355068e-02 -7.66377133e-05 9.99894351e-01 2.55591860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.474391417999996 meters Centerline goodness [0,1] 0.9993702506402452 Centerline is valid? [True, True] Translation: X:49.64, Y:3.11, Z:0.26 [[ 9.98643538e-01 -4.99752528e-02 -1.46136093e-02 4.96400442e+01] [ 4.99718867e-02 9.98750447e-01 -5.95631005e-04 3.11255657e+00] [ 1.46251157e-02 -1.35446576e-04 9.99893038e-01 2.57381657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.504391418 meters Centerline goodness [0,1] 0.9991809303790822 Centerline is valid? [True, True] Translation: X:49.67, Y:3.11, Z:0.26 [[ 9.98544837e-01 -5.19658704e-02 -1.44138036e-02 4.96709717e+01] [ 5.19628048e-02 9.98648848e-01 -5.87365806e-04 3.11161471e+00] [ 1.44248513e-02 -1.62470569e-04 9.99895943e-01 2.56996029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.534391418 meters Centerline goodness [0,1] 0.9993915998825158 Centerline is valid? [True, True] Translation: X:49.70, Y:3.11, Z:0.26 [[ 9.98472706e-01 -5.32455125e-02 -1.47366919e-02 4.97013735e+01] [ 5.32424519e-02 9.98581434e-01 -6.00220331e-04 3.11088668e+00] [ 1.47477460e-02 -1.85313992e-04 9.99891229e-01 2.56512051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56439141799999 meters Centerline goodness [0,1] 0.9992645204673447 Centerline is valid? [True, True] Translation: X:49.73, Y:3.11, Z:0.26 [[ 9.98338684e-01 -5.58762609e-02 -1.40611414e-02 4.97323302e+01] [ 5.58737392e-02 9.98437678e-01 -5.72429566e-04 3.10989545e+00] [ 1.40711586e-02 -2.14169967e-04 9.99900973e-01 2.57062286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.594391417999994 meters Centerline goodness [0,1] 0.9994128378803447 Centerline is valid? [True, True] Translation: X:49.76, Y:3.11, Z:0.26 [[ 9.98247778e-01 -5.77572430e-02 -1.28636881e-02 4.97628929e+01] [ 5.77552930e-02 9.98330633e-01 -5.23338158e-04 3.10768056e+00] [ 1.28724405e-02 -2.20524924e-04 9.99917122e-01 2.58508461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.624391417999995 meters Centerline goodness [0,1] 0.9991604927907318 Centerline is valid? [True, True] Translation: X:49.79, Y:3.11, Z:0.26 [[ 9.98177830e-01 -5.87847776e-02 -1.36150602e-02 4.97946063e+01] [ 5.87826984e-02 9.98270649e-01 -5.53195273e-04 3.10730826e+00] [ 1.36240345e-02 -2.48142722e-04 9.99907158e-01 2.57534972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.654391417999996 meters Centerline goodness [0,1] 0.9993075082889159 Centerline is valid? [True, True] Translation: X:49.83, Y:3.11, Z:0.26 [[ 9.97952255e-01 -6.25951550e-02 -1.31584267e-02 4.98256520e+01] [ 6.25935535e-02 9.98038958e-01 -5.33914951e-04 3.10876679e+00] [ 1.31660430e-02 -2.90811055e-04 9.99913282e-01 2.59509165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.684391418 meters Centerline goodness [0,1] 0.9993279852156748 Centerline is valid? [True, True] Translation: X:49.86, Y:3.11, Z:0.26 [[ 9.97856235e-01 -6.41384177e-02 -1.30075639e-02 4.98569464e+01] [ 6.41369958e-02 9.97940964e-01 -5.26857056e-04 3.10814301e+00] [ 1.30145727e-02 -3.08538476e-04 9.99915259e-01 2.59576455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.714391418 meters Centerline goodness [0,1] 0.9992229665875633 Centerline is valid? [True, True] Translation: X:49.89, Y:3.11, Z:0.26 [[ 9.97776620e-01 -6.54649437e-02 -1.24963458e-02 4.98886014e+01] [ 6.54637513e-02 9.97854820e-01 -5.04881839e-04 3.10699248e+00] [ 1.25025910e-02 -3.14298379e-04 9.99921790e-01 2.59537006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74439141799999 meters Centerline goodness [0,1] 0.9992445386439469 Centerline is valid? [True, True] Translation: X:49.92, Y:3.11, Z:0.26 [[ 9.97744458e-01 -6.60233029e-02 -1.21210309e-02 4.99203355e+01] [ 6.60222338e-02 9.97818032e-01 -4.88765379e-04 3.10640709e+00] [ 1.21268531e-02 -3.12594585e-04 9.99926418e-01 2.59293201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.77439141799999 meters Centerline goodness [0,1] 0.9993280698807324 Centerline is valid? [True, True] Translation: X:49.95, Y:3.11, Z:0.26 [[ 9.97677899e-01 -6.71190976e-02 -1.15687711e-02 4.99525440e+01] [ 6.71182120e-02 9.97744922e-01 -4.65227339e-04 3.10717485e+00] [ 1.15739083e-02 -3.12328199e-04 9.99932971e-01 2.60588894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.804391417999994 meters Centerline goodness [0,1] 0.9995797966215648 Centerline is valid? [True, True] Translation: X:49.98, Y:3.11, Z:0.26 [[ 9.97630444e-01 -6.76372412e-02 -1.25976579e-02 4.99844550e+01] [ 6.76362455e-02 9.97709919e-01 -5.05552078e-04 3.11124065e+00] [ 1.26030024e-02 -3.47704141e-04 9.99920519e-01 2.61148630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.834391417999996 meters Centerline goodness [0,1] 0.9994961053139894 Centerline is valid? [True, True] Translation: X:50.02, Y:3.11, Z:0.26 [[ 9.97666799e-01 -6.70314539e-02 -1.29515650e-02 5.00152738e+01] [ 6.70303675e-02 9.97750801e-01 -5.18443500e-04 3.11335224e+00] [ 1.29571864e-02 -3.50914296e-04 9.99915991e-01 2.60820140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.864391418 meters Centerline goodness [0,1] 0.9995382419612123 Centerline is valid? [True, True] Translation: X:50.05, Y:3.12, Z:0.26 [[ 9.97716342e-01 -6.61285128e-02 -1.37521363e-02 5.00468476e+01] [ 6.61272251e-02 9.97811049e-01 -5.48831052e-04 3.11767084e+00] [ 1.37583269e-02 -3.61812903e-04 9.99905284e-01 2.60628157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.894391418 meters Centerline goodness [0,1] 0.9992653849382923 Centerline is valid? [True, True] Translation: X:50.08, Y:3.12, Z:0.26 [[ 9.97803747e-01 -6.47431218e-02 -1.40003601e-02 5.00785644e+01] [ 6.47416672e-02 9.97901902e-01 -5.57574753e-04 3.12097018e+00] [ 1.40070851e-02 -3.50056473e-04 9.99901835e-01 2.60648611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92439141799999 meters Centerline goodness [0,1] 0.999243903975805 Centerline is valid? [True, True] Translation: X:50.11, Y:3.13, Z:0.26 [[ 9.98047210e-01 -6.08693756e-02 -1.40244610e-02 5.01094879e+01] [ 6.08675466e-02 9.98145696e-01 -5.57609602e-04 3.12673432e+00] [ 1.40323968e-02 -2.97113827e-04 9.99901497e-01 2.61341736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.95439141799999 meters Centerline goodness [0,1] 0.9990753388672902 Centerline is valid? [True, True] Translation: X:50.14, Y:3.13, Z:0.26 [[ 9.98202530e-01 -5.80993893e-02 -1.47027513e-02 5.01407982e+01] [ 5.80970903e-02 9.98310767e-01 -5.83800932e-04 3.12850235e+00] [ 1.47118335e-02 -2.71435505e-04 9.99891738e-01 2.60080408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.984391417999994 meters Centerline goodness [0,1] 0.9992871519624287 Centerline is valid? [True, True] Translation: X:50.17, Y:3.13, Z:0.26 [[ 9.98345388e-01 -5.57818599e-02 -1.39596035e-02 5.01720874e+01] [ 5.57795716e-02 9.98442954e-01 -5.53519160e-04 3.13268005e+00] [ 1.39687441e-02 -2.26057405e-04 9.99902407e-01 2.61037465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.014391417999995 meters Centerline goodness [0,1] 0.9992238305013635 Centerline is valid? [True, True] Translation: X:50.20, Y:3.14, Z:0.26 [[ 9.98462647e-01 -5.35634317e-02 -1.42583827e-02 5.02031687e+01] [ 5.35608273e-02 9.98564429e-01 -5.64731347e-04 3.13728261e+00] [ 1.42681627e-02 -1.99827616e-04 9.99898185e-01 2.61314430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.044391418 meters Centerline goodness [0,1] 0.9994771624560816 Centerline is valid? [True, True] Translation: X:50.23, Y:3.15, Z:0.26 [[ 9.98773524e-01 -4.76383081e-02 -1.34922293e-02 5.02342505e+01] [ 4.76354431e-02 9.98864645e-01 -5.33816698e-04 3.14618526e+00] [ 1.35023409e-02 -1.09546336e-04 9.99908833e-01 2.62049080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.074391418 meters Centerline goodness [0,1] 0.9992056524102179 Centerline is valid? [True, True] Translation: X:50.26, Y:3.15, Z:0.26 [[ 9.98918196e-01 -4.44781700e-02 -1.35694863e-02 5.02641484e+01] [ 4.44749870e-02 9.99010354e-01 -5.36390248e-04 3.15044027e+00] [ 1.35799150e-02 -6.76927486e-05 9.99907786e-01 2.61390190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.104391418 meters Centerline goodness [0,1] 0.9993098111392299 Centerline is valid? [True, True] Translation: X:50.30, Y:3.15, Z:0.26 [[ 9.99017538e-01 -4.23540829e-02 -1.30418743e-02 5.02958370e+01] [ 4.23509678e-02 9.99102663e-01 -5.15064821e-04 3.15466211e+00] [ 1.30519864e-02 -3.77772077e-05 9.99914818e-01 2.62302898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13439141799999 meters Centerline goodness [0,1] 0.9993500911968805 Centerline is valid? [True, True] Translation: X:50.33, Y:3.16, Z:0.26 [[ 9.99187703e-01 -3.77582715e-02 -1.40800050e-02 5.03258473e+01] [ 3.77541943e-02 9.99286902e-01 -5.55360988e-04 3.16156714e+00] [ 1.40909341e-02 2.33306248e-05 9.99900718e-01 2.60848251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.164391417999994 meters Centerline goodness [0,1] 0.9991413612565445 Centerline is valid? [True, True] Translation: X:50.36, Y:3.17, Z:0.26 [[ 9.99250294e-01 -3.55218840e-02 -1.53963096e-02 5.03551800e+01] [ 3.55167440e-02 9.99368897e-01 -6.07228538e-04 3.16529986e+00] [ 1.54081629e-02 5.99465068e-05 9.99881285e-01 2.59516041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.194391417999995 meters Centerline goodness [0,1] 0.9993522639419963 Centerline is valid? [True, True] Translation: X:50.38, Y:3.17, Z:0.26 [[ 9.99296758e-01 -3.40833797e-02 -1.56305139e-02 5.03849365e+01] [ 3.40778988e-02 9.99418989e-01 -6.16942335e-04 3.16864933e+00] [ 1.56424599e-02 8.38534028e-05 9.99877646e-01 2.59548887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.224391417999996 meters Centerline goodness [0,1] 0.9994365021392049 Centerline is valid? [True, True] Translation: X:50.42, Y:3.17, Z:0.26 [[ 9.99323412e-01 -3.34283367e-02 -1.53383475e-02 5.04152133e+01] [ 3.34229763e-02 9.99441113e-01 -6.05755399e-04 3.17082512e+00] [ 1.53500245e-02 9.26923274e-05 9.99882177e-01 2.61164234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.254391418 meters Centerline goodness [0,1] 0.9994357130914563 Centerline is valid? [True, True] Translation: X:50.44, Y:3.17, Z:0.26 [[ 9.99364403e-01 -3.22694406e-02 -1.51483563e-02 5.04445597e+01] [ 3.22640769e-02 9.99479200e-01 -5.98397193e-04 3.17334181e+00] [ 1.51597770e-02 1.09269121e-04 9.99885078e-01 2.61910649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.284391418 meters Centerline goodness [0,1] 0.9993933815839016 Centerline is valid? [True, True] Translation: X:50.47, Y:3.17, Z:0.26 [[ 9.99383687e-01 -3.16498196e-02 -1.51834130e-02 5.04740402e+01] [ 3.16443523e-02 9.99499012e-01 -6.00256040e-04 3.17451248e+00] [ 1.51948043e-02 1.19416822e-04 9.99884545e-01 2.61937699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31439141799999 meters Centerline goodness [0,1] 0.9995606418812896 Centerline is valid? [True, True] Translation: X:50.50, Y:3.18, Z:0.26 [[ 9.99386468e-01 -3.15911864e-02 -1.51223478e-02 5.05038824e+01] [ 3.15857464e-02 9.99500867e-01 -5.98495029e-04 3.17520334e+00] [ 1.51337069e-02 1.20477189e-04 9.99885472e-01 2.62575143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.344391417999994 meters Centerline goodness [0,1] 0.9993702109793219 Centerline is valid? [True, True] Translation: X:50.53, Y:3.18, Z:0.26 [[ 9.99401925e-01 -3.11908940e-02 -1.49305057e-02 5.05332148e+01] [ 3.11855369e-02 9.99513438e-01 -5.91542801e-04 3.17641751e+00] [ 1.49416919e-02 1.25573177e-04 9.99888359e-01 2.62560182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.374391417999995 meters Centerline goodness [0,1] 0.9995622628924 Centerline is valid? [True, True] Translation: X:50.56, Y:3.18, Z:0.26 [[ 9.99401052e-01 -3.13556037e-02 -1.46411360e-02 5.05629517e+01] [ 3.13504629e-02 9.99508285e-01 -5.80565588e-04 3.17754228e+00] [ 1.46521407e-02 1.21211470e-04 9.99892644e-01 2.62973095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.404391417999996 meters Centerline goodness [0,1] 0.9994374531210934 Centerline is valid? [True, True] Translation: X:50.59, Y:3.18, Z:0.26 [[ 9.99375706e-01 -3.18930080e-02 -1.51998137e-02 5.05927250e+01] [ 3.18875220e-02 9.99491282e-01 -6.03208002e-04 3.17725303e+00] [ 1.52113194e-02 1.18147029e-04 9.99884294e-01 2.63742851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.434391418 meters Centerline goodness [0,1] 0.9994374531210934 Centerline is valid? [True, True] Translation: X:50.62, Y:3.18, Z:0.26 [[ 9.99374287e-01 -3.19374487e-02 -1.51997868e-02 5.06218553e+01] [ 3.19319576e-02 9.99489863e-01 -6.03885516e-04 3.17845578e+00] [ 1.52113194e-02 1.18148710e-04 9.99884294e-01 2.63989873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.464391418 meters Centerline goodness [0,1] 0.9994142627031776 Centerline is valid? [True, True] Translation: X:50.65, Y:3.18, Z:0.26 [[ 9.99282864e-01 -3.51209526e-02 -1.41518731e-02 5.06513887e+01] [ 3.51165049e-02 9.99383067e-01 -5.62728414e-04 3.17620964e+00] [ 1.41629059e-02 6.53605389e-05 9.99899699e-01 2.64012291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49439141799999 meters Centerline goodness [0,1] 0.9996445745348108 Centerline is valid? [True, True] Translation: X:50.68, Y:3.17, Z:0.26 [[ 9.99203612e-01 -3.72862284e-02 -1.42084136e-02 5.06824020e+01] [ 3.72819614e-02 9.99304626e-01 -5.65164061e-04 3.17372909e+00] [ 1.42196063e-02 3.49964438e-05 9.99898896e-01 2.63818547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52439141799999 meters Centerline goodness [0,1] 0.9993499685468652 Centerline is valid? [True, True] Translation: X:50.71, Y:3.17, Z:0.27 [[ 9.99098116e-01 -3.98681008e-02 -1.46112345e-02 5.07128095e+01] [ 3.98638644e-02 9.99204951e-01 -5.81186954e-04 3.17099480e+00] [ 1.46227887e-02 -1.79748043e-06 9.99893081e-01 2.65356355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.554391417999994 meters Centerline goodness [0,1] 0.9993928990118908 Centerline is valid? [True, True] Translation: X:50.74, Y:3.17, Z:0.27 [[ 9.98991127e-01 -4.24929958e-02 -1.45283778e-02 5.07446196e+01] [ 4.24890884e-02 9.99096764e-01 -5.77646745e-04 3.16939743e+00] [ 1.45398012e-02 -4.02335561e-05 9.99894291e-01 2.65765763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.584391417999996 meters Centerline goodness [0,1] 0.9992035045798486 Centerline is valid? [True, True] Translation: X:50.77, Y:3.16, Z:0.27 [[ 9.98695132e-01 -4.90429403e-02 -1.42416119e-02 5.07749288e+01] [ 4.90398578e-02 9.98796662e-01 -5.65795022e-04 3.16367535e+00] [ 1.42522227e-02 -1.33349887e-04 9.99898423e-01 2.65921967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.614391418 meters Centerline goodness [0,1] 0.9993712405424098 Centerline is valid? [True, True] Translation: X:50.81, Y:3.16, Z:0.27 [[ 9.98522310e-01 -5.24087382e-02 -1.43708415e-02 5.08066001e+01] [ 5.24059538e-02 9.98625701e-01 -5.70518565e-04 3.16340533e+00] [ 1.43809919e-02 -1.83442143e-04 9.99896571e-01 2.67251534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.644391418 meters Centerline goodness [0,1] 0.9991199580932425 Centerline is valid? [True, True] Translation: X:50.84, Y:3.16, Z:0.27 [[ 9.98370088e-01 -5.50567543e-02 -1.50306499e-02 5.08365918e+01] [ 5.50540237e-02 9.98483199e-01 -5.95691734e-04 3.16012088e+00] [ 1.50406483e-02 -2.32776948e-04 9.99886856e-01 2.66254800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67439141799999 meters Centerline goodness [0,1] 0.9994344246842205 Centerline is valid? [True, True] Translation: X:50.87, Y:3.16, Z:0.27 [[ 9.98200972e-01 -5.83386832e-02 -1.38353831e-02 5.08675753e+01] [ 5.83366971e-02 9.98296815e-01 -5.47427164e-04 3.15852523e+00] [ 1.38437550e-02 -2.60668225e-04 9.99904137e-01 2.67537295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70439141799999 meters Centerline goodness [0,1] 0.9992030535631895 Centerline is valid? [True, True] Translation: X:50.90, Y:3.15, Z:0.27 [[ 9.97891415e-01 -6.35103603e-02 -1.33850102e-02 5.08991953e+01] [ 6.35089711e-02 9.97981127e-01 -5.29243291e-04 3.15217235e+00] [ 1.33916000e-02 -3.21940890e-04 9.99910277e-01 2.67125408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.734391417999994 meters Centerline goodness [0,1] 0.9992445544969992 Centerline is valid? [True, True] Translation: X:50.93, Y:3.15, Z:0.27 [[ 9.97770177e-01 -6.54782402e-02 -1.29334678e-02 5.09312881e+01] [ 6.54771173e-02 9.97853940e-01 -5.10698079e-04 3.15058042e+00] [ 1.29391514e-02 -3.37286873e-04 9.99916229e-01 2.67428443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.764391417999995 meters Centerline goodness [0,1] 0.9993697346582912 Centerline is valid? [True, True] Translation: X:50.96, Y:3.15, Z:0.27 [[ 9.97662479e-01 -6.70782959e-02 -1.30414664e-02 5.09630676e+01] [ 6.70773034e-02 9.97747649e-01 -5.13992787e-04 3.14980666e+00] [ 1.30465702e-02 -3.61995083e-04 9.99914824e-01 2.67844857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.794391418 meters Centerline goodness [0,1] 0.9991802761838704 Centerline is valid? [True, True] Translation: X:50.99, Y:3.15, Z:0.27 [[ 9.97578013e-01 -6.82998735e-02 -1.31619181e-02 5.09937799e+01] [ 6.82989783e-02 9.97664764e-01 -5.18022315e-04 3.14574472e+00] [ 1.31665628e-02 -3.82177888e-04 9.99913244e-01 2.67455215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.824391418 meters Centerline goodness [0,1] 0.9992466255100974 Centerline is valid? [True, True] Translation: X:51.02, Y:3.15, Z:0.27 [[ 9.97490386e-01 -6.95408249e-02 -1.33042364e-02 5.10246205e+01] [ 6.95400280e-02 9.97579025e-01 -5.23058655e-04 3.15007723e+00] [ 1.33084011e-02 -4.03430992e-04 9.99911358e-01 2.68680077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.854391418 meters Centerline goodness [0,1] 0.9991844246011 Centerline is valid? [True, True] Translation: X:51.06, Y:3.15, Z:0.27 [[ 9.97497829e-01 -6.93197136e-02 -1.38873131e-02 5.10563654e+01] [ 6.93188339e-02 9.97594408e-01 -5.45267448e-04 3.14885273e+00] [ 1.38917037e-02 -4.18749255e-04 9.99903418e-01 2.68145380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88439141799999 meters Centerline goodness [0,1] 0.9990985702905538 Centerline is valid? [True, True] Translation: X:51.09, Y:3.15, Z:0.27 [[ 9.97501484e-01 -6.92467746e-02 -1.39883389e-02 5.10864655e+01] [ 6.92458840e-02 9.97599472e-01 -5.48577703e-04 3.15208561e+00] [ 1.39927468e-02 -4.21427822e-04 9.99902008e-01 2.68104184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.914391417999994 meters Centerline goodness [0,1] 0.9992030702766185 Centerline is valid? [True, True] Translation: X:51.12, Y:3.15, Z:0.27 [[ 9.97523543e-01 -6.88100108e-02 -1.45589699e-02 5.11176862e+01] [ 6.88090079e-02 9.97629688e-01 -5.70392507e-04 3.15014820e+00] [ 1.45637094e-02 -4.32808323e-04 9.99893850e-01 2.67538238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.944391417999995 meters Centerline goodness [0,1] 0.9991599638784467 Centerline is valid? [True, True] Translation: X:51.15, Y:3.16, Z:0.27 [[ 9.97625939e-01 -6.72655328e-02 -1.47591889e-02 5.11485434e+01] [ 6.72643451e-02 9.97735022e-01 -5.77431510e-04 3.15834496e+00] [ 1.47646009e-02 -4.16706524e-04 9.99890911e-01 2.69160890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.974391417999996 meters Centerline goodness [0,1] 0.9991855146920618 Centerline is valid? [True, True] Translation: X:51.18, Y:3.16, Z:0.27 [[ 9.97700552e-01 -6.61378071e-02 -1.48121187e-02 5.11793655e+01] [ 6.61365055e-02 9.97810417e-01 -5.78227890e-04 3.15942959e+00] [ 1.48179291e-02 -4.02723484e-04 9.99890127e-01 2.69415279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.004391418 meters Centerline goodness [0,1] 0.9990770263467025 Centerline is valid? [True, True] Translation: X:51.21, Y:3.16, Z:0.27 [[ 9.97755826e-01 -6.52557124e-02 -1.50001105e-02 5.12111017e+01] [ 6.52543020e-02 9.97868496e-01 -5.83964226e-04 3.16240862e+00] [ 1.50062447e-02 -3.96168034e-04 9.99887321e-01 2.69522479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.034391418 meters Centerline goodness [0,1] 0.9992448397382111 Centerline is valid? [True, True] Translation: X:51.24, Y:3.17, Z:0.27 [[ 9.97864384e-01 -6.35088051e-02 -1.52742463e-02 5.12409921e+01] [ 6.35071479e-02 9.97981207e-01 -5.94002802e-04 3.16597697e+00] [ 1.52811352e-02 -3.77289580e-04 9.99883165e-01 2.69909899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06439141799999 meters Centerline goodness [0,1] 0.9991407494341521 Centerline is valid? [True, True] Translation: X:51.27, Y:3.17, Z:0.27 [[ 9.98043625e-01 -6.08911515e-02 -1.41841455e-02 5.12724886e+01] [ 6.08894635e-02 9.98144363e-01 -5.51230015e-04 3.17176883e+00] [ 1.41913899e-02 -3.13513405e-04 9.99899248e-01 2.71260100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.094391417999994 meters Centerline goodness [0,1] 0.9993289153594497 Centerline is valid? [True, True] Translation: X:51.30, Y:3.18, Z:0.27 [[ 9.98116893e-01 -5.96587663e-02 -1.42653187e-02 5.13049531e+01] [ 5.96569447e-02 9.98218785e-01 -5.53568893e-04 3.17578773e+00] [ 1.42729343e-02 -2.98498866e-04 9.99898092e-01 2.72734914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.124391417999995 meters Centerline goodness [0,1] 0.9993289153594497 Centerline is valid? [True, True] Translation: X:51.34, Y:3.18, Z:0.27 [[ 9.98121778e-01 -5.95769708e-02 -1.42653640e-02 5.13366256e+01] [ 5.95751577e-02 9.98223670e-01 -5.52399886e-04 3.17693935e+00] [ 1.42729343e-02 -2.98498952e-04 9.99898092e-01 2.73003211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.154391417999996 meters Centerline goodness [0,1] 0.999286568604822 Centerline is valid? [True, True] Translation: X:51.37, Y:3.18, Z:0.27 [[ 9.98284655e-01 -5.64986977e-02 -1.53507053e-02 5.13669994e+01] [ 5.64962541e-02 9.98402635e-01 -5.93140667e-04 3.18165664e+00] [ 1.53596963e-02 -2.75134121e-04 9.99881995e-01 2.72073397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.184391418 meters Centerline goodness [0,1] 0.999329463780567 Centerline is valid? [True, True] Translation: X:51.40, Y:3.18, Z:0.27 [[ 9.98336372e-01 -5.54755931e-02 -1.57145544e-02 5.13975254e+01] [ 5.54729185e-02 9.98460008e-01 -6.06377772e-04 3.18431389e+00] [ 1.57239933e-02 -2.66363211e-04 9.99876335e-01 2.72107313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.214391418 meters Centerline goodness [0,1] 0.9990797289383418 Centerline is valid? [True, True] Translation: X:51.43, Y:3.19, Z:0.27 [[ 9.98358007e-01 -5.49938713e-02 -1.60300819e-02 5.14286637e+01] [ 5.49910339e-02 9.98486657e-01 -6.18070669e-04 3.18845210e+00] [ 1.60398129e-02 -2.64454974e-04 9.99871319e-01 2.72744667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24439141799999 meters Centerline goodness [0,1] 0.9992448397382111 Centerline is valid? [True, True] Translation: X:51.46, Y:3.19, Z:0.27 [[ 9.98395156e-01 -5.41605663e-02 -1.65452737e-02 5.14592369e+01] [ 5.41574379e-02 9.98532206e-01 -6.37408885e-04 3.18922102e+00] [ 1.65555111e-02 -2.59663691e-04 9.99862914e-01 2.71844179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.27439141799999 meters Centerline goodness [0,1] 0.9993497640272679 Centerline is valid? [True, True] Translation: X:51.49, Y:3.19, Z:0.27 [[ 9.98415814e-01 -5.39040850e-02 -1.61310742e-02 5.14908672e+01] [ 5.39010855e-02 9.98546087e-01 -6.20973287e-04 3.19139605e+00] [ 1.61410940e-02 -2.49492857e-04 9.99869693e-01 2.72565042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.304391417999994 meters Centerline goodness [0,1] 0.9991814289312401 Centerline is valid? [True, True] Translation: X:51.52, Y:3.19, Z:0.27 [[ 9.98404350e-01 -5.41966798e-02 -1.58579547e-02 5.15214406e+01] [ 5.41938255e-02 9.98530249e-01 -6.09975570e-04 3.19247585e+00] [ 1.58677061e-02 -2.50400971e-04 9.99874069e-01 2.73318539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.334391417999996 meters Centerline goodness [0,1] 0.9992662012285888 Centerline is valid? [True, True] Translation: X:51.55, Y:3.19, Z:0.27 [[ 9.98378531e-01 -5.47685005e-02 -1.55151323e-02 5.15531427e+01] [ 5.47658443e-02 9.98499047e-01 -5.96343973e-04 3.19478824e+00] [ 1.55245056e-02 -2.54322298e-04 9.99879455e-01 2.74296452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.364391418 meters Centerline goodness [0,1] 0.9992039050552028 Centerline is valid? [True, True] Translation: X:51.58, Y:3.20, Z:0.27 [[ 9.98337310e-01 -5.54798801e-02 -1.56396168e-02 5.15847558e+01] [ 5.54772780e-02 9.98459769e-01 -6.00508426e-04 3.19619695e+00] [ 1.56488443e-02 -2.68133401e-04 9.99877513e-01 2.74377040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.394391418 meters Centerline goodness [0,1] 0.9990983434682323 Centerline is valid? [True, True] Translation: X:51.62, Y:3.20, Z:0.27 [[ 9.98291279e-01 -5.63109527e-02 -1.56076263e-02 5.16163280e+01] [ 5.63084724e-02 9.98413240e-01 -5.98667776e-04 3.19690020e+00] [ 1.56165723e-02 -2.81196773e-04 9.99878014e-01 2.74280900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42439141799999 meters Centerline goodness [0,1] 0.9990551379498593 Centerline is valid? [True, True] Translation: X:51.65, Y:3.20, Z:0.27 [[ 9.98243853e-01 -5.71110891e-02 -1.57331873e-02 5.16480397e+01] [ 5.71086778e-02 9.98367786e-01 -6.02866931e-04 3.19737665e+00] [ 1.57419378e-02 -2.96693317e-04 9.99876044e-01 2.73958885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.45439141799999 meters Centerline goodness [0,1] 0.9991832460732984 Centerline is valid? [True, True] Translation: X:51.68, Y:3.20, Z:0.27 [[ 9.98231336e-01 -5.73072040e-02 -1.58140540e-02 5.16798591e+01] [ 5.73048022e-02 9.98356546e-01 -6.05347379e-04 3.19810806e+00] [ 1.58227551e-02 -3.01944512e-04 9.99874767e-01 2.74153998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.484391417999994 meters Centerline goodness [0,1] 0.9992455360885237 Centerline is valid? [True, True] Translation: X:51.71, Y:3.20, Z:0.27 [[ 9.98299522e-01 -5.63090459e-02 -1.50783431e-02 5.17104479e+01] [ 5.63067602e-02 9.98413350e-01 -5.76413546e-04 3.19901549e+00] [ 1.50868763e-02 -2.73579283e-04 9.99886149e-01 2.74186397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.514391417999995 meters Centerline goodness [0,1] 0.9990771618532268 Centerline is valid? [True, True] Translation: X:51.74, Y:3.20, Z:0.27 [[ 9.98372461e-01 -5.49266119e-02 -1.53458777e-02 5.17412405e+01] [ 5.49240963e-02 9.98490361e-01 -5.85648838e-04 3.20079759e+00] [ 1.53548787e-02 -2.58162795e-04 9.99882074e-01 2.74233861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.544391418 meters Centerline goodness [0,1] 0.9993092043289862 Centerline is valid? [True, True] Translation: X:51.77, Y:3.20, Z:0.27 [[ 9.98460249e-01 -5.32724829e-02 -1.54652422e-02 5.17717842e+01] [ 5.32697447e-02 9.98579985e-01 -5.89235295e-04 3.20316006e+00] [ 1.54746713e-02 -2.35501482e-04 9.99880232e-01 2.74690833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.574391418 meters Centerline goodness [0,1] 0.9992652152919195 Centerline is valid? [True, True] Translation: X:51.80, Y:3.21, Z:0.28 [[ 9.98687824e-01 -4.89286210e-02 -1.51202058e-02 5.18027246e+01] [ 4.89255183e-02 9.98802264e-01 -5.75261064e-04 3.20954538e+00] [ 1.51302425e-02 -1.65257684e-04 9.99885518e-01 2.76312543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60439141799999 meters Centerline goodness [0,1] 0.9992460890871395 Centerline is valid? [True, True] Translation: X:51.83, Y:3.21, Z:0.28 [[ 9.98806880e-01 -4.64504865e-02 -1.50721256e-02 5.18343838e+01] [ 4.64471328e-02 9.98920585e-01 -5.72674544e-04 3.21162151e+00] [ 1.50824576e-02 -1.28065746e-04 9.99886245e-01 2.76112265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63439141799999 meters Centerline goodness [0,1] 0.9991845780714226 Centerline is valid? [True, True] Translation: X:51.87, Y:3.21, Z:0.28 [[ 9.98916361e-01 -4.40497208e-02 -1.50241747e-02 5.18658697e+01] [ 4.40461290e-02 9.99029336e-01 -5.70036312e-04 3.21483880e+00] [ 1.50347012e-02 -9.23381389e-05 9.99886968e-01 2.76711102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.664391417999994 meters Centerline goodness [0,1] 0.9994123942834359 Centerline is valid? [True, True] Translation: X:51.90, Y:3.22, Z:0.28 [[ 9.99028724e-01 -4.16087855e-02 -1.45022965e-02 5.18971028e+01] [ 4.16051906e-02 9.99133978e-01 -5.49632126e-04 3.21843596e+00] [ 1.45126067e-02 -5.42725261e-05 9.99894685e-01 2.78276872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.694391417999995 meters Centerline goodness [0,1] 0.9992867631634151 Centerline is valid? [True, True] Translation: X:51.93, Y:3.22, Z:0.28 [[ 9.99182941e-01 -3.76985752e-02 -1.45694024e-02 5.19271417e+01] [ 3.76945383e-02 9.99289156e-01 -5.51686586e-04 3.22208626e+00] [ 1.45798437e-02 2.04892749e-06 9.99893708e-01 2.77164654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.724391417999996 meters Centerline goodness [0,1] 0.9992655390943048 Centerline is valid? [True, True] Translation: X:51.96, Y:3.22, Z:0.28 [[ 9.99210192e-01 -3.68832194e-02 -1.47858130e-02 5.19574399e+01] [ 3.68789752e-02 9.99319582e-01 -5.59699855e-04 3.22381886e+00] [ 1.47963960e-02 1.39721688e-05 9.99890527e-01 2.77347558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.754391418 meters Centerline goodness [0,1] 0.9993703299471077 Centerline is valid? [True, True] Translation: X:51.99, Y:3.23, Z:0.28 [[ 9.99224296e-01 -3.63886378e-02 -1.50556793e-02 5.19869248e+01] [ 3.63841814e-02 9.99337714e-01 -5.69886131e-04 3.22548285e+00] [ 1.50664456e-02 2.16554991e-05 9.99886494e-01 2.76652155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.784391418 meters Centerline goodness [0,1] 0.999329505929682 Centerline is valid? [True, True] Translation: X:52.02, Y:3.23, Z:0.28 [[ 9.99224940e-01 -3.63022254e-02 -1.52206190e-02 5.20163703e+01] [ 3.62976619e-02 9.99340857e-01 -5.76061875e-04 3.22641420e+00] [ 1.52314988e-02 2.31425103e-05 9.99883994e-01 2.76129047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81439141799999 meters Centerline goodness [0,1] 0.9994774684390937 Centerline is valid? [True, True] Translation: X:52.05, Y:3.22, Z:0.27 [[ 9.99165507e-01 -3.75121433e-02 -1.61594890e-02 5.20458644e+01] [ 3.75071557e-02 9.99296172e-01 -6.11712244e-04 3.22487861e+00] [ 1.61710622e-02 5.10530411e-06 9.99869240e-01 2.74533381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.844391417999994 meters Centerline goodness [0,1] 0.9991843222554535 Centerline is valid? [True, True] Translation: X:52.08, Y:3.22, Z:0.27 [[ 9.99123527e-01 -3.85722236e-02 -1.62591802e-02 5.20752095e+01] [ 3.85673068e-02 9.99255815e-01 -6.15970061e-04 3.22412600e+00] [ 1.62708397e-02 -1.16426106e-05 9.99867621e-01 2.73556687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.874391417999995 meters Centerline goodness [0,1] 0.999247554552295 Centerline is valid? [True, True] Translation: X:52.10, Y:3.22, Z:0.27 [[ 9.99050179e-01 -4.05675378e-02 -1.59064577e-02 5.21045775e+01] [ 4.05630749e-02 9.99176798e-01 -6.03233523e-04 3.22265994e+00] [ 1.59178352e-02 -4.25542746e-05 9.99873302e-01 2.74483787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.904391417999996 meters Centerline goodness [0,1] 0.9992290863631629 Centerline is valid? [True, True] Translation: X:52.13, Y:3.22, Z:0.27 [[ 9.98978405e-01 -4.23276117e-02 -1.58278299e-02 5.21330630e+01] [ 4.23233993e-02 9.99103783e-01 -6.01160478e-04 3.22110160e+00] [ 1.58390904e-02 -6.93412311e-05 9.99874551e-01 2.74408952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.934391418 meters Centerline goodness [0,1] 0.9993918550517972 Centerline is valid? [True, True] Translation: X:52.16, Y:3.22, Z:0.28 [[ 9.98730367e-01 -4.79116530e-02 -1.55604468e-02 5.21632667e+01] [ 4.79082491e-02 9.98851565e-01 -5.91654192e-04 3.21837476e+00] [ 1.55709237e-02 -1.54570752e-04 9.99878754e-01 2.77934183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.964391418 meters Centerline goodness [0,1] 0.9992456625597184 Centerline is valid? [True, True] Translation: X:52.19, Y:3.22, Z:0.28 [[ 9.98627796e-01 -5.00025402e-02 -1.55650795e-02 5.21939847e+01] [ 4.99993882e-02 9.98749073e-01 -5.91830342e-04 3.21813501e+00] [ 1.55752017e-02 -1.87226222e-04 9.99878682e-01 2.77998942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99439141799999 meters Centerline goodness [0,1] 0.999267107797973 Centerline is valid? [True, True] Translation: X:52.23, Y:3.22, Z:0.28 [[ 9.98472628e-01 -5.31184500e-02 -1.51934572e-02 5.22252087e+01] [ 5.31158114e-02 9.98588192e-01 -5.77428145e-04 3.21764566e+00] [ 1.52026791e-02 -2.30466612e-04 9.99884406e-01 2.79479157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02439141799999 meters Centerline goodness [0,1] 0.9993713459483247 Centerline is valid? [True, True] Translation: X:52.26, Y:3.22, Z:0.28 [[ 9.98318404e-01 -5.60148863e-02 -1.49230289e-02 5.22559610e+01] [ 5.60126712e-02 9.98429897e-01 -5.66685100e-04 3.21569219e+00] [ 1.49313410e-02 -2.70146546e-04 9.99888485e-01 2.79750727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.054391417999994 meters Centerline goodness [0,1] 0.9993500775713866 Centerline is valid? [True, True] Translation: X:52.29, Y:3.21, Z:0.28 [[ 9.98044900e-01 -6.08583336e-02 -1.42351722e-02 5.22871316e+01] [ 6.08568142e-02 9.98146360e-01 -5.40285307e-04 3.21168881e+00] [ 1.42416662e-02 -3.27078233e-04 9.99898529e-01 2.79274944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.084391417999996 meters Centerline goodness [0,1] 0.9992450456118276 Centerline is valid? [True, True] Translation: X:52.32, Y:3.21, Z:0.28 [[ 9.97896741e-01 -6.33212930e-02 -1.38747142e-02 5.23188172e+01] [ 6.33200945e-02 9.97993131e-01 -5.26101844e-04 3.21093450e+00] [ 1.38801829e-02 -3.53552899e-04 9.99903603e-01 2.79627672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.114391418 meters Centerline goodness [0,1] 0.9991611617909196 Centerline is valid? [True, True] Translation: X:52.35, Y:3.21, Z:0.28 [[ 9.97751805e-01 -6.55899102e-02 -1.37585791e-02 5.23511510e+01] [ 6.55889602e-02 9.97846590e-01 -5.20745751e-04 3.21049879e+00] [ 1.37631069e-02 -3.82835886e-04 9.99905211e-01 2.80774504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.144391418 meters Centerline goodness [0,1] 0.9990980786978774 Centerline is valid? [True, True] Translation: X:52.38, Y:3.21, Z:0.28 [[ 9.97690741e-01 -6.64948834e-02 -1.38425513e-02 5.23822238e+01] [ 6.64940230e-02 9.97786686e-01 -5.22898990e-04 3.20975933e+00] [ 1.38466835e-02 -3.98755446e-04 9.99904051e-01 2.79845537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17439141799999 meters Centerline goodness [0,1] 0.9992235047219308 Centerline is valid? [True, True] Translation: X:52.41, Y:3.21, Z:0.28 [[ 9.97510596e-01 -6.92294707e-02 -1.34123702e-02 5.24133586e+01] [ 6.92289193e-02 9.97600672e-01 -5.05949514e-04 3.21044297e+00] [ 1.34152161e-02 -4.23833893e-04 9.99909922e-01 2.81341483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20439141799999 meters Centerline goodness [0,1] 0.999202668960742 Centerline is valid? [True, True] Translation: X:52.44, Y:3.21, Z:0.28 [[ 9.97482327e-01 -6.95431763e-02 -1.38835818e-02 5.24449123e+01] [ 6.95426305e-02 9.97578844e-01 -5.22661846e-04 3.21048795e+00] [ 1.38863150e-02 -4.44154842e-04 9.99903482e-01 2.81362520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.234391417999994 meters Centerline goodness [0,1] 0.9993288309073367 Centerline is valid? [True, True] Translation: X:52.48, Y:3.21, Z:0.28 [[ 9.97455780e-01 -6.98558163e-02 -1.42173327e-02 5.24772769e+01] [ 6.98552985e-02 9.97556992e-01 -5.33626099e-04 3.21253712e+00] [ 1.42198765e-02 -4.60887582e-04 9.99898786e-01 2.81768659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.264391417999995 meters Centerline goodness [0,1] 0.9990122730329523 Centerline is valid? [True, True] Translation: X:52.51, Y:3.21, Z:0.28 [[ 9.97471458e-01 -6.95649407e-02 -1.45399603e-02 5.25092340e+01] [ 6.95643856e-02 9.97577315e-01 -5.44546720e-04 3.21408374e+00] [ 1.45426159e-02 -4.68293596e-04 9.99894141e-01 2.81475317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.294391418 meters Centerline goodness [0,1] 0.9989512982927137 Centerline is valid? [True, True] Translation: X:52.54, Y:3.22, Z:0.28 [[ 9.97467210e-01 -6.96307705e-02 -1.45161929e-02 5.25405205e+01] [ 6.96302457e-02 9.97572722e-01 -5.42173209e-04 3.21639456e+00] [ 1.45187100e-02 -4.69966079e-04 9.99894488e-01 2.81960017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.324391418 meters Centerline goodness [0,1] 0.9989296507723304 Centerline is valid? [True, True] Translation: X:52.57, Y:3.22, Z:0.28 [[ 9.97487123e-01 -6.93516415e-02 -1.44841166e-02 5.25729271e+01] [ 6.93511128e-02 9.97592167e-01 -5.39368915e-04 3.21897856e+00] [ 1.44866473e-02 -4.66476054e-04 9.99894954e-01 2.82473301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35439141799999 meters Centerline goodness [0,1] 0.9989296507723304 Centerline is valid? [True, True] Translation: X:52.60, Y:3.22, Z:0.28 [[ 9.97492706e-01 -6.92712807e-02 -1.44841600e-02 5.26046104e+01] [ 6.92707606e-02 9.97597751e-01 -5.38201424e-04 3.22007871e+00] [ 1.44866473e-02 -4.66476781e-04 9.99894954e-01 2.82741679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38439141799999 meters Centerline goodness [0,1] 0.9990766195882563 Centerline is valid? [True, True] Translation: X:52.64, Y:3.22, Z:0.28 [[ 9.97518278e-01 -6.90270626e-02 -1.38762499e-02 5.26372169e+01] [ 6.90265767e-02 9.97614689e-01 -5.14522272e-04 3.22203039e+00] [ 1.38786666e-02 -4.44584655e-04 9.99903588e-01 2.83457566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.414391417999994 meters Centerline goodness [0,1] 0.9990134133797939 Centerline is valid? [True, True] Translation: X:52.67, Y:3.22, Z:0.28 [[ 9.97600045e-01 -6.78964669e-02 -1.35727324e-02 5.26685351e+01] [ 6.78959164e-02 9.97692284e-01 -5.01876080e-04 3.22498024e+00] [ 1.35754860e-02 -4.20861507e-04 9.99907760e-01 2.83431001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.444391417999995 meters Centerline goodness [0,1] 0.9990363263082918 Centerline is valid? [True, True] Translation: X:52.70, Y:3.23, Z:0.28 [[ 9.97649488e-01 -6.71386179e-02 -1.37078650e-02 5.26997674e+01] [ 6.71380058e-02 9.97743571e-01 -5.05350746e-04 3.22721933e+00] [ 1.37108627e-02 -4.16155805e-04 9.99905915e-01 2.83628465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.474391417999996 meters Centerline goodness [0,1] 0.9990972455492106 Centerline is valid? [True, True] Translation: X:52.73, Y:3.23, Z:0.28 [[ 9.97690412e-01 -6.64445583e-02 -1.41053739e-02 5.27306923e+01] [ 6.64438528e-02 9.97790030e-01 -5.19161230e-04 3.22958510e+00] [ 1.41086969e-02 -4.19253205e-04 9.99900379e-01 2.83840731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.504391418 meters Centerline goodness [0,1] 0.9988656653712845 Centerline is valid? [True, True] Translation: X:52.76, Y:3.23, Z:0.28 [[ 9.97728705e-01 -6.57845666e-02 -1.44852117e-02 5.27632117e+01] [ 6.57837672e-02 9.97833760e-01 -5.32169612e-04 3.23288071e+00] [ 1.44888418e-02 -4.21930898e-04 9.99894942e-01 2.84247307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.534391418 meters Centerline goodness [0,1] 0.9988654032020843 Centerline is valid? [True, True] Translation: X:52.79, Y:3.24, Z:0.28 [[ 9.97812054e-01 -6.43743452e-02 -1.50681025e-02 5.27948734e+01] [ 6.43733380e-02 9.97925733e-01 -5.52357683e-04 3.24131634e+00] [ 1.50724049e-02 -4.18834899e-04 9.99886317e-01 2.84677961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56439141799999 meters Centerline goodness [0,1] 0.9992446654497388 Centerline is valid? [True, True] Translation: X:52.83, Y:3.24, Z:0.29 [[ 9.97825042e-01 -6.42949526e-02 -1.45377177e-02 5.28263160e+01] [ 6.42940219e-02 9.97930857e-01 -5.31863897e-04 3.24287929e+00] [ 1.45418332e-02 -4.03981223e-04 9.99894180e-01 2.85465700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.594391417999994 meters Centerline goodness [0,1] 0.9986783309207627 Centerline is valid? [True, True] Translation: X:52.86, Y:3.25, Z:0.28 [[ 9.97813258e-01 -6.42325635e-02 -1.55846246e-02 5.28588043e+01] [ 6.42315041e-02 9.97934863e-01 -5.69026649e-04 3.24509653e+00] [ 1.55889902e-02 -4.33241544e-04 9.99878390e-01 2.84580181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.624391417999995 meters Centerline goodness [0,1] 0.9989720135945958 Centerline is valid? [True, True] Translation: X:52.89, Y:3.25, Z:0.29 [[ 9.97768286e-01 -6.51034332e-02 -1.48320439e-02 5.28905761e+01] [ 6.51025872e-02 9.97878430e-01 -5.40373225e-04 3.24915785e+00] [ 1.48357569e-02 -4.26437167e-04 9.99889853e-01 2.86376916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.654391417999996 meters Centerline goodness [0,1] 0.9988255526194371 Centerline is valid? [True, True] Translation: X:52.92, Y:3.25, Z:0.29 [[ 9.97794660e-01 -6.46772057e-02 -1.49222898e-02 5.29222289e+01] [ 6.46763202e-02 9.97906148e-01 -5.42423030e-04 3.25293846e+00] [ 1.49261271e-02 -4.23891991e-04 9.99888509e-01 2.86431614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.684391418 meters Centerline goodness [0,1] 0.9990982678354234 Centerline is valid? [True, True] Translation: X:52.95, Y:3.25, Z:0.29 [[ 9.97761706e-01 -6.54503617e-02 -1.37050474e-02 5.29530344e+01] [ 6.54497010e-02 9.97855746e-01 -4.97196757e-04 3.25380766e+00] [ 1.37082020e-02 -4.00907367e-04 9.99905958e-01 2.88092222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.714391418 meters Centerline goodness [0,1] 0.9988469843399509 Centerline is valid? [True, True] Translation: X:52.98, Y:3.26, Z:0.29 [[ 9.97766017e-01 -6.52711573e-02 -1.42355437e-02 5.29847344e+01] [ 6.52704409e-02 9.97867478e-01 -5.15419076e-04 3.25647368e+00] [ 1.42388281e-02 -4.14892578e-04 9.99898537e-01 2.86807512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74439141799999 meters Centerline goodness [0,1] 0.9988248625508876 Centerline is valid? [True, True] Translation: X:53.02, Y:3.26, Z:0.29 [[ 9.97750495e-01 -6.55067415e-02 -1.42413633e-02 5.30171561e+01] [ 6.55060652e-02 9.97852039e-01 -5.14461055e-04 3.25865616e+00] [ 1.42444741e-02 -4.19591903e-04 9.99898454e-01 2.86759035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.77439141799999 meters Centerline goodness [0,1] 0.998888422818792 Centerline is valid? [True, True] Translation: X:53.05, Y:3.26, Z:0.29 [[ 9.97673047e-01 -6.66642797e-02 -1.42956360e-02 5.30485736e+01] [ 6.66637319e-02 9.97775366e-01 -5.15369268e-04 3.26013267e+00] [ 1.42981901e-02 -4.38830415e-04 9.99897679e-01 2.87447045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.804391417999994 meters Centerline goodness [0,1] 0.9989088925259137 Centerline is valid? [True, True] Translation: X:53.08, Y:3.26, Z:0.29 [[ 9.97621156e-01 -6.71914054e-02 -1.54059702e-02 5.30802425e+01] [ 6.71908472e-02 9.97739988e-01 -5.54419276e-04 3.26185637e+00] [ 1.54084048e-02 -4.82039792e-04 9.99881167e-01 2.86311262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.834391417999996 meters Centerline goodness [0,1] 0.9989516720830276 Centerline is valid? [True, True] Translation: X:53.11, Y:3.26, Z:0.29 [[ 9.97467129e-01 -6.91722889e-02 -1.65686499e-02 5.31121595e+01] [ 6.91719362e-02 9.97604576e-01 -5.95053175e-04 3.26461592e+00] [ 1.65701221e-02 -5.52539610e-04 9.99862553e-01 2.86013835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.864391418 meters Centerline goodness [0,1] 0.9988924182897266 Centerline is valid? [True, True] Translation: X:53.14, Y:3.27, Z:0.29 [[ 9.97415524e-01 -6.98604356e-02 -1.67866892e-02 5.31445837e+01] [ 6.98601938e-02 9.97556611e-01 -6.01522102e-04 3.26674479e+00] [ 1.67876954e-02 -5.72753879e-04 9.99858913e-01 2.86129172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.894391418 meters Centerline goodness [0,1] 0.9989294036148372 Centerline is valid? [True, True] Translation: X:53.18, Y:3.27, Z:0.29 [[ 9.97354490e-01 -7.07132748e-02 -1.68420311e-02 5.31763505e+01] [ 7.07131757e-02 9.97496508e-01 -6.02152224e-04 3.26864745e+00] [ 1.68424473e-02 -5.90394278e-04 9.99857982e-01 2.86102521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92439141799999 meters Centerline goodness [0,1] 0.9988248132292453 Centerline is valid? [True, True] Translation: X:53.21, Y:3.27, Z:0.29 [[ 9.97330906e-01 -7.09547086e-02 -1.72189952e-02 5.32086129e+01] [ 7.09546651e-02 9.97479352e-01 -6.14228226e-04 3.27163736e+00] [ 1.72191745e-02 -6.09179242e-04 9.99851553e-01 2.86290179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.95439141799999 meters Centerline goodness [0,1] 0.9988672120830712 Centerline is valid? [True, True] Translation: X:53.24, Y:3.27, Z:0.29 [[ 9.97308510e-01 -7.14659012e-02 -1.63817261e-02 5.32399594e+01] [ 7.14659491e-02 9.97442870e-01 -5.83233883e-04 3.27476113e+00] [ 1.63815173e-02 -5.89071492e-04 9.99865640e-01 2.87437371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.984391417999994 meters Centerline goodness [0,1] 0.9989917237323026 Centerline is valid? [True, True] Translation: X:53.27, Y:3.28, Z:0.29 [[ 9.97358486e-01 -7.08777533e-02 -1.58869170e-02 5.32715616e+01] [ 7.08777478e-02 9.97484850e-01 -5.64105782e-04 3.27693707e+00] [ 1.58869416e-02 -5.63413210e-04 9.99873636e-01 2.88361217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.014391417999995 meters Centerline goodness [0,1] 0.9989276026662741 Centerline is valid? [True, True] Translation: X:53.30, Y:3.28, Z:0.29 [[ 9.97423645e-01 -6.99897553e-02 -1.57323594e-02 5.33041179e+01] [ 6.99896689e-02 9.97547561e-01 -5.56754124e-04 3.28101277e+00] [ 1.57327439e-02 -5.45782900e-04 9.99876084e-01 2.89144815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.044391418 meters Centerline goodness [0,1] 0.9985292881754769 Centerline is valid? [True, True] Translation: X:53.33, Y:3.28, Z:0.29 [[ 9.97501760e-01 -6.86240693e-02 -1.67623073e-02 5.33348995e+01] [ 6.86238017e-02 9.97642433e-01 -5.91832015e-04 3.28377496e+00] [ 1.67634030e-02 -5.59939777e-04 9.99859327e-01 2.88139897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.074391418 meters Centerline goodness [0,1] 0.9988847270737764 Centerline is valid? [True, True] Translation: X:53.37, Y:3.29, Z:0.29 [[ 9.97618513e-01 -6.69273714e-02 -1.66742113e-02 5.33669937e+01] [ 6.69268885e-02 9.97757709e-01 -5.87599280e-04 3.29117770e+00] [ 1.66761494e-02 -5.29753163e-04 9.99860803e-01 2.90109765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10439141799999 meters Centerline goodness [0,1] 0.9989876834823688 Centerline is valid? [True, True] Translation: X:53.40, Y:3.29, Z:0.29 [[ 9.97676067e-01 -6.60295046e-02 -1.68098079e-02 5.33982374e+01] [ 6.60289056e-02 9.97817535e-01 -5.91247328e-04 3.29434943e+00] [ 1.68121609e-02 -5.20059910e-04 9.99858530e-01 2.90385596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13439141799999 meters Centerline goodness [0,1] 0.9990939738727349 Centerline is valid? [True, True] Translation: X:53.43, Y:3.30, Z:0.29 [[ 9.97717657e-01 -6.53015441e-02 -1.71809280e-02 5.34304809e+01] [ 6.53008303e-02 9.97865441e-01 -6.03149693e-04 3.29748056e+00] [ 1.71836409e-02 -5.20155768e-04 9.99852215e-01 2.90308691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.164391417999994 meters Centerline goodness [0,1] 0.9990300883463006 Centerline is valid? [True, True] Translation: X:53.46, Y:3.30, Z:0.29 [[ 9.97755994e-01 -6.45638983e-02 -1.77335802e-02 5.34631211e+01] [ 6.45630485e-02 9.97913437e-01 -6.21026989e-04 3.29990835e+00] [ 1.77366739e-02 -5.25300598e-04 9.99842555e-01 2.89415151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.194391417999995 meters Centerline goodness [0,1] 0.9989023515008232 Centerline is valid? [True, True] Translation: X:53.50, Y:3.31, Z:0.29 [[ 9.97664581e-01 -6.60548344e-02 -1.73822291e-02 5.34950896e+01] [ 6.60542698e-02 9.97815847e-01 -6.07237026e-04 3.30580372e+00] [ 1.73843746e-02 -5.42351578e-04 9.99848733e-01 2.91061536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.224391417999996 meters Centerline goodness [0,1] 0.9988602064292801 Centerline is valid? [True, True] Translation: X:53.53, Y:3.31, Z:0.29 [[ 9.97613623e-01 -6.65763680e-02 -1.82933655e-02 5.35270170e+01] [ 6.65758576e-02 9.97781163e-01 -6.37576158e-04 3.30711055e+00] [ 1.82952230e-02 -5.81841834e-04 9.99832459e-01 2.89939725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.254391418 meters Centerline goodness [0,1] 0.999092865279946 Centerline is valid? [True, True] Translation: X:53.56, Y:3.31, Z:0.29 [[ 9.97535208e-01 -6.78688119e-02 -1.78138404e-02 5.35589029e+01] [ 6.78685586e-02 9.97694079e-01 -6.19465442e-04 3.30922310e+00] [ 1.78148055e-02 -5.91061082e-04 9.99841129e-01 2.91440592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.284391418 meters Centerline goodness [0,1] 0.9990701606086222 Centerline is valid? [True, True] Translation: X:53.59, Y:3.31, Z:0.29 [[ 9.97457624e-01 -6.88968945e-02 -1.82073206e-02 5.35899586e+01] [ 6.88968240e-02 9.97623591e-01 -6.31883480e-04 3.31245411e+00] [ 1.82075874e-02 -6.24149572e-04 9.99834033e-01 2.91442115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31439141799999 meters Centerline goodness [0,1] 0.9992179243288946 Centerline is valid? [True, True] Translation: X:53.62, Y:3.31, Z:0.29 [[ 9.97449745e-01 -6.91078072e-02 -1.78358641e-02 5.36217757e+01] [ 6.91077917e-02 9.97609007e-01 -6.17951873e-04 3.30837872e+00] [ 1.78359240e-02 -6.16221244e-04 9.99840737e-01 2.90717402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.344391417999994 meters Centerline goodness [0,1] 0.9991122759553601 Centerline is valid? [True, True] Translation: X:53.65, Y:3.32, Z:0.29 [[ 9.97516089e-01 -6.80505553e-02 -1.81871876e-02 5.36537487e+01] [ 6.80503868e-02 9.97681687e-01 -6.28857850e-04 3.31709108e+00] [ 1.81878181e-02 -6.10349329e-04 9.99834402e-01 2.91404367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.374391417999995 meters Centerline goodness [0,1] 0.9990275047039174 Centerline is valid? [True, True] Translation: X:53.69, Y:3.32, Z:0.29 [[ 9.97628666e-01 -6.62852791e-02 -1.85285152e-02 5.36862052e+01] [ 6.62848271e-02 9.97800538e-01 -6.39205772e-04 3.32009270e+00] [ 1.85301323e-02 -5.90469421e-04 9.99828128e-01 2.90605724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.404391417999996 meters Centerline goodness [0,1] 0.9987737843551797 Centerline is valid? [True, True] Translation: X:53.72, Y:3.33, Z:0.29 [[ 9.97881209e-01 -6.27859248e-02 -1.70593052e-02 5.37175597e+01] [ 6.27850496e-02 9.98026900e-01 -5.87398512e-04 3.33053564e+00] [ 1.70625258e-02 -4.84915386e-04 9.99854307e-01 2.93679719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.434391418 meters Centerline goodness [0,1] 0.9988146392058083 Centerline is valid? [True, True] Translation: X:53.75, Y:3.34, Z:0.29 [[ 9.98030881e-01 -6.02375859e-02 -1.74869636e-02 5.37494141e+01] [ 6.02362975e-02 9.98183965e-01 -6.00862402e-04 3.33694496e+00] [ 1.74914012e-02 -4.53670711e-04 9.99846911e-01 2.94512517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.464391418 meters Centerline goodness [0,1] 0.9993206954380452 Centerline is valid? [True, True] Translation: X:53.78, Y:3.35, Z:0.30 [[ 9.98346540e-01 -5.48754603e-02 -1.71134530e-02 5.37804256e+01] [ 5.48734564e-02 9.98493144e-01 -5.86996474e-04 3.34613982e+00] [ 1.71198772e-02 -3.53048417e-04 9.99853382e-01 2.95661531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49439141799999 meters Centerline goodness [0,1] 0.99923527912312 Centerline is valid? [True, True] Translation: X:53.81, Y:3.35, Z:0.30 [[ 9.98496173e-01 -5.20976194e-02 -1.70654507e-02 5.38127649e+01] [ 5.20952390e-02 9.98641950e-01 -5.84306823e-04 3.35088037e+00] [ 1.70727160e-02 -3.05600608e-04 9.99854204e-01 2.95640407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52439141799999 meters Centerline goodness [0,1] 0.9989785495403473 Centerline is valid? [True, True] Translation: X:53.84, Y:3.35, Z:0.30 [[ 9.98625890e-01 -4.97553595e-02 -1.64540879e-02 5.38442567e+01] [ 4.97528502e-02 9.98761402e-01 -5.62070233e-04 3.35493607e+00] [ 1.64616739e-02 -2.57339884e-04 9.99864464e-01 2.95901607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.554391417999994 meters Centerline goodness [0,1] 0.9992118268575324 Centerline is valid? [True, True] Translation: X:53.88, Y:3.36, Z:0.30 [[ 9.98742273e-01 -4.73529466e-02 -1.64793751e-02 5.38764286e+01] [ 4.73501244e-02 9.98878196e-01 -5.61612234e-04 3.35948203e+00] [ 1.64874825e-02 -2.19394581e-04 9.99864048e-01 2.96392443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.584391417999996 meters Centerline goodness [0,1] 0.9992746511925588 Centerline is valid? [True, True] Translation: X:53.91, Y:3.37, Z:0.30 [[ 9.98932492e-01 -4.34328432e-02 -1.57310265e-02 5.39080498e+01] [ 4.34298046e-02 9.99056338e-01 -5.34886397e-04 3.36664460e+00] [ 1.57394133e-02 -1.48880005e-04 9.99876117e-01 2.97251232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.614391418 meters Centerline goodness [0,1] 0.9993806462635884 Centerline is valid? [True, True] Translation: X:53.94, Y:3.37, Z:0.30 [[ 9.99020795e-01 -4.10646960e-02 -1.64664066e-02 5.39391134e+01] [ 4.10610644e-02 9.99156483e-01 -5.58715455e-04 3.37042450e+00] [ 1.64754604e-02 -1.17959826e-04 9.99864263e-01 2.96349282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.644391418 meters Centerline goodness [0,1] 0.9994238279166044 Centerline is valid? [True, True] Translation: X:53.97, Y:3.38, Z:0.30 [[ 9.99119766e-01 -3.88320098e-02 -1.58672245e-02 5.39702680e+01] [ 3.88283786e-02 9.99245750e-01 -5.36969949e-04 3.37618028e+00] [ 1.58761083e-02 -7.96013109e-05 9.99873963e-01 2.98241341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67439141799999 meters Centerline goodness [0,1] 0.9997867030693428 Centerline is valid? [True, True] Translation: X:54.00, Y:3.38, Z:0.30 [[ 9.99168550e-01 -3.76066923e-02 -1.57462826e-02 5.40013866e+01] [ 3.76029874e-02 9.99292616e-01 -5.31400578e-04 3.37906256e+00] [ 1.57551282e-02 -6.11485208e-05 9.99875878e-01 2.98613316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70439141799999 meters Centerline goodness [0,1] 0.9995948049732358 Centerline is valid? [True, True] Translation: X:54.03, Y:3.38, Z:0.30 [[ 9.99188878e-01 -3.71095064e-02 -1.56355683e-02 5.40333868e+01] [ 3.71058091e-02 9.99311204e-01 -5.26603691e-04 3.38202955e+00] [ 1.56443405e-02 -5.39938602e-05 9.99877618e-01 2.99665801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.734391417999994 meters Centerline goodness [0,1] 0.9993595491225823 Centerline is valid? [True, True] Translation: X:54.07, Y:3.38, Z:0.30 [[ 9.99203095e-01 -3.67692149e-02 -1.55306147e-02 5.40658987e+01] [ 3.67655453e-02 9.99323783e-01 -5.21823595e-04 3.38417724e+00] [ 1.55392996e-02 -4.95837656e-05 9.99879257e-01 2.99430122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.764391417999995 meters Centerline goodness [0,1] 0.999486499208353 Centerline is valid? [True, True] Translation: X:54.10, Y:3.39, Z:0.30 [[ 9.99184824e-01 -3.71418876e-02 -1.58166975e-02 5.40979610e+01] [ 3.71381485e-02 9.99310000e-01 -5.30158718e-04 3.38569620e+00] [ 1.58254750e-02 -5.76763139e-05 9.99874768e-01 2.99575359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.794391418 meters Centerline goodness [0,1] 0.9992085392200902 Centerline is valid? [True, True] Translation: X:54.13, Y:3.39, Z:0.30 [[ 9.99115167e-01 -3.89932933e-02 -1.57609204e-02 5.41293980e+01] [ 3.89898282e-02 9.99239468e-01 -5.27185123e-04 3.38619163e+00] [ 1.57694904e-02 -8.77969245e-05 9.99875650e-01 2.99014920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.824391418 meters Centerline goodness [0,1] 0.9991016234946846 Centerline is valid? [True, True] Translation: X:54.16, Y:3.39, Z:0.30 [[ 9.99045208e-01 -4.06935793e-02 -1.58967025e-02 5.41616072e+01] [ 4.06902869e-02 9.99171666e-01 -5.30633801e-04 3.38652668e+00] [ 1.59051281e-02 -1.16714230e-04 9.99873499e-01 2.98760397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85439141799999 meters Centerline goodness [0,1] 0.9995074735534712 Centerline is valid? [True, True] Translation: X:54.19, Y:3.39, Z:0.30 [[ 9.98965451e-01 -4.25047665e-02 -1.61669974e-02 5.41927227e+01] [ 4.25016166e-02 9.99096253e-01 -5.38523679e-04 3.38657103e+00] [ 1.61752764e-02 -1.49156976e-04 9.99869161e-01 2.98778821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88439141799999 meters Centerline goodness [0,1] 0.9995074419102687 Centerline is valid? [True, True] Translation: X:54.23, Y:3.39, Z:0.30 [[ 9.98874838e-01 -4.45123927e-02 -1.63616790e-02 5.42253719e+01] [ 4.45094542e-02 9.99008815e-01 -5.43879411e-04 3.38712626e+00] [ 1.63696710e-02 -1.84981945e-04 9.99865991e-01 2.98507737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.914391417999994 meters Centerline goodness [0,1] 0.9992286761082424 Centerline is valid? [True, True] Translation: X:54.26, Y:3.39, Z:0.30 [[ 9.98676213e-01 -4.86535102e-02 -1.66930236e-02 5.42566509e+01] [ 4.86510493e-02 9.98815683e-01 -5.53725399e-04 3.38552874e+00] [ 1.67001944e-02 -2.59140730e-04 9.99860508e-01 2.97250577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.944391417999995 meters Centerline goodness [0,1] 0.9994005566259901 Centerline is valid? [True, True] Translation: X:54.29, Y:3.39, Z:0.30 [[ 9.98589382e-01 -5.05061782e-02 -1.63820591e-02 5.42883777e+01] [ 5.05040729e-02 9.98723708e-01 -5.42463156e-04 3.38585621e+00] [ 1.63885485e-02 -2.85662757e-04 9.99865658e-01 2.97969791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.974391417999996 meters Centerline goodness [0,1] 0.998973525512168 Centerline is valid? [True, True] Translation: X:54.32, Y:3.39, Z:0.30 [[ 9.98547193e-01 -5.16463833e-02 -1.53673329e-02 5.43201163e+01] [ 5.16446809e-02 9.98665394e-01 -5.07870806e-04 3.38610564e+00] [ 1.53730533e-02 -2.86508037e-04 9.99881787e-01 2.97826382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.004391418 meters Centerline goodness [0,1] 0.9992098744340993 Centerline is valid? [True, True] Translation: X:54.35, Y:3.39, Z:0.30 [[ 9.98423955e-01 -5.44563794e-02 -1.35686630e-02 5.43521962e+01] [ 5.44553249e-02 9.98516108e-01 -4.47439726e-04 3.38827214e+00] [ 1.35728945e-02 -2.92151410e-04 9.99907841e-01 3.00509356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.034391418 meters Centerline goodness [0,1] 0.9994021820355702 Centerline is valid? [True, True] Translation: X:54.38, Y:3.39, Z:0.30 [[ 9.98376814e-01 -5.54766263e-02 -1.28872396e-02 5.43834765e+01] [ 5.54757718e-02 9.98459944e-01 -4.24055498e-04 3.38777908e+00] [ 1.28909177e-02 -2.91562388e-04 9.99916866e-01 3.02223588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06439141799999 meters Centerline goodness [0,1] 0.9991020652499252 Centerline is valid? [True, True] Translation: X:54.42, Y:3.39, Z:0.30 [[ 9.98343388e-01 -5.62702820e-02 -1.20056244e-02 5.44153309e+01] [ 5.62696068e-02 9.98415533e-01 -3.94293696e-04 3.38989659e+00] [ 1.20087889e-02 -2.81911261e-04 9.99927852e-01 3.03347469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.094391417999994 meters Centerline goodness [0,1] 0.9991462295361891 Centerline is valid? [True, True] Translation: X:54.45, Y:3.39, Z:0.30 [[ 9.98356163e-01 -5.61369575e-02 -1.15591389e-02 5.44471113e+01] [ 5.61363335e-02 9.98423041e-01 -3.78685295e-04 3.39042857e+00] [ 1.15621688e-02 -2.70824876e-04 9.99933119e-01 3.02502625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.124391417999995 meters Centerline goodness [0,1] 0.9989516698401831 Centerline is valid? [True, True] Translation: X:54.48, Y:3.39, Z:0.30 [[ 9.98291083e-01 -5.72247961e-02 -1.18421643e-02 5.44789580e+01] [ 5.72242308e-02 9.98361276e-01 -3.86843445e-04 3.39192643e+00] [ 1.18448953e-02 -2.91476379e-04 9.99929804e-01 3.02698160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.154391417999996 meters Centerline goodness [0,1] 0.9990573111944295 Centerline is valid? [True, True] Translation: X:54.51, Y:3.39, Z:0.30 [[ 9.98293689e-01 -5.71950148e-02 -1.17660680e-02 5.45124405e+01] [ 5.71944671e-02 9.98362983e-01 -3.83309130e-04 3.39412904e+00] [ 1.17687302e-02 -2.90298905e-04 9.99930704e-01 3.03080566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.184391418 meters Centerline goodness [0,1] 0.9989936406654819 Centerline is valid? [True, True] Translation: X:54.54, Y:3.40, Z:0.30 [[ 9.98344313e-01 -5.62452929e-02 -1.20456979e-02 5.45441967e+01] [ 5.62446658e-02 9.98416939e-01 -3.91094026e-04 3.39783169e+00] [ 1.20486260e-02 -2.87059754e-04 9.99927371e-01 3.03136978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.214391418 meters Centerline goodness [0,1] 0.9990783212586274 Centerline is valid? [True, True] Translation: X:54.58, Y:3.40, Z:0.30 [[ 9.98449184e-01 -5.43032557e-02 -1.22630764e-02 5.45752605e+01] [ 5.43024708e-02 9.98524453e-01 -3.97213268e-04 3.39987829e+00] [ 1.22665517e-02 -2.69318087e-04 9.99924727e-01 3.01900493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24439141799999 meters Centerline goodness [0,1] 0.9990783212586274 Centerline is valid? [True, True] Translation: X:54.61, Y:3.40, Z:0.30 [[ 9.98455706e-01 -5.41831937e-02 -1.22631079e-02 5.46077983e+01] [ 5.41824116e-02 9.98530976e-01 -3.96240343e-04 3.40081453e+00] [ 1.22665626e-02 -2.68816328e-04 9.99924727e-01 3.02176031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.27439141799999 meters Centerline goodness [0,1] 0.999376692601986 Centerline is valid? [True, True] Translation: X:54.64, Y:3.41, Z:0.30 [[ 9.98663405e-01 -5.00332415e-02 -1.29645342e-02 5.46400799e+01] [ 5.00320366e-02 9.98747526e-01 -4.17460332e-04 3.40813625e+00] [ 1.29691834e-02 -2.31739694e-04 9.99915870e-01 3.03846255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.304391417999994 meters Centerline goodness [0,1] 0.999246193276044 Centerline is valid? [True, True] Translation: X:54.67, Y:3.41, Z:0.30 [[ 9.98812849e-01 -4.69487952e-02 -1.29885620e-02 5.46716988e+01] [ 4.69473388e-02 9.98897279e-01 -4.17176974e-04 3.41217113e+00] [ 1.29938252e-02 -1.93096697e-04 9.99915558e-01 3.03665215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.334391417999996 meters Centerline goodness [0,1] 0.9994830148848631 Centerline is valid? [True, True] Translation: X:54.70, Y:3.42, Z:0.30 [[ 9.98966086e-01 -4.34695513e-02 -1.33100387e-02 5.47033937e+01] [ 4.34677277e-02 9.99054741e-01 -4.26408880e-04 3.41669559e+00] [ 1.33159930e-02 -1.52589127e-04 9.99911327e-01 3.04017408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.364391418 meters Centerline goodness [0,1] 0.9995461618257261 Centerline is valid? [True, True] Translation: X:54.74, Y:3.42, Z:0.30 [[ 9.99258629e-01 -3.60921354e-02 -1.33996673e-02 5.47355851e+01] [ 3.60896383e-02 9.99348465e-01 -4.28190501e-04 3.42451153e+00] [ 1.34063912e-02 -5.57160929e-05 9.99910129e-01 3.03213920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.394391418 meters Centerline goodness [0,1] 0.999394699295257 Centerline is valid? [True, True] Translation: X:54.77, Y:3.43, Z:0.30 [[ 9.99389936e-01 -3.21467592e-02 -1.36507307e-02 5.47673644e+01] [ 3.21438148e-02 9.99483159e-01 -4.35101319e-04 3.42882662e+00] [ 1.36576626e-02 -3.95068083e-06 9.99906730e-01 3.02749202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42439141799999 meters Centerline goodness [0,1] 0.9994378378378378 Centerline is valid? [True, True] Translation: X:54.80, Y:3.43, Z:0.30 [[ 9.99475952e-01 -2.96182428e-02 -1.30606798e-02 5.47982816e+01] [ 2.96153479e-02 9.99561283e-01 -4.15040994e-04 3.43281685e+00] [ 1.30672426e-02 2.80269170e-05 9.99914620e-01 3.03823272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.45439141799999 meters Centerline goodness [0,1] 0.9994798890429958 Centerline is valid? [True, True] Translation: X:54.83, Y:3.44, Z:0.30 [[ 9.99571400e-01 -2.57391097e-02 -1.39468630e-02 5.48295937e+01] [ 2.57354521e-02 9.99668691e-01 -4.41692295e-04 3.43863606e+00] [ 1.39536111e-02 8.25741612e-05 9.99902640e-01 3.03821723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.484391417999994 meters Centerline goodness [0,1] 0.9996095952804407 Centerline is valid? [True, True] Translation: X:54.86, Y:3.44, Z:0.30 [[ 9.99602837e-01 -2.42617023e-02 -1.43365990e-02 5.48606749e+01] [ 2.42576962e-02 9.99705636e-01 -4.53290750e-04 3.44074756e+00] [ 1.43433764e-02 1.05337858e-04 9.99897123e-01 3.04135432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.514391417999995 meters Centerline goodness [0,1] 0.9994569231437633 Centerline is valid? [True, True] Translation: X:54.89, Y:3.44, Z:0.30 [[ 9.99615214e-01 -2.34320708e-02 -1.48446268e-02 5.48906910e+01] [ 2.34276955e-02 9.99725424e-01 -4.68592702e-04 3.44289690e+00] [ 1.48515309e-02 1.20636999e-04 9.99889703e-01 3.03456978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.544391418 meters Centerline goodness [0,1] 0.9995005537339037 Centerline is valid? [True, True] Translation: X:54.92, Y:3.44, Z:0.30 [[ 9.99614188e-01 -2.34715778e-02 -1.48512628e-02 5.49221412e+01] [ 2.34672148e-02 9.99724497e-01 -4.68005215e-04 3.44445632e+00] [ 1.48581561e-02 1.19306877e-04 9.99889604e-01 3.04071069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.574391418 meters Centerline goodness [0,1] 0.9996307959604734 Centerline is valid? [True, True] Translation: X:54.95, Y:3.44, Z:0.30 [[ 9.99571038e-01 -2.52718962e-02 -1.48010224e-02 5.49528859e+01] [ 2.52677667e-02 9.99680610e-01 -4.65965325e-04 3.44439759e+00] [ 1.48080709e-02 9.17766635e-05 9.99890350e-01 3.04466863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60439141799999 meters Centerline goodness [0,1] 0.9995660663918421 Centerline is valid? [True, True] Translation: X:54.98, Y:3.44, Z:0.30 [[ 9.99522910e-01 -2.70825567e-02 -1.48488469e-02 5.49839341e+01] [ 2.70786064e-02 9.99633198e-01 -4.67058686e-04 3.44393701e+00] [ 1.48560495e-02 6.47497751e-05 9.99889641e-01 3.04703382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63439141799999 meters Centerline goodness [0,1] 0.9995661605206074 Centerline is valid? [True, True] Translation: X:55.02, Y:3.44, Z:0.30 [[ 9.99464313e-01 -2.93628890e-02 -1.44536505e-02 5.50154874e+01] [ 2.93593925e-02 9.99568817e-01 -4.54081092e-04 3.44299506e+00] [ 1.44607515e-02 2.94874465e-05 9.99895437e-01 3.04858229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.664391417999994 meters Centerline goodness [0,1] 0.9996754230319816 Centerline is valid? [True, True] Translation: X:55.05, Y:3.44, Z:0.31 [[ 9.99281899e-01 -3.52860806e-02 -1.38050315e-02 5.50466635e+01] [ 3.52834645e-02 9.99377251e-01 -4.33088201e-04 3.43789434e+00] [ 1.38117164e-02 -5.43121384e-05 9.99904612e-01 3.05732522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.694391417999995 meters Centerline goodness [0,1] 0.9992865481904267 Centerline is valid? [True, True] Translation: X:55.08, Y:3.44, Z:0.31 [[ 9.99163172e-01 -3.87131052e-02 -1.32004522e-02 5.50791721e+01] [ 3.87110231e-02 9.99250362e-01 -4.13296476e-04 3.43518483e+00] [ 1.32065567e-02 -9.80523949e-05 9.99912785e-01 3.06353717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.724391417999996 meters Centerline goodness [0,1] 0.9991787690179806 Centerline is valid? [True, True] Translation: X:55.11, Y:3.43, Z:0.31 [[ 9.99044957e-01 -4.18070768e-02 -1.27020225e-02 5.51117055e+01] [ 4.18054110e-02 9.99125693e-01 -3.96748033e-04 3.43206642e+00] [ 1.27075039e-02 -1.34644149e-04 9.99919247e-01 3.05494713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.754391418 meters Centerline goodness [0,1] 0.9992433741190713 Centerline is valid? [True, True] Translation: X:55.14, Y:3.43, Z:0.31 [[ 9.98849496e-01 -4.63182869e-02 -1.24217869e-02 5.51435463e+01] [ 4.63170544e-02 9.98926714e-01 -3.87039443e-04 3.43079466e+00] [ 1.24263818e-02 -1.88746426e-04 9.99922772e-01 3.08085978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.784391418 meters Centerline goodness [0,1] 0.999397123417449 Centerline is valid? [True, True] Translation: X:55.17, Y:3.42, Z:0.31 [[ 9.98517527e-01 -5.31066873e-02 -1.19342922e-02 5.51746030e+01] [ 5.31060480e-02 9.98588809e-01 -3.70682218e-04 3.42191781e+00] [ 1.19371363e-02 -2.63650401e-04 9.99928715e-01 3.08051693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81439141799999 meters Centerline goodness [0,1] 0.9991187533584095 Centerline is valid? [True, True] Translation: X:55.21, Y:3.42, Z:0.31 [[ 9.98383983e-01 -5.55489443e-02 -1.19890619e-02 5.52071330e+01] [ 5.55484932e-02 9.98455922e-01 -3.70878972e-04 3.42250541e+00] [ 1.19911518e-02 -2.95694698e-04 9.99928060e-01 3.07934080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.844391417999994 meters Centerline goodness [0,1] 0.9992046089685713 Centerline is valid? [True, True] Translation: X:55.24, Y:3.42, Z:0.31 [[ 9.98236226e-01 -5.82024824e-02 -1.17007649e-02 5.52378410e+01] [ 5.82022481e-02 9.98304747e-01 -3.60830154e-04 3.42035727e+00] [ 1.17019303e-02 -3.20817089e-04 9.99931479e-01 3.08711059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.874391417999995 meters Centerline goodness [0,1] 0.9989252165688614 Centerline is valid? [True, True] Translation: X:55.27, Y:3.42, Z:0.31 [[ 9.98143268e-01 -5.98116204e-02 -1.15146520e-02 5.52701312e+01] [ 5.98115168e-02 9.98209626e-01 -3.53668099e-04 3.41925519e+00] [ 1.15151899e-02 -3.35697369e-04 9.99933642e-01 3.08232800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.904391417999996 meters Centerline goodness [0,1] 0.999355697779305 Centerline is valid? [True, True] Translation: X:55.30, Y:3.42, Z:0.31 [[ 9.97979533e-01 -6.24006091e-02 -1.19589048e-02 5.53022163e+01] [ 6.24006949e-02 9.98051110e-01 -3.66319284e-04 3.41767124e+00] [ 1.19584568e-02 -3.80664824e-04 9.99928423e-01 3.09290847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.934391418 meters Centerline goodness [0,1] 0.9990759841842874 Centerline is valid? [True, True] Translation: X:55.33, Y:3.42, Z:0.31 [[ 9.97962047e-01 -6.25898047e-02 -1.24204861e-02 5.53340591e+01] [ 6.25899247e-02 9.98039256e-01 -3.79432990e-04 3.41730107e+00] [ 1.24198814e-02 -3.98737567e-04 9.99922791e-01 3.08045269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.964391418 meters Centerline goodness [0,1] 0.9992046773569494 Centerline is valid? [True, True] Translation: X:55.37, Y:3.42, Z:0.31 [[ 9.97886913e-01 -6.37517842e-02 -1.25466746e-02 5.53658467e+01] [ 6.37520111e-02 9.97965698e-01 -3.82278898e-04 3.41728280e+00] [ 1.25455218e-02 -4.18404629e-04 9.99921214e-01 3.09020731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99439141799999 meters Centerline goodness [0,1] 0.9990992536673243 Centerline is valid? [True, True] Translation: X:55.40, Y:3.42, Z:0.31 [[ 9.97850915e-01 -6.40920779e-02 -1.36292401e-02 5.53975317e+01] [ 6.40923915e-02 9.97943883e-01 -4.14219047e-04 3.41797342e+00] [ 1.36277649e-02 -4.60201738e-04 9.99907032e-01 3.08514927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02439141799999 meters Centerline goodness [0,1] 0.9991624970472652 Centerline is valid? [True, True] Translation: X:55.43, Y:3.42, Z:0.31 [[ 9.97907554e-01 -6.32057963e-02 -1.36213280e-02 5.54301748e+01] [ 6.32060412e-02 9.98000414e-01 -4.12946646e-04 3.41941287e+00] [ 1.36201916e-02 -4.48867639e-04 9.99907140e-01 3.07361807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.054391417999994 meters Centerline goodness [0,1] 0.9990777875479873 Centerline is valid? [True, True] Translation: X:55.46, Y:3.42, Z:0.31 [[ 9.97901917e-01 -6.33684704e-02 -1.32740547e-02 5.54625907e+01] [ 6.33687336e-02 9.97990101e-01 -4.01195214e-04 3.42066631e+00] [ 1.32727984e-02 -4.40806566e-04 9.99911815e-01 3.09486101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.084391417999996 meters Centerline goodness [0,1] 0.9989072209127919 Centerline is valid? [True, True] Translation: X:55.50, Y:3.42, Z:0.31 [[ 9.98002075e-01 -6.18275452e-02 -1.30081937e-02 5.54952900e+01] [ 6.18276818e-02 9.98086762e-01 -3.92033078e-04 3.42189146e+00] [ 1.30075444e-02 -4.13016638e-04 9.99915313e-01 3.08284698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.114391418 meters Centerline goodness [0,1] 0.9989922164804769 Centerline is valid? [True, True] Translation: X:55.53, Y:3.43, Z:0.31 [[ 9.98174030e-01 -5.89730941e-02 -1.30683110e-02 5.55279963e+01] [ 5.89730047e-02 9.98259501e-01 -3.92530154e-04 3.42500015e+00] [ 1.30687143e-02 -3.78864160e-04 9.99914529e-01 3.09120142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.144391418 meters Centerline goodness [0,1] 0.9991839890053256 Centerline is valid? [True, True] Translation: X:55.56, Y:3.43, Z:0.31 [[ 9.98247969e-01 -5.75672311e-02 -1.36750427e-02 5.55589506e+01] [ 5.75670179e-02 9.98341560e-01 -4.09554483e-04 3.42677195e+00] [ 1.36759404e-02 -3.78394494e-04 9.99906408e-01 3.10182216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17439141799999 meters Centerline goodness [0,1] 0.9989472779615863 Centerline is valid? [True, True] Translation: X:55.59, Y:3.43, Z:0.31 [[ 9.98362388e-01 -5.53735182e-02 -1.43636839e-02 5.55911120e+01] [ 5.53730705e-02 9.98465642e-01 -4.29173490e-04 3.43050141e+00] [ 1.43654098e-02 -3.66890613e-04 9.99896745e-01 3.09831306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20439141799999 meters Centerline goodness [0,1] 0.9989479786160551 Centerline is valid? [True, True] Translation: X:55.62, Y:3.43, Z:0.31 [[ 9.98630011e-01 -4.98499272e-02 -1.59086444e-02 5.56213455e+01] [ 4.98487035e-02 9.98756668e-01 -4.73698027e-04 3.43452712e+00] [ 1.59124785e-02 -3.19976232e-04 9.99873337e-01 3.07793131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.234391417999994 meters Centerline goodness [0,1] 0.9990336089337485 Centerline is valid? [True, True] Translation: X:55.65, Y:3.44, Z:0.31 [[ 9.98758373e-01 -4.71689901e-02 -1.60249568e-02 5.56530930e+01] [ 4.71674292e-02 9.98886884e-01 -4.75556008e-04 3.43790540e+00] [ 1.60295507e-02 -2.80890469e-04 9.99871479e-01 3.08577281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.264391417999995 meters Centerline goodness [0,1] 0.9991610377317902 Centerline is valid? [True, True] Translation: X:55.69, Y:3.44, Z:0.31 [[ 9.98905538e-01 -4.38331659e-02 -1.63211348e-02 5.56856529e+01] [ 4.38311254e-02 9.99038838e-01 -4.82882695e-04 3.44231286e+00] [ 1.63266138e-02 -2.33019506e-04 9.99866685e-01 3.09466801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.294391418 meters Centerline goodness [0,1] 0.9993753365643511 Centerline is valid? [True, True] Translation: X:55.72, Y:3.45, Z:0.31 [[ 9.99048532e-01 -4.04454118e-02 -1.63156327e-02 5.57174133e+01] [ 4.04429451e-02 9.99181734e-01 -4.81238532e-04 3.44595589e+00] [ 1.63217460e-02 -1.79071588e-04 9.99866775e-01 3.10381445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.324391418 meters Centerline goodness [0,1] 0.9991190563159364 Centerline is valid? [True, True] Translation: X:55.75, Y:3.45, Z:0.31 [[ 9.99197869e-01 -3.67528849e-02 -1.59010571e-02 5.57500331e+01] [ 3.67500970e-02 9.99324378e-01 -4.67594142e-04 3.44983686e+00] [ 1.59074994e-02 -1.17146321e-04 9.99873461e-01 3.11525696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35439141799999 meters Centerline goodness [0,1] 0.9989645800077657 Centerline is valid? [True, True] Translation: X:55.78, Y:3.45, Z:0.31 [[ 9.99405311e-01 -3.07375604e-02 -1.56277369e-02 5.57816190e+01] [ 3.07341541e-02 9.99527489e-01 -4.58141486e-04 3.45468104e+00] [ 1.56344348e-02 -2.24362395e-05 9.99877775e-01 3.11274186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38439141799999 meters Centerline goodness [0,1] 0.9991807873065149 Centerline is valid? [True, True] Translation: X:55.81, Y:3.46, Z:0.31 [[ 9.99469137e-01 -2.88311870e-02 -1.51725699e-02 5.58128055e+01] [ 2.88277707e-02 9.99584295e-01 -4.43868884e-04 3.45718721e+00] [ 1.51790598e-02 6.24188417e-06 9.99884791e-01 3.12919585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.414391417999994 meters Centerline goodness [0,1] 0.9993319253480454 Centerline is valid? [True, True] Translation: X:55.84, Y:3.46, Z:0.31 [[ 9.99543468e-01 -2.62916978e-02 -1.48863183e-02 5.58444580e+01] [ 2.62881365e-02 9.99654313e-01 -4.34897675e-04 3.45898153e+00] [ 1.48926065e-02 4.33655620e-05 9.99889098e-01 3.12665610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.444391417999995 meters Centerline goodness [0,1] 0.9993969026643978 Centerline is valid? [True, True] Translation: X:55.87, Y:3.46, Z:0.31 [[ 9.99596765e-01 -2.47874603e-02 -1.38523975e-02 5.58744918e+01] [ 2.47842380e-02 9.99692742e-01 -4.04261907e-04 3.46095130e+00] [ 1.38581619e-02 6.07777774e-05 9.99903969e-01 3.13943250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.474391417999996 meters Centerline goodness [0,1] 0.9994191799681624 Centerline is valid? [True, True] Translation: X:55.91, Y:3.46, Z:0.31 [[ 9.99691321e-01 -2.07870265e-02 -1.36074673e-02 5.59054748e+01] [ 2.07835517e-02 9.99783920e-01 -3.96739493e-04 3.46273009e+00] [ 1.36127740e-02 1.13805527e-04 9.99907335e-01 3.13986463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.504391418 meters Centerline goodness [0,1] 0.99922508986805 Centerline is valid? [True, True] Translation: X:55.94, Y:3.46, Z:0.31 [[ 9.99720624e-01 -1.96430623e-02 -1.31462231e-02 5.59356240e+01] [ 1.96397245e-02 9.99807049e-01 -3.82963109e-04 3.46443931e+00] [ 1.31512091e-02 1.24667919e-04 9.99913511e-01 3.14460813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.534391418 meters Centerline goodness [0,1] 0.9993321268528094 Centerline is valid? [True, True] Translation: X:55.97, Y:3.47, Z:0.31 [[ 9.99742981e-01 -1.81505639e-02 -1.35841470e-02 5.59657271e+01] [ 1.81468622e-02 9.99835254e-01 -3.95720287e-04 3.46574727e+00] [ 1.35890916e-02 1.49108935e-04 9.99907653e-01 3.13630441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56439141799999 meters Centerline goodness [0,1] 0.9992896351307717 Centerline is valid? [True, True] Translation: X:55.99, Y:3.47, Z:0.31 [[ 9.99739784e-01 -1.79182506e-02 -1.41173906e-02 5.59949286e+01] [ 1.79142262e-02 9.99839443e-01 -4.11483398e-04 3.46565413e+00] [ 1.41224971e-02 1.58474194e-04 9.99900260e-01 3.14761534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.594391417999994 meters Centerline goodness [0,1] 0.9990121547910492 Centerline is valid? [True, True] Translation: X:56.02, Y:3.47, Z:0.31 [[ 9.99722581e-01 -1.79230913e-02 -1.52814546e-02 5.60239298e+01] [ 1.79183626e-02 9.99839354e-01 -4.46309136e-04 3.46555701e+00] [ 1.52869989e-02 1.72366678e-04 9.99883132e-01 3.12569021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.624391417999995 meters Centerline goodness [0,1] 0.9992256232657187 Centerline is valid? [True, True] Translation: X:56.05, Y:3.46, Z:0.31 [[ 9.99697286e-01 -1.98365198e-02 -1.45550227e-02 5.60528270e+01] [ 1.98323989e-02 9.99803227e-01 -4.27426825e-04 3.46330835e+00] [ 1.45606373e-02 1.38636421e-04 9.99893979e-01 3.14302745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.654391417999996 meters Centerline goodness [0,1] 0.999205394725539 Centerline is valid? [True, True] Translation: X:56.08, Y:3.46, Z:0.31 [[ 9.99612110e-01 -2.36678998e-02 -1.46785396e-02 5.60830349e+01] [ 2.36640827e-02 9.99719872e-01 -4.33704194e-04 3.45717530e+00] [ 1.46846926e-02 8.61817886e-05 9.99892170e-01 3.13760319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.684391418 meters Centerline goodness [0,1] 0.9991208696957351 Centerline is valid? [True, True] Translation: X:56.11, Y:3.45, Z:0.31 [[ 9.99553627e-01 -2.58958142e-02 -1.48981234e-02 5.61133606e+01] [ 2.58921262e-02 9.99664646e-01 -4.40408385e-04 3.45461996e+00] [ 1.49045320e-02 5.44677063e-05 9.99888920e-01 3.13713298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.714391418 meters Centerline goodness [0,1] 0.9988850054677616 Centerline is valid? [True, True] Translation: X:56.14, Y:3.45, Z:0.31 [[ 9.99498593e-01 -2.76864653e-02 -1.53630234e-02 5.61448263e+01] [ 2.76827618e-02 9.99616656e-01 -4.53708898e-04 3.45240345e+00] [ 1.53696957e-02 2.81904876e-05 9.99881879e-01 3.12824737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74439141799999 meters Centerline goodness [0,1] 0.9989933820222313 Centerline is valid? [True, True] Translation: X:56.18, Y:3.45, Z:0.31 [[ 9.99444399e-01 -3.01734314e-02 -1.41582778e-02 5.61766921e+01] [ 3.01705431e-02 9.99544678e-01 -4.17603696e-04 3.45052257e+00] [ 1.41644318e-02 -9.79125546e-06 9.99899679e-01 3.14771061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.77439141799999 meters Centerline goodness [0,1] 0.9987825195437652 Centerline is valid? [True, True] Translation: X:56.21, Y:3.45, Z:0.31 [[ 9.99356062e-01 -3.31651684e-02 -1.36942863e-02 5.62076425e+01] [ 3.31627529e-02 9.99449883e-01 -4.03498937e-04 3.44543649e+00] [ 1.37001350e-02 -5.09011241e-05 9.99906147e-01 3.14312871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.804391417999994 meters Centerline goodness [0,1] 0.9988028560434392 Centerline is valid? [True, True] Translation: X:56.24, Y:3.44, Z:0.31 [[ 9.99315563e-01 -3.44056573e-02 -1.35887991e-02 5.62394351e+01] [ 3.44034010e-02 9.99407948e-01 -3.99836632e-04 3.44303761e+00] [ 1.35945105e-02 -6.79379343e-05 9.99907588e-01 3.14495181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.834391417999996 meters Centerline goodness [0,1] 0.99938016970526 Centerline is valid? [True, True] Translation: X:56.27, Y:3.44, Z:0.32 [[ 9.99268527e-01 -3.57635339e-02 -1.35417884e-02 5.62719996e+01] [ 3.57614318e-02 9.99360276e-01 -3.97421913e-04 3.44051580e+00] [ 1.35473386e-02 -8.71425335e-05 9.99908227e-01 3.15317897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.864391418 meters Centerline goodness [0,1] 0.9990410433448408 Centerline is valid? [True, True] Translation: X:56.30, Y:3.44, Z:0.31 [[ 9.99158615e-01 -3.82313551e-02 -1.48467216e-02 5.63043863e+01] [ 3.82291188e-02 9.99268906e-01 -4.34500420e-04 3.43547869e+00] [ 1.48524788e-02 -1.33442246e-04 9.99889687e-01 3.13570290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.894391418 meters Centerline goodness [0,1] 0.9994025647043762 Centerline is valid? [True, True] Translation: X:56.34, Y:3.43, Z:0.32 [[ 9.99106087e-01 -3.98095727e-02 -1.42205961e-02 5.63365313e+01] [ 3.98076968e-02 9.99207273e-01 -4.15062589e-04 3.43338212e+00] [ 1.42258466e-02 -1.51397621e-04 9.99898796e-01 3.15080354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92439141799999 meters Centerline goodness [0,1] 0.9992972443460113 Centerline is valid? [True, True] Translation: X:56.37, Y:3.43, Z:0.31 [[ 9.99049368e-01 -4.10746367e-02 -1.46025467e-02 5.63681959e+01] [ 4.10728093e-02 9.99156066e-01 -4.25148710e-04 3.43056941e+00] [ 1.46076859e-02 -1.75023064e-04 9.99893287e-01 3.13711605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95439141799999 meters Centerline goodness [0,1] 0.9990233545647559 Centerline is valid? [True, True] Translation: X:56.40, Y:3.43, Z:0.32 [[ 9.98969890e-01 -4.31945322e-02 -1.39065545e-02 5.64007795e+01] [ 4.31930926e-02 9.99066661e-01 -4.03993246e-04 3.42816271e+00] [ 1.39110253e-02 -1.97090007e-04 9.99903218e-01 3.15233758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.984391417999994 meters Centerline goodness [0,1] 0.9993422588105493 Centerline is valid? [True, True] Translation: X:56.43, Y:3.42, Z:0.32 [[ 9.98817647e-01 -4.65943581e-02 -1.38662551e-02 5.64329998e+01] [ 4.65932689e-02 9.98913863e-01 -4.01774179e-04 3.42225290e+00] [ 1.38699148e-02 -2.44775009e-04 9.99903778e-01 3.15604962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.014391417999995 meters Centerline goodness [0,1] 0.9990231886520003 Centerline is valid? [True, True] Translation: X:56.47, Y:3.42, Z:0.32 [[ 9.98762297e-01 -4.77064186e-02 -1.40702681e-02 5.64656554e+01] [ 4.77054229e-02 9.98861365e-01 -4.06580703e-04 3.42189615e+00] [ 1.40736437e-02 -2.65150612e-04 9.99900926e-01 3.15731738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.044391418 meters Centerline goodness [0,1] 0.998769831169933 Centerline is valid? [True, True] Translation: X:56.50, Y:3.42, Z:0.31 [[ 9.98738139e-01 -4.81130314e-02 -1.43967640e-02 5.64965431e+01] [ 4.81120464e-02 9.98841859e-01 -4.14959546e-04 3.41889135e+00] [ 1.44000555e-02 -2.78221855e-04 9.99896275e-01 3.14830084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.074391418 meters Centerline goodness [0,1] 0.99915266803652 Centerline is valid? [True, True] Translation: X:56.53, Y:3.42, Z:0.31 [[ 9.98818835e-01 -4.61314776e-02 -1.52585113e-02 5.65285201e+01] [ 4.61301564e-02 9.98935341e-01 -4.38722062e-04 3.41955945e+00] [ 1.52625051e-02 -2.65673652e-04 9.99883486e-01 3.14420181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10439141799999 meters Centerline goodness [0,1] 0.9992791723202171 Centerline is valid? [True, True] Translation: X:56.56, Y:3.42, Z:0.31 [[ 9.98909878e-01 -4.40012443e-02 -1.55867447e-02 5.65604426e+01] [ 4.39996260e-02 9.99031448e-01 -4.46899504e-04 3.42177141e+00] [ 1.55913123e-02 -2.39398610e-04 9.99878419e-01 3.14741259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13439141799999 meters Centerline goodness [0,1] 0.9989611160581775 Centerline is valid? [True, True] Translation: X:56.59, Y:3.42, Z:0.31 [[ 9.99041109e-01 -4.04633622e-02 -1.67206291e-02 5.65921775e+01] [ 4.04610280e-02 9.99181003e-01 -4.78006669e-04 3.42397416e+00] [ 1.67262767e-02 -1.98985529e-04 9.99860086e-01 3.13164683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.164391417999994 meters Centerline goodness [0,1] 0.9989611160581775 Centerline is valid? [True, True] Translation: X:56.62, Y:3.42, Z:0.31 [[ 9.99042732e-01 -4.04232426e-02 -1.67206581e-02 5.66230147e+01] [ 4.04209198e-02 9.99182627e-01 -4.76991098e-04 3.42481610e+00] [ 1.67262726e-02 -1.99329890e-04 9.99860086e-01 3.13425773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.194391417999995 meters Centerline goodness [0,1] 0.9987905279239518 Centerline is valid? [True, True] Translation: X:56.65, Y:3.43, Z:0.31 [[ 9.99312860e-01 -3.37122060e-02 -1.54043548e-02 5.66539980e+01] [ 3.37094462e-02 9.99431579e-01 -4.38846626e-04 3.42941755e+00] [ 1.54103931e-02 -8.07271916e-05 9.99881250e-01 3.14884564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.224391417999996 meters Centerline goodness [0,1] 0.9992569317651055 Centerline is valid? [True, True] Translation: X:56.69, Y:3.43, Z:0.32 [[ 9.99421442e-01 -3.09035494e-02 -1.42039277e-02 5.66853932e+01] [ 3.09009271e-02 9.99522371e-01 -4.04101564e-04 3.43154340e+00] [ 1.42096317e-02 -3.50467678e-05 9.99899037e-01 3.16792863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.254391418 meters Centerline goodness [0,1] 0.999110301438346 Centerline is valid? [True, True] Translation: X:56.72, Y:3.43, Z:0.32 [[ 9.99521642e-01 -2.77262429e-02 -1.37019416e-02 5.67168926e+01] [ 2.77235115e-02 9.99615554e-01 -3.89282046e-04 3.43308101e+00] [ 1.37074672e-02 9.22989538e-06 9.99906048e-01 3.17083882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.284391418 meters Centerline goodness [0,1] 0.99923775646319 Centerline is valid? [True, True] Translation: X:56.75, Y:3.43, Z:0.32 [[ 9.99589005e-01 -2.54699299e-02 -1.31568602e-02 5.67480449e+01] [ 2.54672228e-02 9.99675588e-01 -3.73283411e-04 3.43456768e+00] [ 1.31620995e-02 3.80613039e-05 9.99913375e-01 3.17869272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31439141799999 meters Centerline goodness [0,1] 0.999194847020934 Centerline is valid? [True, True] Translation: X:56.78, Y:3.44, Z:0.32 [[ 9.99665900e-01 -2.27660437e-02 -1.22390889e-02 5.67786204e+01] [ 2.27635032e-02 9.99740818e-01 -3.46855902e-04 3.43573674e+00] [ 1.22438133e-02 6.81354782e-05 9.99925039e-01 3.18870259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.344391417999994 meters Centerline goodness [0,1] 0.9991526859854262 Centerline is valid? [True, True] Translation: X:56.81, Y:3.44, Z:0.32 [[ 9.99670714e-01 -2.21777901e-02 -1.29076891e-02 5.68088241e+01] [ 2.21749177e-02 9.99754039e-01 -3.65627684e-04 3.43580514e+00] [ 1.29126231e-02 7.92803445e-05 9.99916625e-01 3.17831833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.374391417999995 meters Centerline goodness [0,1] 0.9990472964390058 Centerline is valid? [True, True] Translation: X:56.84, Y:3.44, Z:0.32 [[ 9.99651552e-01 -2.30794995e-02 -1.28105750e-02 5.68383452e+01] [ 2.30767431e-02 9.99733631e-01 -3.62961103e-04 3.43534555e+00] [ 1.28155396e-02 6.72082805e-05 9.99917875e-01 3.18528181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.404391417999996 meters Centerline goodness [0,1] 0.9993021190204289 Centerline is valid? [True, True] Translation: X:56.87, Y:3.43, Z:0.32 [[ 9.99559098e-01 -2.62705691e-02 -1.38371429e-02 5.68686263e+01] [ 2.62676495e-02 9.99654869e-01 -3.92726142e-04 3.43109568e+00] [ 1.38426844e-02 2.90837690e-05 9.99904185e-01 3.17637686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.434391418 meters Centerline goodness [0,1] 0.9988803684221644 Centerline is valid? [True, True] Translation: X:56.90, Y:3.43, Z:0.32 [[ 9.99495318e-01 -2.84238597e-02 -1.41842648e-02 5.68993712e+01] [ 2.84209972e-02 9.99595960e-01 -4.03389119e-04 3.42838705e+00] [ 1.41899996e-02 5.45876949e-08 9.99899317e-01 3.16789020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.464391418 meters Centerline goodness [0,1] 0.9989654153118533 Centerline is valid? [True, True] Translation: X:56.93, Y:3.43, Z:0.32 [[ 9.99410793e-01 -3.12351238e-02 -1.42278991e-02 5.69303610e+01] [ 3.12325285e-02 9.99512064e-01 -4.04630045e-04 3.42518630e+00] [ 1.42335955e-02 -3.99816292e-05 9.99898696e-01 3.17068357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49439141799999 meters Centerline goodness [0,1] 0.9991770936636212 Centerline is valid? [True, True] Translation: X:56.96, Y:3.42, Z:0.32 [[ 9.99323525e-01 -3.41276864e-02 -1.37038081e-02 5.69618685e+01] [ 3.41255535e-02 9.99417478e-01 -3.89512792e-04 3.42212022e+00] [ 1.37091185e-02 -7.84007415e-05 9.99906023e-01 3.17694834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52439141799999 meters Centerline goodness [0,1] 0.9990520128926247 Centerline is valid? [True, True] Translation: X:56.99, Y:3.42, Z:0.32 [[ 9.99073860e-01 -4.06718158e-02 -1.40437077e-02 5.69929458e+01] [ 4.06702286e-02 9.99172544e-01 -3.98709304e-04 3.41632785e+00] [ 1.40483034e-02 -1.72820760e-04 9.99901303e-01 3.18064854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.554391417999994 meters Centerline goodness [0,1] 0.9992412746585736 Centerline is valid? [True, True] Translation: X:57.02, Y:3.41, Z:0.32 [[ 9.98957917e-01 -4.32729774e-02 -1.45096421e-02 5.70240418e+01] [ 4.32715653e-02 9.99063262e-01 -4.11395492e-04 3.41386028e+00] [ 1.45138527e-02 -2.16888142e-04 9.99894645e-01 3.18400469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.584391417999996 meters Centerline goodness [0,1] 0.9989885793754477 Centerline is valid? [True, True] Translation: X:57.06, Y:3.41, Z:0.32 [[ 9.98841118e-01 -4.60133444e-02 -1.41135603e-02 5.70557566e+01] [ 4.60122920e-02 9.98940794e-01 -3.99440182e-04 3.41257499e+00] [ 1.41169907e-02 -2.50419979e-04 9.99900319e-01 3.19375272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.614391418 meters Centerline goodness [0,1] 0.9986307141352433 Centerline is valid? [True, True] Translation: X:57.09, Y:3.41, Z:0.32 [[ 9.98762268e-01 -4.75303750e-02 -1.46559020e-02 5.70875138e+01] [ 4.75294142e-02 9.98869753e-01 -4.14060985e-04 3.41040303e+00] [ 1.46590176e-02 -2.83037946e-04 9.99892511e-01 3.17757371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.644391418 meters Centerline goodness [0,1] 0.9987384887094739 Centerline is valid? [True, True] Translation: X:57.12, Y:3.41, Z:0.32 [[ 9.98636538e-01 -5.06770742e-02 -1.25259745e-02 5.71200744e+01] [ 5.06766293e-02 9.98715052e-01 -3.53121286e-04 3.40599798e+00] [ 1.25277744e-02 -2.82134346e-04 9.99921485e-01 3.19677785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67439141799999 meters Centerline goodness [0,1] 0.9989049404034873 Centerline is valid? [True, True] Translation: X:57.15, Y:3.40, Z:0.32 [[ 9.98563934e-01 -5.23200934e-02 -1.15185758e-02 5.71510802e+01] [ 5.23198357e-02 9.98630327e-01 -3.23911655e-04 3.40418762e+00] [ 1.15197462e-02 -2.79203499e-04 9.99933607e-01 3.21822097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70439141799999 meters Centerline goodness [0,1] 0.9988229111928534 Centerline is valid? [True, True] Translation: X:57.18, Y:3.40, Z:0.32 [[ 9.98533703e-01 -5.29641084e-02 -1.11913504e-02 5.71824421e+01] [ 5.29639129e-02 9.98596378e-01 -3.14055718e-04 3.40235934e+00] [ 1.11922757e-02 -2.79142489e-04 9.99937326e-01 3.21871885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.734391417999994 meters Centerline goodness [0,1] 0.9984463247181339 Centerline is valid? [True, True] Translation: X:57.21, Y:3.40, Z:0.32 [[ 9.98537073e-01 -5.28537047e-02 -1.14105319e-02 5.72149978e+01] [ 5.28535027e-02 9.98602226e-01 -3.19465296e-04 3.40322575e+00] [ 1.14114675e-02 -2.84088639e-04 9.99934847e-01 3.20415740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.764391417999995 meters Centerline goodness [0,1] 0.9989926759144614 Centerline is valid? [True, True] Translation: X:57.25, Y:3.40, Z:0.32 [[ 9.98476741e-01 -5.40231556e-02 -1.12114483e-02 5.72471220e+01] [ 5.40230441e-02 9.98539640e-01 -3.13016566e-04 3.40306693e+00] [ 1.12119857e-02 -2.93136808e-04 9.99937101e-01 3.21474532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.794391418 meters Centerline goodness [0,1] 0.9988012114074198 Centerline is valid? [True, True] Translation: X:57.28, Y:3.40, Z:0.32 [[ 9.98454767e-01 -5.43910079e-02 -1.13884200e-02 5.72791526e+01] [ 5.43909271e-02 9.98519668e-01 -3.17049933e-04 3.40301131e+00] [ 1.13888060e-02 -3.02866704e-04 9.99935100e-01 3.21295593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.824391418 meters Centerline goodness [0,1] 0.998906230280594 Centerline is valid? [True, True] Translation: X:57.31, Y:3.40, Z:0.32 [[ 9.98441529e-01 -5.45939198e-02 -1.15765920e-02 5.73118254e+01] [ 5.45938605e-02 9.98508591e-01 -3.21370333e-04 3.40301883e+00] [ 1.15768714e-02 -3.11141362e-04 9.99932937e-01 3.20939390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85439141799999 meters Centerline goodness [0,1] 0.9988223418573351 Centerline is valid? [True, True] Translation: X:57.34, Y:3.40, Z:0.32 [[ 9.98422089e-01 -5.48809327e-02 -1.18918055e-02 5.73426433e+01] [ 5.48809039e-02 9.98492853e-01 -3.28997961e-04 3.40120941e+00] [ 1.18919386e-02 -3.24154205e-04 9.99929236e-01 3.20344865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88439141799999 meters Centerline goodness [0,1] 0.9987177600739916 Centerline is valid? [True, True] Translation: X:57.37, Y:3.40, Z:0.32 [[ 9.98386754e-01 -5.52423861e-02 -1.31213071e-02 5.73749544e+01] [ 5.52424028e-02 9.98472907e-01 -3.61449068e-04 3.40151507e+00] [ 1.31212369e-02 -3.63986569e-04 9.99913847e-01 3.18742735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.914391417999994 meters Centerline goodness [0,1] 0.9989283688092286 Centerline is valid? [True, True] Translation: X:57.41, Y:3.40, Z:0.32 [[ 9.98360597e-01 -5.55888552e-02 -1.36381097e-02 5.74056313e+01] [ 5.55889177e-02 9.98453670e-01 -3.74792357e-04 3.40147977e+00] [ 1.36378550e-02 -3.83949837e-04 9.99906926e-01 3.19530815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.944391417999995 meters Centerline goodness [0,1] 0.998948298346725 Centerline is valid? [True, True] Translation: X:57.44, Y:3.40, Z:0.32 [[ 9.98406717e-01 -5.47339281e-02 -1.37194952e-02 5.74378060e+01] [ 5.47339209e-02 9.98500905e-01 -3.76287882e-04 3.40374234e+00] [ 1.37195241e-02 -3.75233414e-04 9.99905812e-01 3.19116888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.974391417999996 meters Centerline goodness [0,1] 0.9989269709019757 Centerline is valid? [True, True] Translation: X:57.47, Y:3.41, Z:0.32 [[ 9.98547249e-01 -5.23499572e-02 -1.27622123e-02 5.74702467e+01] [ 5.23497686e-02 9.98628750e-01 -3.49070774e-04 3.40829330e+00] [ 1.27629859e-02 -3.19535197e-04 9.99918499e-01 3.20437183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.004391418 meters Centerline goodness [0,1] 0.9987792043780257 Centerline is valid? [True, True] Translation: X:57.50, Y:3.41, Z:0.32 [[ 9.98644574e-01 -5.05833248e-02 -1.22613912e-02 5.75028655e+01] [ 5.05830304e-02 9.98719803e-01 -3.34329481e-04 3.41044233e+00] [ 1.22626057e-02 -2.86342000e-04 9.99924770e-01 3.22017187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.034391418 meters Centerline goodness [0,1] 0.9987580777569621 Centerline is valid? [True, True] Translation: X:57.53, Y:3.41, Z:0.32 [[ 9.98778351e-01 -4.79843740e-02 -1.18027788e-02 5.75339666e+01] [ 4.79839354e-02 9.98848056e-01 -3.20502190e-04 3.41002591e+00] [ 1.18045618e-02 -2.46233128e-04 9.99930293e-01 3.21732377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06439141799999 meters Centerline goodness [0,1] 0.9988418614445146 Centerline is valid? [True, True] Translation: X:57.57, Y:3.42, Z:0.32 [[ 9.98945817e-01 -4.43959643e-02 -1.16727408e-02 5.75658479e+01] [ 4.43953081e-02 9.99013992e-01 -3.15455885e-04 3.41618185e+00] [ 1.16752363e-02 -2.03091585e-04 9.99931821e-01 3.20567510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.094391417999994 meters Centerline goodness [0,1] 0.998925478794008 Centerline is valid? [True, True] Translation: X:57.60, Y:3.42, Z:0.32 [[ 9.99192457e-01 -3.81802104e-02 -1.25181635e-02 5.75967395e+01] [ 3.81789803e-02 9.99270860e-01 -3.37312230e-04 3.42230969e+00] [ 1.25219147e-02 -1.40890884e-04 9.99921588e-01 3.21517370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.124391417999995 meters Centerline goodness [0,1] 0.9991151747529863 Centerline is valid? [True, True] Translation: X:57.63, Y:3.43, Z:0.32 [[ 9.99319359e-01 -3.46632385e-02 -1.26205860e-02 5.76280957e+01] [ 3.46617164e-02 9.99399045e-01 -3.39384348e-04 3.42716389e+00] [ 1.26247658e-02 -9.82978247e-05 9.99920300e-01 3.22027708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.154391417999996 meters Centerline goodness [0,1] 0.9989506159884148 Centerline is valid? [True, True] Translation: X:57.66, Y:3.43, Z:0.32 [[ 9.99435351e-01 -3.10810646e-02 -1.27650924e-02 5.76582471e+01] [ 3.10792207e-02 9.99516866e-01 -3.42839765e-04 3.43109035e+00] [ 1.27695809e-02 -5.40829425e-05 9.99918464e-01 3.22368827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.184391418 meters Centerline goodness [0,1] 0.9990100886707808 Centerline is valid? [True, True] Translation: X:57.69, Y:3.43, Z:0.32 [[ 9.99532075e-01 -2.78496402e-02 -1.26502640e-02 5.76891267e+01] [ 2.78475748e-02 9.99612123e-01 -3.39420324e-04 3.43456407e+00] [ 1.26548100e-02 -1.30176716e-05 9.99919925e-01 3.22520712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.214391418 meters Centerline goodness [0,1] 0.9991144845034788 Centerline is valid? [True, True] Translation: X:57.72, Y:3.44, Z:0.32 [[ 9.99670489e-01 -2.26593670e-02 -1.20609392e-02 5.77184731e+01] [ 2.26571156e-02 9.99743242e-01 -3.23289139e-04 3.43866434e+00] [ 1.20651680e-02 4.99165169e-05 9.99927212e-01 3.22569591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24439141799999 meters Centerline goodness [0,1] 0.9991363511890969 Centerline is valid? [True, True] Translation: X:57.75, Y:3.44, Z:0.33 [[ 9.99699880e-01 -2.20464145e-02 -1.06820262e-02 5.77487767e+01] [ 2.20446134e-02 9.99756947e-01 -2.86339758e-04 3.44013695e+00] [ 1.06857427e-02 5.07726830e-05 9.99942905e-01 3.25182871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.27439141799999 meters Centerline goodness [0,1] 0.9991580365412142 Centerline is valid? [True, True] Translation: X:57.78, Y:3.44, Z:0.33 [[ 9.99729219e-01 -2.10784591e-02 -9.85834899e-03 5.77793627e+01] [ 2.10768780e-02 9.99777823e-01 -2.64260470e-04 3.44119804e+00] [ 9.86172889e-03 5.64056936e-05 9.99951370e-01 3.25712122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.304391417999994 meters Centerline goodness [0,1] 0.9992205110919165 Centerline is valid? [True, True] Translation: X:57.81, Y:3.44, Z:0.33 [[ 9.99716252e-01 -2.18277696e-02 -9.53754261e-03 5.78112068e+01] [ 2.18263242e-02 9.99761745e-01 -2.55618665e-04 3.44068377e+00] [ 9.54084983e-03 4.73766368e-05 9.99954484e-01 3.26753184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.334391417999996 meters Centerline goodness [0,1] 0.9990309873396389 Centerline is valid? [True, True] Translation: X:57.84, Y:3.44, Z:0.33 [[ 9.99702785e-01 -2.24559333e-02 -9.49065976e-03 5.78421875e+01] [ 2.24545339e-02 9.99747833e-01 -2.53988763e-04 3.43976336e+00] [ 9.49397008e-03 4.08049317e-05 9.99954930e-01 3.25580357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.364391418 meters Centerline goodness [0,1] 0.9990522325189554 Centerline is valid? [True, True] Translation: X:57.87, Y:3.44, Z:0.32 [[ 9.99662228e-01 -2.39580647e-02 -1.00717557e-02 5.78725122e+01] [ 2.39565689e-02 9.99712964e-01 -2.69154955e-04 3.43801621e+00] [ 1.00753132e-02 2.77793334e-05 9.99949242e-01 3.24145571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.394391418 meters Centerline goodness [0,1] 0.9992008916367001 Centerline is valid? [True, True] Translation: X:57.90, Y:3.43, Z:0.32 [[ 9.99496837e-01 -2.98199583e-02 -1.08093711e-02 5.79039290e+01] [ 2.98185811e-02 9.99555286e-01 -2.88594467e-04 3.43186473e+00] [ 1.08131698e-02 -3.38708504e-05 9.99941535e-01 3.24871603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42439141799999 meters Centerline goodness [0,1] 0.9988222675555742 Centerline is valid? [True, True] Translation: X:57.94, Y:3.43, Z:0.32 [[ 9.99405975e-01 -3.25471136e-02 -1.13306223e-02 5.79357103e+01] [ 3.25457809e-02 9.99470200e-01 -3.02039029e-04 3.42892183e+00] [ 1.13344499e-02 -6.69043408e-05 9.99935761e-01 3.22679883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45439141799999 meters Centerline goodness [0,1] 0.999075940860215 Centerline is valid? [True, True] Translation: X:57.97, Y:3.43, Z:0.32 [[ 9.99265708e-01 -3.66089184e-02 -1.13063197e-02 5.79674867e+01] [ 3.66078565e-02 9.99329662e-01 -3.00937555e-04 3.42631109e+00] [ 1.13097576e-02 -1.13183549e-04 9.99936036e-01 3.24730367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.484391417999994 meters Centerline goodness [0,1] 0.9990116291296027 Centerline is valid? [True, True] Translation: X:58.00, Y:3.42, Z:0.32 [[ 9.98960739e-01 -4.38939719e-02 -1.22785082e-02 5.79994590e+01] [ 4.38932769e-02 9.99036172e-01 -3.26214593e-04 3.41997109e+00] [ 1.22809927e-02 -2.13068389e-04 9.99924563e-01 3.24674440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.514391417999995 meters Centerline goodness [0,1] 0.9989716899960127 Centerline is valid? [True, True] Translation: X:58.03, Y:3.42, Z:0.32 [[ 9.98794167e-01 -4.75754169e-02 -1.21157606e-02 5.80312556e+01] [ 4.75750188e-02 9.98867616e-01 -3.21235021e-04 3.41703998e+00] [ 1.21173238e-02 -2.55559873e-04 9.99926550e-01 3.24807312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.544391418 meters Centerline goodness [0,1] 0.9988229606742753 Centerline is valid? [True, True] Translation: X:58.06, Y:3.41, Z:0.33 [[ 9.98622409e-01 -5.10231428e-02 -1.22443324e-02 5.80633836e+01] [ 5.10230031e-02 9.98697426e-01 -3.23989551e-04 3.41466310e+00] [ 1.22449142e-02 -3.01199383e-04 9.99924983e-01 3.25186822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.574391418 meters Centerline goodness [0,1] 0.9985310781886095 Centerline is valid? [True, True] Translation: X:58.09, Y:3.41, Z:0.33 [[ 9.98462831e-01 -5.41202351e-02 -1.19572085e-02 5.80940819e+01] [ 5.41203336e-02 9.98534371e-01 -3.15574551e-04 3.41111387e+00] [ 1.19567627e-02 -3.32038654e-04 9.99928460e-01 3.25451565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60439141799999 meters Centerline goodness [0,1] 0.9987618048268625 Centerline is valid? [True, True] Translation: X:58.13, Y:3.41, Z:0.33 [[ 9.98193107e-01 -5.89608226e-02 -1.15820061e-02 5.81254997e+01] [ 5.89612458e-02 9.98260226e-01 -3.05211373e-04 3.40896453e+00] [ 1.15798515e-02 -3.78229618e-04 9.99932880e-01 3.26104134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63439141799999 meters Centerline goodness [0,1] 0.9987377987209693 Centerline is valid? [True, True] Translation: X:58.16, Y:3.41, Z:0.33 [[ 9.98095658e-01 -6.06043081e-02 -1.14967880e-02 5.81570009e+01] [ 6.06048401e-02 9.98161791e-01 -3.02438051e-04 3.40524113e+00] [ 1.14939836e-02 -3.94898895e-04 9.99933864e-01 3.26306471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.664391417999994 meters Centerline goodness [0,1] 0.9984656774139308 Centerline is valid? [True, True] Translation: X:58.19, Y:3.41, Z:0.33 [[ 9.98017720e-01 -6.19031623e-02 -1.13414966e-02 5.81894095e+01] [ 6.19037722e-02 9.98082078e-01 -2.97606070e-04 3.40805997e+00] [ 1.13381673e-02 -4.05065292e-04 9.99935639e-01 3.27000430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.694391417999995 meters Centerline goodness [0,1] 0.9986345685236535 Centerline is valid? [True, True] Translation: X:58.22, Y:3.41, Z:0.33 [[ 9.97968252e-01 -6.26750619e-02 -1.14544367e-02 5.82201327e+01] [ 6.26757442e-02 9.98033898e-01 -2.99741603e-04 3.40665407e+00] [ 1.14507025e-02 -4.18782743e-04 9.99934351e-01 3.25615589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.724391417999996 meters Centerline goodness [0,1] 0.9986345111549935 Centerline is valid? [True, True] Translation: X:58.25, Y:3.41, Z:0.33 [[ 9.97912115e-01 -6.37289461e-02 -1.04896380e-02 5.82526053e+01] [ 6.37295815e-02 9.97967166e-01 -2.74009170e-04 3.41050184e+00] [ 1.04857766e-02 -3.95063170e-04 9.99944945e-01 3.28170018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.754391418 meters Centerline goodness [0,1] 0.9985503592587924 Centerline is valid? [True, True] Translation: X:58.28, Y:3.41, Z:0.33 [[ 9.97899235e-01 -6.38590316e-02 -1.09151245e-02 5.82842788e+01] [ 6.38597370e-02 9.97958843e-01 -2.84246551e-04 3.40901223e+00] [ 1.09109967e-02 -4.13387564e-04 9.99940388e-01 3.28598393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.784391418 meters Centerline goodness [0,1] 0.998529195469922 Centerline is valid? [True, True] Translation: X:58.32, Y:3.41, Z:0.33 [[ 9.97855602e-01 -6.44012285e-02 -1.16910068e-02 5.83168247e+01] [ 6.44020846e-02 9.97923985e-01 -3.03630252e-04 3.41326847e+00] [ 1.16862902e-02 -4.49946058e-04 9.99931612e-01 3.26832613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81439141799999 meters Centerline goodness [0,1] 0.9986577462721 Centerline is valid? [True, True] Translation: X:58.35, Y:3.41, Z:0.33 [[ 9.97795762e-01 -6.53826112e-02 -1.13459484e-02 5.83477073e+01] [ 6.53834904e-02 9.97860167e-01 -2.93819607e-04 3.41279148e+00] [ 1.13408806e-02 -4.48665747e-04 9.99935589e-01 3.27668198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.844391417999994 meters Centerline goodness [0,1] 0.9987169239830045 Centerline is valid? [True, True] Translation: X:58.38, Y:3.41, Z:0.33 [[ 9.97722703e-01 -6.63622948e-02 -1.20604110e-02 5.83795530e+01] [ 6.63633699e-02 9.97795473e-01 -3.11479501e-04 3.41436705e+00] [ 1.20544940e-02 -4.89599346e-04 9.99927222e-01 3.27565020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.874391417999995 meters Centerline goodness [0,1] 0.9986559704313495 Centerline is valid? [True, True] Translation: X:58.41, Y:3.42, Z:0.33 [[ 9.97647908e-01 -6.73433150e-02 -1.27878981e-02 5.84116867e+01] [ 6.73446180e-02 9.97729720e-01 -3.29182907e-04 3.41577798e+00] [ 1.27810343e-02 -5.32787477e-04 9.99918177e-01 3.27411351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.904391417999996 meters Centerline goodness [0,1] 0.9988015390761338 Centerline is valid? [True, True] Translation: X:58.44, Y:3.42, Z:0.33 [[ 9.97517274e-01 -6.90498546e-02 -1.38349151e-02 5.84439168e+01] [ 6.90515601e-02 9.97613029e-01 -3.54945697e-04 3.41858739e+00] [ 1.38264005e-02 -6.01258005e-04 9.99904230e-01 3.26936363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.934391418 meters Centerline goodness [0,1] 0.998675134589502 Centerline is valid? [True, True] Translation: X:58.48, Y:3.42, Z:0.33 [[ 9.97477774e-01 -6.95979621e-02 -1.39360416e-02 5.84755731e+01] [ 6.95997605e-02 9.97574933e-01 -3.56497044e-04 3.42127970e+00] [ 1.39270572e-02 -6.14347278e-04 9.99902825e-01 3.26639421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.964391418 meters Centerline goodness [0,1] 0.9987373737373737 Centerline is valid? [True, True] Translation: X:58.51, Y:3.42, Z:0.33 [[ 9.97440646e-01 -7.00205394e-02 -1.44665693e-02 5.85065087e+01] [ 7.00225351e-02 9.97545341e-01 -3.69148261e-04 3.42157651e+00] [ 1.44569067e-02 -6.44782374e-04 9.99895286e-01 3.26363899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99439141799999 meters Centerline goodness [0,1] 0.9983794591181732 Centerline is valid? [True, True] Translation: X:58.54, Y:3.42, Z:0.33 [[ 9.97432341e-01 -7.01004191e-02 -1.46511681e-02 5.85379619e+01] [ 7.01024944e-02 9.97539724e-01 -3.72506158e-04 3.42088487e+00] [ 1.46412350e-02 -6.55533740e-04 9.99892596e-01 3.25751085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.024391418 meters Centerline goodness [0,1] 0.9986109064887504 Centerline is valid? [True, True] Translation: X:58.57, Y:3.43, Z:0.33 [[ 9.97436167e-01 -6.99733163e-02 -1.49942567e-02 5.85698888e+01] [ 6.99755008e-02 9.97548638e-01 -3.79553058e-04 3.42770629e+00] [ 1.49840589e-02 -6.70650674e-04 9.99887508e-01 3.27070483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.054391418 meters Centerline goodness [0,1] 0.9986109064887504 Centerline is valid? [True, True] Translation: X:58.60, Y:3.43, Z:0.33 [[ 9.97441781e-01 -6.98932334e-02 -1.49942871e-02 5.86016015e+01] [ 6.98954269e-02 9.97554252e-01 -3.78349005e-04 3.42842874e+00] [ 1.49840589e-02 -6.70650992e-04 9.99887508e-01 3.27338994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.084391418 meters Centerline goodness [0,1] 0.9984400691428812 Centerline is valid? [True, True] Translation: X:58.63, Y:3.43, Z:0.33 [[ 9.97494794e-01 -6.88982433e-02 -1.60364701e-02 5.86341172e+01] [ 6.89006455e-02 9.97623445e-01 -4.03310863e-04 3.43173768e+00] [ 1.60261459e-02 -7.02622654e-04 9.99871326e-01 3.25744082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.114391418 meters Centerline goodness [0,1] 0.9989660047690392 Centerline is valid? [True, True] Translation: X:58.67, Y:3.43, Z:0.33 [[ 9.97530299e-01 -6.85867657e-02 -1.51379456e-02 5.86666265e+01] [ 6.85888881e-02 9.97644937e-01 -3.79540438e-04 3.43470852e+00] [ 1.51283263e-02 -6.59691772e-04 9.99885343e-01 3.28189750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.144391418 meters Centerline goodness [0,1] 0.9982662381596752 Centerline is valid? [True, True] Translation: X:58.70, Y:3.44, Z:0.33 [[ 9.97711952e-01 -6.58978627e-02 -1.51106584e-02 5.86971600e+01] [ 6.58996837e-02 9.97826182e-01 -3.77920594e-04 3.44121557e+00] [ 1.51027147e-02 -6.18731715e-04 9.99885756e-01 3.28433413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.174391418 meters Centerline goodness [0,1] 0.9989213654244744 Centerline is valid? [True, True] Translation: X:58.73, Y:3.45, Z:0.33 [[ 9.97863826e-01 -6.36397285e-02 -1.47570110e-02 5.87281367e+01] [ 6.36412272e-02 9.97972774e-01 -3.68495134e-04 3.44858326e+00] [ 1.47505462e-02 -5.71446328e-04 9.99891041e-01 3.30148364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.204391418 meters Centerline goodness [0,1] 0.9985046020345837 Centerline is valid? [True, True] Translation: X:58.76, Y:3.45, Z:0.33 [[ 9.98007915e-01 -6.12225266e-02 -1.52316903e-02 5.87596984e+01] [ 6.12238557e-02 9.98123988e-01 -3.79463248e-04 3.45278590e+00] [ 1.52263472e-02 -5.53835485e-04 9.99883919e-01 3.29988292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.234391418 meters Centerline goodness [0,1] 0.9989603886873316 Centerline is valid? [True, True] Translation: X:58.79, Y:3.46, Z:0.33 [[ 9.98319514e-01 -5.60291293e-02 -1.47947778e-02 5.87896204e+01] [ 5.60298230e-02 9.98429028e-01 -3.67930438e-04 3.46102703e+00] [ 1.47921505e-02 -4.61636646e-04 9.99890484e-01 3.30407524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26439141799999 meters Centerline goodness [0,1] 0.998917932614784 Centerline is valid? [True, True] Translation: X:58.82, Y:3.47, Z:0.33 [[ 9.98478554e-01 -5.34450316e-02 -1.35722106e-02 5.88221176e+01] [ 5.34453840e-02 9.98570717e-01 -3.37002672e-04 3.47037082e+00] [ 1.35708232e-02 -3.88882067e-04 9.99907837e-01 3.33412738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29439141799999 meters Centerline goodness [0,1] 0.9987687343438203 Centerline is valid? [True, True] Translation: X:58.85, Y:3.47, Z:0.33 [[ 9.98627441e-01 -5.06754354e-02 -1.32376024e-02 5.88528960e+01] [ 5.06755425e-02 9.98715116e-01 -3.27555861e-04 3.47238111e+00] [ 1.32371927e-02 -3.43716414e-04 9.99912325e-01 3.33638080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32439141799999 meters Centerline goodness [0,1] 0.9986402651482961 Centerline is valid? [True, True] Translation: X:58.89, Y:3.48, Z:0.33 [[ 9.98754944e-01 -4.82955274e-02 -1.24941230e-02 5.88852700e+01] [ 4.82954467e-02 9.98833046e-01 -3.08352877e-04 3.47815723e+00] [ 1.24944350e-02 -2.95440290e-04 9.99921898e-01 3.34428094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35439141799999 meters Centerline goodness [0,1] 0.9989372555687808 Centerline is valid? [True, True] Translation: X:58.92, Y:3.48, Z:0.33 [[ 9.98864697e-01 -4.59482707e-02 -1.25727616e-02 5.89175606e+01] [ 4.59480157e-02 9.98943784e-01 -3.09292522e-04 3.48312791e+00] [ 1.25736935e-02 -2.68752065e-04 9.99920912e-01 3.33685840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38439141799999 meters Centerline goodness [0,1] 0.9987233499297843 Centerline is valid? [True, True] Translation: X:58.95, Y:3.49, Z:0.34 [[ 9.98995080e-01 -4.32595661e-02 -1.17234864e-02 5.89482038e+01] [ 4.32591690e-02 9.99063843e-01 -2.87576919e-04 3.48829478e+00] [ 1.17249518e-02 -2.19860351e-04 9.99931236e-01 3.35613425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.414391418 meters Centerline goodness [0,1] 0.9990411250799063 Centerline is valid? [True, True] Translation: X:58.98, Y:3.50, Z:0.34 [[ 9.99036834e-01 -4.21346594e-02 -1.22505317e-02 5.89807270e+01] [ 4.21341530e-02 9.99111917e-01 -2.99539832e-04 3.49513666e+00] [ 1.22522733e-02 -2.16914453e-04 9.99924915e-01 3.36091174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.444391418 meters Centerline goodness [0,1] 0.9993387230956292 Centerline is valid? [True, True] Translation: X:59.01, Y:3.50, Z:0.34 [[ 9.99090080e-01 -4.05482513e-02 -1.32231389e-02 5.90113912e+01] [ 4.05475403e-02 9.99177558e-01 -3.21969402e-04 3.49834033e+00] [ 1.32253190e-02 -2.14489324e-04 9.99912519e-01 3.35089408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.474391418 meters Centerline goodness [0,1] 0.9993167502935839 Centerline is valid? [True, True] Translation: X:59.04, Y:3.50, Z:0.33 [[ 9.99108578e-01 -3.99342232e-02 -1.36860169e-02 5.90435115e+01] [ 3.99334170e-02 9.99202288e-01 -3.32284334e-04 3.49987898e+00] [ 1.36883689e-02 -2.14541293e-04 9.99906287e-01 3.34764370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.504391418 meters Centerline goodness [0,1] 0.999509312397329 Centerline is valid? [True, True] Translation: X:59.07, Y:3.50, Z:0.34 [[ 9.99123782e-01 -3.95237150e-02 -1.37675380e-02 5.90748922e+01] [ 3.95228741e-02 9.99218610e-01 -3.33258138e-04 3.50159229e+00] [ 1.37699517e-02 -2.11166539e-04 9.99905167e-01 3.35154878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.534391418 meters Centerline goodness [0,1] 0.9990386669515061 Centerline is valid? [True, True] Translation: X:59.11, Y:3.50, Z:0.33 [[ 9.99138683e-01 -3.86872142e-02 -1.50063828e-02 5.91056323e+01] [ 3.86861418e-02 9.99251346e-01 -3.61847206e-04 3.50405616e+00] [ 1.50091471e-02 -2.19003512e-04 9.99887332e-01 3.34202598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.564391418 meters Centerline goodness [0,1] 0.9995291700552155 Centerline is valid? [True, True] Translation: X:59.14, Y:3.51, Z:0.34 [[ 9.99178756e-01 -3.80280566e-02 -1.39885582e-02 5.91371443e+01] [ 3.80270790e-02 9.99276653e-01 -3.35961629e-04 3.50802079e+00] [ 1.39912156e-02 -1.96258286e-04 9.99902099e-01 3.37463841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.594391418 meters Centerline goodness [0,1] 0.999272633920931 Centerline is valid? [True, True] Translation: X:59.17, Y:3.51, Z:0.34 [[ 9.99205366e-01 -3.77860246e-02 -1.26827647e-02 5.91690334e+01] [ 3.77852113e-02 9.99285838e-01 -3.03819386e-04 3.51060452e+00] [ 1.26851873e-02 -1.75642985e-04 9.99919524e-01 3.39334580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.624391418 meters Centerline goodness [0,1] 0.9993164437988636 Centerline is valid? [True, True] Translation: X:59.20, Y:3.51, Z:0.34 [[ 9.99246321e-01 -3.71319312e-02 -1.13141412e-02 5.92015266e+01] [ 3.71312513e-02 9.99310361e-01 -2.70220819e-04 3.51239014e+00] [ 1.13163724e-02 -1.50091062e-04 9.99935957e-01 3.41363138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65439141799999 meters Centerline goodness [0,1] 0.9994437550810834 Centerline is valid? [True, True] Translation: X:59.23, Y:3.51, Z:0.34 [[ 9.99271210e-01 -3.66702059e-02 -1.05992604e-02 5.92338464e+01] [ 3.66695915e-02 9.99327412e-01 -2.52366197e-04 3.51401359e+00] [ 1.06013858e-02 -1.36488273e-04 9.99943794e-01 3.43185993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68439141799999 meters Centerline goodness [0,1] 0.9993595764665699 Centerline is valid? [True, True] Translation: X:59.27, Y:3.52, Z:0.35 [[ 9.99322635e-01 -3.56190958e-02 -9.24940989e-03 5.92664384e+01] [ 3.56185889e-02 9.99365433e-01 -2.19577084e-04 3.51816820e+00] [ 9.25136165e-03 -1.10022578e-04 9.99957199e-01 3.46848449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71439141799999 meters Centerline goodness [0,1] 0.999232 Centerline is valid? [True, True] Translation: X:59.30, Y:3.52, Z:0.35 [[ 9.99347764e-01 -3.48696183e-02 -9.38915383e-03 5.92986717e+01] [ 3.48690718e-02 9.99391864e-01 -2.21947966e-04 3.52060604e+00] [ 9.39118319e-03 -1.05587875e-04 9.99955896e-01 3.48146792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74439141799999 meters Centerline goodness [0,1] 0.9988684159959007 Centerline is valid? [True, True] Translation: X:59.33, Y:3.52, Z:0.35 [[ 9.99349795e-01 -3.46178881e-02 -1.00791742e-02 5.93298472e+01] [ 3.46172540e-02 9.99400615e-01 -2.37424950e-04 3.52282281e+00] [ 1.00813520e-02 -1.11642758e-04 9.99949176e-01 3.49838786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.774391418 meters Centerline goodness [0,1] 0.9991254639307197 Centerline is valid? [True, True] Translation: X:59.36, Y:3.52, Z:0.35 [[ 9.99311284e-01 -3.59657897e-02 -9.13347740e-03 5.93614524e+01] [ 3.59653298e-02 9.99353015e-01 -2.14645760e-04 3.52467841e+00] [ 9.13528808e-03 -1.13990597e-04 9.99958266e-01 3.54940595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.804391418 meters Centerline goodness [0,1] 0.9992740006832935 Centerline is valid? [True, True] Translation: X:59.39, Y:3.52, Z:0.36 [[ 9.99246358e-01 -3.78261504e-02 -8.71199988e-03 5.93932894e+01] [ 3.78258071e-02 9.99284327e-01 -2.04234122e-04 3.52458496e+00] [ 8.71349033e-03 -1.25458224e-04 9.99962029e-01 3.57783741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.834391418 meters Centerline goodness [0,1] 0.9990190642726149 Centerline is valid? [True, True] Translation: X:59.43, Y:3.52, Z:0.36 [[ 9.99176595e-01 -3.94974714e-02 -9.27799960e-03 5.94257409e+01] [ 3.94971614e-02 9.99219659e-01 -2.16709803e-04 3.52416046e+00] [ 9.27931909e-03 -1.49923285e-04 9.99956935e-01 3.58607429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.864391418 meters Centerline goodness [0,1] 0.9992743725456719 Centerline is valid? [True, True] Translation: X:59.46, Y:3.52, Z:0.36 [[ 9.99094360e-01 -4.11231627e-02 -1.09245126e-02 5.94581676e+01] [ 4.11228412e-02 9.99154066e-01 -2.54155819e-04 3.52372235e+00] [ 1.09257229e-02 -1.95321352e-04 9.99940293e-01 3.58479771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.894391418 meters Centerline goodness [0,1] 0.9990406753645433 Centerline is valid? [True, True] Translation: X:59.49, Y:3.52, Z:0.35 [[ 9.98914271e-01 -4.35929232e-02 -1.64297422e-02 5.94894362e+01] [ 4.35925630e-02 9.99049320e-01 -3.80223533e-04 3.52054390e+00] [ 1.64306978e-02 -3.36403857e-04 9.99864950e-01 3.54190065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.924391418 meters Centerline goodness [0,1] 0.998762693062548 Centerline is valid? [True, True] Translation: X:59.52, Y:3.52, Z:0.35 [[ 9.98848583e-01 -4.44605884e-02 -1.80212261e-02 5.95220127e+01] [ 4.44603301e-02 9.99011064e-01 -4.15177350e-04 3.52101255e+00] [ 1.80218633e-02 -3.86530353e-04 9.99837518e-01 3.53594658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.954391418 meters Centerline goodness [0,1] 0.9988689714041826 Centerline is valid? [True, True] Translation: X:59.55, Y:3.52, Z:0.35 [[ 9.98823255e-01 -4.38192779e-02 -2.07840207e-02 5.95536862e+01] [ 4.38188277e-02 9.99039380e-01 -4.77294622e-04 3.52362904e+00] [ 2.07849698e-02 -4.33998454e-04 9.99783875e-01 3.51780694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.984391418 meters Centerline goodness [0,1] 0.9989729105148286 Centerline is valid? [True, True] Translation: X:59.58, Y:3.53, Z:0.35 [[ 9.98931664e-01 -4.03872632e-02 -2.24588355e-02 5.95835364e+01] [ 4.03858894e-02 9.99184024e-01 -5.14916386e-04 3.52782529e+00] [ 2.24613057e-02 -3.92653764e-04 9.99747636e-01 3.49575852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01439141799999 meters Centerline goodness [0,1] 0.9991433221965219 Centerline is valid? [True, True] Translation: X:59.61, Y:3.53, Z:0.35 [[ 9.99055999e-01 -3.68500412e-02 -2.30040377e-02 5.96144289e+01] [ 3.68476632e-02 9.99320755e-01 -5.27386514e-04 3.53099132e+00] [ 2.30078466e-02 -3.20756374e-04 9.99735233e-01 3.48147574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04439141799999 meters Centerline goodness [0,1] 0.9991643095911545 Centerline is valid? [True, True] Translation: X:59.64, Y:3.53, Z:0.35 [[ 9.99182484e-01 -3.30726529e-02 -2.32500209e-02 5.96442551e+01] [ 3.30691854e-02 9.99452922e-01 -5.33709188e-04 3.53491977e+00] [ 2.32549525e-02 -2.35586379e-04 9.99729539e-01 3.48027479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07439141799999 meters Centerline goodness [0,1] 0.9992072844134976 Centerline is valid? [True, True] Translation: X:59.67, Y:3.54, Z:0.35 [[ 9.99424951e-01 -2.62122249e-02 -2.15101615e-02 5.96732966e+01] [ 2.62075877e-02 9.99656398e-01 -4.97498906e-04 3.54088127e+00] [ 2.15158111e-02 -6.65166247e-05 9.99768506e-01 3.48276449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10439141799999 meters Centerline goodness [0,1] 0.9993576429779671 Centerline is valid? [True, True] Translation: X:59.70, Y:3.54, Z:0.35 [[ 9.99512567e-01 -2.36158777e-02 -2.04185781e-02 5.97015746e+01] [ 2.36110462e-02 9.99721106e-01 -4.77700552e-04 3.54388793e+00] [ 2.04241648e-02 -4.63628584e-06 9.99791405e-01 3.49116124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13439141799999 meters Centerline goodness [0,1] 0.99916391544827 Centerline is valid? [True, True] Translation: X:59.73, Y:3.55, Z:0.35 [[ 9.99577169e-01 -2.16330039e-02 -1.94292844e-02 5.97296195e+01] [ 2.16281792e-02 9.99765978e-01 -4.58439620e-04 3.54625871e+00] [ 1.94346550e-02 3.80257307e-05 9.99811129e-01 3.50262509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.164391418 meters Centerline goodness [0,1] 0.9990994854202402 Centerline is valid? [True, True] Translation: X:59.76, Y:3.55, Z:0.35 [[ 9.99631933e-01 -1.99264717e-02 -1.84101573e-02 5.97575564e+01] [ 1.99218107e-02 9.99801446e-01 -4.36556381e-04 3.54739932e+00] [ 1.84152009e-02 6.96320308e-05 9.99830423e-01 3.50958992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.194391418 meters Centerline goodness [0,1] 0.9990999099909991 Centerline is valid? [True, True] Translation: X:59.79, Y:3.55, Z:0.35 [[ 9.99595403e-01 -2.18038753e-02 -1.82653211e-02 5.97854057e+01] [ 2.17995271e-02 9.99762267e-01 -4.37152373e-04 3.54650905e+00] [ 1.82705104e-02 3.88001403e-05 9.99833080e-01 3.52955438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.224391418 meters Centerline goodness [0,1] 0.9990368975258967 Centerline is valid? [True, True] Translation: X:59.81, Y:3.54, Z:0.35 [[ 9.99525639e-01 -2.39602084e-02 -1.93495773e-02 5.98136734e+01] [ 2.39556435e-02 9.99712913e-01 -4.67705357e-04 3.54480309e+00] [ 1.93552286e-02 3.95192022e-06 9.99812670e-01 3.51684627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.254391418 meters Centerline goodness [0,1] 0.9991224878539477 Centerline is valid? [True, True] Translation: X:59.84, Y:3.54, Z:0.35 [[ 9.99278396e-01 -3.16727298e-02 -2.09648577e-02 5.98429230e+01] [ 3.16689650e-02 9.99498282e-01 -5.11636858e-04 3.53783716e+00] [ 2.09705442e-02 -1.52667688e-04 9.99780082e-01 3.51483006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.284391418 meters Centerline goodness [0,1] 0.9990596080275278 Centerline is valid? [True, True] Translation: X:59.87, Y:3.53, Z:0.35 [[ 9.99116813e-01 -3.61280767e-02 -2.14559274e-02 5.98729529e+01] [ 3.61250974e-02 9.99347137e-01 -5.26559078e-04 3.53405911e+00] [ 2.14609432e-02 -2.49003440e-04 9.99769656e-01 3.51378312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.314391418 meters Centerline goodness [0,1] 0.9988670856312257 Centerline is valid? [True, True] Translation: X:59.90, Y:3.53, Z:0.35 [[ 9.98932135e-01 -4.01857354e-02 -2.27968378e-02 5.99033260e+01] [ 4.01834201e-02 9.99192163e-01 -5.59828621e-04 3.53028959e+00] [ 2.28009188e-02 -3.56824109e-04 9.99739962e-01 3.50565342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.344391418 meters Centerline goodness [0,1] 0.9988896006833227 Centerline is valid? [True, True] Translation: X:59.93, Y:3.53, Z:0.35 [[ 9.98736490e-01 -4.44621653e-02 -2.34209348e-02 5.99339871e+01] [ 4.44608965e-02 9.99010960e-01 -5.75154756e-04 3.52726717e+00] [ 2.34233432e-02 -4.66887719e-04 9.99725527e-01 3.50907709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.374391418 meters Centerline goodness [0,1] 0.9989957050364324 Centerline is valid? [True, True] Translation: X:59.96, Y:3.52, Z:0.35 [[ 9.98370927e-01 -5.15218062e-02 -2.45152028e-02 5.99635580e+01] [ 5.15225346e-02 9.98671651e-01 -6.02345647e-04 3.52136438e+00] [ 2.45136720e-02 -6.61721003e-04 9.99699276e-01 3.50339800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40439141799999 meters Centerline goodness [0,1] 0.999015811206915 Centerline is valid? [True, True] Translation: X:59.99, Y:3.52, Z:0.35 [[ 9.98188649e-01 -5.47570769e-02 -2.49215528e-02 5.99947901e+01] [ 5.47588489e-02 9.98499421e-01 -6.11849235e-04 3.51951724e+00] [ 2.49176592e-02 -7.53934585e-04 9.99689223e-01 3.50402603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43439141799999 meters Centerline goodness [0,1] 0.9989536845252076 Centerline is valid? [True, True] Translation: X:60.03, Y:3.52, Z:0.35 [[ 9.98017252e-01 -5.77955804e-02 -2.49245865e-02 6.00252854e+01] [ 5.77983155e-02 9.98328093e-01 -6.11264802e-04 3.51658669e+00] [ 2.49182433e-02 -8.30546294e-04 9.99689147e-01 3.49831312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46439141799999 meters Centerline goodness [0,1] 0.9986819167481611 Centerline is valid? [True, True] Translation: X:60.06, Y:3.51, Z:0.35 [[ 9.97723550e-01 -6.32386202e-02 -2.34221020e-02 6.00557020e+01] [ 6.32425428e-02 9.97998022e-01 -5.73970556e-04 3.51122138e+00] [ 2.34115086e-02 -9.08609349e-04 9.99725500e-01 3.49722528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49439141799999 meters Centerline goodness [0,1] 0.9987388042153866 Centerline is valid? [True, True] Translation: X:60.09, Y:3.51, Z:0.35 [[ 9.97582653e-01 -6.53263240e-02 -2.36922336e-02 6.00869143e+01] [ 6.53309432e-02 9.97863483e-01 -5.79837129e-04 3.50993201e+00] [ 2.36794934e-02 -9.69400505e-04 9.99719131e-01 3.49277908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.524391418 meters Centerline goodness [0,1] 0.9986775026129989 Centerline is valid? [True, True] Translation: X:60.12, Y:3.51, Z:0.35 [[ 9.97469284e-01 -6.76778804e-02 -2.17883413e-02 6.01177606e+01] [ 6.76823641e-02 9.97706778e-01 -5.32427894e-04 3.50828130e+00] [ 2.17744093e-02 -9.43605975e-04 9.99762464e-01 3.51222164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.554391418 meters Centerline goodness [0,1] 0.9989751910841624 Centerline is valid? [True, True] Translation: X:60.15, Y:3.51, Z:0.35 [[ 9.97373499e-01 -6.94704577e-02 -2.04928987e-02 6.01497163e+01] [ 6.94748277e-02 9.97583580e-01 -4.99486416e-04 3.51254408e+00] [ 2.04780788e-02 -9.25566094e-04 9.99789874e-01 3.54492965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.584391418 meters Centerline goodness [0,1] 0.9986960518159081 Centerline is valid? [True, True] Translation: X:60.18, Y:3.51, Z:0.36 [[ 9.97278946e-01 -7.13758331e-02 -1.84443598e-02 6.01814187e+01] [ 7.13797204e-02 9.97449114e-01 -4.48331003e-04 3.50798346e+00] [ 1.84293103e-02 -8.69442172e-04 9.99829788e-01 3.55796612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.614391418 meters Centerline goodness [0,1] 0.9987591459501091 Centerline is valid? [True, True] Translation: X:60.21, Y:3.51, Z:0.36 [[ 9.97294467e-01 -7.10847892e-02 -1.87269285e-02 6.02138220e+01] [ 7.10887694e-02 9.97469890e-01 -4.53912662e-04 3.51022868e+00] [ 1.87118136e-02 -8.78589714e-04 9.99824533e-01 3.56176363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.644391418 meters Centerline goodness [0,1] 0.9986958845537146 Centerline is valid? [True, True] Translation: X:60.25, Y:3.51, Z:0.36 [[ 9.97315561e-01 -7.11112529e-02 -1.74602625e-02 6.02450137e+01] [ 7.11147467e-02 9.97468052e-01 -4.21493763e-04 3.51212866e+00] [ 1.74460270e-02 -8.21319857e-04 9.99847469e-01 3.58388822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.674391418 meters Centerline goodness [0,1] 0.9986949917634727 Centerline is valid? [True, True] Translation: X:60.28, Y:3.52, Z:0.36 [[ 9.97397939e-01 -6.96482829e-02 -1.86136679e-02 6.02767711e+01] [ 6.96520354e-02 9.97571247e-01 -4.47406191e-04 3.52255553e+00] [ 1.85996210e-02 -8.50237841e-04 9.99826651e-01 3.58267303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.704391418 meters Centerline goodness [0,1] 0.9988862711501392 Centerline is valid? [True, True] Translation: X:60.31, Y:3.52, Z:0.36 [[ 9.97366089e-01 -7.03574156e-02 -1.76272149e-02 6.03076798e+01] [ 7.03609223e-02 9.97521510e-01 -4.21937761e-04 3.51885328e+00] [ 1.76132125e-02 -8.19440681e-04 9.99844540e-01 3.59269584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.734391418 meters Centerline goodness [0,1] 0.998994351249572 Centerline is valid? [True, True] Translation: X:60.34, Y:3.53, Z:0.36 [[ 9.97364715e-01 -7.01851765e-02 -1.83757120e-02 6.03409398e+01] [ 7.01889996e-02 9.97533615e-01 -4.37603788e-04 3.52652590e+00] [ 1.83611037e-02 -8.53322264e-04 9.99831057e-01 3.59865345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76439141799999 meters Centerline goodness [0,1] 0.9990979381443299 Centerline is valid? [True, True] Translation: X:60.37, Y:3.52, Z:0.36 [[ 9.97335128e-01 -6.97402751e-02 -2.14228239e-02 6.03717727e+01] [ 6.97454106e-02 9.97564694e-01 -5.08254004e-04 3.52473921e+00] [ 2.14060985e-02 -9.87244076e-04 9.99770376e-01 3.56286614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79439141799999 meters Centerline goodness [0,1] 0.9991412254712525 Centerline is valid? [True, True] Translation: X:60.40, Y:3.54, Z:0.36 [[ 9.97407821e-01 -6.81570608e-02 -2.30706287e-02 6.04038675e+01] [ 6.81626340e-02 9.97674074e-01 -5.45636933e-04 3.53821445e+00] [ 2.30541571e-02 -1.02833227e-03 9.99733689e-01 3.56553015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82439141799999 meters Centerline goodness [0,1] 0.9992262058292494 Centerline is valid? [True, True] Translation: X:60.44, Y:3.54, Z:0.36 [[ 9.97457378e-01 -6.73800250e-02 -2.32101382e-02 6.04361085e+01] [ 6.73854995e-02 9.97726864e-01 -5.47061145e-04 3.54181146e+00] [ 2.31942394e-02 -1.01835658e-03 9.99730459e-01 3.57438481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85439141799999 meters Centerline goodness [0,1] 0.9989227620381342 Centerline is valid? [True, True] Translation: X:60.47, Y:3.54, Z:0.36 [[ 9.97589116e-01 -6.51604459e-02 -2.38761624e-02 6.04678105e+01] [ 6.51656508e-02 9.97874302e-01 -5.60829525e-04 3.54348126e+00] [ 2.38619528e-02 -9.96428228e-04 9.99714766e-01 3.55977912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88439141799999 meters Centerline goodness [0,1] 0.9992672255867583 Centerline is valid? [True, True] Translation: X:60.50, Y:3.55, Z:0.36 [[ 9.97783607e-01 -6.22093864e-02 -2.36192033e-02 6.04987716e+01] [ 6.22136845e-02 9.98062699e-01 -5.53517468e-04 3.55131781e+00] [ 2.36078798e-02 -9.17147006e-04 9.99720874e-01 3.57052009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.914391418 meters Centerline goodness [0,1] 0.9992237364153873 Centerline is valid? [True, True] Translation: X:60.53, Y:3.56, Z:0.36 [[ 9.98234936e-01 -5.46712050e-02 -2.31963750e-02 6.05284556e+01] [ 5.46733229e-02 9.98504147e-01 -5.43356958e-04 3.55984061e+00] [ 2.31913826e-02 -7.25825004e-04 9.99730780e-01 3.55967137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.944391418 meters Centerline goodness [0,1] 0.9991796200345423 Centerline is valid? [True, True] Translation: X:60.56, Y:3.57, Z:0.36 [[ 9.98500856e-01 -4.97417978e-02 -2.28427992e-02 6.05600410e+01] [ 4.97425807e-02 9.98761929e-01 -5.34283783e-04 3.56779862e+00] [ 2.28410944e-02 -6.02776967e-04 9.99738926e-01 3.56363039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.974391418 meters Centerline goodness [0,1] 0.9991796200345423 Centerline is valid? [True, True] Translation: X:60.59, Y:3.57, Z:0.36 [[ 9.98504710e-01 -4.96643594e-02 -2.28428367e-02 6.05917435e+01] [ 4.96651587e-02 9.98765782e-01 -5.32676119e-04 3.56845931e+00] [ 2.28410987e-02 -6.02613498e-04 9.99738926e-01 3.56631448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.004391418 meters Centerline goodness [0,1] 0.9996306836697009 Centerline is valid? [True, True] Translation: X:60.62, Y:3.58, Z:0.36 [[ 9.98920815e-01 -4.11975382e-02 -2.14468487e-02 6.06210565e+01] [ 4.11963049e-02 9.99150947e-01 -4.99506174e-04 3.58099133e+00] [ 2.14492176e-02 -3.84563803e-04 9.99769865e-01 3.59520757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.034391418 meters Centerline goodness [0,1] 0.9993894860781022 Centerline is valid? [True, True] Translation: X:60.65, Y:3.59, Z:0.36 [[ 9.99092470e-01 -3.74146821e-02 -2.03562999e-02 6.06521892e+01] [ 3.74127951e-02 9.99299784e-01 -4.73655910e-04 3.58731722e+00] [ 2.03597677e-02 -2.88360022e-04 9.99792677e-01 3.60668148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.064391418 meters Centerline goodness [0,1] 0.9993676544340507 Centerline is valid? [True, True] Translation: X:60.68, Y:3.59, Z:0.36 [[ 9.99245843e-01 -3.36391684e-02 -1.93946161e-02 6.06838577e+01] [ 3.36367625e-02 9.99434023e-01 -4.50349640e-04 3.59353723e+00] [ 1.93987886e-02 -2.02362091e-04 9.99811805e-01 3.62227420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.094391418 meters Centerline goodness [0,1] 0.9995194932838266 Centerline is valid? [True, True] Translation: X:60.71, Y:3.60, Z:0.36 [[ 9.99346946e-01 -3.06440889e-02 -1.91473636e-02 6.07140866e+01] [ 3.06412071e-02 9.99530349e-01 -4.43930986e-04 3.59868404e+00] [ 1.91519749e-02 -1.43057259e-04 9.99816574e-01 3.63046499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.124391418 meters Centerline goodness [0,1] 0.999605721420279 Centerline is valid? [True, True] Translation: X:60.74, Y:3.60, Z:0.36 [[ 9.99459030e-01 -2.77098155e-02 -1.77148066e-02 6.07448617e+01] [ 2.77068967e-02 9.99616006e-01 -4.10225367e-04 3.60497644e+00] [ 1.77193715e-02 -8.08188703e-05 9.99842996e-01 3.64342128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15439141799999 meters Centerline goodness [0,1] 0.9995400989882178 Centerline is valid? [True, True] Translation: X:60.78, Y:3.61, Z:0.36 [[ 9.99458309e-01 -2.76476878e-02 -1.78520223e-02 6.07754145e+01] [ 2.76447224e-02 9.99617726e-01 -4.12911217e-04 3.60661833e+00] [ 1.78566140e-02 -8.08266535e-05 9.99840555e-01 3.64036716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18439141799999 meters Centerline goodness [0,1] 0.9996720881427072 Centerline is valid? [True, True] Translation: X:60.81, Y:3.61, Z:0.36 [[ 9.99431348e-01 -2.85285465e-02 -1.79750771e-02 6.08063745e+01] [ 2.85256917e-02 9.99592973e-01 -4.15251366e-04 3.60758490e+00] [ 1.79796073e-02 -9.77362760e-05 9.99838349e-01 3.64151149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21439141799999 meters Centerline goodness [0,1] 0.9993424801648183 Centerline is valid? [True, True] Translation: X:60.84, Y:3.61, Z:0.36 [[ 9.99293214e-01 -3.19186909e-02 -1.98562012e-02 6.08363523e+01] [ 3.19158832e-02 9.99490453e-01 -4.58365373e-04 3.60671831e+00] [ 1.98607139e-02 -1.75686790e-04 9.99802741e-01 3.60710156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24439141799999 meters Centerline goodness [0,1] 0.9996270621270621 Centerline is valid? [True, True] Translation: X:60.87, Y:3.61, Z:0.36 [[ 9.99191131e-01 -3.46993251e-02 -2.03233960e-02 6.08680202e+01] [ 3.46969674e-02 9.99397769e-01 -4.68722866e-04 3.60589634e+00] [ 2.03274210e-02 -2.36816478e-04 9.99793349e-01 3.60903799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.274391418 meters Centerline goodness [0,1] 0.9995611629182666 Centerline is valid? [True, True] Translation: X:60.90, Y:3.61, Z:0.36 [[ 9.99099367e-01 -3.69347454e-02 -2.08872803e-02 6.08997426e+01] [ 3.69327603e-02 9.99317637e-01 -4.80917274e-04 3.60805579e+00] [ 2.08907902e-02 -2.90940773e-04 9.99781721e-01 3.62392021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.304391418 meters Centerline goodness [0,1] 0.9996709227326577 Centerline is valid? [True, True] Translation: X:60.93, Y:3.60, Z:0.36 [[ 9.98936003e-01 -4.11702928e-02 -2.07814751e-02 6.09301257e+01] [ 4.11692666e-02 9.99152072e-01 -4.77381043e-04 3.60332828e+00] [ 2.07835079e-02 -3.78684981e-04 9.99783928e-01 3.59633125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.334391418 meters Centerline goodness [0,1] 0.9996273074056211 Centerline is valid? [True, True] Translation: X:60.96, Y:3.61, Z:0.36 [[ 9.98891926e-01 -4.28595094e-02 -1.94417541e-02 6.09622434e+01] [ 4.28589573e-02 9.99081034e-01 -4.45253153e-04 3.60541777e+00] [ 1.94429711e-02 -3.88493528e-04 9.99810892e-01 3.61988367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.364391418 meters Centerline goodness [0,1] 0.9994321780340256 Centerline is valid? [True, True] Translation: X:60.99, Y:3.61, Z:0.36 [[ 9.98860097e-01 -4.44211559e-02 -1.74719082e-02 6.09944031e+01] [ 4.44209715e-02 9.99012822e-01 -3.98836545e-04 3.60520208e+00] [ 1.74723771e-02 -3.77737226e-04 9.99847275e-01 3.63758623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.394391418 meters Centerline goodness [0,1] 0.999517077882167 Centerline is valid? [True, True] Translation: X:61.03, Y:3.61, Z:0.37 [[ 9.98820509e-01 -4.68078277e-02 -1.29080846e-02 6.10267298e+01] [ 4.68079369e-02 9.98903865e-01 -2.93818403e-04 3.60564921e+00] [ 1.29076886e-02 -3.10728963e-04 9.99916644e-01 3.68547135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.424391418 meters Centerline goodness [0,1] 0.999453528023083 Centerline is valid? [True, True] Translation: X:61.06, Y:3.61, Z:0.37 [[ 9.98799192e-01 -4.75657448e-02 -1.17334368e-02 6.10584535e+01] [ 4.75658973e-02 9.98868067e-01 -2.66220533e-04 3.60622923e+00] [ 1.17328183e-02 -2.92210597e-04 9.99931125e-01 3.69716948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.454391418 meters Centerline goodness [0,1] 0.9994740532959326 Centerline is valid? [True, True] Translation: X:61.09, Y:3.61, Z:0.37 [[ 9.98727477e-01 -4.92784082e-02 -1.07267995e-02 6.10903296e+01] [ 4.92786429e-02 9.98785040e-01 -2.42590182e-04 3.60675907e+00] [ 1.07257213e-02 -2.86320641e-04 9.99942437e-01 3.71326619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.484391418 meters Centerline goodness [0,1] 0.999430823117338 Centerline is valid? [True, True] Translation: X:61.12, Y:3.60, Z:0.37 [[ 9.98550566e-01 -5.26899439e-02 -1.09789413e-02 6.11219675e+01] [ 5.26904050e-02 9.98610865e-01 -2.47445997e-04 3.60399374e+00] [ 1.09767280e-02 -3.31397525e-04 9.99939699e-01 3.70502931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51439141799999 meters Centerline goodness [0,1] 0.9996933590327668 Centerline is valid? [True, True] Translation: X:61.15, Y:3.60, Z:0.37 [[ 9.98437740e-01 -5.45908410e-02 -1.19130282e-02 6.11530744e+01] [ 5.45915282e-02 9.98508735e-01 -2.67743631e-04 3.60024447e+00] [ 1.19098791e-02 -3.83025068e-04 9.99929002e-01 3.69483745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54439141799999 meters Centerline goodness [0,1] 0.9995622387112307 Centerline is valid? [True, True] Translation: X:61.18, Y:3.60, Z:0.37 [[ 9.98361668e-01 -5.56314503e-02 -1.33836125e-02 6.11848897e+01] [ 5.56324238e-02 9.98451272e-01 -2.99835210e-04 3.60208399e+00] [ 1.33795652e-02 -4.45218821e-04 9.99910390e-01 3.67095904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57439141799999 meters Centerline goodness [0,1] 0.99967155682067 Centerline is valid? [True, True] Translation: X:61.22, Y:3.60, Z:0.37 [[ 9.98243100e-01 -5.76160197e-02 -1.38241935e-02 6.12156871e+01] [ 5.76172685e-02 9.98338698e-01 -3.08258406e-04 3.59759937e+00] [ 1.38189879e-02 -4.88795440e-04 9.99904394e-01 3.66719910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60439141799999 meters Centerline goodness [0,1] 0.9996933590327668 Centerline is valid? [True, True] Translation: X:61.25, Y:3.60, Z:0.37 [[ 9.98106651e-01 -5.94507747e-02 -1.57708367e-02 6.12470833e+01] [ 5.94526564e-02 9.98231065e-01 -3.49911973e-04 3.59694102e+00] [ 1.57637416e-02 -5.88368667e-04 9.99875571e-01 3.65025352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63439141799999 meters Centerline goodness [0,1] 0.9997367901559518 Centerline is valid? [True, True] Translation: X:61.28, Y:3.60, Z:0.36 [[ 9.98124418e-01 -5.88653543e-02 -1.68082409e-02 6.12796483e+01] [ 5.88674278e-02 9.98265740e-01 -3.71804759e-04 3.59808729e+00] [ 1.68009774e-02 -6.18350496e-04 9.99858662e-01 3.63872398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.664391418 meters Centerline goodness [0,1] 0.9996488224578038 Centerline is valid? [True, True] Translation: X:61.31, Y:3.60, Z:0.36 [[ 9.98171040e-01 -5.79497830e-02 -1.72162042e-02 6.13119094e+01] [ 5.79518453e-02 9.98319307e-01 -3.79502197e-04 3.60363369e+00] [ 1.72092611e-02 -6.18902701e-04 9.99851718e-01 3.64141217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.694391418 meters Centerline goodness [0,1] 0.9996918878471763 Centerline is valid? [True, True] Translation: X:61.34, Y:3.61, Z:0.36 [[ 9.98451494e-01 -5.28407544e-02 -1.73916424e-02 6.13426483e+01] [ 5.28421023e-02 9.98602807e-01 -3.82352742e-04 3.60934588e+00] [ 1.73875467e-02 -5.37250281e-04 9.99848681e-01 3.63052543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.724391418 meters Centerline goodness [0,1] 0.999757147588034 Centerline is valid? [True, True] Translation: X:61.37, Y:3.61, Z:0.37 [[ 9.98621938e-01 -4.98507890e-02 -1.64049827e-02 6.13738051e+01] [ 4.98515952e-02 9.98756571e-01 -3.60040575e-04 3.61437991e+00] [ 1.64025325e-02 -4.58270138e-04 9.99865364e-01 3.65694980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.754391418 meters Centerline goodness [0,1] 0.9996240019463428 Centerline is valid? [True, True] Translation: X:61.41, Y:3.62, Z:0.37 [[ 9.98814268e-01 -4.61954317e-02 -1.53635719e-02 6.14056082e+01] [ 4.61957200e-02 9.98932351e-01 -3.36309579e-04 3.62118444e+00] [ 1.53627049e-02 -3.73820459e-04 9.99881917e-01 3.67791219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.784391418 meters Centerline goodness [0,1] 0.9996903682406281 Centerline is valid? [True, True] Translation: X:61.44, Y:3.63, Z:0.37 [[ 9.99009875e-01 -4.19233285e-02 -1.48897545e-02 6.14370502e+01] [ 4.19231388e-02 9.99120786e-01 -3.25002853e-04 3.62609942e+00] [ 1.48902884e-02 -2.99544186e-04 9.99889089e-01 3.68838313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.814391418 meters Centerline goodness [0,1] 0.9996456884715886 Centerline is valid? [True, True] Translation: X:61.47, Y:3.63, Z:0.37 [[ 9.99301451e-01 -3.50611901e-02 -1.29353453e-02 6.14671129e+01] [ 3.50604772e-02 9.99385153e-01 -2.81953330e-04 3.63366270e+00] [ 1.29372777e-02 -1.71763006e-04 9.99916295e-01 3.71714332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.844391418 meters Centerline goodness [0,1] 0.9998228324659506 Centerline is valid? [True, True] Translation: X:61.50, Y:3.64, Z:0.37 [[ 9.99394540e-01 -3.26078373e-02 -1.21359883e-02 6.14985524e+01] [ 3.26070370e-02 9.99468214e-01 -2.63860863e-04 3.63694563e+00] [ 1.21381385e-02 -1.32017514e-04 9.99926321e-01 3.73651773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.874391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.53, Y:3.64, Z:0.37 [[ 9.99467203e-01 -3.01040663e-02 -1.26117095e-02 6.15303452e+01] [ 3.01030221e-02 9.99546764e-01 -2.72662148e-04 3.64081764e+00] [ 1.26142016e-02 -1.07133694e-04 9.99920432e-01 3.73503950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90439141799999 meters Centerline goodness [0,1] 0.9997331316995063 Centerline is valid? [True, True] Translation: X:61.56, Y:3.64, Z:0.37 [[ 9.99514996e-01 -2.73001309e-02 -1.49825171e-02 6.15611393e+01] [ 2.72983598e-02 9.99627278e-01 -3.22752226e-04 3.64449227e+00] [ 1.49857440e-02 -8.64024520e-05 9.99887704e-01 3.69685017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93439141799999 meters Centerline goodness [0,1] 0.9997772133850198 Centerline is valid? [True, True] Translation: X:61.59, Y:3.65, Z:0.37 [[ 9.99487526e-01 -2.74636765e-02 -1.64447874e-02 6.15934345e+01] [ 2.74615844e-02 9.99622797e-01 -3.53062503e-04 3.64609648e+00] [ 1.64482807e-02 -9.87183495e-05 9.99864713e-01 3.68770976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96439141799999 meters Centerline goodness [0,1] 0.9996880778914066 Centerline is valid? [True, True] Translation: X:61.62, Y:3.65, Z:0.37 [[ 9.99450291e-01 -2.78702251e-02 -1.79545781e-02 6.16244348e+01] [ 2.78678206e-02 9.99611543e-01 -3.84152226e-04 3.64609427e+00] [ 1.79583100e-02 -1.16413908e-04 9.99838730e-01 3.65945828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99439141799999 meters Centerline goodness [0,1] 0.9997546067014679 Centerline is valid? [True, True] Translation: X:61.66, Y:3.65, Z:0.36 [[ 9.99376352e-01 -2.91330449e-02 -1.99542599e-02 6.16556301e+01] [ 2.91303471e-02 9.99575531e-01 -4.25917506e-04 3.64617950e+00] [ 1.99581982e-02 -1.55622633e-04 9.99800803e-01 3.61112311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.024391418 meters Centerline goodness [0,1] 0.999843892865904 Centerline is valid? [True, True] Translation: X:61.69, Y:3.65, Z:0.36 [[ 9.99326194e-01 -3.12862248e-02 -1.91919188e-02 6.16868711e+01] [ 3.12841404e-02 9.99510448e-01 -4.08902111e-04 3.64577109e+00] [ 1.91953164e-02 -1.91776092e-04 9.99815735e-01 3.63079143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.054391418 meters Centerline goodness [0,1] 0.9999777019644569 Centerline is valid? [True, True] Translation: X:61.72, Y:3.65, Z:0.36 [[ 9.99298322e-01 -3.28138734e-02 -1.80585891e-02 6.17175712e+01] [ 3.28122898e-02 9.99461458e-01 -3.84060759e-04 3.64537487e+00] [ 1.80614663e-02 -2.08752387e-04 9.99836857e-01 3.63965730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.084391418 meters Centerline goodness [0,1] 0.9998884750072491 Centerline is valid? [True, True] Translation: X:61.75, Y:3.65, Z:0.37 [[ 9.99245506e-01 -3.47778434e-02 -1.72893010e-02 6.17498752e+01] [ 3.47767035e-02 9.99395040e-01 -3.66674477e-04 3.64579038e+00] [ 1.72915938e-02 -2.34867070e-04 9.99850462e-01 3.65655976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.114391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.78, Y:3.65, Z:0.37 [[ 9.99203714e-01 -3.66596105e-02 -1.57483906e-02 6.17821752e+01] [ 3.66589173e-02 9.99327781e-01 -3.32788496e-04 3.64570218e+00] [ 1.57500042e-02 -2.44795449e-04 9.99875931e-01 3.67752868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.144391418 meters Centerline goodness [0,1] 0.9997103128621089 Centerline is valid? [True, True] Translation: X:61.81, Y:3.64, Z:0.37 [[ 9.99070771e-01 -4.09115339e-02 -1.35588004e-02 6.18133165e+01] [ 4.09114236e-02 9.99162736e-01 -2.85620970e-04 3.64338772e+00] [ 1.35591333e-02 -2.69354263e-04 9.99908034e-01 3.70105249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.174391418 meters Centerline goodness [0,1] 0.999732929760527 Centerline is valid? [True, True] Translation: X:61.85, Y:3.64, Z:0.37 [[ 9.98982056e-01 -4.30925529e-02 -1.33373217e-02 6.18457206e+01] [ 4.30926523e-02 9.99071041e-01 -2.80065829e-04 3.64256064e+00] [ 1.33370006e-02 -2.94959827e-04 9.99911015e-01 3.71244650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.204391418 meters Centerline goodness [0,1] 0.9999332250094598 Centerline is valid? [True, True] Translation: X:61.88, Y:3.64, Z:0.37 [[ 9.98888730e-01 -4.51733016e-02 -1.34416819e-02 6.18780520e+01] [ 4.51736052e-02 9.98979112e-01 -2.81183389e-04 3.64200763e+00] [ 1.34406614e-02 -3.26338314e-04 9.99909617e-01 3.71723996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.234391418 meters Centerline goodness [0,1] 0.9997326262783806 Centerline is valid? [True, True] Translation: X:61.91, Y:3.64, Z:0.37 [[ 9.98743045e-01 -4.79066921e-02 -1.47403711e-02 6.19094038e+01] [ 4.79073711e-02 9.98851735e-01 -3.07240601e-04 3.64069903e+00] [ 1.47381641e-02 -3.99318016e-04 9.99891308e-01 3.70477648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26439141799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.94, Y:3.64, Z:0.37 [[ 9.98756282e-01 -4.73286337e-02 -1.56808969e-02 6.19416375e+01] [ 4.73293482e-02 9.98879285e-01 -3.25750745e-04 3.64175003e+00] [ 1.56787404e-02 -4.16821026e-04 9.99876994e-01 3.69439433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29439141799999 meters Centerline goodness [0,1] 0.9996655816649574 Centerline is valid? [True, True] Translation: X:61.97, Y:3.64, Z:0.37 [[ 9.98820688e-01 -4.58762028e-02 -1.58936038e-02 6.19734332e+01] [ 4.58767727e-02 9.98947052e-01 -3.28928717e-04 3.64403467e+00] [ 1.58919586e-02 -4.00606440e-04 9.99873635e-01 3.68617029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32439141799999 meters Centerline goodness [0,1] 0.9996201626597551 Centerline is valid? [True, True] Translation: X:62.00, Y:3.65, Z:0.37 [[ 9.99110159e-01 -3.95041557e-02 -1.47754042e-02 6.20048284e+01] [ 3.95039642e-02 9.99219367e-01 -3.04932155e-04 3.65072124e+00] [ 1.47759161e-02 -2.79026225e-04 9.99890791e-01 3.68287217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35439141799999 meters Centerline goodness [0,1] 0.9999328798997673 Centerline is valid? [True, True] Translation: X:62.04, Y:3.65, Z:0.37 [[ 9.99277270e-01 -3.56635486e-02 -1.31548293e-02 6.20359404e+01] [ 3.56630715e-02 9.99363834e-01 -2.70922729e-04 3.65450641e+00] [ 1.31561227e-02 -1.98414694e-04 9.99913435e-01 3.69366417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38439141799999 meters Centerline goodness [0,1] 0.9997765313191356 Centerline is valid? [True, True] Translation: X:62.07, Y:3.66, Z:0.37 [[ 9.99430520e-01 -3.17237010e-02 -1.14996617e-02 6.20684451e+01] [ 3.17230845e-02 9.99496668e-01 -2.36059629e-04 3.65948401e+00] [ 1.15013622e-02 -1.28879540e-04 9.99933849e-01 3.71323388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.414391418 meters Centerline goodness [0,1] 0.999640643248585 Centerline is valid? [True, True] Translation: X:62.10, Y:3.67, Z:0.38 [[ 9.99667230e-01 -2.46657009e-02 -7.55191920e-03 6.21005740e+01] [ 2.46652378e-02 9.99695755e-01 -1.54458684e-04 3.66810095e+00] [ 7.55343139e-03 -3.18625982e-05 9.99971472e-01 3.75168012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.444391418 meters Centerline goodness [0,1] 0.9997303734327956 Centerline is valid? [True, True] Translation: X:62.13, Y:3.67, Z:0.38 [[ 9.99715276e-01 -2.30639332e-02 -6.11737205e-03 6.21323693e+01] [ 2.30636014e-02 9.99733992e-01 -1.24797252e-04 3.67058865e+00] [ 6.11862309e-03 -1.63269110e-05 9.99981281e-01 3.77913508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.474391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.16, Y:3.67, Z:0.38 [[ 9.99740120e-01 -2.19485168e-02 -6.16084504e-03 6.21646455e+01] [ 2.19481633e-02 9.99759102e-01 -1.25000845e-04 3.67207641e+00] [ 6.16210449e-03 -1.02508729e-05 9.99981014e-01 3.78221801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.504391418 meters Centerline goodness [0,1] 0.9998431548285907 Centerline is valid? [True, True] Translation: X:62.20, Y:3.67, Z:0.38 [[ 9.99707562e-01 -2.23484214e-02 -9.23788155e-03 6.21970329e+01] [ 2.23476533e-02 9.99750243e-01 -1.86373321e-04 3.67147998e+00] [ 9.23973947e-03 -2.01261559e-05 9.99957312e-01 3.75328719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.534391418 meters Centerline goodness [0,1] 0.9997306880919251 Centerline is valid? [True, True] Translation: X:62.23, Y:3.67, Z:0.37 [[ 9.99680925e-01 -2.27100937e-02 -1.10589263e-02 6.22295895e+01] [ 2.27090261e-02 9.99742092e-01 -2.22117803e-04 3.67123682e+00] [ 1.10611184e-02 -2.90905149e-05 9.99938824e-01 3.73452413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.564391418 meters Centerline goodness [0,1] 0.9997529255856786 Centerline is valid? [True, True] Translation: X:62.26, Y:3.67, Z:0.37 [[ 9.99644148e-01 -2.30018759e-02 -1.35089076e-02 6.22620283e+01] [ 2.30003259e-02 9.99735421e-01 -2.70112446e-04 3.67152825e+00] [ 1.35115465e-02 -4.06929519e-05 9.99908714e-01 3.71392747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.594391418 meters Centerline goodness [0,1] 0.9998427036987102 Centerline is valid? [True, True] Translation: X:62.29, Y:3.67, Z:0.37 [[ 9.99617654e-01 -2.26665375e-02 -1.58358544e-02 6.22930144e+01] [ 2.26643823e-02 9.99743080e-01 -3.15572508e-04 3.67233760e+00] [ 1.58389388e-02 -4.34580082e-05 9.99874555e-01 3.69346485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.624391418 meters Centerline goodness [0,1] 0.999797634573009 Centerline is valid? [True, True] Translation: X:62.32, Y:3.68, Z:0.37 [[ 9.99607107e-01 -2.05559380e-02 -1.90548112e-02 6.23231986e+01] [ 2.05524456e-02 9.99788704e-01 -3.79116317e-04 3.67554159e+00] [ 1.90585781e-02 -1.26556057e-05 9.99818369e-01 3.66184131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65439141799999 meters Centerline goodness [0,1] 0.9997973840023413 Centerline is valid? [True, True] Translation: X:62.35, Y:3.68, Z:0.37 [[ 9.99622725e-01 -1.93670174e-02 -1.94762833e-02 6.23528093e+01] [ 1.93631378e-02 9.99812442e-01 -3.87775849e-04 3.67766028e+00] [ 1.94801404e-02 1.05075945e-05 9.99810244e-01 3.66567142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68439141799999 meters Centerline goodness [0,1] 0.9999550773792143 Centerline is valid? [True, True] Translation: X:62.38, Y:3.68, Z:0.37 [[ 9.99653673e-01 -1.83293741e-02 -1.88830078e-02 6.23812808e+01] [ 1.83255211e-02 9.99832002e-01 -3.77073258e-04 3.67858771e+00] [ 1.88867470e-02 3.09017080e-05 9.99821629e-01 3.66055895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71439141799999 meters Centerline goodness [0,1] 0.9998653682179239 Centerline is valid? [True, True] Translation: X:62.41, Y:3.68, Z:0.37 [[ 9.99703251e-01 -1.74395438e-02 -1.70079908e-02 6.24102139e+01] [ 1.74362399e-02 9.99847919e-01 -3.42536488e-04 3.67790724e+00] [ 1.70113779e-02 4.58794330e-05 9.99855295e-01 3.67373305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74439141799999 meters Centerline goodness [0,1] 0.9997081471836203 Centerline is valid? [True, True] Translation: X:62.44, Y:3.68, Z:0.37 [[ 9.99727057e-01 -1.73069801e-02 -1.56933157e-02 6.24397376e+01] [ 1.73041129e-02 9.99850222e-01 -3.18486265e-04 3.67700579e+00] [ 1.56964772e-02 4.68404310e-05 9.99876802e-01 3.67475621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.774391418 meters Centerline goodness [0,1] 0.9998210450966356 Centerline is valid? [True, True] Translation: X:62.47, Y:3.68, Z:0.37 [[ 9.99725915e-01 -1.79967607e-02 -1.49736711e-02 6.24691456e+01] [ 1.79942209e-02 9.99838045e-01 -3.04338222e-04 3.67613723e+00] [ 1.49767232e-02 3.48152603e-05 9.99887842e-01 3.68890630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.804391418 meters Centerline goodness [0,1] 0.9997536228637982 Centerline is valid? [True, True] Translation: X:62.50, Y:3.67, Z:0.37 [[ 9.99716305e-01 -1.88759183e-02 -1.45261255e-02 6.24988173e+01] [ 1.88736167e-02 9.99821834e-01 -2.95526129e-04 3.67404509e+00] [ 1.45291158e-02 2.12817644e-05 9.99894447e-01 3.68677863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.834391418 meters Centerline goodness [0,1] 0.9996877369853236 Centerline is valid? [True, True] Translation: X:62.53, Y:3.67, Z:0.37 [[ 9.99723321e-01 -1.86131866e-02 -1.43816234e-02 6.25297893e+01] [ 1.86109010e-02 9.99826759e-01 -2.92752039e-04 3.67340280e+00] [ 1.43845809e-02 2.50160715e-05 9.99896536e-01 3.67324663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.864391418 meters Centerline goodness [0,1] 0.9996877369853236 Centerline is valid? [True, True] Translation: X:62.56, Y:3.67, Z:0.37 [[ 9.99723321e-01 -1.86131866e-02 -1.43816234e-02 6.25597826e+01] [ 1.86109010e-02 9.99826759e-01 -2.92752039e-04 3.67401334e+00] [ 1.43845809e-02 2.50160715e-05 9.99896536e-01 3.67578750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.894391418 meters Centerline goodness [0,1] 0.9997315316121527 Centerline is valid? [True, True] Translation: X:62.59, Y:3.67, Z:0.37 [[ 9.99715389e-01 -1.95147431e-02 -1.37228515e-02 6.25898636e+01] [ 1.95127471e-02 9.99809569e-01 -2.79342093e-04 3.67313264e+00] [ 1.37256896e-02 1.14920576e-05 9.99905798e-01 3.69805799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.924391418 meters Centerline goodness [0,1] 0.9997766959939262 Centerline is valid? [True, True] Translation: X:62.62, Y:3.67, Z:0.37 [[ 9.99710985e-01 -2.08395086e-02 -1.19858666e-02 6.26208214e+01] [ 2.08380827e-02 9.99782834e-01 -2.43846402e-04 3.67026763e+00] [ 1.19883453e-02 -5.98655308e-06 9.99928137e-01 3.72266252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.954391418 meters Centerline goodness [0,1] 0.9998884799821568 Centerline is valid? [True, True] Translation: X:62.65, Y:3.67, Z:0.37 [[ 9.99702957e-01 -2.16233003e-02 -1.12441368e-02 6.26524575e+01] [ 2.16221004e-02 9.99766189e-01 -2.28283212e-04 3.66853248e+00] [ 1.12464440e-02 -1.49064512e-05 9.99936757e-01 3.72467424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.984391418 meters Centerline goodness [0,1] 0.9997774216524217 Centerline is valid? [True, True] Translation: X:62.68, Y:3.67, Z:0.38 [[ 9.99664919e-01 -2.39152624e-02 -9.90499689e-03 6.26844866e+01] [ 2.39144492e-02 9.99713989e-01 -2.00543260e-04 3.66602029e+00] [ 9.90695999e-03 -3.63964827e-05 9.99950924e-01 3.75341537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01439141799999 meters Centerline goodness [0,1] 0.9997337829443607 Centerline is valid? [True, True] Translation: X:62.72, Y:3.66, Z:0.38 [[ 9.99618550e-01 -2.61115526e-02 -8.99677261e-03 6.27167098e+01] [ 2.61109767e-02 9.99659034e-01 -1.81489710e-04 3.66280464e+00] [ 8.99844399e-03 -5.34940391e-05 9.99959512e-01 3.76858922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04439141799999 meters Centerline goodness [0,1] 0.9998454575560216 Centerline is valid? [True, True] Translation: X:62.75, Y:3.66, Z:0.38 [[ 9.99457698e-01 -3.17186060e-02 -8.84534941e-03 6.27487397e+01] [ 3.17182750e-02 9.99496833e-01 -1.77728761e-04 3.65566719e+00] [ 8.84653603e-03 -1.02926846e-04 9.99960863e-01 3.78222175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07439141799999 meters Centerline goodness [0,1] 0.9998676081200353 Centerline is valid? [True, True] Translation: X:62.78, Y:3.65, Z:0.38 [[ 9.99362298e-01 -3.44664037e-02 -9.33080258e-03 6.27801887e+01] [ 3.44661625e-02 9.99405848e-01 -1.86700342e-04 3.65181669e+00] [ 9.33169355e-03 -1.35015675e-04 9.99956450e-01 3.78449385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10439141799999 meters Centerline goodness [0,1] 0.9996033407523304 Centerline is valid? [True, True] Translation: X:62.81, Y:3.65, Z:0.38 [[ 9.99282094e-01 -3.63784425e-02 -1.05785335e-02 6.28123755e+01] [ 3.63782476e-02 9.99338070e-01 -2.10911375e-04 3.64934538e+00] [ 1.05792039e-02 -1.74068552e-04 9.99944024e-01 3.75608978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13439141799999 meters Centerline goodness [0,1] 0.9997798326728313 Centerline is valid? [True, True] Translation: X:62.84, Y:3.65, Z:0.38 [[ 9.99149491e-01 -3.95797695e-02 -1.15644765e-02 6.28443003e+01] [ 3.95797624e-02 9.99216388e-01 -2.29568320e-04 3.64639673e+00] [ 1.15645007e-02 -2.28346164e-04 9.99933103e-01 3.76334027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.164391418 meters Centerline goodness [0,1] 0.9998021282209129 Centerline is valid? [True, True] Translation: X:62.88, Y:3.64, Z:0.37 [[ 9.98969788e-01 -4.32299838e-02 -1.38032806e-02 6.28768748e+01] [ 4.32303394e-02 9.99065095e-01 -2.72745353e-04 3.63982589e+00] [ 1.38021666e-02 -3.24256139e-04 9.99904693e-01 3.72201374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.194391418 meters Centerline goodness [0,1] 0.9996268574815075 Centerline is valid? [True, True] Translation: X:62.91, Y:3.64, Z:0.37 [[ 9.98916625e-01 -4.42208851e-02 -1.44944484e-02 6.29086244e+01] [ 4.42214032e-02 9.99021715e-01 -2.84913511e-04 3.63700108e+00] [ 1.44928678e-02 -3.56360002e-04 9.99894909e-01 3.70669198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.224391418 meters Centerline goodness [0,1] 0.9996494610463588 Centerline is valid? [True, True] Translation: X:62.94, Y:3.63, Z:0.37 [[ 9.98923168e-01 -4.41943413e-02 -1.41196226e-02 6.29410753e+01] [ 4.41948514e-02 9.99022892e-01 -2.76047212e-04 3.63411592e+00] [ 1.41180259e-02 -3.48264666e-04 9.99900275e-01 3.70474593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.254391418 meters Centerline goodness [0,1] 0.9994314081396112 Centerline is valid? [True, True] Translation: X:62.97, Y:3.63, Z:0.37 [[ 9.98961733e-01 -4.35917947e-02 -1.32367714e-02 6.29731933e+01] [ 4.35922039e-02 9.99049375e-01 -2.57746151e-04 3.63428119e+00] [ 1.32354238e-02 -3.19541497e-04 9.99912357e-01 3.71214313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.284391418 meters Centerline goodness [0,1] 0.9997374926169799 Centerline is valid? [True, True] Translation: X:63.00, Y:3.63, Z:0.37 [[ 9.99033169e-01 -4.21663728e-02 -1.24388515e-02 6.30046570e+01] [ 4.21666386e-02 9.99110563e-01 -2.41012894e-04 3.63408644e+00] [ 1.24379506e-02 -2.83724682e-04 9.99922605e-01 3.72629474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.314391418 meters Centerline goodness [0,1] 0.9995192412753218 Centerline is valid? [True, True] Translation: X:63.04, Y:3.64, Z:0.37 [[ 9.99111397e-01 -4.03765287e-02 -1.20893082e-02 6.30355717e+01] [ 4.03766650e-02 9.99184503e-01 -2.32898986e-04 3.63500006e+00] [ 1.20888531e-02 -2.55433917e-04 9.99926895e-01 3.73985607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.344391418 meters Centerline goodness [0,1] 0.9994103644821035 Centerline is valid? [True, True] Translation: X:63.07, Y:3.64, Z:0.38 [[ 9.99298947e-01 -3.57178517e-02 -1.12182737e-02 6.30682294e+01] [ 3.57176839e-02 9.99361897e-01 -2.15372401e-04 3.63792535e+00] [ 1.12188079e-02 -1.85469340e-04 9.99937050e-01 3.76144226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.374391418 meters Centerline goodness [0,1] 0.9995853520143163 Centerline is valid? [True, True] Translation: X:63.10, Y:3.64, Z:0.38 [[ 9.99388710e-01 -3.29638920e-02 -1.16442747e-02 6.30996260e+01] [ 3.29635367e-02 9.99456530e-01 -2.22488099e-04 3.63956933e+00] [ 1.16452804e-02 -1.61484382e-04 9.99932178e-01 3.76415393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40439141799999 meters Centerline goodness [0,1] 0.999672867642248 Centerline is valid? [True, True] Translation: X:63.13, Y:3.64, Z:0.38 [[ 9.99478823e-01 -2.99347877e-02 -1.20826565e-02 6.31314803e+01] [ 2.99341935e-02 9.99551845e-01 -2.30060374e-04 3.64132359e+00] [ 1.20841284e-02 -1.31744107e-04 9.99926976e-01 3.76261704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43439141799999 meters Centerline goodness [0,1] 0.9995635855808676 Centerline is valid? [True, True] Translation: X:63.16, Y:3.64, Z:0.38 [[ 9.99554535e-01 -2.68866856e-02 -1.29552449e-02 6.31639143e+01] [ 2.68857605e-02 9.99638482e-01 -2.45601268e-04 3.64338799e+00] [ 1.29571648e-02 -1.02819751e-04 9.99916047e-01 3.75412651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46439141799999 meters Centerline goodness [0,1] 0.999716206776109 Centerline is valid? [True, True] Translation: X:63.20, Y:3.64, Z:0.37 [[ 9.99668380e-01 -2.05317019e-02 -1.55428224e-02 6.31957649e+01] [ 2.05296215e-02 9.99789202e-01 -2.93406966e-04 3.64492163e+00] [ 1.55455702e-02 -2.57785955e-05 9.99879160e-01 3.71059850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49439141799999 meters Centerline goodness [0,1] 0.9997816212438854 Centerline is valid? [True, True] Translation: X:63.23, Y:3.65, Z:0.37 [[ 9.99698026e-01 -1.83551514e-02 -1.63384423e-02 6.32258712e+01] [ 1.83525656e-02 9.99831530e-01 -3.08203315e-04 3.64585915e+00] [ 1.63413469e-02 8.25791189e-06 9.99866471e-01 3.70237681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.524391418 meters Centerline goodness [0,1] 0.9996727962829658 Centerline is valid? [True, True] Translation: X:63.25, Y:3.65, Z:0.37 [[ 9.99723665e-01 -1.61771456e-02 -1.70555752e-02 6.32547548e+01] [ 1.61739932e-02 9.99869140e-01 -3.22760511e-04 3.64708813e+00] [ 1.70585646e-02 4.68145634e-05 9.99854491e-01 3.68635647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.554391418 meters Centerline goodness [0,1] 0.9994100939480008 Centerline is valid? [True, True] Translation: X:63.28, Y:3.65, Z:0.37 [[ 9.99772289e-01 -1.31883636e-02 -1.67760644e-02 6.32835408e+01] [ 1.31848431e-02 9.99913025e-01 -3.20438590e-04 3.64860051e+00] [ 1.67788314e-02 9.91758449e-05 9.99859221e-01 3.68801991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.584391418 meters Centerline goodness [0,1] 0.9993246187363835 Centerline is valid? [True, True] Translation: X:63.31, Y:3.65, Z:0.37 [[ 9.99793106e-01 -1.29194270e-02 -1.57109516e-02 6.33118668e+01] [ 1.29162355e-02 9.99916536e-01 -3.04599612e-04 3.64898545e+00] [ 1.57135755e-02 1.01610242e-04 9.99876529e-01 3.70150941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.614391418 meters Centerline goodness [0,1] 0.99952162473635 Centerline is valid? [True, True] Translation: X:63.34, Y:3.65, Z:0.37 [[ 9.99801780e-01 -1.27697117e-02 -1.52753084e-02 6.33401895e+01] [ 1.27666044e-02 9.99918458e-01 -3.00915871e-04 3.64880352e+00] [ 1.52779054e-02 1.05842405e-04 9.99883280e-01 3.70429950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.644391418 meters Centerline goodness [0,1] 0.999739045340872 Centerline is valid? [True, True] Translation: X:63.37, Y:3.65, Z:0.37 [[ 9.99798430e-01 -1.48773190e-02 -1.34819966e-02 6.33680744e+01] [ 1.48750517e-02 9.99889324e-01 -2.68439521e-04 3.64708832e+00] [ 1.34844981e-02 6.78400151e-05 9.99909078e-01 3.74302705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.674391418 meters Centerline goodness [0,1] 0.9997832448249702 Centerline is valid? [True, True] Translation: X:63.40, Y:3.64, Z:0.38 [[ 9.99698922e-01 -2.13054770e-02 -1.21713817e-02 6.33968571e+01] [ 2.13040937e-02 9.99773012e-01 -2.43305433e-04 3.63874866e+00] [ 1.21738027e-02 -1.60680786e-05 9.99925896e-01 3.76979547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.704391418 meters Centerline goodness [0,1] 0.9993504806443232 Centerline is valid? [True, True] Translation: X:63.43, Y:3.63, Z:0.38 [[ 9.99573455e-01 -2.63043054e-02 -1.26882633e-02 6.34284820e+01] [ 2.63032004e-02 9.99653979e-01 -2.53987680e-04 3.63364932e+00] [ 1.26905538e-02 -7.98625878e-05 9.99919468e-01 3.77276072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.734391418 meters Centerline goodness [0,1] 0.999351869855467 Centerline is valid? [True, True] Translation: X:63.46, Y:3.63, Z:0.38 [[ 9.99408449e-01 -3.14530016e-02 -1.39090401e-02 6.34594671e+01] [ 3.14521815e-02 9.99505219e-01 -2.77754271e-04 3.62819254e+00] [ 1.39108944e-02 -1.59879690e-04 9.99903226e-01 3.76953285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76439141799999 meters Centerline goodness [0,1] 0.9993751481329857 Centerline is valid? [True, True] Translation: X:63.49, Y:3.62, Z:0.38 [[ 9.98965371e-01 -4.24648703e-02 -1.62764540e-02 6.34905048e+01] [ 4.24652196e-02 9.99097893e-01 -3.24307497e-04 3.61789847e+00] [ 1.62755426e-02 -3.67211234e-04 9.99867477e-01 3.75441538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79439141799999 meters Centerline goodness [0,1] 0.9990745921749236 Centerline is valid? [True, True] Translation: X:63.52, Y:3.61, Z:0.37 [[ 9.98730430e-01 -4.73238762e-02 -1.72620765e-02 6.35218953e+01] [ 4.73250033e-02 9.98879485e-01 -3.43422389e-04 3.61381425e+00] [ 1.72589861e-02 -4.73941437e-04 9.99850940e-01 3.74434288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82439141799999 meters Centerline goodness [0,1] 0.9992896810021955 Centerline is valid? [True, True] Translation: X:63.55, Y:3.61, Z:0.37 [[ 9.98536326e-01 -5.09843739e-02 -1.80499286e-02 6.35531322e+01] [ 5.09862203e-02 9.98699293e-01 -3.58177501e-04 3.60919927e+00] [ 1.80447124e-02 -5.62644392e-04 9.99837023e-01 3.73673158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85439141799999 meters Centerline goodness [0,1] 0.9993975903614458 Centerline is valid? [True, True] Translation: X:63.58, Y:3.61, Z:0.37 [[ 9.98294514e-01 -5.58101106e-02 -1.71258394e-02 6.35845516e+01] [ 5.58124959e-02 9.98441210e-01 -3.39012089e-04 3.60686375e+00] [ 1.71180641e-02 -6.17401932e-04 9.99853285e-01 3.74466119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88439141799999 meters Centerline goodness [0,1] 0.9992266214096973 Centerline is valid? [True, True] Translation: X:63.62, Y:3.61, Z:0.38 [[ 9.98248142e-01 -5.69075860e-02 -1.61917831e-02 6.36153692e+01] [ 5.69098835e-02 9.98379268e-01 -3.19212226e-04 3.60553309e+00] [ 1.61837061e-02 -6.02819476e-04 9.99868854e-01 3.75407492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.914391418 meters Centerline goodness [0,1] 0.9992476839412764 Centerline is valid? [True, True] Translation: X:63.65, Y:3.60, Z:0.38 [[ 9.98216020e-01 -5.79540046e-02 -1.43565434e-02 6.36468601e+01] [ 5.79559376e-02 9.98319102e-01 -2.81719875e-04 3.60430620e+00] [ 1.43487383e-02 -5.50829639e-04 9.99896900e-01 3.77977866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.944391418 meters Centerline goodness [0,1] 0.9992702296630178 Centerline is valid? [True, True] Translation: X:63.68, Y:3.60, Z:0.38 [[ 9.98232568e-01 -5.78421917e-02 -1.36389739e-02 6.36787851e+01] [ 5.78439380e-02 9.98325602e-01 -2.66742951e-04 3.60479106e+00] [ 1.36315658e-02 -5.22660457e-04 9.99906949e-01 3.79571010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.974391418 meters Centerline goodness [0,1] 0.9993546582915653 Centerline is valid? [True, True] Translation: X:63.71, Y:3.61, Z:0.38 [[ 9.98272196e-01 -5.72713550e-02 -1.31382994e-02 6.37101165e+01] [ 5.72729382e-02 9.98358525e-01 -2.56025261e-04 3.60505359e+00] [ 1.31313962e-02 -4.96886113e-04 9.99913656e-01 3.80488537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.004391418 meters Centerline goodness [0,1] 0.9993766122098022 Centerline is valid? [True, True] Translation: X:63.74, Y:3.61, Z:0.38 [[ 9.98314865e-01 -5.65471498e-02 -1.30326924e-02 6.37427646e+01] [ 5.65486585e-02 9.98399812e-01 -2.53006610e-04 3.60797331e+00] [ 1.30261445e-02 -4.84401014e-04 9.99915039e-01 3.81229563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.034391418 meters Centerline goodness [0,1] 0.9992903683633314 Centerline is valid? [True, True] Translation: X:63.77, Y:3.61, Z:0.38 [[ 9.98439239e-01 -5.43821028e-02 -1.27150669e-02 6.37745738e+01] [ 5.43833785e-02 9.98520099e-01 -2.45656837e-04 3.60962204e+00] [ 1.27096091e-02 -4.46214868e-04 9.99919130e-01 3.80922340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.064391418 meters Centerline goodness [0,1] 0.999461972194723 Centerline is valid? [True, True] Translation: X:63.81, Y:3.61, Z:0.38 [[ 9.98523522e-01 -5.28520319e-02 -1.25474288e-02 6.38056820e+01] [ 5.28531652e-02 9.98602265e-01 -2.41490436e-04 3.60925383e+00] [ 1.25426540e-02 -4.22037444e-04 9.99921249e-01 3.80963815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.094391418 meters Centerline goodness [0,1] 0.9993330895165975 Centerline is valid? [True, True] Translation: X:63.84, Y:3.61, Z:0.38 [[ 9.98620845e-01 -5.09454949e-02 -1.26871591e-02 6.38382669e+01] [ 5.09465119e-02 9.98701354e-01 -2.43230542e-04 3.61359574e+00] [ 1.26830744e-02 -4.03471411e-04 9.99919485e-01 3.81681981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.124391418 meters Centerline goodness [0,1] 0.9991185449542074 Centerline is valid? [True, True] Translation: X:63.87, Y:3.62, Z:0.38 [[ 9.98718918e-01 -4.89921788e-02 -1.26605748e-02 6.38709314e+01] [ 4.89930511e-02 9.98799090e-01 -2.41433528e-04 3.61558486e+00] [ 1.26571990e-02 -3.79155958e-04 9.99919823e-01 3.81742798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15439141799999 meters Centerline goodness [0,1] 0.999504609287499 Centerline is valid? [True, True] Translation: X:63.90, Y:3.62, Z:0.38 [[ 9.98936207e-01 -4.43020383e-02 -1.27977927e-02 6.39026913e+01] [ 4.43025594e-02 9.99018130e-01 -2.42916466e-04 3.61917808e+00] [ 1.27959887e-02 -3.24316920e-04 9.99918075e-01 3.81037082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18439141799999 meters Centerline goodness [0,1] 0.9997414071759508 Centerline is valid? [True, True] Translation: X:63.93, Y:3.62, Z:0.38 [[ 9.99044961e-01 -4.14609232e-02 -1.37897857e-02 6.39337341e+01] [ 4.14612699e-02 9.99140078e-01 -2.60864733e-04 3.62171519e+00] [ 1.37887432e-02 -3.11126430e-04 9.99904882e-01 3.80543306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21439141799999 meters Centerline goodness [0,1] 0.9995252891420681 Centerline is valid? [True, True] Translation: X:63.97, Y:3.62, Z:0.38 [[ 9.99171061e-01 -3.77950259e-02 -1.51236952e-02 6.39654389e+01] [ 3.77950398e-02 9.99285472e-01 -2.85002494e-04 3.62499056e+00] [ 1.51236606e-02 -2.86834417e-04 9.99885590e-01 3.79149327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24439141799999 meters Centerline goodness [0,1] 0.999524015577672 Centerline is valid? [True, True] Translation: X:64.00, Y:3.63, Z:0.38 [[ 9.99417452e-01 -2.94612670e-02 -1.72276037e-02 6.39967601e+01] [ 2.94600663e-02 9.99565906e-01 -3.23529614e-04 3.63369878e+00] [ 1.72296568e-02 -1.84185204e-04 9.99851541e-01 3.76294120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.274391418 meters Centerline goodness [0,1] 0.9997401191120736 Centerline is valid? [True, True] Translation: X:64.03, Y:3.64, Z:0.38 [[ 9.99534652e-01 -2.49867770e-02 -1.74968721e-02 6.40271368e+01] [ 2.49848589e-02 9.99687776e-01 -3.28244744e-04 3.63920112e+00] [ 1.74996110e-02 -1.09064886e-04 9.99846864e-01 3.76829657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.304391418 meters Centerline goodness [0,1] 0.9997614296868222 Centerline is valid? [True, True] Translation: X:64.06, Y:3.65, Z:0.38 [[ 9.99646200e-01 -2.00744612e-02 -1.74496650e-02 6.40572331e+01] [ 2.00718051e-02 9.99798487e-01 -3.27359128e-04 3.64500908e+00] [ 1.74527202e-02 -2.30029651e-05 9.99847689e-01 3.77880017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.334391418 meters Centerline goodness [0,1] 0.999869822741967 Centerline is valid? [True, True] Translation: X:64.09, Y:3.65, Z:0.38 [[ 9.99740320e-01 -1.58443244e-02 -1.63783187e-02 6.40857815e+01] [ 1.58413816e-02 9.99874470e-01 -3.09405569e-04 3.65018516e+00] [ 1.63811650e-02 4.98700266e-05 9.99865818e-01 3.78940976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.364391418 meters Centerline goodness [0,1] 0.9995657931872951 Centerline is valid? [True, True] Translation: X:64.11, Y:3.66, Z:0.38 [[ 9.99835681e-01 -9.34529735e-03 -1.55330561e-02 6.41132069e+01] [ 9.34181640e-03 9.99956320e-01 -2.96643516e-04 3.65696382e+00] [ 1.55351499e-02 1.51487813e-04 9.99879311e-01 3.80451737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.394391418 meters Centerline goodness [0,1] 0.9998479979154 Centerline is valid? [True, True] Translation: X:64.14, Y:3.66, Z:0.38 [[ 9.99857679e-01 -8.07691319e-03 -1.48116730e-02 6.41407700e+01] [ 8.07358267e-03 9.99967368e-01 -2.84639903e-04 3.65880512e+00] [ 1.48134887e-02 1.65016126e-04 9.99890261e-01 3.82513699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.424391418 meters Centerline goodness [0,1] 0.9998261171970092 Centerline is valid? [True, True] Translation: X:64.17, Y:3.66, Z:0.38 [[ 9.99843898e-01 -8.25655154e-03 -1.56207728e-02 6.41687798e+01] [ 8.25282207e-03 9.99965899e-01 -3.03198100e-04 3.65929252e+00] [ 1.56227435e-02 1.74235311e-04 9.99877942e-01 3.82413529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.454391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.20, Y:3.66, Z:0.38 [[ 9.99786552e-01 -8.79158219e-03 -1.86964596e-02 6.41964749e+01] [ 8.78625740e-03 9.99961333e-01 -3.66927895e-04 3.65822417e+00] [ 1.86989626e-02 2.02577668e-04 9.99825139e-01 3.78686321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.484391418 meters Centerline goodness [0,1] 0.9997615021031179 Centerline is valid? [True, True] Translation: X:64.22, Y:3.66, Z:0.38 [[ 9.99755640e-01 -9.47466486e-03 -1.99722790e-02 6.42248613e+01] [ 9.46864389e-03 9.99955093e-01 -3.96011208e-04 3.65669980e+00] [ 1.99751342e-02 2.06804040e-04 9.99800456e-01 3.77485379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51439141799999 meters Centerline goodness [0,1] 0.9998263323564528 Centerline is valid? [True, True] Translation: X:64.25, Y:3.66, Z:0.38 [[ 9.99721975e-01 -1.01932364e-02 -2.12619360e-02 6.42539655e+01] [ 1.01864448e-02 9.99948025e-01 -4.27709249e-04 3.65697559e+00] [ 2.12651907e-02 2.11006798e-04 9.99773848e-01 3.76298118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54439141799999 meters Centerline goodness [0,1] 0.9999782338985265 Centerline is valid? [True, True] Translation: X:64.28, Y:3.66, Z:0.38 [[ 9.99734251e-01 -1.04053782e-02 -2.05707413e-02 6.42814301e+01] [ 1.03989933e-02 9.99945842e-01 -4.17335859e-04 3.65831919e+00] [ 2.05739697e-02 2.03309952e-04 9.99788313e-01 3.75781672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57439141799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.31, Y:3.66, Z:0.38 [[ 9.99784097e-01 -1.03986109e-02 -1.79896625e-02 6.43092166e+01] [ 1.03936965e-02 9.99945917e-01 -3.66653405e-04 3.65929041e+00] [ 1.79925022e-02 1.79595151e-04 9.99838106e-01 3.77190028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60439141799999 meters Centerline goodness [0,1] 0.9999566047561187 Centerline is valid? [True, True] Translation: X:64.34, Y:3.66, Z:0.38 [[ 9.99824997e-01 -1.10722521e-02 -1.50791289e-02 6.43377021e+01] [ 1.10688380e-02 9.99938691e-01 -3.09853045e-04 3.65859728e+00] [ 1.50816352e-02 1.42890384e-04 9.99886255e-01 3.80611797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63439141799999 meters Centerline goodness [0,1] 0.9996754370780682 Centerline is valid? [True, True] Translation: X:64.37, Y:3.65, Z:0.39 [[ 9.99854711e-01 -1.38138920e-02 -9.98668855e-03 6.43668430e+01] [ 1.38125117e-02 9.99904581e-01 -2.07184203e-04 3.65352208e+00] [ 9.98859765e-03 6.92128492e-05 9.99950110e-01 3.86291834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.664391418 meters Centerline goodness [0,1] 0.9995682397133112 Centerline is valid? [True, True] Translation: X:64.40, Y:3.65, Z:0.39 [[ 9.99841044e-01 -1.53197417e-02 -9.12098951e-03 6.43966958e+01] [ 1.53186328e-02 9.99882645e-01 -1.91427578e-04 3.65062203e+00] [ 9.12285173e-03 5.16760606e-05 9.99958385e-01 3.86935551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.694391418 meters Centerline goodness [0,1] 0.9994617405158679 Centerline is valid? [True, True] Translation: X:64.43, Y:3.64, Z:0.39 [[ 9.99758332e-01 -1.98707972e-02 -9.40363826e-03 6.44272788e+01] [ 1.98698182e-02 9.99802556e-01 -1.97534574e-04 3.64433919e+00] [ 9.40570674e-03 1.06382539e-05 9.99955765e-01 3.88191316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.724391418 meters Centerline goodness [0,1] 0.9995915998538357 Centerline is valid? [True, True] Translation: X:64.46, Y:3.64, Z:0.39 [[ 9.99715478e-01 -2.16288130e-02 -1.00577365e-02 6.44588501e+01] [ 2.16277841e-02 9.99766070e-01 -2.11063306e-04 3.64247780e+00] [ 1.00599487e-02 -6.52329985e-06 9.99949397e-01 3.87792229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.754391418 meters Centerline goodness [0,1] 0.9995709167363926 Centerline is valid? [True, True] Translation: X:64.49, Y:3.64, Z:0.39 [[ 9.99675509e-01 -2.29327118e-02 -1.10890507e-02 6.44915004e+01] [ 2.29315574e-02 9.99737011e-01 -2.31258117e-04 3.64097775e+00] [ 1.10914378e-02 -2.31061267e-05 9.99938488e-01 3.87195943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.784391418 meters Centerline goodness [0,1] 0.9995709167363926 Centerline is valid? [True, True] Translation: X:64.52, Y:3.64, Z:0.39 [[ 9.99676409e-01 -2.28934545e-02 -1.10890667e-02 6.45223416e+01] [ 2.28923062e-02 9.99737910e-01 -2.30488390e-04 3.64158011e+00] [ 1.10914370e-02 -2.34405043e-05 9.99938488e-01 3.87456994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.814391418 meters Centerline goodness [0,1] 0.9996136095309649 Centerline is valid? [True, True] Translation: X:64.55, Y:3.64, Z:0.39 [[ 9.99643279e-01 -2.36050854e-02 -1.24945498e-02 6.45522381e+01] [ 2.36036888e-02 9.99721361e-01 -2.59248401e-04 3.64056697e+00] [ 1.24971879e-02 -3.57615429e-05 9.99921906e-01 3.86113531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.844391418 meters Centerline goodness [0,1] 0.9995058120796717 Centerline is valid? [True, True] Translation: X:64.58, Y:3.64, Z:0.38 [[ 9.99616483e-01 -2.37115701e-02 -1.43055274e-02 6.45838480e+01] [ 2.37097562e-02 9.99718840e-01 -2.96409867e-04 3.64026871e+00] [ 1.43085336e-02 -4.28843784e-05 9.99897627e-01 3.84523581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87439141799999 meters Centerline goodness [0,1] 0.9994017477512125 Centerline is valid? [True, True] Translation: X:64.61, Y:3.64, Z:0.38 [[ 9.99556317e-01 -2.41324345e-02 -1.74583722e-02 6.46144223e+01] [ 2.41298040e-02 9.99708769e-01 -3.61337514e-04 3.63917058e+00] [ 1.74620077e-02 -6.00899050e-05 9.99847526e-01 3.81639522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90439141799999 meters Centerline goodness [0,1] 0.9992705271514085 Centerline is valid? [True, True] Translation: X:64.64, Y:3.64, Z:0.38 [[ 9.99525822e-01 -2.47510423e-02 -1.83171458e-02 6.46434577e+01] [ 2.47482364e-02 9.99693643e-01 -3.79875431e-04 3.63829257e+00] [ 1.83209365e-02 -7.36217531e-05 9.99832155e-01 3.80916426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93439141799999 meters Centerline goodness [0,1] 0.9989714359183148 Centerline is valid? [True, True] Translation: X:64.67, Y:3.64, Z:0.38 [[ 9.99450174e-01 -2.76620860e-02 -1.82799825e-02 6.46719986e+01] [ 2.76597159e-02 9.99617324e-01 -3.82521830e-04 3.63596765e+00] [ 1.82835685e-02 -1.23307612e-04 9.99832834e-01 3.81422228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96439141799999 meters Centerline goodness [0,1] 0.9989925621074743 Centerline is valid? [True, True] Translation: X:64.70, Y:3.64, Z:0.38 [[ 9.99405124e-01 -2.90608127e-02 -1.85705813e-02 6.47020204e+01] [ 2.90585593e-02 9.99577634e-01 -3.91227082e-04 3.63516463e+00] [ 1.85741071e-02 -1.48639988e-04 9.99827475e-01 3.82410044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99439141799999 meters Centerline goodness [0,1] 0.9988218156891308 Centerline is valid? [True, True] Translation: X:64.73, Y:3.63, Z:0.38 [[ 9.99347030e-01 -3.09269983e-02 -1.86824390e-02 6.47312094e+01] [ 3.09250367e-02 9.99521629e-01 -3.93958231e-04 3.63380403e+00] [ 1.86856858e-02 -1.84054125e-04 9.99825390e-01 3.83103941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.024391418 meters Centerline goodness [0,1] 0.9989729105148286 Centerline is valid? [True, True] Translation: X:64.76, Y:3.63, Z:0.38 [[ 9.99280868e-01 -3.27907153e-02 -1.90398280e-02 6.47617263e+01] [ 3.27890129e-02 9.99462215e-01 -4.01666251e-04 3.63264088e+00] [ 1.90427596e-02 -2.22919765e-04 9.99818645e-01 3.84048853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.054391418 meters Centerline goodness [0,1] 0.9992725716730851 Centerline is valid? [True, True] Translation: X:64.79, Y:3.63, Z:0.38 [[ 9.99118597e-01 -3.70549141e-02 -1.97221423e-02 6.47916742e+01] [ 3.70539401e-02 9.99313181e-01 -4.14937794e-04 3.62815215e+00] [ 1.97239723e-02 -3.16211014e-04 9.99805414e-01 3.84089826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.084391418 meters Centerline goodness [0,1] 0.9991232197083102 Centerline is valid? [True, True] Translation: X:64.82, Y:3.63, Z:0.38 [[ 9.99009731e-01 -3.96926147e-02 -2.01010717e-02 6.48229290e+01] [ 3.96921630e-02 9.99211867e-01 -4.21592125e-04 3.62702357e+00] [ 2.01019634e-02 -3.76680378e-04 9.99797864e-01 3.84335018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.114391418 meters Centerline goodness [0,1] 0.999486136387967 Centerline is valid? [True, True] Translation: X:64.85, Y:3.63, Z:0.38 [[ 9.98868737e-01 -4.27774439e-02 -2.07686288e-02 6.48537822e+01] [ 4.27776354e-02 9.99084523e-01 -4.35249367e-04 3.62525951e+00] [ 2.07682345e-02 -4.53675845e-04 9.99784214e-01 3.84687743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.144391418 meters Centerline goodness [0,1] 0.9992087930887007 Centerline is valid? [True, True] Translation: X:64.88, Y:3.62, Z:0.38 [[ 9.98555422e-01 -4.96927694e-02 -2.04376814e-02 6.48839066e+01] [ 4.96944016e-02 9.98764378e-01 -4.28313683e-04 3.61936787e+00] [ 2.04337123e-02 -5.87943398e-04 9.99791037e-01 3.84978886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.174391418 meters Centerline goodness [0,1] 0.9988458825792387 Centerline is valid? [True, True] Translation: X:64.92, Y:3.62, Z:0.39 [[ 9.98393467e-01 -5.31249035e-02 -1.97035460e-02 6.49152519e+01] [ 5.31270970e-02 9.98587673e-01 -4.12476067e-04 3.61835916e+00] [ 1.96976309e-02 -6.34978789e-04 9.99805781e-01 3.85939619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.204391418 meters Centerline goodness [0,1] 0.9991454452230388 Centerline is valid? [True, True] Translation: X:64.95, Y:3.61, Z:0.39 [[ 9.98227063e-01 -5.63978377e-02 -1.90266649e-02 6.49464385e+01] [ 5.64004950e-02 9.98408146e-01 -3.97341021e-04 3.61347344e+00] [ 1.90187864e-02 -6.76476756e-04 9.99818898e-01 3.86275945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.234391418 meters Centerline goodness [0,1] 0.9986975274373319 Centerline is valid? [True, True] Translation: X:64.98, Y:3.61, Z:0.39 [[ 9.97823001e-01 -6.37698894e-02 -1.68124859e-02 6.49769070e+01] [ 6.37730166e-02 9.97964368e-01 -3.50605640e-04 3.60686989e+00] [ 1.68006200e-02 -7.22340574e-04 9.99858599e-01 3.87790337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26439141799999 meters Centerline goodness [0,1] 0.9987629569594335 Centerline is valid? [True, True] Translation: X:65.01, Y:3.60, Z:0.39 [[ 9.97588361e-01 -6.75504130e-02 -1.59500374e-02 6.50079730e+01] [ 6.75537127e-02 9.97715583e-01 -3.32429056e-04 3.60309136e+00] [ 1.59360566e-02 -7.45856886e-04 9.99872735e-01 3.88953873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29439141799999 meters Centerline goodness [0,1] 0.9988690679412768 Centerline is valid? [True, True] Translation: X:65.04, Y:3.60, Z:0.39 [[ 9.97378436e-01 -7.08559026e-02 -1.46865897e-02 6.50393265e+01] [ 7.08590635e-02 9.97486290e-01 -3.05690143e-04 3.60234909e+00] [ 1.46713318e-02 -7.35789236e-04 9.99892099e-01 3.91162805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32439141799999 meters Centerline goodness [0,1] 0.9986973049160722 Centerline is valid? [True, True] Translation: X:65.07, Y:3.59, Z:0.39 [[ 9.97046831e-01 -7.51521839e-02 -1.58039753e-02 6.50694960e+01] [ 7.51563880e-02 9.97171705e-01 -3.28577890e-04 3.59369275e+00] [ 1.57839704e-02 -8.60162158e-04 9.99875055e-01 3.90956995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35439141799999 meters Centerline goodness [0,1] 0.9987827795336124 Centerline is valid? [True, True] Translation: X:65.10, Y:3.60, Z:0.39 [[ 9.96910986e-01 -7.66253154e-02 -1.72350777e-02 6.51009951e+01] [ 7.66305443e-02 9.97059493e-01 -3.57794212e-04 3.59981874e+00] [ 1.72118139e-02 -9.64044404e-04 9.99851401e-01 3.91874653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38439141799999 meters Centerline goodness [0,1] 0.9989747314009868 Centerline is valid? [True, True] Translation: X:65.13, Y:3.60, Z:0.39 [[ 9.96843861e-01 -7.68523824e-02 -1.99004419e-02 6.51320410e+01] [ 7.68594252e-02 9.97041854e-01 -4.11831514e-04 3.59827786e+00] [ 1.98732237e-02 -1.11900481e-03 9.99801882e-01 3.89535354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.414391418 meters Centerline goodness [0,1] 0.9987796000513852 Centerline is valid? [True, True] Translation: X:65.16, Y:3.60, Z:0.38 [[ 9.96892787e-01 -7.47684151e-02 -2.47881998e-02 6.51641455e+01] [ 7.47787509e-02 9.97200019e-01 -5.11028123e-04 3.60181914e+00] [ 2.47570021e-02 -1.34419037e-03 9.99692595e-01 3.83512023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.444391418 meters Centerline goodness [0,1] 0.9989497149226219 Centerline is valid? [True, True] Translation: X:65.20, Y:3.61, Z:0.39 [[ 9.97015235e-01 -7.33335797e-02 -2.41413953e-02 6.51958495e+01] [ 7.33430026e-02 9.97306652e-01 -4.96071404e-04 3.60619818e+00] [ 2.41127528e-02 -1.27601167e-03 9.99708431e-01 3.86149305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.474391418 meters Centerline goodness [0,1] 0.9992502945271501 Centerline is valid? [True, True] Translation: X:65.23, Y:3.61, Z:0.39 [[ 9.97241784e-01 -7.05014734e-02 -2.32027072e-02 6.52271272e+01] [ 7.05094384e-02 9.97510999e-01 -4.75675084e-04 3.61040750e+00] [ 2.31784914e-02 -1.16164678e-03 9.99730668e-01 3.86915063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.504391418 meters Centerline goodness [0,1] 0.9989748627811118 Centerline is valid? [True, True] Translation: X:65.26, Y:3.61, Z:0.39 [[ 9.97499400e-01 -6.72420920e-02 -2.17588601e-02 6.52574695e+01] [ 6.72483355e-02 9.97736169e-01 -4.45472022e-04 3.61224814e+00] [ 2.17395562e-02 -1.01888905e-03 9.99763149e-01 3.88630948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.534391418 meters Centerline goodness [0,1] 0.9991209639380816 Centerline is valid? [True, True] Translation: X:65.29, Y:3.62, Z:0.39 [[ 9.98118897e-01 -5.83675159e-02 -1.87590122e-02 6.52877798e+01] [ 5.83705932e-02 9.98294910e-01 -3.83915434e-04 3.62475285e+00] [ 1.87494346e-02 -7.11781423e-04 9.99823961e-01 3.93820549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.564391418 meters Centerline goodness [0,1] 0.998755952125606 Centerline is valid? [True, True] Translation: X:65.32, Y:3.64, Z:0.40 [[ 9.98669039e-01 -4.80308705e-02 -1.87932269e-02 6.53167674e+01] [ 4.80321260e-02 9.98845717e-01 -3.84824830e-04 3.63655302e+00] [ 1.87900176e-02 -5.18365997e-04 9.99823318e-01 3.95278960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.594391418 meters Centerline goodness [0,1] 0.9991616328811883 Centerline is valid? [True, True] Translation: X:65.35, Y:3.64, Z:0.40 [[ 9.98880205e-01 -4.33529633e-02 -1.89435196e-02 6.53484481e+01] [ 4.33534074e-02 9.99059724e-01 -3.87421785e-04 3.64407901e+00] [ 1.89425034e-02 -4.34278171e-04 9.99820480e-01 3.97416869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62439141799999 meters Centerline goodness [0,1] 0.9995053869809252 Centerline is valid? [True, True] Translation: X:65.38, Y:3.65, Z:0.40 [[ 9.99196267e-01 -3.47868595e-02 -1.99171864e-02 6.53793000e+01] [ 3.47856691e-02 9.99394713e-01 -4.06318546e-04 3.65261767e+00] [ 1.99192653e-02 -2.86840681e-04 9.99801551e-01 3.97524704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65439141799999 meters Centerline goodness [0,1] 0.9993941361029969 Centerline is valid? [True, True] Translation: X:65.41, Y:3.66, Z:0.40 [[ 9.99412987e-01 -2.74519162e-02 -2.04956968e-02 6.54100531e+01] [ 2.74491256e-02 9.99623115e-01 -4.17523039e-04 3.66310895e+00] [ 2.04994340e-02 -1.45311006e-04 9.99789854e-01 3.99062758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68439141799999 meters Centerline goodness [0,1] 0.9995463970969414 Centerline is valid? [True, True] Translation: X:65.44, Y:3.67, Z:0.39 [[ 9.99478071e-01 -2.34158414e-02 -2.22549685e-02 6.54387077e+01] [ 2.34115364e-02 9.99725809e-01 -4.54001018e-04 3.66710912e+00] [ 2.22594972e-02 -6.72589430e-05 9.99752224e-01 3.94204174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71439141799999 meters Centerline goodness [0,1] 0.999525196935362 Centerline is valid? [True, True] Translation: X:65.47, Y:3.67, Z:0.39 [[ 9.99494832e-01 -2.39450922e-02 -2.08977096e-02 6.54678400e+01] [ 2.39413302e-02 9.99713273e-01 -4.30225449e-04 3.66667774e+00] [ 2.09020195e-02 -7.03108544e-05 9.99781526e-01 3.93213840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74439141799999 meters Centerline goodness [0,1] 0.999525196935362 Centerline is valid? [True, True] Translation: X:65.50, Y:3.67, Z:0.39 [[ 9.99487211e-01 -2.42612137e-02 -2.08975792e-02 6.54952124e+01] [ 2.42573897e-02 9.99705651e-01 -4.36496366e-04 3.66738717e+00] [ 2.09020180e-02 -7.06481871e-05 9.99781526e-01 3.93446519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.774391418 meters Centerline goodness [0,1] 0.999525196935362 Centerline is valid? [True, True] Translation: X:65.52, Y:3.67, Z:0.39 [[ 9.99480467e-01 -2.45375882e-02 -2.08974503e-02 6.55234332e+01] [ 2.45336967e-02 9.99698906e-01 -4.42610222e-04 3.66808463e+00] [ 2.09020187e-02 -7.03114365e-05 9.99781526e-01 3.93686490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.804391418 meters Centerline goodness [0,1] 0.9996546141392336 Centerline is valid? [True, True] Translation: X:65.55, Y:3.67, Z:0.40 [[ 9.99461134e-01 -2.65735131e-02 -1.92688904e-02 6.55518327e+01] [ 2.65704841e-02 9.99646857e-01 -4.13241638e-04 3.66794763e+00] [ 1.92730670e-02 -9.89647891e-05 9.99814252e-01 3.96828385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.834391418 meters Centerline goodness [0,1] 0.9995050676766155 Centerline is valid? [True, True] Translation: X:65.58, Y:3.67, Z:0.40 [[ 9.99425231e-01 -2.82598259e-02 -1.87240454e-02 6.55812383e+01] [ 2.82572118e-02 9.99600604e-01 -4.04216748e-04 3.66753060e+00] [ 1.87279902e-02 -1.25104900e-04 9.99824608e-01 3.98896953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.864391418 meters Centerline goodness [0,1] 0.9995694016836394 Centerline is valid? [True, True] Translation: X:65.61, Y:3.67, Z:0.40 [[ 9.99365038e-01 -3.02479631e-02 -1.88303331e-02 6.56112380e+01] [ 3.02456621e-02 9.99542412e-01 -4.07046301e-04 3.66654094e+00] [ 1.88340289e-02 -1.62748051e-04 9.99822611e-01 3.99594874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.894391418 meters Centerline goodness [0,1] 0.9994837821560698 Centerline is valid? [True, True] Translation: X:65.64, Y:3.66, Z:0.40 [[ 9.99139606e-01 -3.48493849e-02 -2.24848533e-02 6.56407091e+01] [ 3.48472582e-02 9.99392531e-01 -4.86511976e-04 3.66226866e+00] [ 2.24881491e-02 -2.97442107e-04 9.99747065e-01 3.96255213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.924391418 meters Centerline goodness [0,1] 0.9995055889939811 Centerline is valid? [True, True] Translation: X:65.67, Y:3.66, Z:0.39 [[ 9.99004268e-01 -3.74961983e-02 -2.41765910e-02 6.56706496e+01] [ 3.74945029e-02 9.99296697e-01 -5.23591336e-04 3.65940861e+00] [ 2.41792202e-02 -3.83419281e-04 9.99707566e-01 3.94461559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.954391418 meters Centerline goodness [0,1] 0.9991417414066859 Centerline is valid? [True, True] Translation: X:65.70, Y:3.66, Z:0.39 [[ 9.98905584e-01 -3.98290214e-02 -2.45210710e-02 6.56999369e+01] [ 3.98279601e-02 9.99206410e-01 -5.31857576e-04 3.65833868e+00] [ 2.45227947e-02 -4.45348736e-04 9.99699172e-01 3.94931838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.984391418 meters Centerline goodness [0,1] 0.9990565633174664 Centerline is valid? [True, True] Translation: X:65.73, Y:3.65, Z:0.40 [[ 9.98866627e-01 -4.27113094e-02 -2.10048870e-02 6.57298515e+01] [ 4.27111559e-02 9.99087358e-01 -4.56131422e-04 3.65304418e+00] [ 2.10051991e-02 -4.41528551e-04 9.99779269e-01 3.97146754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01439141799999 meters Centerline goodness [0,1] 0.9991641125661744 Centerline is valid? [True, True] Translation: X:65.76, Y:3.65, Z:0.40 [[ 9.98899846e-01 -4.33608471e-02 -1.78587634e-02 6.57609618e+01] [ 4.33608436e-02 9.99059401e-01 -3.87598649e-04 3.65439071e+00] [ 1.78587721e-02 -3.87198815e-04 9.99840444e-01 4.02996585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04439141799999 meters Centerline goodness [0,1] 0.9993787622373128 Centerline is valid? [True, True] Translation: X:65.79, Y:3.66, Z:0.41 [[ 9.98926763e-01 -4.35001718e-02 -1.59077770e-02 6.57933180e+01] [ 4.35002001e-02 9.99053359e-01 -3.44405505e-04 3.65633477e+00] [ 1.59076998e-02 -3.47955607e-04 9.99873404e-01 4.07756767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07439141799999 meters Centerline goodness [0,1] 0.9993996312020241 Centerline is valid? [True, True] Translation: X:65.83, Y:3.66, Z:0.41 [[ 9.98964495e-01 -4.25430347e-02 -1.61253507e-02 6.58259048e+01] [ 4.25429621e-02 9.99094578e-01 -3.47688909e-04 3.66057177e+00] [ 1.61255421e-02 -3.38691307e-04 9.99869918e-01 4.08569041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10439141799999 meters Centerline goodness [0,1] 0.9991868178900064 Centerline is valid? [True, True] Translation: X:65.86, Y:3.66, Z:0.41 [[ 9.98931746e-01 -4.22969930e-02 -1.86099923e-02 6.58574663e+01] [ 4.22968837e-02 9.99105006e-01 -3.99657563e-04 3.65873451e+00] [ 1.86102408e-02 -3.87914053e-04 9.99826739e-01 4.05693995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13439141799999 meters Centerline goodness [0,1] 0.9994015559545183 Centerline is valid? [True, True] Translation: X:65.89, Y:3.65, Z:0.40 [[ 9.98914474e-01 -4.24285685e-02 -1.92273270e-02 6.58889175e+01] [ 4.24284984e-02 9.99099421e-01 -4.11759799e-04 3.65458235e+00] [ 1.92274816e-02 -4.04473789e-04 9.99815053e-01 4.03046974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.164391418 meters Centerline goodness [0,1] 0.9993159031147786 Centerline is valid? [True, True] Translation: X:65.92, Y:3.65, Z:0.40 [[ 9.98897367e-01 -4.31025642e-02 -1.86069851e-02 6.59202643e+01] [ 4.31026312e-02 9.99070571e-01 -3.97627772e-04 3.65223332e+00] [ 1.86068300e-02 -4.04820682e-04 9.99826796e-01 4.03668564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.194391418 meters Centerline goodness [0,1] 0.9995305765373619 Centerline is valid? [True, True] Translation: X:65.95, Y:3.65, Z:0.41 [[ 9.98901245e-01 -4.34621179e-02 -1.75312926e-02 6.59522675e+01] [ 4.34622507e-02 9.99055000e-01 -3.73611098e-04 3.65471871e+00] [ 1.75309634e-02 -3.88748842e-04 9.99846245e-01 4.07461164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.224391418 meters Centerline goodness [0,1] 0.9991881903052832 Centerline is valid? [True, True] Translation: X:65.98, Y:3.65, Z:0.41 [[ 9.98909611e-01 -4.33934674e-02 -1.72219433e-02 6.59841243e+01] [ 4.33936093e-02 9.99057987e-01 -3.65628321e-04 3.65400649e+00] [ 1.72215859e-02 -3.82092636e-04 9.99851624e-01 4.10020159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.254391418 meters Centerline goodness [0,1] 0.9991258741258742 Centerline is valid? [True, True] Translation: X:66.02, Y:3.65, Z:0.41 [[ 9.98931368e-01 -4.22858670e-02 -1.86555060e-02 6.60162921e+01] [ 4.22858698e-02 9.99105475e-01 -3.94495334e-04 3.65415300e+00] [ 1.86554998e-02 -3.94790534e-04 9.99825893e-01 4.08638863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.284391418 meters Centerline goodness [0,1] 0.9992524562152926 Centerline is valid? [True, True] Translation: X:66.05, Y:3.65, Z:0.40 [[ 9.99039356e-01 -3.79767981e-02 -2.18661518e-02 6.60471829e+01] [ 3.79758054e-02 9.99278553e-01 -4.60784532e-04 3.65367735e+00] [ 2.18678757e-02 -3.70042845e-04 9.99760801e-01 4.03472468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.314391418 meters Centerline goodness [0,1] 0.9994867188502502 Centerline is valid? [True, True] Translation: X:66.08, Y:3.66, Z:0.40 [[ 9.99130576e-01 -3.50725144e-02 -2.25390839e-02 6.60774966e+01] [ 3.50707328e-02 9.99384720e-01 -4.74441375e-04 3.65613254e+00] [ 2.25418559e-02 -3.16433306e-04 9.99745850e-01 4.03856345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.344391418 meters Centerline goodness [0,1] 0.9994646910196565 Centerline is valid? [True, True] Translation: X:66.11, Y:3.66, Z:0.40 [[ 9.99252590e-01 -3.12642022e-02 -2.27334641e-02 6.61069536e+01] [ 3.12613912e-02 9.99511128e-01 -4.79113090e-04 3.65946354e+00] [ 2.27373294e-02 -2.31924718e-04 9.99741447e-01 4.04190876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37439141799999 meters Centerline goodness [0,1] 0.99933598937583 Centerline is valid? [True, True] Translation: X:66.14, Y:3.66, Z:0.40 [[ 9.99391211e-01 -2.71624882e-02 -2.18953594e-02 6.61350838e+01] [ 2.71588061e-02 9.99631023e-01 -4.65566815e-04 3.66268052e+00] [ 2.18999265e-02 -1.29368439e-04 9.99760159e-01 4.04252568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40439141799999 meters Centerline goodness [0,1] 0.9992716834822098 Centerline is valid? [True, True] Translation: X:66.16, Y:3.67, Z:0.41 [[ 9.99613035e-01 -1.89949082e-02 -2.03217587e-02 6.61627598e+01] [ 1.89899796e-02 9.99819579e-01 -4.35493993e-04 3.67025896e+00] [ 2.03263644e-02 4.94156902e-05 9.99793397e-01 4.05635640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43439141799999 meters Centerline goodness [0,1] 0.9992498767654686 Centerline is valid? [True, True] Translation: X:66.19, Y:3.67, Z:0.41 [[ 9.99672199e-01 -1.60346333e-02 -1.99595661e-02 6.61912842e+01] [ 1.60292090e-02 9.99871431e-01 -4.31728166e-04 3.67293524e+00] [ 1.99639225e-02 1.11650589e-04 9.99800695e-01 4.06274854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46439141799999 meters Centerline goodness [0,1] 0.9992505032335431 Centerline is valid? [True, True] Translation: X:66.22, Y:3.67, Z:0.41 [[ 9.99700536e-01 -1.42645502e-02 -1.98836911e-02 6.62203365e+01] [ 1.42587083e-02 9.99898245e-01 -4.35548106e-04 3.67332754e+00] [ 1.98878807e-02 1.51901923e-04 9.99802205e-01 4.05210018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49439141799999 meters Centerline goodness [0,1] 0.9995716794448966 Centerline is valid? [True, True] Translation: X:66.25, Y:3.67, Z:0.41 [[ 9.99748125e-01 -1.41537371e-02 -1.74172101e-02 6.62489946e+01] [ 1.41491590e-02 9.99899821e-01 -3.86058006e-04 3.66867895e+00] [ 1.74209294e-02 1.39521892e-04 9.99848234e-01 4.06955021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.524391418 meters Centerline goodness [0,1] 0.9996160409556314 Centerline is valid? [True, True] Translation: X:66.28, Y:3.67, Z:0.41 [[ 9.99747571e-01 -1.52817125e-02 -1.64700837e-02 6.62777740e+01] [ 1.52776979e-02 9.99883221e-01 -3.69552589e-04 3.66672481e+00] [ 1.64738077e-02 1.17834341e-04 9.99864291e-01 4.09266045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.554391418 meters Centerline goodness [0,1] 0.9994871904446486 Centerline is valid? [True, True] Translation: X:66.31, Y:3.67, Z:0.41 [[ 9.99727388e-01 -1.66165116e-02 -1.64024922e-02 6.63060279e+01] [ 1.66126577e-02 9.99861931e-01 -3.71193645e-04 3.66566338e+00] [ 1.64063955e-02 9.86034645e-05 9.99865401e-01 4.07965138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.584391418 meters Centerline goodness [0,1] 0.9993163561784311 Centerline is valid? [True, True] Translation: X:66.33, Y:3.66, Z:0.41 [[ 9.99589522e-01 -2.08472706e-02 -1.96514160e-02 6.63347031e+01] [ 2.08424741e-02 9.99782671e-01 -4.48886094e-04 3.66103817e+00] [ 1.96565032e-02 3.91177087e-05 9.99806792e-01 4.07383469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.614391418 meters Centerline goodness [0,1] 0.999380487492256 Centerline is valid? [True, True] Translation: X:66.36, Y:3.66, Z:0.41 [[ 9.99522951e-01 -2.29717177e-02 -2.06439172e-02 6.63636921e+01] [ 2.29667537e-02 9.99736115e-01 -4.77540814e-04 3.65903039e+00] [ 2.06494395e-02 3.18924142e-06 9.99786778e-01 4.06491660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.644391418 meters Centerline goodness [0,1] 0.9992325075683282 Centerline is valid? [True, True] Translation: X:66.39, Y:3.66, Z:0.41 [[ 9.99465714e-01 -2.52219331e-02 -2.07879949e-02 6.63912561e+01] [ 2.52172527e-02 9.99681876e-01 -4.87294323e-04 3.65703253e+00] [ 2.07936723e-02 -3.71821532e-05 9.99783788e-01 4.06420216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.674391418 meters Centerline goodness [0,1] 0.9992325075683282 Centerline is valid? [True, True] Translation: X:66.42, Y:3.66, Z:0.41 [[ 9.99457477e-01 -2.55463750e-02 -2.07878354e-02 6.64186335e+01] [ 2.55416246e-02 9.99673637e-01 -4.94034021e-04 3.65781419e+00] [ 2.07936718e-02 -3.71890928e-05 9.99783788e-01 4.06653002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.704391418 meters Centerline goodness [0,1] 0.9991476667376944 Centerline is valid? [True, True] Translation: X:66.45, Y:3.65, Z:0.41 [[ 9.99434598e-01 -2.88657604e-02 -1.72409755e-02 6.64477954e+01] [ 2.88629048e-02 9.99583294e-01 -4.14490509e-04 3.65374664e+00] [ 1.72457557e-02 -8.33684795e-05 9.99851277e-01 4.09329623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.734391418 meters Centerline goodness [0,1] 0.9992761491132827 Centerline is valid? [True, True] Translation: X:66.48, Y:3.65, Z:0.41 [[ 9.99413786e-01 -3.03580789e-02 -1.58262941e-02 6.64781197e+01] [ 3.03558252e-02 9.99539083e-01 -3.82667352e-04 3.65200159e+00] [ 1.58306165e-02 -9.79771891e-05 9.99874683e-01 4.10300184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76439141799999 meters Centerline goodness [0,1] 0.9990209224613158 Centerline is valid? [True, True] Translation: X:66.51, Y:3.65, Z:0.41 [[ 9.99343718e-01 -3.27171285e-02 -1.55474626e-02 6.65081936e+01] [ 3.27152411e-02 9.99464643e-01 -3.75783892e-04 3.64951574e+00] [ 1.55514338e-02 -1.33101717e-04 9.99879060e-01 4.10933813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79439141799999 meters Centerline goodness [0,1] 0.9989153551680137 Centerline is valid? [True, True] Translation: X:66.54, Y:3.64, Z:0.41 [[ 9.99091877e-01 -3.94087017e-02 -1.61980221e-02 6.65392597e+01] [ 3.94075375e-02 9.99223145e-01 -3.91174805e-04 3.64260949e+00] [ 1.62008543e-02 -2.47504593e-04 9.99868727e-01 4.10377557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82439141799999 meters Centerline goodness [0,1] 0.9990026736833171 Centerline is valid? [True, True] Translation: X:66.57, Y:3.64, Z:0.41 [[ 9.98944942e-01 -4.32339365e-02 -1.54864282e-02 6.65710250e+01] [ 4.32333387e-02 9.99064932e-01 -3.73541996e-04 3.63786222e+00] [ 1.54880970e-02 -2.96382107e-04 9.99880008e-01 4.10470220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85439141799999 meters Centerline goodness [0,1] 0.9986441826963817 Centerline is valid? [True, True] Translation: X:66.60, Y:3.63, Z:0.41 [[ 9.98769145e-01 -4.74546930e-02 -1.44307560e-02 6.66025285e+01] [ 4.74546278e-02 9.98873334e-01 -3.47130061e-04 3.63190020e+00] [ 1.44309704e-02 -3.38103363e-04 9.99895811e-01 4.11650020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88439141799999 meters Centerline goodness [0,1] 0.9988565620632702 Centerline is valid? [True, True] Translation: X:66.63, Y:3.63, Z:0.41 [[ 9.98602604e-01 -5.13891742e-02 -1.23285090e-02 6.66349292e+01] [ 5.13894394e-02 9.98678646e-01 -2.95485307e-04 3.62841342e+00] [ 1.23274034e-02 -3.38482769e-04 9.99923957e-01 4.13984464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.914391418 meters Centerline goodness [0,1] 0.9987501853538671 Centerline is valid? [True, True] Translation: X:66.67, Y:3.62, Z:0.42 [[ 9.98270637e-01 -5.78563345e-02 -1.04105985e-02 6.66660797e+01] [ 5.78568813e-02 9.98324857e-01 -2.48900168e-04 3.62309860e+00] [ 1.04075597e-02 -3.53855034e-04 9.99945777e-01 4.18391573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.944391418 meters Centerline goodness [0,1] 0.9988570460991407 Centerline is valid? [True, True] Translation: X:66.70, Y:3.62, Z:0.42 [[ 9.98144670e-01 -5.98512832e-02 -1.11821653e-02 6.66970996e+01] [ 5.98520429e-02 9.98207224e-01 -2.66997087e-04 3.62041756e+00] [ 1.11780983e-02 -4.02773717e-04 9.99937442e-01 4.17554010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.974391418 meters Centerline goodness [0,1] 0.9990257127123311 Centerline is valid? [True, True] Translation: X:66.73, Y:3.62, Z:0.41 [[ 9.98049235e-01 -6.09040918e-02 -1.37265049e-02 6.67286293e+01] [ 6.09053491e-02 9.98143493e-01 -3.26802693e-04 3.61844833e+00] [ 1.37209251e-02 -5.09852394e-04 9.99905734e-01 4.13127079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.004391418 meters Centerline goodness [0,1] 0.9987927565392354 Centerline is valid? [True, True] Translation: X:66.76, Y:3.61, Z:0.41 [[ 9.97839125e-01 -6.38080214e-02 -1.56721654e-02 6.67610899e+01] [ 6.38100359e-02 9.97961994e-01 -3.71989236e-04 3.61464173e+00] [ 1.56639613e-02 -6.28856021e-04 9.99877115e-01 4.08979571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.034391418 meters Centerline goodness [0,1] 0.9986047986470775 Centerline is valid? [True, True] Translation: X:66.79, Y:3.61, Z:0.41 [[ 9.97812587e-01 -6.46912658e-02 -1.36044841e-02 6.67930181e+01] [ 6.46928788e-02 9.97905170e-01 -3.21937991e-04 3.61342303e+00] [ 1.35968116e-02 -5.58879460e-04 9.99907403e-01 4.10198117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.064391418 meters Centerline goodness [0,1] 0.9983099543687679 Centerline is valid? [True, True] Translation: X:66.82, Y:3.61, Z:0.41 [[ 9.97763201e-01 -6.59905199e-02 -1.06698683e-02 6.68238280e+01] [ 6.59915949e-02 9.97820147e-01 -2.51674040e-04 3.61183098e+00] [ 1.06632176e-02 -4.53010528e-04 9.99943044e-01 4.14027727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.094391418 meters Centerline goodness [0,1] 0.9984364435429344 Centerline is valid? [True, True] Translation: X:66.86, Y:3.61, Z:0.42 [[ 9.97684926e-01 -6.75213863e-02 -8.10257208e-03 6.68563364e+01] [ 6.75220634e-02 9.97717763e-01 -1.90274878e-04 3.61360491e+00] [ 8.09692771e-03 -3.57268007e-04 9.99967156e-01 4.18349215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12439141799999 meters Centerline goodness [0,1] 0.9986040904380195 Centerline is valid? [True, True] Translation: X:66.89, Y:3.61, Z:0.42 [[ 9.97609378e-01 -6.84076471e-02 -9.79405879e-03 6.68887290e+01] [ 6.84086880e-02 9.97657355e-01 -2.29084311e-04 3.61490410e+00] [ 9.78678591e-03 -4.41462055e-04 9.99952011e-01 4.16324904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15439141799999 meters Centerline goodness [0,1] 0.9986282868357743 Centerline is valid? [True, True] Translation: X:66.92, Y:3.61, Z:0.42 [[ 9.97445747e-01 -7.04043812e-02 -1.20501251e-02 6.69196684e+01] [ 7.04061182e-02 9.97518371e-01 -2.80533028e-04 3.61355517e+00] [ 1.20399719e-02 -5.68586055e-04 9.99927355e-01 4.15330457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18439141799999 meters Centerline goodness [0,1] 0.998309561542525 Centerline is valid? [True, True] Translation: X:66.95, Y:3.61, Z:0.41 [[ 9.97131789e-01 -7.42411483e-02 -1.47121395e-02 6.69509337e+01] [ 7.42441769e-02 9.97240034e-01 -3.40962227e-04 3.60815158e+00] [ 1.46968479e-02 -7.52306411e-04 9.99891712e-01 4.08708171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21439141799999 meters Centerline goodness [0,1] 0.9983953380347114 Centerline is valid? [True, True] Translation: X:66.98, Y:3.61, Z:0.41 [[ 9.97027284e-01 -7.56724324e-02 -1.45009642e-02 6.69827639e+01] [ 7.56755331e-02 9.97132439e-01 -3.35555232e-04 3.60594714e+00] [ 1.44847741e-02 -7.62810474e-04 9.99894799e-01 4.07894472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24439141799999 meters Centerline goodness [0,1] 0.9984791195792231 Centerline is valid? [True, True] Translation: X:67.01, Y:3.60, Z:0.41 [[ 9.97050738e-01 -7.59131006e-02 -1.12706369e-02 6.70137862e+01] [ 7.59149950e-02 9.97114259e-01 -2.60259856e-04 3.60410860e+00] [ 1.12578699e-02 -5.96118060e-04 9.99936450e-01 4.12914810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.274391418 meters Centerline goodness [0,1] 0.9986472776462632 Centerline is valid? [True, True] Translation: X:67.05, Y:3.62, Z:0.42 [[ 9.97162326e-01 -7.45220018e-02 -1.06661555e-02 6.70452987e+01] [ 7.45236259e-02 9.97219218e-01 -2.45658338e-04 3.61645802e+00] [ 1.06548022e-02 -5.49919345e-04 9.99943085e-01 4.16191292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.304391418 meters Centerline goodness [0,1] 0.9986469916705425 Centerline is valid? [True, True] Translation: X:67.08, Y:3.62, Z:0.42 [[ 9.97331028e-01 -7.21150988e-02 -1.14119715e-02 6.70756209e+01] [ 7.21168134e-02 9.97396158e-01 -2.61736413e-04 3.61588138e+00] [ 1.14011316e-02 -5.61957170e-04 9.99934847e-01 4.17225053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.334391418 meters Centerline goodness [0,1] 0.9986885523309925 Centerline is valid? [True, True] Translation: X:67.11, Y:3.62, Z:0.42 [[ 9.97512231e-01 -6.92499400e-02 -1.31831001e-02 6.71066994e+01] [ 6.92519964e-02 9.97599153e-01 -3.00989049e-04 3.62415473e+00] [ 1.31722930e-02 -6.12715745e-04 9.99913054e-01 4.16115407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.364391418 meters Centerline goodness [0,1] 0.9989204978409957 Centerline is valid? [True, True] Translation: X:67.14, Y:3.63, Z:0.41 [[ 9.97799713e-01 -6.40213222e-02 -1.72337782e-02 6.71369052e+01] [ 6.40240660e-02 9.97948277e-01 -3.93038196e-04 3.63323622e+00] [ 1.72235821e-02 -7.11203158e-04 9.99851410e-01 4.12209653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.394391418 meters Centerline goodness [0,1] 0.9988553744409352 Centerline is valid? [True, True] Translation: X:67.17, Y:3.64, Z:0.41 [[ 9.97928805e-01 -6.17520108e-02 -1.80218938e-02 6.71692226e+01] [ 6.17546557e-02 9.98091275e-01 -4.10244792e-04 3.63556303e+00] [ 1.80128284e-02 -7.03540751e-04 9.99837508e-01 4.10157002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.424391418 meters Centerline goodness [0,1] 0.9989183457051962 Centerline is valid? [True, True] Translation: X:67.20, Y:3.64, Z:0.41 [[ 9.98072894e-01 -5.94974276e-02 -1.76225773e-02 6.72008078e+01] [ 5.94996238e-02 9.98228248e-01 -4.00122872e-04 3.63769137e+00] [ 1.76151607e-02 -6.49184927e-04 9.99844630e-01 4.10048572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.454391418 meters Centerline goodness [0,1] 0.9990892917655032 Centerline is valid? [True, True] Translation: X:67.23, Y:3.64, Z:0.41 [[ 9.98280324e-01 -5.61686540e-02 -1.67772781e-02 6.72317106e+01] [ 5.61701859e-02 9.98421136e-01 -3.80276854e-04 3.64048733e+00] [ 1.67721488e-02 -5.62759931e-04 9.99859179e-01 4.09519579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.484391418 meters Centerline goodness [0,1] 0.9988531379420198 Centerline is valid? [True, True] Translation: X:67.26, Y:3.65, Z:0.42 [[ 9.98634291e-01 -5.03371628e-02 -1.39901296e-02 6.72621685e+01] [ 5.03376615e-02 9.98732206e-01 -3.16711495e-04 3.65384867e+00] [ 1.39883353e-02 -3.87951446e-04 9.99902083e-01 4.18493779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51439141799999 meters Centerline goodness [0,1] 0.9989383387124172 Centerline is valid? [True, True] Translation: X:67.29, Y:3.66, Z:0.42 [[ 9.98826489e-01 -4.63918424e-02 -1.39083314e-02 6.72935643e+01] [ 4.63919584e-02 9.98923264e-01 -3.14468723e-04 3.66097063e+00] [ 1.39079446e-02 -3.31135039e-04 9.99903225e-01 4.19526686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54439141799999 meters Centerline goodness [0,1] 0.9991700715015321 Centerline is valid? [True, True] Translation: X:67.33, Y:3.67, Z:0.42 [[ 9.99001597e-01 -4.21644453e-02 -1.47637854e-02 6.73262113e+01] [ 4.21641293e-02 9.99110642e-01 -3.32809653e-04 3.66620553e+00] [ 1.47646878e-02 -2.90024782e-04 9.99890954e-01 4.18957553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57439141799999 meters Centerline goodness [0,1] 0.9990848532572839 Centerline is valid? [True, True] Translation: X:67.36, Y:3.67, Z:0.42 [[ 9.99303400e-01 -3.48993709e-02 -1.32192640e-02 6.73576668e+01] [ 3.48984945e-02 9.99390818e-01 -2.97035289e-04 3.67113392e+00] [ 1.32215774e-02 -1.64504037e-04 9.99912578e-01 4.18208514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60439141799999 meters Centerline goodness [0,1] 0.9987461481245351 Centerline is valid? [True, True] Translation: X:67.39, Y:3.67, Z:0.42 [[ 9.99455718e-01 -3.09011872e-02 -1.15492552e-02 6.73890586e+01] [ 3.09002570e-02 9.99522439e-01 -2.59022224e-04 3.67241780e+00] [ 1.15517438e-02 -9.79937094e-05 9.99933272e-01 4.16908652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63439141799999 meters Centerline goodness [0,1] 0.999234807745446 Centerline is valid? [True, True] Translation: X:67.42, Y:3.68, Z:0.42 [[ 9.99643277e-01 -2.53203621e-02 -8.49689296e-03 6.74210158e+01] [ 2.53196601e-02 9.99679388e-01 -1.90186064e-04 3.67881229e+00] [ 8.49898433e-03 -2.50202216e-05 9.99963883e-01 4.23358384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.664391418 meters Centerline goodness [0,1] 0.9990854955338154 Centerline is valid? [True, True] Translation: X:67.45, Y:3.68, Z:0.43 [[ 9.99707793e-01 -2.26112228e-02 -8.54759063e-03 6.74527717e+01] [ 2.26104194e-02 9.99744334e-01 -1.90627166e-04 3.68343922e+00] [ 8.54971561e-03 -2.69314540e-06 9.99963451e-01 4.25382463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.694391418 meters Centerline goodness [0,1] 0.9993396527851741 Centerline is valid? [True, True] Translation: X:67.48, Y:3.69, Z:0.43 [[ 9.99734523e-01 -2.09052211e-02 -9.68792559e-03 6.74847429e+01] [ 2.09041173e-02 9.99781462e-01 -2.15191079e-04 3.68758472e+00] [ 9.69030702e-03 1.26164172e-05 9.99953048e-01 4.27039111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.724391418 meters Centerline goodness [0,1] 0.9993597404814751 Centerline is valid? [True, True] Translation: X:67.52, Y:3.69, Z:0.42 [[ 9.99656173e-01 -2.05428330e-02 -1.62950233e-02 6.75160370e+01] [ 2.05396857e-02 9.99788973e-01 -3.60499404e-04 3.69029585e+00] [ 1.62989903e-02 2.56807969e-05 9.99867162e-01 4.21591789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.754391418 meters Centerline goodness [0,1] 0.9991892641505409 Centerline is valid? [True, True] Translation: X:67.54, Y:3.69, Z:0.42 [[ 9.99562577e-01 -2.24454770e-02 -1.92576269e-02 6.75446316e+01] [ 2.24413845e-02 9.99748069e-01 -4.28617220e-04 3.68799336e+00] [ 1.92623958e-02 -3.73807677e-06 9.99814463e-01 4.16096295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.784391418 meters Centerline goodness [0,1] 0.9994447529150472 Centerline is valid? [True, True] Translation: X:67.57, Y:3.68, Z:0.41 [[ 9.99464617e-01 -2.57677212e-02 -2.01619265e-02 6.75738630e+01] [ 2.57637948e-02 9.99667955e-01 -4.54511830e-04 3.68360799e+00] [ 2.01669436e-02 -6.51792454e-05 9.99796624e-01 4.13562679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.814391418 meters Centerline goodness [0,1] 0.9989144085655293 Centerline is valid? [True, True] Translation: X:67.60, Y:3.67, Z:0.42 [[ 9.99319502e-01 -3.38598637e-02 -1.46302221e-02 6.76014355e+01] [ 3.38586286e-02 9.99426577e-01 -3.32177126e-04 3.67449350e+00] [ 1.46330803e-02 -1.63408178e-04 9.99892917e-01 4.17263481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.844391418 meters Centerline goodness [0,1] 0.9987730061349693 Centerline is valid? [True, True] Translation: X:67.63, Y:3.67, Z:0.42 [[ 9.99210336e-01 -3.81815203e-02 -1.09943174e-02 6.76330403e+01] [ 3.81810783e-02 9.99270805e-01 -2.50163869e-04 3.67324832e+00] [ 1.09958521e-02 -1.69808572e-04 9.99939529e-01 4.23822463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87439141799999 meters Centerline goodness [0,1] 0.9991086209092067 Centerline is valid? [True, True] Translation: X:67.67, Y:3.67, Z:0.43 [[ 9.99096282e-01 -4.15937585e-02 -8.75087895e-03 6.76655573e+01] [ 4.15936118e-02 9.99134591e-01 -1.98828039e-04 3.67289569e+00] [ 8.75157587e-03 -1.65332307e-04 9.99961691e-01 4.28707936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90439141799999 meters Centerline goodness [0,1] 0.9987044156064822 Centerline is valid? [True, True] Translation: X:67.70, Y:3.67, Z:0.43 [[ 9.98966634e-01 -4.44871848e-02 -9.30349970e-03 6.76979490e+01] [ 4.44871517e-02 9.99009934e-01 -2.10606251e-04 3.67237507e+00] [ 9.30365790e-03 -2.03497585e-04 9.99956699e-01 4.29481768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93439141799999 meters Centerline goodness [0,1] 0.9988316516197557 Centerline is valid? [True, True] Translation: X:67.73, Y:3.66, Z:0.42 [[ 9.98592219e-01 -5.02534603e-02 -1.69755611e-02 6.77288142e+01] [ 5.02542065e-02 9.98736386e-01 -3.82884650e-04 3.66476406e+00] [ 1.69733519e-02 -4.70747723e-04 9.99855831e-01 4.18099581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96439141799999 meters Centerline goodness [0,1] 0.9988740174208626 Centerline is valid? [True, True] Translation: X:67.76, Y:3.66, Z:0.42 [[ 9.98331952e-01 -5.44007648e-02 -1.93357249e-02 6.77600373e+01] [ 5.44025179e-02 9.98518991e-01 -4.35715956e-04 3.66052183e+00] [ 1.93307918e-02 -6.16922959e-04 9.99812952e-01 4.15173063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99439141799999 meters Centerline goodness [0,1] 0.99866278946363 Centerline is valid? [True, True] Translation: X:67.79, Y:3.65, Z:0.41 [[ 9.98120208e-01 -5.78330202e-02 -2.02827897e-02 6.77903520e+01] [ 5.78356653e-02 9.98326013e-01 -4.56653533e-04 3.65460391e+00] [ 2.02752462e-02 -7.17273518e-04 9.99794179e-01 4.11582329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.024391418 meters Centerline goodness [0,1] 0.9984338292873923 Centerline is valid? [True, True] Translation: X:67.82, Y:3.65, Z:0.41 [[ 9.97876898e-01 -6.27056095e-02 -1.75983640e-02 6.78216870e+01] [ 6.27083654e-02 9.98031815e-01 -3.95725173e-04 3.64863273e+00] [ 1.75885413e-02 -7.08679629e-04 9.99845058e-01 4.14262230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.054391418 meters Centerline goodness [0,1] 0.9989610499756165 Centerline is valid? [True, True] Translation: X:67.85, Y:3.65, Z:0.42 [[ 9.97848115e-01 -6.34848511e-02 -1.63955126e-02 6.78536368e+01] [ 6.34873631e-02 9.97982575e-01 -3.67754707e-04 3.65171077e+00] [ 1.63857827e-02 -6.73944520e-04 9.99865517e-01 4.17821711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.084391418 meters Centerline goodness [0,1] 0.9988744956466341 Centerline is valid? [True, True] Translation: X:67.89, Y:3.66, Z:0.42 [[ 9.97867365e-01 -6.32649641e-02 -1.60706778e-02 6.78854074e+01] [ 6.32673693e-02 9.97996549e-01 -3.59213819e-04 3.65569299e+00] [ 1.60612066e-02 -6.58301761e-04 9.99870794e-01 4.19477948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.114391418 meters Centerline goodness [0,1] 0.9986417945289786 Centerline is valid? [True, True] Translation: X:67.92, Y:3.66, Z:0.42 [[ 9.97997001e-01 -6.08150820e-02 -1.74215923e-02 6.79167267e+01] [ 6.08175727e-02 9.98148823e-01 -3.87296497e-04 3.65995817e+00] [ 1.74128953e-02 -6.73018215e-04 9.99848158e-01 4.17665411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.144391418 meters Centerline goodness [0,1] 0.9986824209452567 Centerline is valid? [True, True] Translation: X:67.95, Y:3.66, Z:0.42 [[ 9.98101254e-01 -5.91363986e-02 -1.72271156e-02 6.79491069e+01] [ 5.91386183e-02 9.98249708e-01 -3.80998296e-04 3.66094063e+00] [ 1.72194940e-02 -6.38512937e-04 9.99851530e-01 4.17128588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.174391418 meters Centerline goodness [0,1] 0.9988548161343682 Centerline is valid? [True, True] Translation: X:67.98, Y:3.66, Z:0.42 [[ 9.98244269e-01 -5.70621620e-02 -1.58836410e-02 6.79805692e+01] [ 5.70638009e-02 9.98370472e-01 -3.50388658e-04 3.66289193e+00] [ 1.58777521e-02 -5.56607460e-04 9.99873786e-01 4.18228927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.204391418 meters Centerline goodness [0,1] 0.9988750451043237 Centerline is valid? [True, True] Translation: X:68.01, Y:3.67, Z:0.42 [[ 9.98649490e-01 -5.06052978e-02 -1.17600822e-02 6.80111936e+01] [ 5.06057523e-02 9.98718674e-01 -2.59112485e-04 3.67057677e+00] [ 1.17581262e-02 -3.36365257e-04 9.99930814e-01 4.24093006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.234391418 meters Centerline goodness [0,1] 0.9990441801189465 Centerline is valid? [True, True] Translation: X:68.04, Y:3.68, Z:0.43 [[ 9.98868438e-01 -4.64754364e-02 -1.00934617e-02 6.80419904e+01] [ 4.64755626e-02 9.98919403e-01 -2.22182281e-04 3.67656015e+00] [ 1.00928808e-02 -2.47168445e-04 9.99949035e-01 4.28394813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26439141799999 meters Centerline goodness [0,1] 0.9989614903672933 Centerline is valid? [True, True] Translation: X:68.07, Y:3.69, Z:0.43 [[ 9.99084364e-01 -4.15135677e-02 -1.03468192e-02 6.80737196e+01] [ 4.15134391e-02 9.99137920e-01 -2.27299942e-04 3.68558901e+00] [ 1.03473354e-02 -2.02440231e-04 9.99946444e-01 4.31419041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29439141799999 meters Centerline goodness [0,1] 0.999402488209812 Centerline is valid? [True, True] Translation: X:68.10, Y:3.70, Z:0.43 [[ 9.99327368e-01 -3.33461118e-02 -1.52593397e-02 6.81045474e+01] [ 3.33448957e-02 9.99443848e-01 -3.34181616e-04 3.69848919e+00] [ 1.52619969e-02 -1.74864257e-04 9.99883514e-01 4.29815675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32439141799999 meters Centerline goodness [0,1] 0.9989747533000128 Centerline is valid? [True, True] Translation: X:68.14, Y:3.70, Z:0.43 [[ 9.99366559e-01 -3.06958738e-02 -1.80067595e-02 6.81353630e+01] [ 3.06937679e-02 9.99528758e-01 -3.93374536e-04 3.70116549e+00] [ 1.80103489e-02 -1.59569940e-04 9.99837788e-01 4.26218055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35439141799999 meters Centerline goodness [0,1] 0.9991231822070146 Centerline is valid? [True, True] Translation: X:68.17, Y:3.70, Z:0.42 [[ 9.99386283e-01 -2.86234852e-02 -2.01929169e-02 6.81655943e+01] [ 2.86204254e-02 9.99590255e-01 -4.40564480e-04 3.70169172e+00] [ 2.01972535e-02 -1.37635776e-04 9.99796005e-01 4.22776836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38439141799999 meters Centerline goodness [0,1] 0.9990154952486945 Centerline is valid? [True, True] Translation: X:68.19, Y:3.70, Z:0.42 [[ 9.99400007e-01 -2.76718315e-02 -2.08301443e-02 6.81944179e+01] [ 2.76683538e-02 9.99617054e-01 -4.55192967e-04 3.70148611e+00] [ 2.08347635e-02 -1.21415948e-04 9.99782925e-01 4.19985427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.414391418 meters Centerline goodness [0,1] 0.9995726130438499 Centerline is valid? [True, True] Translation: X:68.22, Y:3.70, Z:0.42 [[ 9.99434240e-01 -2.72884317e-02 -1.96606420e-02 6.82217811e+01] [ 2.72852288e-02 9.99627596e-01 -4.31188952e-04 3.70224225e+00] [ 1.96650868e-02 -1.05500113e-04 9.99806618e-01 4.19604862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.444391418 meters Centerline goodness [0,1] 0.9990824121889804 Centerline is valid? [True, True] Translation: X:68.25, Y:3.70, Z:0.42 [[ 9.99445542e-01 -2.77790934e-02 -1.83556727e-02 6.82506906e+01] [ 2.77763214e-02 9.99614081e-01 -4.05998914e-04 3.70346398e+00] [ 1.83598672e-02 -1.04079260e-04 9.99831438e-01 4.20755321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.474391418 meters Centerline goodness [0,1] 0.9994233849439402 Centerline is valid? [True, True] Translation: X:68.28, Y:3.71, Z:0.42 [[ 9.99464845e-01 -2.77599194e-02 -1.73034684e-02 6.82798218e+01] [ 2.77574101e-02 9.99614615e-01 -3.85215105e-04 3.70501692e+00] [ 1.73074934e-02 -9.52905133e-05 9.99850210e-01 4.23196403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.504391418 meters Centerline goodness [0,1] 0.9994663251147401 Centerline is valid? [True, True] Translation: X:68.31, Y:3.71, Z:0.43 [[ 9.99454719e-01 -2.82665355e-02 -1.70665441e-02 6.83098011e+01] [ 2.82641628e-02 9.99600416e-01 -3.80260510e-04 3.70850423e+00] [ 1.70704733e-02 -1.02318421e-04 9.99854284e-01 4.26508281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.534391418 meters Centerline goodness [0,1] 0.9994222992489891 Centerline is valid? [True, True] Translation: X:68.34, Y:3.71, Z:0.43 [[ 9.99433421e-01 -2.86424442e-02 -1.76761939e-02 6.83398616e+01] [ 2.86399577e-02 9.99589715e-01 -3.93844147e-04 3.70975942e+00] [ 1.76802223e-02 -1.12624443e-04 9.99843686e-01 4.28008793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.564391418 meters Centerline goodness [0,1] 0.9992097563059311 Centerline is valid? [True, True] Translation: X:68.37, Y:3.70, Z:0.43 [[ 9.99328631e-01 -3.13161233e-02 -1.90154730e-02 6.83698793e+01] [ 3.13137257e-02 9.99509515e-01 -4.23898201e-04 3.70482655e+00] [ 1.90194211e-02 -1.71831698e-04 9.99819100e-01 4.25252308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.594391418 meters Centerline goodness [0,1] 0.9992097563059311 Centerline is valid? [True, True] Translation: X:68.40, Y:3.71, Z:0.43 [[ 9.99328631e-01 -3.13161248e-02 -1.90154692e-02 6.83998737e+01] [ 3.13137239e-02 9.99509515e-01 -4.24069489e-04 3.70549555e+00] [ 1.90194226e-02 -1.71660371e-04 9.99819100e-01 4.25506467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62439141799999 meters Centerline goodness [0,1] 0.9994022330863986 Centerline is valid? [True, True] Translation: X:68.43, Y:3.70, Z:0.42 [[ 9.99225843e-01 -3.37140407e-02 -2.02750814e-02 6.84299983e+01] [ 3.37118047e-02 9.99431493e-01 -4.52160464e-04 3.70398510e+00] [ 2.02787990e-02 -2.31699162e-04 9.99794337e-01 4.24769968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65439141799999 meters Centerline goodness [0,1] 0.9993808446133481 Centerline is valid? [True, True] Translation: X:68.46, Y:3.70, Z:0.42 [[ 9.99102589e-01 -3.62660464e-02 -2.18812764e-02 6.84595507e+01] [ 3.62640482e-02 9.99342124e-01 -4.88246829e-04 3.70087703e+00] [ 2.18845881e-02 -3.05694992e-04 9.99760457e-01 4.22199984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68439141799999 meters Centerline goodness [0,1] 0.9992105487752838 Centerline is valid? [True, True] Translation: X:68.49, Y:3.70, Z:0.42 [[ 9.99001459e-01 -3.91273530e-02 -2.15670117e-02 6.84893572e+01] [ 3.91260634e-02 9.99234166e-01 -4.81918852e-04 3.69865156e+00] [ 2.15693511e-02 -3.62394630e-04 9.99767289e-01 4.22488254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71439141799999 meters Centerline goodness [0,1] 0.9988081809862303 Centerline is valid? [True, True] Translation: X:68.52, Y:3.70, Z:0.43 [[ 9.98992130e-01 -4.13819043e-02 -1.73856871e-02 6.85199409e+01] [ 4.13814026e-02 9.99143347e-01 -3.88756667e-04 3.69522325e+00] [ 1.73868811e-02 -3.31079268e-04 9.99848782e-01 4.27494162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74439141799999 meters Centerline goodness [0,1] 0.9990215680435615 Centerline is valid? [True, True] Translation: X:68.55, Y:3.70, Z:0.43 [[ 9.99043963e-01 -4.09792260e-02 -1.52270219e-02 6.85512926e+01] [ 4.09787985e-02 9.99159958e-01 -3.40212714e-04 3.69874840e+00] [ 1.52281722e-02 -2.84097604e-04 9.99884004e-01 4.33945072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.774391418 meters Centerline goodness [0,1] 0.9992746047662734 Centerline is valid? [True, True] Translation: X:68.58, Y:3.71, Z:0.43 [[ 9.99224572e-01 -3.47019972e-02 -1.86017560e-02 6.85826826e+01] [ 3.47003090e-02 9.99397677e-01 -4.13614497e-04 3.70567564e+00] [ 1.86049049e-02 -2.32192912e-04 9.99826887e-01 4.32740210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.804391418 meters Centerline goodness [0,1] 0.9990186247946579 Centerline is valid? [True, True] Translation: X:68.61, Y:3.71, Z:0.43 [[ 9.99321417e-01 -3.11972113e-02 -1.95816178e-02 6.86134028e+01] [ 3.11946950e-02 9.99513233e-01 -4.34013643e-04 3.70831564e+00] [ 1.95856261e-02 -1.77123466e-04 9.99808168e-01 4.31061559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.834391418 meters Centerline goodness [0,1] 0.9991473033468343 Centerline is valid? [True, True] Translation: X:68.64, Y:3.71, Z:0.43 [[ 9.99416859e-01 -2.80899230e-02 -1.94138623e-02 6.86428266e+01] [ 2.80868593e-02 9.99605394e-01 -4.30511454e-04 3.70972674e+00] [ 1.94182945e-02 -1.15014014e-04 9.99811441e-01 4.30419594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.864391418 meters Centerline goodness [0,1] 0.9992527275444627 Centerline is valid? [True, True] Translation: X:68.67, Y:3.71, Z:0.43 [[ 9.99510269e-01 -2.47320305e-02 -1.91715394e-02 6.86727480e+01] [ 2.47284138e-02 9.99694115e-01 -4.25728655e-04 3.71119629e+00] [ 1.91762042e-02 -4.85615955e-05 9.99816119e-01 4.29238246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.894391418 meters Centerline goodness [0,1] 0.9990613733814024 Centerline is valid? [True, True] Translation: X:68.70, Y:3.71, Z:0.43 [[ 9.99652708e-01 -2.01466484e-02 -1.69875439e-02 6.87008717e+01] [ 2.01431016e-02 9.99797035e-01 -3.79881845e-04 3.71435828e+00] [ 1.69917494e-02 3.75680922e-05 9.99855629e-01 4.31206096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.924391418 meters Centerline goodness [0,1] 0.9991467576791809 Centerline is valid? [True, True] Translation: X:68.73, Y:3.72, Z:0.43 [[ 9.99715514e-01 -1.79473919e-02 -1.57092752e-02 6.87294637e+01] [ 1.79440224e-02 9.99838930e-01 -3.55429131e-04 3.71648980e+00] [ 1.57131239e-02 7.34404304e-05 9.99876539e-01 4.32149157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.954391418 meters Centerline goodness [0,1] 0.9991883983682536 Centerline is valid? [True, True] Translation: X:68.76, Y:3.72, Z:0.44 [[ 9.99768691e-01 -1.72421920e-02 -1.28558204e-02 6.87578759e+01] [ 1.72398376e-02 9.99851340e-01 -2.93940915e-04 3.71885623e+00] [ 1.28589774e-02 7.22406674e-05 9.99917317e-01 4.38268631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.984391418 meters Centerline goodness [0,1] 0.9995306165991039 Centerline is valid? [True, True] Translation: X:68.79, Y:3.72, Z:0.44 [[ 9.99713929e-01 -1.72350426e-02 -1.65835390e-02 6.87873040e+01] [ 1.72310722e-02 9.99851461e-01 -3.82284128e-04 3.71874487e+00] [ 1.65876644e-02 9.64226094e-05 9.99862411e-01 4.35094391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01439141799999 meters Centerline goodness [0,1] 0.9995724851438588 Centerline is valid? [True, True] Translation: X:68.82, Y:3.72, Z:0.43 [[ 9.99628238e-01 -1.88664420e-02 -1.96835894e-02 6.88164537e+01] [ 1.88611015e-02 9.99822009e-01 -4.56945592e-04 3.71565226e+00] [ 1.96887068e-02 8.55215402e-05 9.99806155e-01 4.29667338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04439141799999 meters Centerline goodness [0,1] 0.9994662909354852 Centerline is valid? [True, True] Translation: X:68.85, Y:3.71, Z:0.43 [[ 9.99532676e-01 -2.12815887e-02 -2.19436568e-02 6.88456151e+01] [ 2.12753933e-02 9.99773520e-01 -5.15774987e-04 3.71102087e+00] [ 2.19496635e-02 4.86740227e-05 9.99759076e-01 4.27130127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07439141799999 meters Centerline goodness [0,1] 0.9994255930220189 Centerline is valid? [True, True] Translation: X:68.87, Y:3.70, Z:0.43 [[ 9.99446716e-01 -2.60839969e-02 -2.06370488e-02 6.88736398e+01] [ 2.60794690e-02 9.99659753e-01 -4.88552366e-04 3.70285868e+00] [ 2.06427705e-02 -4.99212161e-05 9.99786914e-01 4.25173675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10439141799999 meters Centerline goodness [0,1] 0.9992986632095722 Centerline is valid? [True, True] Translation: X:68.90, Y:3.70, Z:0.43 [[ 9.99403108e-01 -2.84017879e-02 -1.96663668e-02 6.89019620e+01] [ 2.83980386e-02 9.99596584e-01 -4.69944083e-04 3.70204843e+00] [ 1.96717803e-02 -8.88226669e-05 9.99806488e-01 4.28035026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13439141799999 meters Centerline goodness [0,1] 0.9994258129000702 Centerline is valid? [True, True] Translation: X:68.93, Y:3.70, Z:0.43 [[ 9.99364475e-01 -3.02420226e-02 -1.88697302e-02 6.89310970e+01] [ 3.02387941e-02 9.99542599e-01 -4.56458498e-04 3.70234051e+00] [ 1.88749034e-02 -1.14429480e-04 9.99821847e-01 4.30551754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.164391418 meters Centerline goodness [0,1] 0.9992783461391519 Centerline is valid? [True, True] Translation: X:68.96, Y:3.70, Z:0.43 [[ 9.99207423e-01 -3.40766607e-02 -2.05744450e-02 6.89605339e+01] [ 3.40735709e-02 9.99419202e-01 -5.00817983e-04 3.70117337e+00] [ 2.05795616e-02 -2.00623763e-04 9.99788198e-01 4.31141610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.194391418 meters Centerline goodness [0,1] 0.999216018646043 Centerline is valid? [True, True] Translation: X:68.99, Y:3.70, Z:0.43 [[ 9.99075198e-01 -3.67975124e-02 -2.22416806e-02 6.89898499e+01] [ 3.67945612e-02 9.99322704e-01 -5.42045820e-04 3.69841951e+00] [ 2.22465623e-02 -2.76828344e-04 9.99752476e-01 4.28931198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.224391418 meters Centerline goodness [0,1] 0.9994913853391824 Centerline is valid? [True, True] Translation: X:69.02, Y:3.70, Z:0.43 [[ 9.98959212e-01 -3.98390877e-02 -2.22112502e-02 6.90198439e+01] [ 3.98368801e-02 9.99206049e-01 -5.42027696e-04 3.69551467e+00] [ 2.22152094e-02 -3.43363349e-04 9.99753153e-01 4.29033730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.254391418 meters Centerline goodness [0,1] 0.9992186510115302 Centerline is valid? [True, True] Translation: X:69.05, Y:3.69, Z:0.43 [[ 9.98801810e-01 -4.60142299e-02 -1.66623833e-02 6.90493607e+01] [ 4.60138363e-02 9.98940719e-01 -4.07205371e-04 3.68646730e+00] [ 1.66634704e-02 -3.59982716e-04 9.99861090e-01 4.33850054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.284391418 meters Centerline goodness [0,1] 0.9990302314795294 Centerline is valid? [True, True] Translation: X:69.08, Y:3.68, Z:0.44 [[ 9.98738564e-01 -4.84188877e-02 -1.33001070e-02 6.90813051e+01] [ 4.84188515e-02 9.98827067e-01 -3.24918705e-04 3.68466077e+00] [ 1.33002391e-02 -3.19467066e-04 9.99911497e-01 4.39197186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.314391418 meters Centerline goodness [0,1] 0.9987774288063068 Centerline is valid? [True, True] Translation: X:69.11, Y:3.69, Z:0.44 [[ 9.98682846e-01 -4.99743088e-02 -1.16249982e-02 6.91137091e+01] [ 4.99743963e-02 9.98750459e-01 -2.83142243e-04 3.68520074e+00] [ 1.16246221e-02 -2.98182965e-04 9.99932387e-01 4.43162761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.344391418 meters Centerline goodness [0,1] 0.9986932788163635 Centerline is valid? [True, True] Translation: X:69.15, Y:3.69, Z:0.44 [[ 9.98536694e-01 -5.21732703e-02 -1.42274891e-02 6.91452019e+01] [ 5.21736412e-02 9.98637968e-01 -3.45346339e-04 3.68636710e+00] [ 1.42261287e-02 -3.97458922e-04 9.99898725e-01 4.42383646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37439141799999 meters Centerline goodness [0,1] 0.9985458683694759 Centerline is valid? [True, True] Translation: X:69.18, Y:3.69, Z:0.44 [[ 9.98456239e-01 -5.29456387e-02 -1.67898523e-02 6.91776438e+01] [ 5.29462862e-02 9.98597279e-01 -4.06257059e-04 3.68645831e+00] [ 1.67878104e-02 -4.83330432e-04 9.99858958e-01 4.39124443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40439141799999 meters Centerline goodness [0,1] 0.9987337497889583 Centerline is valid? [True, True] Translation: X:69.21, Y:3.68, Z:0.44 [[ 9.98330360e-01 -5.46703079e-02 -1.86453699e-02 6.92087087e+01] [ 5.46714331e-02 9.98504297e-01 -4.49756754e-04 3.68241720e+00] [ 1.86420704e-02 -5.70363275e-04 9.99826059e-01 4.36860708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43439141799999 meters Centerline goodness [0,1] 0.998947301934859 Centerline is valid? [True, True] Translation: X:69.24, Y:3.68, Z:0.44 [[ 9.98255521e-01 -5.62414096e-02 -1.79671756e-02 6.92410178e+01] [ 5.62427313e-02 9.98417031e-01 -4.32136156e-04 3.68061979e+00] [ 1.79630381e-02 -5.79140727e-04 9.99838484e-01 4.37595683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46439141799999 meters Centerline goodness [0,1] 0.998797950188743 Centerline is valid? [True, True] Translation: X:69.27, Y:3.68, Z:0.44 [[ 9.98317765e-01 -5.55151371e-02 -1.67245357e-02 6.92736743e+01] [ 5.55162065e-02 9.98457706e-01 -4.00681099e-04 3.68244294e+00] [ 1.67209854e-02 -5.28475719e-04 9.99860055e-01 4.39024684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49439141799999 meters Centerline goodness [0,1] 0.9986711103611204 Centerline is valid? [True, True] Translation: X:69.31, Y:3.69, Z:0.44 [[ 9.98453227e-01 -5.32190699e-02 -1.60898977e-02 6.93058455e+01] [ 5.32197866e-02 9.98582749e-01 -3.83931809e-04 3.68894826e+00] [ 1.60875268e-02 -4.72962971e-04 9.99870476e-01 4.42376335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.524391418 meters Centerline goodness [0,1] 0.9988179669030733 Centerline is valid? [True, True] Translation: X:69.34, Y:3.69, Z:0.44 [[ 9.98483821e-01 -5.20337589e-02 -1.79595838e-02 6.93371502e+01] [ 5.20344983e-02 9.98645197e-01 -4.26441945e-04 3.68944576e+00] [ 1.79574415e-02 -5.08722551e-04 9.99838623e-01 4.39632017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.554391418 meters Centerline goodness [0,1] 0.9987513491777952 Centerline is valid? [True, True] Translation: X:69.37, Y:3.69, Z:0.44 [[ 9.98480796e-01 -5.16029055e-02 -1.93194241e-02 6.93693809e+01] [ 5.16037217e-02 9.98667536e-01 -4.56605509e-04 3.69199415e+00] [ 1.93172438e-02 -5.41042352e-04 9.99813258e-01 4.37170880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.584391418 meters Centerline goodness [0,1] 0.9988795162892962 Centerline is valid? [True, True] Translation: X:69.40, Y:3.69, Z:0.44 [[ 9.98475383e-01 -5.17462513e-02 -1.92155088e-02 6.94016869e+01] [ 5.17471145e-02 9.98660118e-01 -4.52625624e-04 3.69260111e+00] [ 1.92131840e-02 -5.42411591e-04 9.99815263e-01 4.36205331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.614391418 meters Centerline goodness [0,1] 0.9986920107170735 Centerline is valid? [True, True] Translation: X:69.43, Y:3.69, Z:0.44 [[ 9.98460280e-01 -5.31799541e-02 -1.57785044e-02 6.94327246e+01] [ 5.31807378e-02 9.98584835e-01 -3.70205854e-04 3.68713563e+00] [ 1.57758628e-02 -4.69476665e-04 9.99875443e-01 4.38314500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.644391418 meters Centerline goodness [0,1] 0.9988598213720149 Centerline is valid? [True, True] Translation: X:69.46, Y:3.69, Z:0.44 [[ 9.98460079e-01 -5.33253905e-02 -1.52928991e-02 6.94645932e+01] [ 5.33261676e-02 9.98577084e-01 -3.57250673e-04 3.69036639e+00] [ 1.52901892e-02 -4.58811168e-04 9.99882993e-01 4.40456713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.674391418 meters Centerline goodness [0,1] 0.9987587570740328 Centerline is valid? [True, True] Translation: X:69.50, Y:3.69, Z:0.44 [[ 9.98465497e-01 -5.29841332e-02 -1.61038121e-02 6.94952330e+01] [ 5.29849696e-02 9.98595240e-01 -3.75012480e-04 3.69281557e+00] [ 1.61010598e-02 -4.78822972e-04 9.99870255e-01 4.42660472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.704391418 meters Centerline goodness [0,1] 0.9989422242907614 Centerline is valid? [True, True] Translation: X:69.53, Y:3.70, Z:0.44 [[ 9.98532111e-01 -4.99617321e-02 -2.09152526e-02 6.95267069e+01] [ 4.99625310e-02 9.98750975e-01 -4.84674327e-04 3.70125775e+00] [ 2.09133442e-02 -5.61016080e-04 9.99781135e-01 4.41070982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.734391418 meters Centerline goodness [0,1] 0.9988773802715469 Centerline is valid? [True, True] Translation: X:69.56, Y:3.71, Z:0.44 [[ 9.98540109e-01 -4.80302793e-02 -2.47132213e-02 6.95579260e+01] [ 4.80308539e-02 9.98845689e-01 -5.70678895e-04 3.70549833e+00] [ 2.47121045e-02 -6.17151358e-04 9.99694419e-01 4.37079513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76439141799999 meters Centerline goodness [0,1] 0.9990221088435374 Centerline is valid? [True, True] Translation: X:69.59, Y:3.71, Z:0.43 [[ 9.98523775e-01 -4.68520522e-02 -2.74801159e-02 6.95870135e+01] [ 4.68523176e-02 9.98901626e-01 -6.34573055e-04 3.70741606e+00] [ 2.74796635e-02 -6.53870835e-04 9.99622149e-01 4.32074681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79439141799999 meters Centerline goodness [0,1] 0.9990658967391305 Centerline is valid? [True, True] Translation: X:69.62, Y:3.71, Z:0.43 [[ 9.98628289e-01 -4.67537518e-02 -2.35717594e-02 6.96162652e+01] [ 4.67539023e-02 9.98906290e-01 -5.45029758e-04 3.70601366e+00] [ 2.35714609e-02 -5.57789601e-04 9.99721999e-01 4.32841464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82439141799999 meters Centerline goodness [0,1] 0.99894083504565 Centerline is valid? [True, True] Translation: X:69.65, Y:3.71, Z:0.44 [[ 9.98741092e-01 -4.66186464e-02 -1.85184353e-02 6.96470591e+01] [ 4.66187099e-02 9.98912665e-01 -4.28493006e-04 3.70897402e+00] [ 1.85182754e-02 -4.35351992e-04 9.99828427e-01 4.39530629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85439141799999 meters Centerline goodness [0,1] 0.998833979944455 Centerline is valid? [True, True] Translation: X:69.68, Y:3.71, Z:0.45 [[ 9.98818546e-01 -4.65828012e-02 -1.38403042e-02 6.96788821e+01] [ 4.65828386e-02 9.98914379e-01 -3.19845010e-04 3.71337331e+00] [ 1.38401781e-02 -3.25253527e-04 9.99904167e-01 4.48294766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88439141799999 meters Centerline goodness [0,1] 0.9987479043314021 Centerline is valid? [True, True] Translation: X:69.71, Y:3.72, Z:0.45 [[ 9.98860009e-01 -4.55756760e-02 -1.41964938e-02 6.97109802e+01] [ 4.55756304e-02 9.98960838e-01 -3.26902479e-04 3.72190624e+00] [ 1.41966402e-02 -3.20484344e-04 9.99899171e-01 4.52254727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.914391418 meters Centerline goodness [0,1] 0.9989178637357041 Centerline is valid? [True, True] Translation: X:69.74, Y:3.72, Z:0.45 [[ 9.98827591e-01 -4.54243780e-02 -1.67352688e-02 6.97427557e+01] [ 4.54243184e-02 9.98967709e-01 -3.83874963e-04 3.72402484e+00] [ 1.67354304e-02 -3.76763274e-04 9.99859882e-01 4.50186372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.944391418 meters Centerline goodness [0,1] 0.9987020171929526 Centerline is valid? [True, True] Translation: X:69.78, Y:3.72, Z:0.45 [[ 9.98778058e-01 -4.59687080e-02 -1.81457801e-02 6.97750096e+01] [ 4.59687557e-02 9.98942792e-01 -4.14691876e-04 3.72422575e+00] [ 1.81456591e-02 -4.19953786e-04 9.99835266e-01 4.47592076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.974391418 meters Centerline goodness [0,1] 0.9988130060621476 Centerline is valid? [True, True] Translation: X:69.81, Y:3.72, Z:0.45 [[ 9.98634617e-01 -4.99686096e-02 -1.52328651e-02 6.98060640e+01] [ 4.99691231e-02 9.98750703e-01 -3.47131267e-04 3.71946350e+00] [ 1.52311804e-02 -4.14515613e-04 9.99883913e-01 4.49543362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.004391418 meters Centerline goodness [0,1] 0.9987480106100796 Centerline is valid? [True, True] Translation: X:69.84, Y:3.72, Z:0.45 [[ 9.98549950e-01 -5.19427561e-02 -1.41403064e-02 6.98385026e+01] [ 5.19434095e-02 9.98649978e-01 -3.21301589e-04 3.71759960e+00] [ 1.41379060e-02 -4.13660042e-04 9.99899969e-01 4.50699016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.034391418 meters Centerline goodness [0,1] 0.9988770234765658 Centerline is valid? [True, True] Translation: X:69.87, Y:3.72, Z:0.45 [[ 9.98476935e-01 -5.33032275e-02 -1.42329312e-02 6.98702794e+01] [ 5.33040441e-02 9.98578277e-01 -3.22249141e-04 3.71793756e+00] [ 1.42298728e-02 -4.36914455e-04 9.99898655e-01 4.51940512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.064391418 meters Centerline goodness [0,1] 0.9986846850669325 Centerline is valid? [True, True] Translation: X:69.90, Y:3.72, Z:0.45 [[ 9.98384913e-01 -5.41358315e-02 -1.72301290e-02 6.99010620e+01] [ 5.41371760e-02 9.98533432e-01 -3.88729634e-04 3.71973040e+00] [ 1.72259041e-02 -5.44688727e-04 9.99851475e-01 4.50188297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.094391418 meters Centerline goodness [0,1] 0.998811544991511 Centerline is valid? [True, True] Translation: X:69.93, Y:3.72, Z:0.45 [[ 9.98352884e-01 -5.39247384e-02 -1.95867475e-02 6.99319931e+01] [ 5.39264602e-02 9.98544813e-01 -4.40640155e-04 3.71998262e+00] [ 1.95820065e-02 -6.16329590e-04 9.99808064e-01 4.47018906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12439141799999 meters Centerline goodness [0,1] 0.9991916957372585 Centerline is valid? [True, True] Translation: X:69.96, Y:3.72, Z:0.44 [[ 9.98356185e-01 -5.32100497e-02 -2.12982982e-02 6.99640418e+01] [ 5.32119564e-02 9.98583126e-01 -4.77592825e-04 3.72155266e+00] [ 2.12935339e-02 -6.56516365e-04 9.99773051e-01 4.44115075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15439141799999 meters Centerline goodness [0,1] 0.9990632916781981 Centerline is valid? [True, True] Translation: X:70.00, Y:3.73, Z:0.45 [[ 9.98425959e-01 -5.22423188e-02 -2.04045059e-02 6.99963695e+01] [ 5.22438996e-02 9.98634251e-01 -4.55943806e-04 3.72628499e+00] [ 2.04004580e-02 -6.10784826e-04 9.99791702e-01 4.46017656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18439141799999 meters Centerline goodness [0,1] 0.9992533014741962 Centerline is valid? [True, True] Translation: X:70.03, Y:3.73, Z:0.45 [[ 9.98516074e-01 -5.07001851e-02 -1.98781553e-02 7.00274357e+01] [ 5.07014072e-02 9.98713758e-01 -4.42815479e-04 3.72796968e+00] [ 1.98750381e-02 -5.65692075e-04 9.99802312e-01 4.46725745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21439141799999 meters Centerline goodness [0,1] 0.9991025449261737 Centerline is valid? [True, True] Translation: X:70.06, Y:3.74, Z:0.45 [[ 9.98732937e-01 -4.66259388e-02 -1.89352039e-02 7.00589543e+01] [ 4.66263372e-02 9.98912312e-01 -4.20682423e-04 3.73715749e+00] [ 1.89342231e-02 -4.62729812e-04 9.99820624e-01 4.48667422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24439141799999 meters Centerline goodness [0,1] 0.9989757815000534 Centerline is valid? [True, True] Translation: X:70.09, Y:3.74, Z:0.45 [[ 9.98800165e-01 -4.53100827e-02 -1.85802587e-02 7.00914085e+01] [ 4.53102635e-02 9.98972878e-01 -4.11460525e-04 3.73993861e+00] [ 1.85798178e-02 -4.30909577e-04 9.99827287e-01 4.48407656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.274391418 meters Centerline goodness [0,1] 0.9991667912919008 Centerline is valid? [True, True] Translation: X:70.12, Y:3.74, Z:0.45 [[ 9.98810553e-01 -4.51509381e-02 -1.84084681e-02 7.01235932e+01] [ 4.51511162e-02 9.98980086e-01 -4.06152550e-04 3.74024515e+00] [ 1.84080312e-02 -4.25493427e-04 9.99830467e-01 4.48093127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.304391418 meters Centerline goodness [0,1] 0.9989754317061197 Centerline is valid? [True, True] Translation: X:70.15, Y:3.74, Z:0.45 [[ 9.98795100e-01 -4.57901716e-02 -1.76524296e-02 7.01545452e+01] [ 4.57904567e-02 9.98950991e-01 -3.88245067e-04 3.73852022e+00] [ 1.76516898e-02 -4.20535542e-04 9.99844108e-01 4.47700396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.334391418 meters Centerline goodness [0,1] 0.9989099536195952 Centerline is valid? [True, True] Translation: X:70.19, Y:3.74, Z:0.45 [[ 9.98701467e-01 -4.80993095e-02 -1.67879671e-02 7.01863583e+01] [ 4.80999128e-02 9.98842462e-01 -3.68073076e-04 3.73756824e+00] [ 1.67862384e-02 -4.39904630e-04 9.99859004e-01 4.50821838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.364391418 meters Centerline goodness [0,1] 0.9990396722081137 Centerline is valid? [True, True] Translation: X:70.22, Y:3.74, Z:0.45 [[ 9.98714871e-01 -4.80370827e-02 -1.61569055e-02 7.02181441e+01] [ 4.80376538e-02 9.98845463e-01 -3.52964885e-04 3.73988902e+00] [ 1.61552072e-02 -4.23628553e-04 9.99869406e-01 4.53938668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.394391418 meters Centerline goodness [0,1] 0.9991240252109818 Centerline is valid? [True, True] Translation: X:70.25, Y:3.74, Z:0.46 [[ 9.98737751e-01 -4.74612408e-02 -1.64419033e-02 7.02489133e+01] [ 4.74617736e-02 9.98872991e-01 -3.58019948e-04 3.74297932e+00] [ 1.64403652e-02 -4.22793855e-04 9.99864759e-01 4.56125628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.424391418 meters Centerline goodness [0,1] 0.9989924325251356 Centerline is valid? [True, True] Translation: X:70.28, Y:3.75, Z:0.45 [[ 9.98736410e-01 -4.55288430e-02 -2.12769224e-02 7.02809772e+01] [ 4.55293336e-02 9.98962896e-01 -4.61607164e-04 3.75084834e+00] [ 2.12758725e-02 -5.07700218e-04 9.99773514e-01 4.53116870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.454391418 meters Centerline goodness [0,1] 0.9992061278348746 Centerline is valid? [True, True] Translation: X:70.31, Y:3.75, Z:0.45 [[ 9.98698143e-01 -4.53069638e-02 -2.34370955e-02 7.03117272e+01] [ 4.53075303e-02 9.98972958e-01 -5.07112778e-04 3.75005002e+00] [ 2.34360004e-02 -5.55424326e-04 9.99725185e-01 4.47944153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.484391418 meters Centerline goodness [0,1] 0.9992061278348746 Centerline is valid? [True, True] Translation: X:70.34, Y:3.75, Z:0.45 [[ 9.98699916e-01 -4.52678522e-02 -2.34371156e-02 7.03425792e+01] [ 4.52684296e-02 9.98974731e-01 -5.06185308e-04 3.75067729e+00] [ 2.34360002e-02 -5.55434193e-04 9.99725185e-01 4.48205411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51439141799999 meters Centerline goodness [0,1] 0.9991847417991461 Centerline is valid? [True, True] Translation: X:70.37, Y:3.75, Z:0.44 [[ 9.98668289e-01 -4.57142885e-02 -2.39134399e-02 7.03742203e+01] [ 4.57150402e-02 9.98954388e-01 -5.15533277e-04 3.74866778e+00] [ 2.39120030e-02 -5.78357130e-04 9.99713900e-01 4.44654780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54439141799999 meters Centerline goodness [0,1] 0.9989313499187826 Centerline is valid? [True, True] Translation: X:70.41, Y:3.74, Z:0.45 [[ 9.98707651e-01 -4.73193615e-02 -1.85446722e-02 7.04053007e+01] [ 4.73200979e-02 9.98879697e-01 -3.99340928e-04 3.74339223e+00] [ 1.85427931e-02 -4.78710864e-04 9.99827953e-01 4.46135443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57439141799999 meters Centerline goodness [0,1] 0.9990398566185884 Centerline is valid? [True, True] Translation: X:70.44, Y:3.74, Z:0.45 [[ 9.98766256e-01 -4.74143860e-02 -1.47594581e-02 7.04371858e+01] [ 4.74148718e-02 9.98875232e-01 -3.17208252e-04 3.74455572e+00] [ 1.47578973e-02 -3.83000913e-04 9.99891023e-01 4.52721815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60439141799999 meters Centerline goodness [0,1] 0.9990392826643895 Centerline is valid? [True, True] Translation: X:70.47, Y:3.75, Z:0.46 [[ 9.98846621e-01 -4.62078177e-02 -1.30485675e-02 7.04689918e+01] [ 4.62081070e-02 9.98931796e-01 -2.79475392e-04 3.75068024e+00] [ 1.30475430e-02 -3.23796554e-04 9.99914825e-01 4.58247046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63439141799999 meters Centerline goodness [0,1] 0.999229715850736 Centerline is valid? [True, True] Translation: X:70.50, Y:3.76, Z:0.46 [[ 9.99025099e-01 -4.13260387e-02 -1.55244711e-02 7.05011800e+01] [ 4.13258810e-02 9.99145666e-01 -3.31092502e-04 3.76088638e+00] [ 1.55248907e-02 -3.10792725e-04 9.99879433e-01 4.61267308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.664391418 meters Centerline goodness [0,1] 0.9991213218747991 Centerline is valid? [True, True] Translation: X:70.53, Y:3.76, Z:0.46 [[ 9.99057285e-01 -3.91956046e-02 -1.86613288e-02 7.05334443e+01] [ 3.91950367e-02 9.99231501e-01 -3.96318826e-04 3.76433349e+00] [ 1.86625216e-02 -3.35486257e-04 9.99825784e-01 4.59082934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.694391418 meters Centerline goodness [0,1] 0.9990146094854547 Centerline is valid? [True, True] Translation: X:70.56, Y:3.77, Z:0.45 [[ 9.99047499e-01 -3.79884350e-02 -2.14702735e-02 7.05642132e+01] [ 3.79874390e-02 9.99278113e-01 -4.54378989e-04 3.76537678e+00] [ 2.14720355e-02 -3.61654512e-04 9.99769384e-01 4.54989380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.724391418 meters Centerline goodness [0,1] 0.999078755677436 Centerline is valid? [True, True] Translation: X:70.59, Y:3.76, Z:0.45 [[ 9.99039541e-01 -3.76725929e-02 -2.23779049e-02 7.05948746e+01] [ 3.76714501e-02 9.99290067e-01 -4.72768865e-04 3.76130879e+00] [ 2.23798285e-02 -3.70693338e-04 9.99749472e-01 4.48765978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.754391418 meters Centerline goodness [0,1] 0.9992295345104334 Centerline is valid? [True, True] Translation: X:70.62, Y:3.76, Z:0.45 [[ 9.99104927e-01 -3.74202472e-02 -1.97248398e-02 7.06249827e+01] [ 3.74193130e-02 9.99299565e-01 -4.16569014e-04 3.76099699e+00] [ 1.97266119e-02 -3.21893799e-04 9.99805360e-01 4.51115759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.784391418 meters Centerline goodness [0,1] 0.9988448703687858 Centerline is valid? [True, True] Translation: X:70.66, Y:3.76, Z:0.45 [[ 9.99165852e-01 -3.72285952e-02 -1.67819146e-02 7.06557183e+01] [ 3.72279016e-02 9.99306739e-01 -3.53840188e-04 3.76186617e+00] [ 1.67834533e-02 -2.71210433e-04 9.99859111e-01 4.54783020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.814391418 meters Centerline goodness [0,1] 0.9991010273972603 Centerline is valid? [True, True] Translation: X:70.69, Y:3.77, Z:0.46 [[ 9.99261985e-01 -3.49648391e-02 -1.59042375e-02 7.06864339e+01] [ 3.49639429e-02 9.99388518e-01 -3.34486387e-04 3.76749733e+00] [ 1.59062076e-02 -2.21835321e-04 9.99873464e-01 4.59274730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.844391418 meters Centerline goodness [0,1] 0.9990149260123776 Centerline is valid? [True, True] Translation: X:70.72, Y:3.77, Z:0.46 [[ 9.99287683e-01 -3.37008267e-02 -1.69817600e-02 7.07181296e+01] [ 3.36996400e-02 9.99431942e-01 -3.56117352e-04 3.76983676e+00] [ 1.69841148e-02 -2.16415515e-04 9.99855736e-01 4.59011889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87439141799999 meters Centerline goodness [0,1] 0.9989289233537552 Centerline is valid? [True, True] Translation: X:70.75, Y:3.77, Z:0.45 [[ 9.99228858e-01 -3.37288293e-02 -2.01011312e-02 7.07498301e+01] [ 3.37271976e-02 9.99430988e-01 -4.20273833e-04 3.76906026e+00] [ 2.01038688e-02 -2.58005084e-04 9.99797864e-01 4.54913539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90439141799999 meters Centerline goodness [0,1] 0.9989086473647044 Centerline is valid? [True, True] Translation: X:70.78, Y:3.77, Z:0.45 [[ 9.99209043e-01 -3.41859546e-02 -2.03127752e-02 7.07814127e+01] [ 3.41843993e-02 9.99415453e-01 -4.23890662e-04 3.76758049e+00] [ 2.03153926e-02 -2.70824637e-04 9.99793584e-01 4.53488346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93439141799999 meters Centerline goodness [0,1] 0.9990136163825453 Centerline is valid? [True, True] Translation: X:70.81, Y:3.77, Z:0.46 [[ 9.99194999e-01 -3.54240402e-02 -1.88279596e-02 7.08117778e+01] [ 3.54229420e-02 9.99372334e-01 -3.91932331e-04 3.76622521e+00] [ 1.88300257e-02 -2.75324895e-04 9.99822661e-01 4.55179781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96439141799999 meters Centerline goodness [0,1] 0.9990372066154604 Centerline is valid? [True, True] Translation: X:70.84, Y:3.77, Z:0.46 [[ 9.99069650e-01 -3.92334746e-02 -1.79044137e-02 7.08427693e+01] [ 3.92331088e-02 9.99230016e-01 -3.71817160e-04 3.76576806e+00] [ 1.79052152e-02 -3.30974569e-04 9.99839634e-01 4.58440975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99439141799999 meters Centerline goodness [0,1] 0.9989078059749438 Centerline is valid? [True, True] Translation: X:70.87, Y:3.76, Z:0.46 [[ 9.98939698e-01 -4.21395708e-02 -1.85401076e-02 7.08737084e+01] [ 4.21396964e-02 9.99111655e-01 -3.84071697e-04 3.76475178e+00] [ 1.85398222e-02 -3.97610041e-04 9.99828044e-01 4.57572191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.024391418 meters Centerline goodness [0,1] 0.9989720086522605 Centerline is valid? [True, True] Translation: X:70.90, Y:3.76, Z:0.46 [[ 9.98760686e-01 -4.56280829e-02 -1.98789016e-02 7.09047398e+01] [ 4.56289536e-02 9.98958373e-01 -4.10008638e-04 3.76122259e+00] [ 1.98769031e-02 -4.97552970e-04 9.99802311e-01 4.55246116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.054391418 meters Centerline goodness [0,1] 0.998824434659941 Centerline is valid? [True, True] Translation: X:70.94, Y:3.75, Z:0.45 [[ 9.98297999e-01 -5.50164882e-02 -1.93465847e-02 7.09355622e+01] [ 5.50190917e-02 9.98485223e-01 -3.98071991e-04 3.74881369e+00] [ 1.93391794e-02 -6.67037043e-04 9.99812758e-01 4.52262404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.084391418 meters Centerline goodness [0,1] 0.9988894346795378 Centerline is valid? [True, True] Translation: X:70.97, Y:3.74, Z:0.45 [[ 9.98038094e-01 -6.01829927e-02 -1.72617957e-02 7.09665419e+01] [ 6.01858445e-02 9.98187126e-01 -3.54711435e-04 3.74492890e+00] [ 1.72518498e-02 -6.84900228e-04 9.99850941e-01 4.54326361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.114391418 meters Centerline goodness [0,1] 0.9987393701123883 Centerline is valid? [True, True] Translation: X:71.00, Y:3.74, Z:0.46 [[ 9.97537639e-01 -6.88260150e-02 -1.34773167e-02 7.09962608e+01] [ 6.88285432e-02 9.97628465e-01 -2.76703405e-04 3.73743463e+00] [ 1.34643992e-02 -6.51602014e-04 9.99909139e-01 4.61810065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.144391418 meters Centerline goodness [0,1] 0.9987830134295536 Centerline is valid? [True, True] Translation: X:71.03, Y:3.74, Z:0.46 [[ 9.97317273e-01 -7.20134203e-02 -1.31272180e-02 7.10277262e+01] [ 7.20160948e-02 9.97403434e-01 -2.69469453e-04 3.74129254e+00] [ 1.31125377e-02 -6.76624436e-04 9.99913798e-01 4.64565500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.174391418 meters Centerline goodness [0,1] 0.9986978332799659 Centerline is valid? [True, True] Translation: X:71.06, Y:3.74, Z:0.46 [[ 9.97089837e-01 -7.48432134e-02 -1.45034669e-02 7.10587286e+01] [ 7.48467837e-02 9.97195001e-01 -2.97236040e-04 3.74159080e+00] [ 1.44850308e-02 -7.89166818e-04 9.99894775e-01 4.63299440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.204391418 meters Centerline goodness [0,1] 0.9989521406270049 Centerline is valid? [True, True] Translation: X:71.09, Y:3.74, Z:0.46 [[ 9.96848375e-01 -7.76521050e-02 -1.62316725e-02 7.10896925e+01] [ 7.76569577e-02 9.96980083e-01 -3.32067452e-04 3.73938565e+00] [ 1.62084399e-02 -9.29481403e-04 9.99868203e-01 4.59871128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.234391418 meters Centerline goodness [0,1] 0.9985720070760247 Centerline is valid? [True, True] Translation: X:71.12, Y:3.73, Z:0.46 [[ 9.96360245e-01 -8.35843550e-02 -1.67307436e-02 7.11195625e+01] [ 8.35903489e-02 9.96500144e-01 -3.41965183e-04 3.72851050e+00] [ 1.67007714e-02 -1.05780818e-03 9.99859973e-01 4.55111374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26439141799999 meters Centerline goodness [0,1] 0.9984025899341867 Centerline is valid? [True, True] Translation: X:71.15, Y:3.73, Z:0.46 [[ 9.96209087e-01 -8.56735138e-02 -1.50832094e-02 7.11520005e+01] [ 8.56786292e-02 9.96322778e-01 -3.07905928e-04 3.72631105e+00] [ 1.50541245e-02 -9.85570021e-04 9.99886195e-01 4.57424439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29439141799999 meters Centerline goodness [0,1] 0.9983814290277926 Centerline is valid? [True, True] Translation: X:71.18, Y:3.73, Z:0.46 [[ 9.96154924e-01 -8.66525131e-02 -1.29116135e-02 7.11839215e+01] [ 8.66563549e-02 9.96238228e-01 -2.62672288e-04 3.72663937e+00] [ 1.28858042e-02 -8.57211069e-04 9.99916607e-01 4.61013899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32439141799999 meters Centerline goodness [0,1] 0.9990386669515061 Centerline is valid? [True, True] Translation: X:71.22, Y:3.74, Z:0.46 [[ 9.96300392e-01 -8.47932234e-02 -1.39870583e-02 7.12154539e+01] [ 8.47975642e-02 9.96398160e-01 -2.83502723e-04 3.74109605e+00] [ 1.39607182e-02 -9.03614599e-04 9.99902136e-01 4.64169007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35439141799999 meters Centerline goodness [0,1] 0.9988033932348982 Centerline is valid? [True, True] Translation: X:71.25, Y:3.74, Z:0.46 [[ 9.96445252e-01 -8.26494909e-02 -1.63071066e-02 7.12457727e+01] [ 8.26551180e-02 9.96578157e-01 -3.29761611e-04 3.73900550e+00] [ 1.62785609e-02 -1.01927643e-03 9.99866976e-01 4.61941641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38439141799999 meters Centerline goodness [0,1] 0.9988661646414513 Centerline is valid? [True, True] Translation: X:71.28, Y:3.75, Z:0.46 [[ 9.96827890e-01 -7.74868547e-02 -1.81643657e-02 7.12751524e+01] [ 7.74929832e-02 9.96992830e-01 -3.67287452e-04 3.74556478e+00] [ 1.81382023e-02 -1.04148851e-03 9.99834947e-01 4.56623578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.414391418 meters Centerline goodness [0,1] 0.9990157269712208 Centerline is valid? [True, True] Translation: X:71.31, Y:3.75, Z:0.46 [[ 9.96983293e-01 -7.57797695e-02 -1.67851217e-02 7.13069451e+01] [ 7.57847691e-02 9.97124142e-01 -3.38929445e-04 3.74795703e+00] [ 1.67625340e-02 -9.34149576e-04 9.99859062e-01 4.57753684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.444391418 meters Centerline goodness [0,1] 0.9990374331550802 Centerline is valid? [True, True] Translation: X:71.34, Y:3.76, Z:0.46 [[ 9.97185716e-01 -7.35252028e-02 -1.46524132e-02 7.13377263e+01] [ 7.35287813e-02 9.97293052e-01 -2.95070754e-04 3.76086887e+00] [ 1.46344450e-02 -7.83133743e-04 9.99892604e-01 4.58779275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.474391418 meters Centerline goodness [0,1] 0.9989082969432315 Centerline is valid? [True, True] Translation: X:71.37, Y:3.76, Z:0.47 [[ 9.97446014e-01 -7.06968610e-02 -1.01687105e-02 7.13686623e+01] [ 7.06984410e-02 9.97497714e-01 -2.04458046e-04 3.76241373e+00] [ 1.01577200e-02 -5.14976117e-04 9.99948276e-01 4.66921759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.504391418 meters Centerline goodness [0,1] 0.9992284281366539 Centerline is valid? [True, True] Translation: X:71.40, Y:3.77, Z:0.47 [[ 9.97581993e-01 -6.87607680e-02 -1.01056563e-02 7.14003007e+01] [ 6.87622342e-02 9.97633056e-01 -2.02705854e-04 3.77103455e+00] [ 1.00956750e-02 -4.92671795e-04 9.99948916e-01 4.70063834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.534391418 meters Centerline goodness [0,1] 0.99916391544827 Centerline is valid? [True, True] Translation: X:71.43, Y:3.78, Z:0.47 [[ 9.97659101e-01 -6.73432546e-02 -1.18829427e-02 7.14325439e+01] [ 6.73451945e-02 9.97729707e-01 -2.37272617e-04 3.77732945e+00] [ 1.18719437e-02 -5.63541904e-04 9.99929367e-01 4.70117542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.564391418 meters Centerline goodness [0,1] 0.9992898185809284 Centerline is valid? [True, True] Translation: X:71.46, Y:3.78, Z:0.46 [[ 9.97794473e-01 -6.40156303e-02 -1.75553284e-02 7.14627148e+01] [ 6.40193723e-02 9.97948595e-01 -3.49321101e-04 3.77886376e+00] [ 1.75416773e-02 -7.75330443e-04 9.99845832e-01 4.63226148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.594391418 meters Centerline goodness [0,1] 0.999311116851804 Centerline is valid? [True, True] Translation: X:71.49, Y:3.78, Z:0.46 [[ 9.97854924e-01 -6.23396226e-02 -1.99830527e-02 7.14949428e+01] [ 6.23441584e-02 9.98054632e-01 -3.96520374e-04 3.78236292e+00] [ 1.99688972e-02 -8.50156795e-04 9.99800240e-01 4.59583916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62439141799999 meters Centerline goodness [0,1] 0.9995251559431051 Centerline is valid? [True, True] Translation: X:71.53, Y:3.79, Z:0.46 [[ 9.98136084e-01 -5.75918743e-02 -2.01874844e-02 7.15258844e+01] [ 5.75955522e-02 9.98339918e-01 -3.99664979e-04 3.79306031e+00] [ 2.01769890e-02 -7.63789275e-04 9.99796132e-01 4.61171521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65439141799999 meters Centerline goodness [0,1] 0.9994377770569791 Centerline is valid? [True, True] Translation: X:71.56, Y:3.80, Z:0.46 [[ 9.98352922e-01 -5.41598774e-02 -1.89248691e-02 7.15571181e+01] [ 5.41625045e-02 9.98532064e-01 -3.74088610e-04 3.79975588e+00] [ 1.89173492e-02 -6.51545850e-04 9.99820839e-01 4.62704819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68439141799999 meters Centerline goodness [0,1] 0.9998049034271964 Centerline is valid? [True, True] Translation: X:71.59, Y:3.81, Z:0.46 [[ 9.98582802e-01 -5.04575132e-02 -1.69241769e-02 7.15885091e+01] [ 5.04590936e-02 9.98726073e-01 -3.33897648e-04 3.80533467e+00] [ 1.69194644e-02 -5.20554177e-04 9.99856720e-01 4.64752580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71439141799999 meters Centerline goodness [0,1] 0.9995444290177022 Centerline is valid? [True, True] Translation: X:71.62, Y:3.81, Z:0.47 [[ 9.98761785e-01 -4.74766956e-02 -1.48613684e-02 7.16195149e+01] [ 4.74775927e-02 9.98872260e-01 -2.92642204e-04 3.81087522e+00] [ 1.48585024e-02 -4.13302147e-04 9.99889521e-01 4.66403261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74439141799999 meters Centerline goodness [0,1] 0.9997611032685416 Centerline is valid? [True, True] Translation: X:71.65, Y:3.81, Z:0.47 [[ 9.99001628e-01 -4.30249535e-02 -1.20249839e-02 7.16494447e+01] [ 4.30252226e-02 9.99073958e-01 -2.36437759e-04 3.81487696e+00] [ 1.20240210e-02 -2.81175902e-04 9.99927669e-01 4.68227282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.774391418 meters Centerline goodness [0,1] 0.9998043095388228 Centerline is valid? [True, True] Translation: X:71.68, Y:3.82, Z:0.47 [[ 9.99067107e-01 -4.14305636e-02 -1.21829336e-02 7.16821029e+01] [ 4.14307278e-02 9.99141350e-01 -2.39008300e-04 3.81689574e+00] [ 1.21823750e-02 -2.65962475e-04 9.99925757e-01 4.68689461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.804391418 meters Centerline goodness [0,1] 0.9997606249863992 Centerline is valid? [True, True] Translation: X:71.71, Y:3.82, Z:0.47 [[ 9.99131407e-01 -3.95569751e-02 -1.31025934e-02 7.17147821e+01] [ 3.95570215e-02 9.99217282e-01 -2.55720115e-04 3.81947972e+00] [ 1.31024533e-02 -2.62801573e-04 9.99914125e-01 4.68062738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.834391418 meters Centerline goodness [0,1] 0.9997601970744043 Centerline is valid? [True, True] Translation: X:71.75, Y:3.83, Z:0.47 [[ 9.99245775e-01 -3.53203418e-02 -1.61355138e-02 7.17468341e+01] [ 3.53198861e-02 9.99376009e-01 -3.13304379e-04 3.82843569e+00] [ 1.61365114e-02 -2.56836431e-04 9.99869765e-01 4.69227358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.864391418 meters Centerline goodness [0,1] 0.9998471482225522 Centerline is valid? [True, True] Translation: X:71.78, Y:3.83, Z:0.47 [[ 9.99290442e-01 -3.29548791e-02 -1.82370317e-02 7.17778378e+01] [ 3.29539273e-02 9.99456810e-01 -3.52785750e-04 3.83296775e+00] [ 1.82387515e-02 -2.48446388e-04 9.99833629e-01 4.67875081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.894391418 meters Centerline goodness [0,1] 0.9998247919404293 Centerline is valid? [True, True] Translation: X:71.81, Y:3.84, Z:0.47 [[ 9.99334401e-01 -3.09720261e-02 -1.92740403e-02 7.18087655e+01] [ 3.09706125e-02 9.99520226e-01 -3.71901902e-04 3.83679345e+00] [ 1.92763117e-02 -2.25274470e-04 9.99814169e-01 4.67029195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.924391418 meters Centerline goodness [0,1] 0.9999780874748005 Centerline is valid? [True, True] Translation: X:71.84, Y:3.84, Z:0.47 [[ 9.99411154e-01 -2.90642660e-02 -1.82377151e-02 7.18390528e+01] [ 2.90627018e-02 9.99577529e-01 -3.50862223e-04 3.83725527e+00] [ 1.82402077e-02 -1.79381655e-04 9.99833617e-01 4.65925947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.954391418 meters Centerline goodness [0,1] 0.9996936073359158 Centerline is valid? [True, True] Translation: X:71.87, Y:3.84, Z:0.47 [[ 9.99448456e-01 -2.89079629e-02 -1.63436222e-02 7.18707389e+01] [ 2.89066999e-02 9.99582065e-01 -3.13552995e-04 3.83683445e+00] [ 1.63458558e-02 -1.59060126e-04 9.99866385e-01 4.67137653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.984391418 meters Centerline goodness [0,1] 0.9996498062991092 Centerline is valid? [True, True] Translation: X:71.90, Y:3.84, Z:0.47 [[ 9.99486360e-01 -2.86299040e-02 -1.43994882e-02 7.19026605e+01] [ 2.86289055e-02 9.99590071e-01 -2.75506999e-04 3.83736677e+00] [ 1.44014732e-02 -1.36876101e-04 9.99896284e-01 4.69432735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01439141799999 meters Centerline goodness [0,1] 0.9998684383633732 Centerline is valid? [True, True] Translation: X:71.94, Y:3.84, Z:0.47 [[ 9.99512927e-01 -2.83371749e-02 -1.30733605e-02 7.19351345e+01] [ 2.83363395e-02 9.99598414e-01 -2.49168681e-04 3.84002710e+00] [ 1.30751712e-02 -1.21403864e-04 9.99914509e-01 4.72540010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04439141799999 meters Centerline goodness [0,1] 0.999627168454065 Centerline is valid? [True, True] Translation: X:71.97, Y:3.84, Z:0.47 [[ 9.99491205e-01 -2.86244070e-02 -1.40703059e-02 7.19676486e+01] [ 2.86234844e-02 9.99590228e-01 -2.66991593e-04 3.84159598e+00] [ 1.40721828e-02 -1.35885432e-04 9.99900973e-01 4.72193192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07439141799999 meters Centerline goodness [0,1] 0.9998245460128081 Centerline is valid? [True, True] Translation: X:72.00, Y:3.84, Z:0.47 [[ 9.99436231e-01 -3.00582948e-02 -1.49572239e-02 7.19987425e+01] [ 3.00574294e-02 9.99548133e-01 -2.82706489e-04 3.83984074e+00] [ 1.49589629e-02 -1.67028594e-04 9.99888095e-01 4.71412084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10439141799999 meters Centerline goodness [0,1] 0.9996705324196099 Centerline is valid? [True, True] Translation: X:72.03, Y:3.84, Z:0.47 [[ 9.99281252e-01 -3.43787984e-02 -1.59711630e-02 7.20310809e+01] [ 3.43783813e-02 9.99408843e-01 -3.00741357e-04 3.83705009e+00] [ 1.59720607e-02 -2.48537532e-04 9.99872408e-01 4.70261587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13439141799999 meters Centerline goodness [0,1] 0.9995836620212113 Centerline is valid? [True, True] Translation: X:72.06, Y:3.83, Z:0.47 [[ 9.99179016e-01 -3.69758650e-02 -1.65553159e-02 7.20630412e+01] [ 3.69757950e-02 9.99316113e-01 -3.10426218e-04 3.83380728e+00] [ 1.65554722e-02 -3.01974605e-04 9.99862903e-01 4.69157216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.164391418 meters Centerline goodness [0,1] 0.9997154987525715 Centerline is valid? [True, True] Translation: X:72.10, Y:3.83, Z:0.47 [[ 9.99084599e-01 -3.92453769e-02 -1.70224934e-02 7.20956418e+01] [ 3.92456550e-02 9.99229542e-01 -3.17849120e-04 3.82989833e+00] [ 1.70218524e-02 -3.50500743e-04 9.99855056e-01 4.65874908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.194391418 meters Centerline goodness [0,1] 0.9994765653966108 Centerline is valid? [True, True] Translation: X:72.13, Y:3.82, Z:0.47 [[ 9.98813801e-01 -4.56970229e-02 -1.68158285e-02 7.21269190e+01] [ 4.56982212e-02 9.98955241e-01 -3.13184357e-04 3.82155582e+00] [ 1.68125716e-02 -4.55640592e-04 9.99858555e-01 4.65554449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.224391418 meters Centerline goodness [0,1] 0.9996521512272539 Centerline is valid? [True, True] Translation: X:72.16, Y:3.82, Z:0.47 [[ 9.98705312e-01 -4.83265034e-02 -1.58823219e-02 7.21590602e+01] [ 4.83279161e-02 9.98831480e-01 -2.95066719e-04 3.82024123e+00] [ 1.58780226e-02 -4.72874820e-04 9.99873824e-01 4.67687222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.254391418 meters Centerline goodness [0,1] 0.999521499880375 Centerline is valid? [True, True] Translation: X:72.19, Y:3.82, Z:0.47 [[ 9.98642788e-01 -4.99928989e-02 -1.46045156e-02 7.21904315e+01] [ 4.99942855e-02 9.98749467e-01 -2.70363016e-04 3.81907118e+00] [ 1.45997684e-02 -4.60146249e-04 9.99893312e-01 4.70917574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.284391418 meters Centerline goodness [0,1] 0.9994775908230121 Centerline is valid? [True, True] Translation: X:72.22, Y:3.82, Z:0.48 [[ 9.98615307e-01 -5.05786700e-02 -1.44660594e-02 7.22222031e+01] [ 5.05801056e-02 9.98719972e-01 -2.66839366e-04 3.82454918e+00] [ 1.44610389e-02 -4.65224939e-04 9.99895325e-01 4.76132453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.314391418 meters Centerline goodness [0,1] 0.9996075781028582 Centerline is valid? [True, True] Translation: X:72.25, Y:3.83, Z:0.48 [[ 9.98641039e-01 -4.97040385e-02 -1.56710980e-02 7.22539688e+01] [ 4.97056361e-02 9.98763869e-01 -2.87769675e-04 3.82798644e+00] [ 1.56660298e-02 -4.91563289e-04 9.99877159e-01 4.76299236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.344391418 meters Centerline goodness [0,1] 0.9997164605553011 Centerline is valid? [True, True] Translation: X:72.29, Y:3.83, Z:0.47 [[ 9.98664537e-01 -4.86664828e-02 -1.73411920e-02 7.22853017e+01] [ 4.86683051e-02 9.98814946e-01 -3.17163731e-04 3.82817389e+00] [ 1.73360770e-02 -5.27226254e-04 9.99849580e-01 4.73417563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37439141799999 meters Centerline goodness [0,1] 0.9998256776780267 Centerline is valid? [True, True] Translation: X:72.32, Y:3.83, Z:0.47 [[ 9.98631764e-01 -4.87017278e-02 -1.90457800e-02 7.23173946e+01] [ 4.87039594e-02 9.98813198e-01 -3.46937058e-04 3.82717381e+00] [ 1.90400729e-02 -5.81142530e-04 9.99818552e-01 4.68011973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40439141799999 meters Centerline goodness [0,1] 0.9998256776780267 Centerline is valid? [True, True] Translation: X:72.35, Y:3.83, Z:0.47 [[ 9.98635674e-01 -4.86214680e-02 -1.90458078e-02 7.23491049e+01] [ 4.86237141e-02 9.98817108e-01 -3.45406312e-04 3.82767278e+00] [ 1.90400728e-02 -5.81142849e-04 9.99818552e-01 4.68280347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43439141799999 meters Centerline goodness [0,1] 0.9995432002088228 Centerline is valid? [True, True] Translation: X:72.38, Y:3.82, Z:0.47 [[ 9.98609802e-01 -4.93286302e-02 -1.85782050e-02 7.23799070e+01] [ 4.93309094e-02 9.98782433e-01 -3.35857314e-04 3.82302684e+00] [ 1.85721521e-02 -5.81089340e-04 9.99827354e-01 4.65980802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46439141799999 meters Centerline goodness [0,1] 0.9993486897809427 Centerline is valid? [True, True] Translation: X:72.41, Y:3.82, Z:0.47 [[ 9.98614711e-01 -4.99646199e-02 -1.64983555e-02 7.24116058e+01] [ 4.99665194e-02 9.98750849e-01 -2.97319261e-04 3.82340044e+00] [ 1.64926020e-02 -5.27458012e-04 9.99863849e-01 4.68997464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49439141799999 meters Centerline goodness [0,1] 0.9996522268350468 Centerline is valid? [True, True] Translation: X:72.44, Y:3.83, Z:0.47 [[ 9.98652768e-01 -4.96914820e-02 -1.49467620e-02 7.24441760e+01] [ 4.96930271e-02 9.98764502e-01 -2.68235688e-04 3.82617121e+00] [ 1.49416244e-02 -4.74875537e-04 9.99888255e-01 4.73718006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.524391418 meters Centerline goodness [0,1] 0.9991957221111207 Centerline is valid? [True, True] Translation: X:72.48, Y:3.83, Z:0.47 [[ 9.98735148e-01 -4.77249331e-02 -1.58251644e-02 7.24754917e+01] [ 4.77264479e-02 9.98860404e-01 -2.82144790e-04 3.82725048e+00] [ 1.58205954e-02 -4.73490964e-04 9.99874734e-01 4.74430326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.554391418 meters Centerline goodness [0,1] 0.9996515224114649 Centerline is valid? [True, True] Translation: X:72.51, Y:3.84, Z:0.47 [[ 9.98913377e-01 -4.26995436e-02 -1.86765723e-02 7.25066802e+01] [ 4.27008123e-02 9.99087850e-01 -3.31032493e-04 3.83536483e+00] [ 1.86736714e-02 -4.66832023e-04 9.99825523e-01 4.73409528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.584391418 meters Centerline goodness [0,1] 0.9995633092425599 Centerline is valid? [True, True] Translation: X:72.54, Y:3.84, Z:0.47 [[ 9.98978753e-01 -4.04229034e-02 -2.01851196e-02 7.25391785e+01] [ 4.04239465e-02 9.99182555e-01 -3.56509070e-04 3.83780021e+00] [ 2.01830305e-02 -4.59817208e-04 9.99796196e-01 4.70973534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.614391418 meters Centerline goodness [0,1] 0.999519755511897 Centerline is valid? [True, True] Translation: X:72.57, Y:3.84, Z:0.47 [[ 9.99036401e-01 -3.85048641e-02 -2.10628781e-02 7.25706347e+01] [ 3.85056037e-02 9.99258316e-01 -3.70601051e-04 3.83839524e+00] [ 2.10615260e-02 -4.40794897e-04 9.99778084e-01 4.68629171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.644391418 meters Centerline goodness [0,1] 0.9994759710910719 Centerline is valid? [True, True] Translation: X:72.60, Y:3.84, Z:0.47 [[ 9.99140154e-01 -3.68362030e-02 -1.90275361e-02 7.26022823e+01] [ 3.68365203e-02 9.99321249e-01 -3.33930272e-04 3.83895081e+00] [ 1.90269219e-02 -3.67265077e-04 9.99818904e-01 4.69645079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.674391418 meters Centerline goodness [0,1] 0.9995414847161572 Centerline is valid? [True, True] Translation: X:72.63, Y:3.84, Z:0.47 [[ 9.99198895e-01 -3.63140699e-02 -1.68183558e-02 7.26343882e+01] [ 3.63142601e-02 9.99340376e-01 -2.94183896e-04 3.84001365e+00] [ 1.68179450e-02 -3.16797922e-04 9.99858518e-01 4.72888472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.704391418 meters Centerline goodness [0,1] 0.9993891797556719 Centerline is valid? [True, True] Translation: X:72.67, Y:3.84, Z:0.48 [[ 9.99246072e-01 -3.52252765e-02 -1.63238301e-02 7.26659468e+01] [ 3.52253292e-02 9.99379355e-01 -2.84388851e-04 3.84280049e+00] [ 1.63237165e-02 -2.90837848e-04 9.99866717e-01 4.78429188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.734391418 meters Centerline goodness [0,1] 0.9994332177969611 Centerline is valid? [True, True] Translation: X:72.70, Y:3.85, Z:0.48 [[ 9.99244752e-01 -3.44823013e-02 -1.79135662e-02 7.26976207e+01] [ 3.44822691e-02 9.99405261e-01 -3.10765535e-04 3.84556369e+00] [ 1.79136282e-02 -3.07169580e-04 9.99839491e-01 4.79245028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76439141799999 meters Centerline goodness [0,1] 0.999541564792176 Centerline is valid? [True, True] Translation: X:72.73, Y:3.85, Z:0.48 [[ 9.99232161e-01 -3.38610092e-02 -1.97109353e-02 7.27299290e+01] [ 3.38608819e-02 9.99426498e-01 -3.40301388e-04 3.84710973e+00] [ 1.97111540e-02 -3.27389561e-04 9.99805663e-01 4.79148189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79439141799999 meters Centerline goodness [0,1] 0.9994317933476113 Centerline is valid? [True, True] Translation: X:72.76, Y:3.85, Z:0.48 [[ 9.99220633e-01 -3.34153090e-02 -2.10129606e-02 7.27624750e+01] [ 3.34151021e-02 9.99441494e-01 -3.61057119e-04 3.84758787e+00] [ 2.10132895e-02 -3.41374500e-04 9.99779138e-01 4.78112839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82439141799999 meters Centerline goodness [0,1] 0.9996939890710382 Centerline is valid? [True, True] Translation: X:72.79, Y:3.85, Z:0.47 [[ 9.99195416e-01 -3.27838113e-02 -2.31028606e-02 7.27928483e+01] [ 3.27834300e-02 9.99462401e-01 -3.95352452e-04 3.84570748e+00] [ 2.31034017e-02 -3.62356657e-04 9.99733015e-01 4.72860260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85439141799999 meters Centerline goodness [0,1] 0.999628666914222 Centerline is valid? [True, True] Translation: X:72.82, Y:3.85, Z:0.47 [[ 9.99195520e-01 -3.25314701e-02 -2.34524169e-02 7.28237596e+01] [ 3.25310197e-02 9.99470646e-01 -4.00822463e-04 3.84553500e+00] [ 2.34530416e-02 -3.62431027e-04 9.99724874e-01 4.71504993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88439141799999 meters Centerline goodness [0,1] 0.9995413144616998 Centerline is valid? [True, True] Translation: X:72.85, Y:3.84, Z:0.47 [[ 9.99226628e-01 -3.24365372e-02 -2.22265098e-02 7.28537733e+01] [ 3.24361091e-02 9.99473739e-01 -3.79870630e-04 3.84455383e+00] [ 2.22271345e-02 -3.41364646e-04 9.99752888e-01 4.71230437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.914391418 meters Centerline goodness [0,1] 0.9995202686495562 Centerline is valid? [True, True] Translation: X:72.88, Y:3.85, Z:0.48 [[ 9.99334583e-01 -3.25705433e-02 -1.64179804e-02 7.28843436e+01] [ 3.25703276e-02 9.99469407e-01 -2.80597747e-04 3.84613433e+00] [ 1.64184083e-02 -2.54327967e-04 9.99865177e-01 4.79160621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.944391418 meters Centerline goodness [0,1] 0.9995203627801518 Centerline is valid? [True, True] Translation: X:72.92, Y:3.85, Z:0.49 [[ 9.99366164e-01 -3.28925513e-02 -1.36143268e-02 7.29169731e+01] [ 3.28924399e-02 9.99458870e-01 -2.32159792e-04 3.84874788e+00] [ 1.36145960e-02 -2.15795785e-04 9.99907294e-01 4.85030391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.974391418 meters Centerline goodness [0,1] 0.9994338102393241 Centerline is valid? [True, True] Translation: X:72.95, Y:3.85, Z:0.49 [[ 9.99319268e-01 -3.43636620e-02 -1.34215999e-02 7.29487529e+01] [ 3.43637032e-02 9.99409368e-01 -2.27621612e-04 3.84920660e+00] [ 1.34214946e-02 -2.33749214e-04 9.99909900e-01 4.88260220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.004391418 meters Centerline goodness [0,1] 0.9994126093199321 Centerline is valid? [True, True] Translation: X:72.98, Y:3.85, Z:0.48 [[ 9.99233632e-01 -3.56417180e-02 -1.61807603e-02 7.29803681e+01] [ 3.56419665e-02 9.99364586e-01 -2.73106277e-04 3.84616896e+00] [ 1.61802128e-02 -3.03817139e-04 9.99869046e-01 4.84243165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.034391418 meters Centerline goodness [0,1] 0.99952162473635 Centerline is valid? [True, True] Translation: X:73.01, Y:3.84, Z:0.48 [[ 9.99115795e-01 -3.74082167e-02 -1.91899330e-02 7.30121172e+01] [ 3.74089165e-02 9.99299989e-01 -3.22626802e-04 3.84199022e+00] [ 1.91885688e-02 -3.95533069e-04 9.99815804e-01 4.78496040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.064391418 meters Centerline goodness [0,1] 0.9993715598318381 Centerline is valid? [True, True] Translation: X:73.04, Y:3.83, Z:0.47 [[ 9.98901854e-01 -4.18289793e-02 -2.11050298e-02 7.30436039e+01] [ 4.18308348e-02 9.99124645e-01 -3.53740280e-04 3.83437070e+00] [ 2.11013520e-02 -5.29489191e-04 9.99777201e-01 4.72738209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.094391418 meters Centerline goodness [0,1] 0.9994367539698014 Centerline is valid? [True, True] Translation: X:73.07, Y:3.83, Z:0.47 [[ 9.98858302e-01 -4.34945018e-02 -1.97565463e-02 7.30743519e+01] [ 4.34964910e-02 9.99053526e-01 -3.29217083e-04 3.83279042e+00] [ 1.97521664e-02 -5.30499222e-04 9.99804766e-01 4.74454814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12439141799999 meters Centerline goodness [0,1] 0.9995233659033299 Centerline is valid? [True, True] Translation: X:73.11, Y:3.83, Z:0.48 [[ 9.98883890e-01 -4.37816209e-02 -1.77241082e-02 7.31066055e+01] [ 4.37832994e-02 9.99041008e-01 -2.93513516e-04 3.83411393e+00] [ 1.77199615e-02 -4.82834015e-04 9.99842873e-01 4.78252474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15439141799999 meters Centerline goodness [0,1] 0.9995456708926486 Centerline is valid? [True, True] Translation: X:73.14, Y:3.83, Z:0.48 [[ 9.98960139e-01 -4.28964808e-02 -1.54445202e-02 7.31378321e+01] [ 4.28976654e-02 9.99079439e-01 -2.54731031e-04 3.83419002e+00] [ 1.54412296e-02 -4.08067711e-04 9.99880694e-01 4.81822270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18439141799999 meters Centerline goodness [0,1] 0.9996750362876146 Centerline is valid? [True, True] Translation: X:73.17, Y:3.84, Z:0.49 [[ 9.99159806e-01 -3.82381519e-02 -1.47487623e-02 7.31689121e+01] [ 3.82387359e-02 9.99268603e-01 -2.42508580e-04 3.84059615e+00] [ 1.47472481e-02 -3.21669199e-04 9.99891202e-01 4.85762506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21439141799999 meters Centerline goodness [0,1] 0.9994793361535959 Centerline is valid? [True, True] Translation: X:73.20, Y:3.84, Z:0.48 [[ 9.99245938e-01 -3.52294929e-02 -1.63229598e-02 7.31996881e+01] [ 3.52298207e-02 9.99379201e-01 -2.67548130e-04 3.84328129e+00] [ 1.63222521e-02 -3.07708566e-04 9.99866736e-01 4.84308293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24439141799999 meters Centerline goodness [0,1] 0.999630747844219 Centerline is valid? [True, True] Translation: X:73.23, Y:3.85, Z:0.49 [[ 9.99269967e-01 -3.45811475e-02 -1.62381706e-02 7.32317873e+01] [ 3.45814046e-02 9.99401849e-01 -2.65041147e-04 3.84500369e+00] [ 1.62376231e-02 -2.96691088e-04 9.99868117e-01 4.85576390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.274391418 meters Centerline goodness [0,1] 0.9993718865063894 Centerline is valid? [True, True] Translation: X:73.26, Y:3.84, Z:0.49 [[ 9.99201079e-01 -3.69679143e-02 -1.51847368e-02 7.32626189e+01] [ 3.69684281e-02 9.99316404e-01 -2.46954349e-04 3.84027426e+00] [ 1.51834860e-02 -3.14598800e-04 9.99884675e-01 4.85625480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.304391418 meters Centerline goodness [0,1] 0.9995453856644946 Centerline is valid? [True, True] Translation: X:73.29, Y:3.84, Z:0.48 [[ 9.99134391e-01 -3.87382134e-02 -1.51597743e-02 7.32948626e+01] [ 3.87389422e-02 9.99249335e-01 -2.45688553e-04 3.83577783e+00] [ 1.51579120e-02 -3.41797739e-04 9.99885054e-01 4.84113409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.334391418 meters Centerline goodness [0,1] 0.999373812402833 Centerline is valid? [True, True] Translation: X:73.33, Y:3.83, Z:0.48 [[ 9.99061832e-01 -4.02073961e-02 -1.60879484e-02 7.33271406e+01] [ 4.02084285e-02 9.99191280e-01 -2.59409118e-04 3.83301710e+00] [ 1.60853680e-02 -3.87705376e-04 9.99870547e-01 4.82828583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.364391418 meters Centerline goodness [0,1] 0.9993524853769614 Centerline is valid? [True, True] Translation: X:73.36, Y:3.83, Z:0.48 [[ 9.99031344e-01 -4.01574254e-02 -1.79931747e-02 7.33580967e+01] [ 4.01587329e-02 9.99193271e-01 -2.88792044e-04 3.83102157e+00] [ 1.79902562e-02 -4.34070795e-04 9.99838068e-01 4.81557742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.394391418 meters Centerline goodness [0,1] 0.9997619202216307 Centerline is valid? [True, True] Translation: X:73.39, Y:3.84, Z:0.48 [[ 9.99073880e-01 -3.86937658e-02 -1.88195433e-02 7.33898806e+01] [ 3.86949623e-02 9.99251024e-01 -3.00699724e-04 3.83517859e+00] [ 1.88170831e-02 -4.27800279e-04 9.99822851e-01 4.82964974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.424391418 meters Centerline goodness [0,1] 0.99965347714032 Centerline is valid? [True, True] Translation: X:73.42, Y:3.84, Z:0.48 [[ 9.99159042e-01 -3.62701258e-02 -1.91229392e-02 7.34224827e+01] [ 3.62709512e-02 9.99341946e-01 -3.03785887e-04 3.84111185e+00] [ 1.91213737e-02 -3.90076781e-04 9.99817094e-01 4.84348849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.454391418 meters Centerline goodness [0,1] 0.9996088062069415 Centerline is valid? [True, True] Translation: X:73.45, Y:3.84, Z:0.48 [[ 9.99179279e-01 -3.57015274e-02 -1.91355647e-02 7.34537325e+01] [ 3.57022783e-02 9.99362425e-01 -3.02486378e-04 3.84126509e+00] [ 1.91341636e-02 -3.80945136e-04 9.99816853e-01 4.83823079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.484391418 meters Centerline goodness [0,1] 0.9995444487830275 Centerline is valid? [True, True] Translation: X:73.48, Y:3.84, Z:0.48 [[ 9.99213164e-01 -3.53040696e-02 -1.80741640e-02 7.34844862e+01] [ 3.53046936e-02 9.99376554e-01 -2.84655691e-04 3.83979873e+00] [ 1.80729453e-02 -3.53671110e-04 9.99836608e-01 4.83533207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51439141799999 meters Centerline goodness [0,1] 0.9995886288349536 Centerline is valid? [True, True] Translation: X:73.52, Y:3.84, Z:0.48 [[ 9.99244830e-01 -3.52976396e-02 -1.62433193e-02 7.35167891e+01] [ 3.52981602e-02 9.99376793e-01 -2.54736287e-04 3.83844488e+00] [ 1.62421879e-02 -3.18815367e-04 9.99868036e-01 4.84312544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54439141799999 meters Centerline goodness [0,1] 0.9993512251032634 Centerline is valid? [True, True] Translation: X:73.55, Y:3.83, Z:0.49 [[ 9.99235941e-01 -3.65498855e-02 -1.38433840e-02 7.35488442e+01] [ 3.65503979e-02 9.99331788e-01 -2.16073876e-04 3.83473261e+00] [ 1.38420311e-02 -2.90072410e-04 9.99904152e-01 4.85779860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57439141799999 meters Centerline goodness [0,1] 0.9992872570194384 Centerline is valid? [True, True] Translation: X:73.58, Y:3.83, Z:0.49 [[ 9.99230603e-01 -3.69854602e-02 -1.30490446e-02 7.35798004e+01] [ 3.69859647e-02 9.99315765e-01 -2.02747433e-04 3.83467483e+00] [ 1.30476147e-02 -2.80040064e-04 9.99914837e-01 4.87151623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60439141799999 meters Centerline goodness [0,1] 0.9993286555786556 Centerline is valid? [True, True] Translation: X:73.61, Y:3.84, Z:0.49 [[ 9.99227475e-01 -3.72358455e-02 -1.25676213e-02 7.36115045e+01] [ 3.72363435e-02 9.99306468e-01 -1.94443898e-04 3.83660326e+00] [ 1.25661455e-02 -2.73678578e-04 9.99921005e-01 4.89399793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63439141799999 meters Centerline goodness [0,1] 0.9993291495347327 Centerline is valid? [True, True] Translation: X:73.64, Y:3.84, Z:0.49 [[ 9.99208847e-01 -3.77476449e-02 -1.25217649e-02 7.36431684e+01] [ 3.77481946e-02 9.99287264e-01 -1.92526856e-04 3.83837842e+00] [ 1.25201076e-02 -2.80299480e-04 9.99921581e-01 4.91908232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.664391418 meters Centerline goodness [0,1] 0.9994805307244432 Centerline is valid? [True, True] Translation: X:73.68, Y:3.84, Z:0.49 [[ 9.99190788e-01 -3.77597518e-02 -1.38553044e-02 7.36754058e+01] [ 3.77604491e-02 9.99286798e-01 -2.11369278e-04 3.83862437e+00] [ 1.38534040e-02 -3.11984282e-04 9.99903988e-01 4.90397131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.694391418 meters Centerline goodness [0,1] 0.999393151278717 Centerline is valid? [True, True] Translation: X:73.71, Y:3.84, Z:0.48 [[ 9.99125663e-01 -3.71518251e-02 -1.91742262e-02 7.37080048e+01] [ 3.71530836e-02 9.99309544e-01 -2.90707607e-04 3.83609638e+00] [ 1.91717876e-02 -4.21928199e-04 9.99816115e-01 4.82572323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.724391418 meters Centerline goodness [0,1] 0.9993493254674012 Centerline is valid? [True, True] Translation: X:73.74, Y:3.84, Z:0.48 [[ 9.99107592e-01 -3.70264359e-02 -2.03239359e-02 7.37403544e+01] [ 3.70278582e-02 9.99314187e-01 -3.06457977e-04 3.83621436e+00] [ 2.03213445e-02 -4.46367323e-04 9.99793401e-01 4.80259977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.754391418 meters Centerline goodness [0,1] 0.9994135916425949 Centerline is valid? [True, True] Translation: X:73.77, Y:3.84, Z:0.48 [[ 9.99121943e-01 -3.67457281e-02 -2.01269764e-02 7.37712633e+01] [ 3.67470938e-02 9.99324552e-01 -3.02106343e-04 3.83623319e+00] [ 2.01244828e-02 -4.37766814e-04 9.99797386e-01 4.79857744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.784391418 meters Centerline goodness [0,1] 0.9994155338124513 Centerline is valid? [True, True] Translation: X:73.80, Y:3.84, Z:0.48 [[ 9.99255597e-01 -3.52355974e-02 -1.57068328e-02 7.38021825e+01] [ 3.52362532e-02 9.99378983e-01 -2.35076378e-04 3.84016029e+00] [ 1.57053616e-02 -3.18548549e-04 9.99876612e-01 4.84882860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.814391418 meters Centerline goodness [0,1] 0.9993925061291792 Centerline is valid? [True, True] Translation: X:73.83, Y:3.84, Z:0.49 [[ 9.99342849e-01 -3.36116792e-02 -1.35692468e-02 7.38333380e+01] [ 3.36120269e-02 9.99434936e-01 -2.02496011e-04 3.84311624e+00] [ 1.35683855e-02 -2.53726948e-04 9.99907913e-01 4.87578352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.844391418 meters Centerline goodness [0,1] 0.9997828965936476 Centerline is valid? [True, True] Translation: X:73.87, Y:3.85, Z:0.49 [[ 9.99414204e-01 -3.17793583e-02 -1.27012348e-02 7.38655265e+01] [ 3.17795251e-02 9.99494886e-01 -1.88743987e-04 3.84607034e+00] [ 1.27008174e-02 -2.15005788e-04 9.99919318e-01 4.89004084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87439141799999 meters Centerline goodness [0,1] 0.9994363754606547 Centerline is valid? [True, True] Translation: X:73.90, Y:3.84, Z:0.49 [[ 9.99429372e-01 -3.11361386e-02 -1.30947369e-02 7.38963898e+01] [ 3.11362777e-02 9.99515130e-01 -1.93294916e-04 3.84480442e+00] [ 1.30944061e-02 -2.14536746e-04 9.99914242e-01 4.86719107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90439141799999 meters Centerline goodness [0,1] 0.9996103221337028 Centerline is valid? [True, True] Translation: X:73.93, Y:3.84, Z:0.49 [[ 9.99391610e-01 -3.21225145e-02 -1.35850569e-02 7.39287937e+01] [ 3.21227764e-02 9.99483911e-01 -1.98976364e-04 3.84230251e+00] [ 1.35844374e-02 -2.37534437e-04 9.99907699e-01 4.85346901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93439141799999 meters Centerline goodness [0,1] 0.9994812268983854 Centerline is valid? [True, True] Translation: X:73.96, Y:3.84, Z:0.49 [[ 9.99345668e-01 -3.36549855e-02 -1.32505940e-02 7.39606164e+01] [ 3.36553827e-02 9.99433478e-01 -1.93070635e-04 3.84008459e+00] [ 1.32495851e-02 -2.53009510e-04 9.99912188e-01 4.85777812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96439141799999 meters Centerline goodness [0,1] 0.999761822276113 Centerline is valid? [True, True] Translation: X:73.99, Y:3.84, Z:0.49 [[ 9.99256586e-01 -3.64225960e-02 -1.26360869e-02 7.39926728e+01] [ 3.64231905e-02 9.99336439e-01 -1.83160106e-04 3.84138805e+00] [ 1.26343733e-02 -2.77222658e-04 9.99920145e-01 4.90546059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99439141799999 meters Centerline goodness [0,1] 0.9991996365917498 Centerline is valid? [True, True] Translation: X:74.03, Y:3.84, Z:0.49 [[ 9.99226718e-01 -3.65406131e-02 -1.45171847e-02 7.40252718e+01] [ 3.65414287e-02 9.99332117e-01 -2.09161391e-04 3.84339599e+00] [ 1.45151318e-02 -3.21479019e-04 9.99894598e-01 4.89913147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.024391418 meters Centerline goodness [0,1] 0.9994140243505436 Centerline is valid? [True, True] Translation: X:74.06, Y:3.85, Z:0.49 [[ 9.99166202e-01 -3.74230498e-02 -1.63222495e-02 7.40577427e+01] [ 3.74242211e-02 9.99299441e-01 -2.33782057e-04 3.84542359e+00] [ 1.63195636e-02 -3.77260344e-04 9.99866756e-01 4.90167943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.054391418 meters Centerline goodness [0,1] 0.9993270232719694 Centerline is valid? [True, True] Translation: X:74.09, Y:3.84, Z:0.48 [[ 9.99113589e-01 -3.68787035e-02 -2.02977213e-02 7.40887386e+01] [ 3.68804344e-02 9.99319644e-01 -2.89178643e-04 3.84455807e+00] [ 2.02945761e-02 -4.59666466e-04 9.99793938e-01 4.83596532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.084391418 meters Centerline goodness [0,1] 0.9995009980039921 Centerline is valid? [True, True] Translation: X:74.12, Y:3.85, Z:0.48 [[ 9.99155114e-01 -3.57521296e-02 -2.02692780e-02 7.41204006e+01] [ 3.57536436e-02 9.99360593e-01 -2.87803872e-04 3.84504604e+00] [ 2.02666073e-02 -4.37139832e-04 9.99794516e-01 4.82424020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.114391418 meters Centerline goodness [0,1] 0.9994784422809457 Centerline is valid? [True, True] Translation: X:74.15, Y:3.85, Z:0.48 [[ 9.99242023e-01 -3.38505029e-02 -1.92229771e-02 7.41519006e+01] [ 3.38515271e-02 9.99426836e-01 -2.72202709e-04 3.84673178e+00] [ 1.92211733e-02 -3.78730744e-04 9.99815184e-01 4.82330335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.144391418 meters Centerline goodness [0,1] 0.999346704122297 Centerline is valid? [True, True] Translation: X:74.18, Y:3.86, Z:0.48 [[ 9.99469395e-01 -2.76479461e-02 -1.72197522e-02 7.41829315e+01] [ 2.76478557e-02 9.99617695e-01 -2.43360035e-04 3.85562109e+00] [ 1.72198974e-02 -2.32858316e-04 9.99851699e-01 4.84501907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.174391418 meters Centerline goodness [0,1] 0.9996297425621815 Centerline is valid? [True, True] Translation: X:74.21, Y:3.86, Z:0.49 [[ 9.99578816e-01 -2.41705984e-02 -1.60615604e-02 7.42143271e+01] [ 2.41700784e-02 9.99707835e-01 -2.26523343e-04 3.86122748e+00] [ 1.60623430e-02 -1.61781239e-04 9.99870979e-01 4.86409637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.204391418 meters Centerline goodness [0,1] 0.9996293469966205 Centerline is valid? [True, True] Translation: X:74.24, Y:3.87, Z:0.49 [[ 9.99680506e-01 -2.08712859e-02 -1.42574788e-02 7.42442329e+01] [ 2.08705450e-02 9.99782166e-01 -2.00772527e-04 3.86576586e+00] [ 1.42585635e-02 -9.68529713e-05 9.99898337e-01 4.88882533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.234391418 meters Centerline goodness [0,1] 0.9997380541791273 Centerline is valid? [True, True] Translation: X:74.27, Y:3.87, Z:0.50 [[ 9.99835901e-01 -1.55236674e-02 -9.33737105e-03 7.42749651e+01] [ 1.55231164e-02 9.99879501e-01 -1.31488015e-04 3.87140159e+00] [ 9.33828708e-03 -1.34786602e-05 9.99956397e-01 4.95624788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26439141799999 meters Centerline goodness [0,1] 0.9994099521405625 Centerline is valid? [True, True] Translation: X:74.31, Y:3.87, Z:0.50 [[ 9.99866644e-01 -1.40851146e-02 -8.26458314e-03 7.43058830e+01] [ 1.40846336e-02 9.99900800e-01 -1.16407459e-04 3.87259538e+00] [ 8.26540290e-03 -1.16897125e-08 9.99965841e-01 4.97079557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29439141799999 meters Centerline goodness [0,1] 0.9994099521405625 Centerline is valid? [True, True] Translation: X:74.34, Y:3.87, Z:0.50 [[ 9.99867200e-01 -1.40455919e-02 -8.26459829e-03 7.43367291e+01] [ 1.40451185e-02 9.99901356e-01 -1.15321939e-04 3.87298691e+00] [ 8.26540280e-03 -7.70638296e-07 9.99965841e-01 4.97340439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32439141799999 meters Centerline goodness [0,1] 0.999498473615351 Centerline is valid? [True, True] Translation: X:74.37, Y:3.87, Z:0.50 [[ 9.99860775e-01 -1.33571792e-02 -1.00008179e-02 7.43679900e+01] [ 1.33564562e-02 9.99910789e-01 -1.39081656e-04 3.87305017e+00] [ 1.00017835e-02 5.48680630e-06 9.99949981e-01 4.96334728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35439141799999 meters Centerline goodness [0,1] 0.9997377278489312 Centerline is valid? [True, True] Translation: X:74.40, Y:3.87, Z:0.49 [[ 9.99740418e-01 -1.56022967e-02 -1.66031704e-02 7.43979250e+01] [ 1.56006202e-02 9.99878276e-01 -2.30495425e-04 3.86979464e+00] [ 1.66047457e-02 -2.85841643e-05 9.99862131e-01 4.87552087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38439141799999 meters Centerline goodness [0,1] 0.9997594839838199 Centerline is valid? [True, True] Translation: X:74.43, Y:3.87, Z:0.48 [[ 9.99639652e-01 -1.84935726e-02 -1.94564599e-02 7.44264458e+01] [ 1.84917553e-02 9.99828976e-01 -2.73321107e-04 3.86762069e+00] [ 1.94581871e-02 -8.65614797e-05 9.99810668e-01 4.83165963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.414391418 meters Centerline goodness [0,1] 0.9994320664045435 Centerline is valid? [True, True] Translation: X:74.46, Y:3.86, Z:0.48 [[ 9.99488968e-01 -2.46764269e-02 -2.03193693e-02 7.44552915e+01] [ 2.46756068e-02 9.99695468e-01 -2.91119401e-04 3.86404691e+00] [ 2.03203652e-02 -2.10422137e-04 9.99793498e-01 4.81198306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.444391418 meters Centerline goodness [0,1] 0.9998031280761238 Centerline is valid? [True, True] Translation: X:74.48, Y:3.86, Z:0.48 [[ 9.99474450e-01 -2.67154585e-02 -1.83604952e-02 7.44849139e+01] [ 2.67150871e-02 9.99643053e-01 -2.65542472e-04 3.86367715e+00] [ 1.83610356e-02 -2.25099313e-04 9.99831397e-01 4.84192098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.474391418 meters Centerline goodness [0,1] 0.9994757077944775 Centerline is valid? [True, True] Translation: X:74.52, Y:3.86, Z:0.49 [[ 9.99471928e-01 -2.81795683e-02 -1.61795522e-02 7.45152487e+01] [ 2.81794693e-02 9.99602852e-01 -2.34143760e-04 3.86322814e+00] [ 1.61797246e-02 -2.21911078e-04 9.99869075e-01 4.86984086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.504391418 meters Centerline goodness [0,1] 0.9994764626325204 Centerline is valid? [True, True] Translation: X:74.55, Y:3.86, Z:0.49 [[ 9.99470663e-01 -2.91487124e-02 -1.44480269e-02 7.45466954e+01] [ 2.91487401e-02 9.99575063e-01 -2.08707987e-04 3.86313809e+00] [ 1.44479710e-02 -2.12544271e-04 9.99895600e-01 4.89736182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.534391418 meters Centerline goodness [0,1] 0.9994538145591191 Centerline is valid? [True, True] Translation: X:74.58, Y:3.86, Z:0.49 [[ 9.99370540e-01 -3.23386770e-02 -1.45853758e-02 7.45786761e+01] [ 3.23390568e-02 9.99476934e-01 -2.09876444e-04 3.86277288e+00] [ 1.45845338e-02 -2.61932961e-04 9.99893606e-01 4.90234081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.564391418 meters Centerline goodness [0,1] 0.9993457495529289 Centerline is valid? [True, True] Translation: X:74.61, Y:3.86, Z:0.49 [[ 9.99265295e-01 -3.53693622e-02 -1.47607181e-02 7.46098937e+01] [ 3.53700972e-02 9.99374260e-01 -2.11344140e-04 3.86064990e+00] [ 1.47589569e-02 -3.10899171e-04 9.99891032e-01 4.89298330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.594391418 meters Centerline goodness [0,1] 0.9994333413246737 Centerline is valid? [True, True] Translation: X:74.64, Y:3.86, Z:0.49 [[ 9.99158837e-01 -3.83645813e-02 -1.44836689e-02 7.46419282e+01] [ 3.83656174e-02 9.99263747e-01 -2.06411663e-04 3.85800915e+00] [ 1.44809242e-02 -3.49436864e-04 9.99895085e-01 4.88643602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62439141799999 meters Centerline goodness [0,1] 0.9996729461015176 Centerline is valid? [True, True] Translation: X:74.67, Y:3.85, Z:0.49 [[ 9.99007250e-01 -4.25335117e-02 -1.32444342e-02 7.46733415e+01] [ 4.25347559e-02 9.99094970e-01 -1.87862844e-04 3.85379815e+00] [ 1.32404381e-02 -3.75672433e-04 9.99912271e-01 4.90785268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65439141799999 meters Centerline goodness [0,1] 0.9994994232485255 Centerline is valid? [True, True] Translation: X:74.70, Y:3.85, Z:0.50 [[ 9.98771088e-01 -4.84143855e-02 -1.06000107e-02 7.47048985e+01] [ 4.84155182e-02 9.98827270e-01 -1.49875152e-04 3.85090688e+00] [ 1.05948359e-02 -3.63514042e-04 9.99943807e-01 4.95597370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68439141799999 meters Centerline goodness [0,1] 0.999521395783932 Centerline is valid? [True, True] Translation: X:74.74, Y:3.85, Z:0.50 [[ 9.98736611e-01 -4.91469777e-02 -1.04764886e-02 7.47371721e+01] [ 4.91481294e-02 9.98791490e-01 -1.47651075e-04 3.85158610e+00] [ 1.04710843e-02 -3.67435284e-04 9.99945109e-01 4.97257901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71439141799999 meters Centerline goodness [0,1] 0.9996947496947497 Centerline is valid? [True, True] Translation: X:74.77, Y:3.85, Z:0.49 [[ 9.98750617e-01 -4.82069126e-02 -1.31643061e-02 7.47686803e+01] [ 4.82086640e-02 9.98837269e-01 -1.84437128e-04 3.85361177e+00] [ 1.31578907e-02 -4.50426916e-04 9.99913330e-01 4.94925752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74439141799999 meters Centerline goodness [0,1] 0.9997382826983053 Centerline is valid? [True, True] Translation: X:74.80, Y:3.86, Z:0.49 [[ 9.98752044e-01 -4.74193770e-02 -1.56766341e-02 7.48013405e+01] [ 4.74217818e-02 9.98874931e-01 -2.18502981e-04 3.85503407e+00] [ 1.56693581e-02 -5.25183623e-04 9.99877090e-01 4.91216420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.774391418 meters Centerline goodness [0,1] 0.99951927279084 Centerline is valid? [True, True] Translation: X:74.83, Y:3.86, Z:0.49 [[ 9.98755157e-01 -4.68868580e-02 -1.70222879e-02 7.48339832e+01] [ 4.68896393e-02 9.98900048e-01 -2.35905820e-04 3.85586490e+00] [ 1.70146251e-02 -5.62556786e-04 9.99855083e-01 4.88239357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.804391418 meters Centerline goodness [0,1] 0.9995854424855996 Centerline is valid? [True, True] Translation: X:74.86, Y:3.86, Z:0.49 [[ 9.98935841e-01 -4.40369384e-02 -1.37089028e-02 7.48647516e+01] [ 4.40384838e-02 9.99029817e-01 -1.89270381e-04 3.86056214e+00] [ 1.37039376e-02 -4.14650329e-04 9.99906011e-01 4.92757288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.834391418 meters Centerline goodness [0,1] 0.9999562583382543 Centerline is valid? [True, True] Translation: X:74.90, Y:3.86, Z:0.50 [[ 9.99091320e-01 -4.12411086e-02 -1.07566588e-02 7.48951859e+01] [ 4.12419012e-02 9.99149180e-01 -1.48216780e-04 3.86444684e+00] [ 1.07536194e-02 -2.95542959e-04 9.99942134e-01 4.97817278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.864391418 meters Centerline goodness [0,1] 0.9998245960227148 Centerline is valid? [True, True] Translation: X:74.93, Y:3.87, Z:0.50 [[ 9.99356528e-01 -3.42604484e-02 -1.06184610e-02 7.49264758e+01] [ 3.42608294e-02 9.99412915e-01 -1.46079802e-04 3.87419339e+00] [ 1.06172318e-02 -2.17811476e-04 9.99943612e-01 4.98735649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.894391418 meters Centerline goodness [0,1] 0.9999340847669896 Centerline is valid? [True, True] Translation: X:74.96, Y:3.88, Z:0.50 [[ 9.99430312e-01 -3.12888641e-02 -1.26513938e-02 7.49591134e+01] [ 3.12891771e-02 9.99510359e-01 -1.73239910e-04 3.87732820e+00] [ 1.26506197e-02 -2.22710485e-04 9.99919953e-01 4.95087584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.924391418 meters Centerline goodness [0,1] 0.9997137383568582 Centerline is valid? [True, True] Translation: X:74.99, Y:3.88, Z:0.49 [[ 9.99457872e-01 -2.96206468e-02 -1.43728393e-02 7.49916909e+01] [ 2.96208992e-02 9.99561186e-01 -1.95365079e-04 3.87881215e+00] [ 1.43723192e-02 -2.30477259e-04 9.99896686e-01 4.90846969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.954391418 meters Centerline goodness [0,1] 0.9996476857356762 Centerline is valid? [True, True] Translation: X:75.02, Y:3.88, Z:0.49 [[ 9.99451501e-01 -2.94305718e-02 -1.51835032e-02 7.50237481e+01] [ 2.94308488e-02 9.99566798e-01 -2.05251476e-04 3.87885166e+00] [ 1.51829664e-02 -2.41724492e-04 9.99884703e-01 4.88397303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.984391418 meters Centerline goodness [0,1] 0.9996690056931021 Centerline is valid? [True, True] Translation: X:75.05, Y:3.88, Z:0.49 [[ 9.99384703e-01 -3.18642198e-02 -1.46590488e-02 7.50544128e+01] [ 3.18647516e-02 9.99492170e-01 -1.97350690e-04 3.87753308e+00] [ 1.46578929e-02 -2.69877687e-04 9.99892531e-01 4.90229717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01439141799999 meters Centerline goodness [0,1] 0.999669472478075 Centerline is valid? [True, True] Translation: X:75.09, Y:3.88, Z:0.49 [[ 9.99353624e-01 -3.26916881e-02 -1.49528626e-02 7.50866006e+01] [ 3.26923455e-02 9.99465442e-01 -2.00536084e-04 3.87850395e+00] [ 1.49514253e-02 -2.88437687e-04 9.99888180e-01 4.92150611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04439141799999 meters Centerline goodness [0,1] 0.999757083232118 Centerline is valid? [True, True] Translation: X:75.12, Y:3.88, Z:0.49 [[ 9.99335888e-01 -3.17552148e-02 -1.78714417e-02 7.51180053e+01] [ 3.17560260e-02 9.99495622e-01 -2.38462439e-04 3.88134581e+00] [ 1.78700002e-02 -3.29221896e-04 9.99840265e-01 4.91510265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07439141799999 meters Centerline goodness [0,1] 0.9996245500121469 Centerline is valid? [True, True] Translation: X:75.15, Y:3.88, Z:0.49 [[ 9.99345323e-01 -3.03015125e-02 -1.97672568e-02 7.51494842e+01] [ 3.03022384e-02 9.99540747e-01 -2.62871881e-04 3.88275874e+00] [ 1.97661440e-02 -3.36292342e-04 9.99804574e-01 4.88252664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10439141799999 meters Centerline goodness [0,1] 0.9996464713420832 Centerline is valid? [True, True] Translation: X:75.18, Y:3.89, Z:0.49 [[ 9.99361461e-01 -2.86508238e-02 -2.13494640e-02 7.51802080e+01] [ 2.86513008e-02 9.99589427e-01 -2.83595619e-04 3.88832887e+00] [ 2.13488238e-02 -3.28275385e-04 9.99772034e-01 4.88386742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13439141799999 meters Centerline goodness [0,1] 0.9995579426651636 Centerline is valid? [True, True] Translation: X:75.21, Y:3.89, Z:0.49 [[ 9.99389397e-01 -2.72068192e-02 -2.19231014e-02 7.52108868e+01] [ 2.72069952e-02 9.99629779e-01 -2.90292221e-04 3.88981566e+00] [ 2.19228830e-02 -3.06346749e-04 9.99759618e-01 4.85872982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.164391418 meters Centerline goodness [0,1] 0.9999116334555738 Centerline is valid? [True, True] Translation: X:75.24, Y:3.89, Z:0.49 [[ 9.99408596e-01 -2.73014234e-02 -2.09066907e-02 7.52409674e+01] [ 2.73016054e-02 9.99627203e-01 -2.76771827e-04 3.89086934e+00] [ 2.09064530e-02 -2.94178076e-04 9.99781393e-01 4.87547726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.194391418 meters Centerline goodness [0,1] 0.9996252700260106 Centerline is valid? [True, True] Translation: X:75.27, Y:3.89, Z:0.49 [[ 9.99429473e-01 -2.79044411e-02 -1.90281717e-02 7.52707438e+01] [ 2.79046966e-02 9.99610556e-01 -2.52139527e-04 3.89049508e+00] [ 1.90277971e-02 -2.78979684e-04 9.99818916e-01 4.89856822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.224391418 meters Centerline goodness [0,1] 0.9996924226113321 Centerline is valid? [True, True] Translation: X:75.30, Y:3.89, Z:0.50 [[ 9.99565647e-01 -2.60846915e-02 -1.37151643e-02 7.53014608e+01] [ 2.60846534e-02 9.99659721e-01 -1.81697893e-04 3.89136037e+00] [ 1.37152368e-02 -1.76136334e-04 9.99905926e-01 4.97352475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.254391418 meters Centerline goodness [0,1] 0.9999559752580951 Centerline is valid? [True, True] Translation: X:75.33, Y:3.89, Z:0.50 [[ 9.99657055e-01 -2.33469493e-02 -1.18613961e-02 7.53327106e+01] [ 2.33467296e-02 9.99727416e-01 -1.57005132e-04 3.89432711e+00] [ 1.18618285e-02 -1.19973520e-04 9.99929639e-01 5.00912717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.284391418 meters Centerline goodness [0,1] 0.999757447465326 Centerline is valid? [True, True] Translation: X:75.36, Y:3.90, Z:0.50 [[ 9.99751439e-01 -1.87949863e-02 -1.19920575e-02 7.53639472e+01] [ 1.87944401e-02 9.99823356e-01 -1.58251905e-04 3.90039866e+00] [ 1.19929136e-02 -6.71714371e-05 9.99928080e-01 5.03001438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.314391418 meters Centerline goodness [0,1] 0.9996693559053035 Centerline is valid? [True, True] Translation: X:75.39, Y:3.90, Z:0.50 [[ 9.99745085e-01 -1.86124537e-02 -1.27805506e-02 7.53948075e+01] [ 1.86118264e-02 9.99826771e-01 -1.68024017e-04 3.90092687e+00] [ 1.27814640e-02 -6.98882048e-05 9.99918311e-01 5.02538853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.344391418 meters Centerline goodness [0,1] 0.9999559102332348 Centerline is valid? [True, True] Translation: X:75.43, Y:3.90, Z:0.50 [[ 9.99715284e-01 -2.00681163e-02 -1.29081696e-02 7.54253403e+01] [ 2.00676057e-02 9.99798611e-01 -1.69090094e-04 3.89919524e+00] [ 1.29089634e-02 -8.99941066e-05 9.99916672e-01 5.02313977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37439141799999 meters Centerline goodness [0,1] 0.9999340485402743 Centerline is valid? [True, True] Translation: X:75.46, Y:3.90, Z:0.50 [[ 9.99671943e-01 -2.23654841e-02 -1.24816745e-02 7.54562729e+01] [ 2.23651908e-02 9.99749855e-01 -1.63099934e-04 3.89576681e+00] [ 1.24822001e-02 -1.16108605e-04 9.99922088e-01 5.02170729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40439141799999 meters Centerline goodness [0,1] 0.999868426823385 Centerline is valid? [True, True] Translation: X:75.49, Y:3.89, Z:0.50 [[ 9.99578949e-01 -2.50234983e-02 -1.46883975e-02 7.54873565e+01] [ 2.50233914e-02 9.99686848e-01 -1.91093166e-04 3.89038703e+00] [ 1.46885796e-02 -1.76540814e-04 9.99892101e-01 4.98825824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43439141799999 meters Centerline goodness [0,1] 0.9997586237163171 Centerline is valid? [True, True] Translation: X:75.52, Y:3.89, Z:0.50 [[ 9.99552583e-01 -2.45950391e-02 -1.70211023e-02 7.55187690e+01] [ 2.45948460e-02 9.99697477e-01 -2.20708069e-04 3.88975508e+00] [ 1.70213813e-02 -1.98022069e-04 9.99855106e-01 4.95386650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46439141799999 meters Centerline goodness [0,1] 0.9997805092186128 Centerline is valid? [True, True] Translation: X:75.55, Y:3.89, Z:0.49 [[ 9.99535483e-01 -2.35278592e-02 -1.93715936e-02 7.55492090e+01] [ 2.35274205e-02 9.99723161e-01 -2.50584582e-04 3.88990479e+00] [ 1.93721265e-02 -2.05295447e-04 9.99812322e-01 4.91552245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49439141799999 meters Centerline goodness [0,1] 0.9999340180790464 Centerline is valid? [True, True] Translation: X:75.58, Y:3.89, Z:0.49 [[ 9.99564757e-01 -2.28633374e-02 -1.86430952e-02 7.55791957e+01] [ 2.28628110e-02 9.99738583e-01 -2.41397184e-04 3.89306409e+00] [ 1.86437408e-02 -1.84941445e-04 9.99826173e-01 4.92422908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.524391418 meters Centerline goodness [0,1] 0.9999559228650138 Centerline is valid? [True, True] Translation: X:75.61, Y:3.89, Z:0.50 [[ 9.99580796e-01 -2.41025159e-02 -1.60406233e-02 7.56083571e+01] [ 2.41022763e-02 9.99709476e-01 -2.08289143e-04 3.89414377e+00] [ 1.60409834e-02 -1.78413707e-04 9.99871319e-01 4.96290372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.554391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.64, Y:3.89, Z:0.50 [[ 9.99525832e-01 -2.85590813e-02 -1.15103974e-02 7.56394884e+01] [ 2.85592519e-02 9.99592090e-01 -1.49586416e-04 3.88923287e+00] [ 1.15099742e-02 -1.79212852e-04 9.99933742e-01 5.01748067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.584391418 meters Centerline goodness [0,1] 0.9997376246283015 Centerline is valid? [True, True] Translation: X:75.67, Y:3.88, Z:0.50 [[ 9.99462580e-01 -3.10089221e-02 -1.06300760e-02 7.56706407e+01] [ 3.10092108e-02 9.99519089e-01 -1.37703430e-04 3.88339980e+00] [ 1.06292339e-02 -1.92000843e-04 9.99943490e-01 5.02198037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.614391418 meters Centerline goodness [0,1] 0.9996732168532961 Centerline is valid? [True, True] Translation: X:75.70, Y:3.88, Z:0.50 [[ 9.99387461e-01 -3.32173817e-02 -1.10139900e-02 7.57016620e+01] [ 3.32178330e-02 9.99448125e-01 -1.42007158e-04 3.87826449e+00] [ 1.10126288e-02 -2.23940707e-04 9.99939334e-01 5.00920084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.644391418 meters Centerline goodness [0,1] 0.9995424836601308 Centerline is valid? [True, True] Translation: X:75.73, Y:3.87, Z:0.50 [[ 9.99123743e-01 -3.89582673e-02 -1.52970681e-02 7.57333736e+01] [ 3.89598246e-02 9.99240759e-01 -1.96295466e-04 3.87258138e+00] [ 1.52931012e-02 -3.99847628e-04 9.99882974e-01 4.95603879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.674391418 meters Centerline goodness [0,1] 0.9998040837650747 Centerline is valid? [True, True] Translation: X:75.76, Y:3.87, Z:0.49 [[ 9.98956590e-01 -4.22023933e-02 -1.74553365e-02 7.57643117e+01] [ 4.22049289e-02 9.99108950e-01 -2.23255680e-04 3.86904545e+00] [ 1.74492049e-02 -5.13678504e-04 9.99847619e-01 4.94105577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.704391418 meters Centerline goodness [0,1] 0.9993900446574447 Centerline is valid? [True, True] Translation: X:75.80, Y:3.87, Z:0.50 [[ 9.98821110e-01 -4.49102077e-02 -1.84245212e-02 7.57967433e+01] [ 4.49135143e-02 9.98990851e-01 -2.34491982e-04 3.87031993e+00] [ 1.84164592e-02 -5.93294453e-04 9.99830227e-01 4.95395097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.734391418 meters Centerline goodness [0,1] 0.9993910528261674 Centerline is valid? [True, True] Translation: X:75.83, Y:3.87, Z:0.50 [[ 9.98644223e-01 -4.87311628e-02 -1.83026961e-02 7.58289391e+01] [ 4.87350937e-02 9.98811713e-01 -2.31461114e-04 3.86823005e+00] [ 1.82922266e-02 -6.60836307e-04 9.99832465e-01 4.97324266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76439141799999 meters Centerline goodness [0,1] 0.999673607937855 Centerline is valid? [True, True] Translation: X:75.86, Y:3.87, Z:0.50 [[ 9.98614006e-01 -4.91572332e-02 -1.88051440e-02 7.58609194e+01] [ 4.91614876e-02 9.98790815e-01 -2.36265706e-04 3.86692934e+00] [ 1.87940193e-02 -6.88550613e-04 9.99823140e-01 4.96887700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79439141799999 meters Centerline goodness [0,1] 0.9994344260512062 Centerline is valid? [True, True] Translation: X:75.89, Y:3.86, Z:0.49 [[ 9.98547926e-01 -4.93174648e-02 -2.16755013e-02 7.58917717e+01] [ 4.93232130e-02 9.98782833e-01 -2.69667044e-04 3.86095964e+00] [ 2.16624179e-02 -7.99829901e-04 9.99765022e-01 4.90078187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82439141799999 meters Centerline goodness [0,1] 0.9994787934067366 Centerline is valid? [True, True] Translation: X:75.92, Y:3.86, Z:0.49 [[ 9.98517664e-01 -5.00826232e-02 -2.13121089e-02 7.59240586e+01] [ 5.00884003e-02 9.98744754e-01 -2.62984348e-04 3.85852919e+00] [ 2.12985279e-02 -8.04894925e-04 9.99772837e-01 4.89063748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85439141799999 meters Centerline goodness [0,1] 0.9994361187620638 Centerline is valid? [True, True] Translation: X:75.96, Y:3.86, Z:0.49 [[ 9.98515055e-01 -5.10216742e-02 -1.90912149e-02 7.59559436e+01] [ 5.10265083e-02 9.98697272e-01 -2.34144616e-04 3.85980885e+00] [ 1.90782907e-02 -7.40361111e-04 9.99817719e-01 4.91489964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88439141799999 meters Centerline goodness [0,1] 0.9994365830931589 Centerline is valid? [True, True] Translation: X:75.99, Y:3.86, Z:0.50 [[ 9.98560877e-01 -5.20837267e-02 -1.27851402e-02 7.59871773e+01] [ 5.20859903e-02 9.98642591e-01 -1.56090854e-04 3.85954842e+00] [ 1.27759153e-02 -5.10060467e-04 9.99918255e-01 4.99937255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.914391418 meters Centerline goodness [0,1] 0.9993933747860563 Centerline is valid? [True, True] Translation: X:76.02, Y:3.86, Z:0.50 [[ 9.98610639e-01 -5.13749074e-02 -1.17221854e-02 7.60194961e+01] [ 5.13767698e-02 9.98679332e-01 -1.42392011e-04 3.86177396e+00] [ 1.17140197e-02 -4.60053845e-04 9.99931283e-01 5.03223757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.944391418 meters Centerline goodness [0,1] 0.9996095190576393 Centerline is valid? [True, True] Translation: X:76.05, Y:3.86, Z:0.50 [[ 9.98671914e-01 -5.01490383e-02 -1.18102697e-02 7.60516919e+01] [ 5.01508544e-02 9.98741644e-01 -1.42520847e-04 3.86430679e+00] [ 1.18025555e-02 -4.49963550e-04 9.99930246e-01 5.04712323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.974391418 meters Centerline goodness [0,1] 0.9994790649215342 Centerline is valid? [True, True] Translation: X:76.08, Y:3.87, Z:0.50 [[ 9.98747879e-01 -4.84225544e-02 -1.25670115e-02 7.60843150e+01] [ 4.84244901e-02 9.98826835e-01 -1.50394098e-04 3.86777757e+00] [ 1.25595508e-02 -4.58345338e-04 9.99921021e-01 5.04620003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.004391418 meters Centerline goodness [0,1] 0.9993047710089511 Centerline is valid? [True, True] Translation: X:76.12, Y:3.87, Z:0.50 [[ 9.98865685e-01 -4.52586509e-02 -1.47985565e-02 7.61152523e+01] [ 4.52610117e-02 9.98975180e-01 -1.75518203e-04 3.86907742e+00] [ 1.47913343e-02 -4.94478528e-04 9.99890480e-01 5.02557488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.034391418 meters Centerline goodness [0,1] 0.999001042390549 Centerline is valid? [True, True] Translation: X:76.15, Y:3.87, Z:0.50 [[ 9.98928215e-01 -4.30833751e-02 -1.69187684e-02 7.61478431e+01] [ 4.30861675e-02 9.99071340e-01 -1.99594478e-04 3.87138883e+00] [ 1.69116558e-02 -5.29584334e-04 9.99856847e-01 5.00065531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.064391418 meters Centerline goodness [0,1] 0.9996071927374302 Centerline is valid? [True, True] Translation: X:76.18, Y:3.87, Z:0.50 [[ 9.98913903e-01 -4.32857123e-02 -1.72441911e-02 7.61788490e+01] [ 4.32886643e-02 9.99062586e-01 -2.02215496e-04 3.87192066e+00] [ 1.72367792e-02 -5.44482129e-04 9.99851287e-01 5.00217378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.094391418 meters Centerline goodness [0,1] 0.9995638710802913 Centerline is valid? [True, True] Translation: X:76.21, Y:3.87, Z:0.50 [[ 9.98969598e-01 -4.20631987e-02 -1.70419952e-02 7.62109148e+01] [ 4.20659246e-02 9.99114817e-01 -1.98644680e-04 3.87496247e+00] [ 1.70352655e-02 -5.18447287e-04 9.99854755e-01 5.00186811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12439141799999 meters Centerline goodness [0,1] 0.9994338842075468 Centerline is valid? [True, True] Translation: X:76.24, Y:3.87, Z:0.50 [[ 9.99026944e-01 -4.08133151e-02 -1.67164301e-02 7.62420750e+01] [ 4.08157827e-02 9.99166670e-01 -1.93671539e-04 3.87469370e+00] [ 1.67104042e-02 -4.88811095e-04 9.99860252e-01 5.00356276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15439141799999 meters Centerline goodness [0,1] 0.9993464906548164 Centerline is valid? [True, True] Translation: X:76.27, Y:3.88, Z:0.50 [[ 9.99154827e-01 -3.73064476e-02 -1.72586205e-02 7.62731126e+01] [ 3.73085703e-02 9.99303773e-01 -1.99073105e-04 3.87999376e+00] [ 1.72540313e-02 -4.44989600e-04 9.99851039e-01 5.01042692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18439141799999 meters Centerline goodness [0,1] 0.9994100294985251 Centerline is valid? [True, True] Translation: X:76.30, Y:3.88, Z:0.50 [[ 9.99241917e-01 -3.49683325e-02 -1.71115964e-02 7.63044183e+01] [ 3.49700880e-02 9.99388340e-01 -1.96705177e-04 3.88364813e+00] [ 1.71080084e-02 -4.01837975e-04 9.99853567e-01 5.01513968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21439141799999 meters Centerline goodness [0,1] 0.9994100294985251 Centerline is valid? [True, True] Translation: X:76.34, Y:3.88, Z:0.50 [[ 9.99244661e-01 -3.48898364e-02 -1.71116080e-02 7.63361244e+01] [ 3.48915977e-02 9.99391084e-01 -1.95694770e-04 3.88393322e+00] [ 1.71080162e-02 -4.01504389e-04 9.99853567e-01 5.01782403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24439141799999 meters Centerline goodness [0,1] 0.9994302493754657 Centerline is valid? [True, True] Translation: X:76.37, Y:3.89, Z:0.50 [[ 9.99342413e-01 -3.24535182e-02 -1.61712784e-02 7.63680957e+01] [ 3.24547925e-02 9.99473188e-01 -1.83695333e-04 3.88811546e+00] [ 1.61687207e-02 -3.41260948e-04 9.99869219e-01 5.03157893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.274391418 meters Centerline goodness [0,1] 0.9995174380346568 Centerline is valid? [True, True] Translation: X:76.40, Y:3.89, Z:0.51 [[ 9.99460576e-01 -3.00923404e-02 -1.31532588e-02 7.63981648e+01] [ 3.00929874e-02 9.99547092e-01 -1.48768504e-04 3.89030650e+00] [ 1.31517784e-02 -2.47132597e-04 9.99913481e-01 5.05400539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.304391418 meters Centerline goodness [0,1] 0.9994958793617394 Centerline is valid? [True, True] Translation: X:76.43, Y:3.89, Z:0.51 [[ 9.99455835e-01 -3.05308848e-02 -1.24859717e-02 7.64305517e+01] [ 3.05315079e-02 9.99533795e-01 -1.40753193e-04 3.88987313e+00] [ 1.24844480e-02 -2.40538946e-04 9.99922037e-01 5.05959010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.334391418 meters Centerline goodness [0,1] 0.9995614227446165 Centerline is valid? [True, True] Translation: X:76.46, Y:3.89, Z:0.51 [[ 9.99436947e-01 -3.11691226e-02 -1.24207152e-02 7.64625052e+01] [ 3.11698003e-02 9.99514094e-01 -1.39060725e-04 3.88958935e+00] [ 1.24190143e-02 -2.48168788e-04 9.99922850e-01 5.06288602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.364391418 meters Centerline goodness [0,1] 0.9994749507766353 Centerline is valid? [True, True] Translation: X:76.50, Y:3.89, Z:0.51 [[ 9.99344784e-01 -3.34119626e-02 -1.39155486e-02 7.64950716e+01] [ 3.34130468e-02 9.99441616e-01 -1.54634368e-04 3.88769569e+00] [ 1.39129451e-02 -3.10427828e-04 9.99903162e-01 5.05947971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.394391418 meters Centerline goodness [0,1] 0.9994748358862144 Centerline is valid? [True, True] Translation: X:76.53, Y:3.89, Z:0.51 [[ 9.99312543e-01 -3.40409540e-02 -1.46852243e-02 7.65261104e+01] [ 3.40422508e-02 9.99420382e-01 -1.61724072e-04 3.88669058e+00] [ 1.46822177e-02 -3.38305197e-04 9.99892153e-01 5.05045663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.424391418 meters Centerline goodness [0,1] 0.9995182411422064 Centerline is valid? [True, True] Translation: X:76.56, Y:3.89, Z:0.50 [[ 9.99264944e-01 -3.42265628e-02 -1.72659828e-02 7.65586867e+01] [ 3.42284168e-02 9.99414018e-01 -1.88212705e-04 3.88842966e+00] [ 1.72623071e-02 -4.02912897e-04 9.99850914e-01 5.02640018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.454391418 meters Centerline goodness [0,1] 0.9995617206845923 Centerline is valid? [True, True] Translation: X:76.59, Y:3.89, Z:0.50 [[ 9.99298422e-01 -3.32968549e-02 -1.71459594e-02 7.65906370e+01] [ 3.32985697e-02 9.99445432e-01 -1.85547817e-04 3.88967875e+00] [ 1.71426289e-02 -3.85518282e-04 9.99852980e-01 5.01923678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.484391418 meters Centerline goodness [0,1] 0.9996715424367172 Centerline is valid? [True, True] Translation: X:76.62, Y:3.89, Z:0.50 [[ 9.99364079e-01 -3.16817578e-02 -1.63616796e-02 7.66223832e+01] [ 3.16831200e-02 9.99497948e-01 -1.76014761e-04 3.89208474e+00] [ 1.63590416e-02 -3.42486228e-04 9.99866123e-01 5.03008771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51439141799999 meters Centerline goodness [0,1] 0.9996271602772173 Centerline is valid? [True, True] Translation: X:76.65, Y:3.90, Z:0.51 [[ 9.99544829e-01 -2.73897674e-02 -1.26465696e-02 7.66523850e+01] [ 2.73902471e-02 9.99624808e-01 -1.35310171e-04 3.89505700e+00] [ 1.26455308e-02 -2.11144083e-04 9.99920020e-01 5.07132823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54439141799999 meters Centerline goodness [0,1] 0.9998683084216764 Centerline is valid? [True, True] Translation: X:76.68, Y:3.90, Z:0.51 [[ 9.99633735e-01 -2.47725549e-02 -1.08957379e-02 7.66841592e+01] [ 2.47727645e-02 9.99693101e-01 -1.15745874e-04 3.89821626e+00] [ 1.08952613e-02 -1.54214069e-04 9.99940633e-01 5.09814400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57439141799999 meters Centerline goodness [0,1] 0.9994316691440063 Centerline is valid? [True, True] Translation: X:76.72, Y:3.90, Z:0.51 [[ 9.99701745e-01 -2.21918060e-02 -1.01953710e-02 7.67156670e+01] [ 2.21918606e-02 9.99753725e-01 -1.07786734e-04 3.89963967e+00] [ 1.01952521e-02 -1.18499666e-04 9.99948020e-01 5.10295730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60439141799999 meters Centerline goodness [0,1] 0.9995399982476124 Centerline is valid? [True, True] Translation: X:76.75, Y:3.90, Z:0.51 [[ 9.99749485e-01 -1.82439968e-02 -1.29662883e-02 7.67482212e+01] [ 1.82437661e-02 9.99833559e-01 -1.36082143e-04 3.90070831e+00] [ 1.29666129e-02 -1.00505880e-04 9.99915925e-01 5.07028138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63439141799999 meters Centerline goodness [0,1] 0.9996274952341302 Centerline is valid? [True, True] Translation: X:76.78, Y:3.90, Z:0.51 [[ 9.99757522e-01 -1.69548181e-02 -1.40510217e-02 7.67792308e+01] [ 1.69544317e-02 9.99856253e-01 -1.46624048e-04 3.90149123e+00] [ 1.40514879e-02 -9.16385940e-05 9.99901269e-01 5.05561376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.664391418 meters Centerline goodness [0,1] 0.9995837076312964 Centerline is valid? [True, True] Translation: X:76.81, Y:3.90, Z:0.51 [[ 9.99781051e-01 -1.49383346e-02 -1.46524841e-02 7.68089729e+01] [ 1.49376988e-02 9.99888415e-01 -1.52845597e-04 3.90220159e+00] [ 1.46531324e-02 -6.60622626e-05 9.99892635e-01 5.05026225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.694391418 meters Centerline goodness [0,1] 0.9994305613351147 Centerline is valid? [True, True] Translation: X:76.84, Y:3.90, Z:0.51 [[ 9.99799391e-01 -1.44951361e-02 -1.38227838e-02 7.68389039e+01] [ 1.44945227e-02 9.99894938e-01 -1.44568278e-04 3.90361217e+00] [ 1.38234271e-02 -5.58153761e-05 9.99904450e-01 5.07143186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.724391418 meters Centerline goodness [0,1] 0.9996275115580973 Centerline is valid? [True, True] Translation: X:76.87, Y:3.90, Z:0.51 [[ 9.99811485e-01 -1.37565287e-02 -1.37023082e-02 7.68679101e+01] [ 1.37558464e-02 9.99905373e-01 -1.44046650e-04 3.90467107e+00] [ 1.37029932e-02 -4.44673514e-05 9.99906109e-01 5.08484142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.754391418 meters Centerline goodness [0,1] 0.9996711463837064 Centerline is valid? [True, True] Translation: X:76.90, Y:3.91, Z:0.51 [[ 9.99816040e-01 -1.32681470e-02 -1.38507363e-02 7.68970973e+01] [ 1.32673910e-02 9.99911974e-01 -1.46469395e-04 3.90590635e+00] [ 1.38514604e-02 -3.73206830e-05 9.99904063e-01 5.09049025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.784391418 meters Centerline goodness [0,1] 0.9997150122763943 Centerline is valid? [True, True] Translation: X:76.93, Y:3.90, Z:0.51 [[ 9.99787446e-01 -1.47122749e-02 -1.44434019e-02 7.69255918e+01] [ 1.47115748e-02 9.99891767e-01 -1.54723564e-04 3.90365189e+00] [ 1.44441150e-02 -5.77945117e-05 9.99895677e-01 5.07214619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.814391418 meters Centerline goodness [0,1] 0.9996276910273537 Centerline is valid? [True, True] Translation: X:76.95, Y:3.90, Z:0.51 [[ 9.99753067e-01 -1.66079429e-02 -1.47642132e-02 7.69540810e+01] [ 1.66073575e-02 9.99862075e-01 -1.62259521e-04 3.90063527e+00] [ 1.47648717e-02 -8.29751134e-05 9.99890990e-01 5.05111717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.844391418 meters Centerline goodness [0,1] 0.9995630898287312 Centerline is valid? [True, True] Translation: X:76.98, Y:3.90, Z:0.50 [[ 9.99713138e-01 -1.87886349e-02 -1.48535532e-02 7.69832270e+01] [ 1.87882430e-02 9.99823472e-01 -1.65944703e-04 3.89625444e+00] [ 1.48540490e-02 -1.13175067e-04 9.99889666e-01 5.02812959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87439141799999 meters Centerline goodness [0,1] 0.9995195772279606 Centerline is valid? [True, True] Translation: X:77.01, Y:3.89, Z:0.50 [[ 9.99665149e-01 -2.15628870e-02 -1.43049801e-02 7.70129014e+01] [ 2.15627990e-02 9.99767483e-01 -1.60400871e-04 3.89136151e+00] [ 1.43051127e-02 -1.48108251e-04 9.99897666e-01 5.01773054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90439141799999 meters Centerline goodness [0,1] 0.9993917274939172 Centerline is valid? [True, True] Translation: X:77.04, Y:3.88, Z:0.50 [[ 9.99526720e-01 -2.79356023e-02 -1.28817231e-02 7.70431401e+01] [ 2.79360582e-02 9.99609702e-01 -1.44587701e-04 3.88380697e+00] [ 1.28807345e-02 -2.15345296e-04 9.99917017e-01 5.03718782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93439141799999 meters Centerline goodness [0,1] 0.9993695926264076 Centerline is valid? [True, True] Translation: X:77.08, Y:3.88, Z:0.51 [[ 9.99450571e-01 -3.03793809e-02 -1.32532613e-02 7.70752137e+01] [ 3.03800833e-02 9.99538408e-01 -1.48367813e-04 3.88468312e+00] [ 1.32516510e-02 -2.54348886e-04 9.99912161e-01 5.06510675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96439141799999 meters Centerline goodness [0,1] 0.9993912911150242 Centerline is valid? [True, True] Translation: X:77.11, Y:3.88, Z:0.51 [[ 9.99305507e-01 -3.36364108e-02 -1.60342095e-02 7.71063866e+01] [ 3.36378788e-02 9.99434071e-01 -1.78205502e-04 3.88411109e+00] [ 1.60311295e-02 -3.61275057e-04 9.99871428e-01 5.07921366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99439141799999 meters Centerline goodness [0,1] 0.9994119568768376 Centerline is valid? [True, True] Translation: X:77.14, Y:3.88, Z:0.51 [[ 9.99254863e-01 -3.44053784e-02 -1.74925249e-02 7.71387200e+01] [ 3.44072662e-02 9.99407876e-01 -1.93115416e-04 3.88459323e+00] [ 1.74888113e-02 -4.08898441e-04 9.99846975e-01 5.06370523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.024391418 meters Centerline goodness [0,1] 0.9995646874455859 Centerline is valid? [True, True] Translation: X:77.17, Y:3.88, Z:0.50 [[ 9.99148860e-01 -3.59043695e-02 -2.03083989e-02 7.71689725e+01] [ 3.59072534e-02 9.99355102e-01 -2.22741738e-04 3.87914859e+00] [ 2.03032994e-02 -5.06666670e-04 9.99793738e-01 4.99795483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.054391418 meters Centerline goodness [0,1] 0.9995217183355798 Centerline is valid? [True, True] Translation: X:77.20, Y:3.88, Z:0.50 [[ 9.99147926e-01 -3.64860151e-02 -1.92922763e-02 7.71996542e+01] [ 3.64887386e-02 9.99334042e-01 -2.10935193e-04 3.87504080e+00] [ 1.92871246e-02 -4.93195365e-04 9.99813864e-01 4.97497910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.084391418 meters Centerline goodness [0,1] 0.9993048465231464 Centerline is valid? [True, True] Translation: X:77.23, Y:3.87, Z:0.50 [[ 9.99196918e-01 -3.63346984e-02 -1.68910598e-02 7.72313580e+01] [ 3.63367725e-02 9.99339584e-01 -1.84196910e-04 3.87383187e+00] [ 1.68865974e-02 -4.29717613e-04 9.99857319e-01 4.99120810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.114391418 meters Centerline goodness [0,1] 0.9994361554476058 Centerline is valid? [True, True] Translation: X:77.26, Y:3.87, Z:0.50 [[ 9.99284829e-01 -3.53620717e-02 -1.33923324e-02 7.72631129e+01] [ 3.53632971e-02 9.99374512e-01 -1.45374587e-04 3.87429173e+00] [ 1.33890964e-02 -3.28326408e-04 9.99910308e-01 5.03264787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.144391418 meters Centerline goodness [0,1] 0.999523252286222 Centerline is valid? [True, True] Translation: X:77.29, Y:3.88, Z:0.51 [[ 9.99507063e-01 -2.98837888e-02 -9.62237497e-03 7.72943199e+01] [ 2.98841728e-02 9.99553363e-01 -1.03909854e-04 3.88296078e+00] [ 9.62118248e-03 -1.83698083e-04 9.99953698e-01 5.13232927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.174391418 meters Centerline goodness [0,1] 0.9995869295823641 Centerline is valid? [True, True] Translation: X:77.33, Y:3.89, Z:0.52 [[ 9.99625954e-01 -2.54492240e-02 -1.00143952e-02 7.73260900e+01] [ 2.54494223e-02 9.99676105e-01 -1.07658350e-04 3.88965755e+00] [ 1.00138914e-02 -1.47242492e-04 9.99949849e-01 5.16126227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.204391418 meters Centerline goodness [0,1] 0.9994117518900194 Centerline is valid? [True, True] Translation: X:77.36, Y:3.89, Z:0.52 [[ 9.99699491e-01 -2.14547501e-02 -1.18583827e-02 7.73575337e+01] [ 2.14547592e-02 9.99769812e-01 -1.26461394e-04 3.89463283e+00] [ 1.18583662e-02 -1.27995353e-04 9.99929679e-01 5.16666145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.234391418 meters Centerline goodness [0,1] 0.9994760969220694 Centerline is valid? [True, True] Translation: X:77.39, Y:3.90, Z:0.51 [[ 9.99732601e-01 -1.58144675e-02 -1.68709839e-02 7.73882704e+01] [ 1.58136980e-02 9.99874940e-01 -1.79023096e-04 3.89795025e+00] [ 1.68717052e-02 -8.78174199e-05 9.99857659e-01 5.10779299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26439141799999 meters Centerline goodness [0,1] 0.9997601500152632 Centerline is valid? [True, True] Translation: X:77.42, Y:3.90, Z:0.51 [[ 9.99720936e-01 -1.50525766e-02 -1.82063439e-02 7.74159429e+01] [ 1.50515019e-02 9.99886701e-01 -1.96062231e-04 3.89731898e+00] [ 1.82072324e-02 -7.80253032e-05 9.99834232e-01 5.08317033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29439141799999 meters Centerline goodness [0,1] 0.9997824715581562 Centerline is valid? [True, True] Translation: X:77.44, Y:3.89, Z:0.51 [[ 9.99739724e-01 -1.45500911e-02 -1.75721388e-02 7.74442268e+01] [ 1.45489156e-02 9.99894140e-01 -1.94739251e-04 3.89462847e+00] [ 1.75731121e-02 -6.09669987e-05 9.99845579e-01 5.06054735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32439141799999 meters Centerline goodness [0,1] 0.9997391417764445 Centerline is valid? [True, True] Translation: X:77.47, Y:3.89, Z:0.51 [[ 9.99746700e-01 -1.51122836e-02 -1.66779681e-02 7.74722098e+01] [ 1.51112150e-02 9.99885801e-01 -1.90099066e-04 3.89470281e+00] [ 1.66789363e-02 -6.19734477e-05 9.99860895e-01 5.07177699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35439141799999 meters Centerline goodness [0,1] 0.999804428605576 Centerline is valid? [True, True] Translation: X:77.50, Y:3.90, Z:0.51 [[ 9.99758222e-01 -1.51844945e-02 -1.59037056e-02 7.74997048e+01] [ 1.51834521e-02 9.99884707e-01 -1.86291424e-04 3.89630493e+00] [ 1.59047007e-02 -5.52267683e-05 9.99873511e-01 5.08994399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38439141799999 meters Centerline goodness [0,1] 0.9995860205682412 Centerline is valid? [True, True] Translation: X:77.53, Y:3.90, Z:0.51 [[ 9.99746262e-01 -1.59463897e-02 -1.59098602e-02 7.75279289e+01] [ 1.59453664e-02 9.99872846e-01 -1.91178352e-04 3.89916681e+00] [ 1.59108858e-02 -6.25587068e-05 9.99873412e-01 5.12628943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.414391418 meters Centerline goodness [0,1] 0.9992604515595771 Centerline is valid? [True, True] Translation: X:77.56, Y:3.90, Z:0.51 [[ 9.99721377e-01 -1.65298158e-02 -1.68503140e-02 7.75561816e+01] [ 1.65287000e-02 9.99863371e-01 -2.05492963e-04 3.89871273e+00] [ 1.68514085e-02 -7.30780764e-05 9.99858002e-01 5.12086383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.444391418 meters Centerline goodness [0,1] 0.999652068020702 Centerline is valid? [True, True] Translation: X:77.58, Y:3.89, Z:0.51 [[ 9.99614773e-01 -2.07173706e-02 -1.84688124e-02 7.75846199e+01] [ 2.07167163e-02 9.99785360e-01 -2.26772164e-04 3.89325819e+00] [ 1.84695464e-02 -1.55928342e-04 9.99829411e-01 5.11998136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.474391418 meters Centerline goodness [0,1] 0.9995216871399065 Centerline is valid? [True, True] Translation: X:77.61, Y:3.89, Z:0.51 [[ 9.99539085e-01 -2.35356236e-02 -1.91753181e-02 7.76134246e+01] [ 2.35354044e-02 9.99722976e-01 -2.37132518e-04 3.88942488e+00] [ 1.91755872e-02 -2.14275647e-04 9.99816109e-01 5.10740134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.504391418 meters Centerline goodness [0,1] 0.9996522797409484 Centerline is valid? [True, True] Translation: X:77.64, Y:3.89, Z:0.51 [[ 9.99444406e-01 -2.73904309e-02 -1.89906407e-02 7.76433391e+01] [ 2.73908915e-02 9.99624771e-01 -2.35903698e-04 3.88590728e+00] [ 1.89899764e-02 -2.84397948e-04 9.99819634e-01 5.10264546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.534391418 meters Centerline goodness [0,1] 0.9998047171653611 Centerline is valid? [True, True] Translation: X:77.67, Y:3.88, Z:0.51 [[ 9.99329863e-01 -3.11951981e-02 -1.91490009e-02 7.76733527e+01] [ 3.11963581e-02 9.99513247e-01 -2.38208547e-04 3.88134386e+00] [ 1.91471110e-02 -3.59330176e-04 9.99816613e-01 5.09792777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.564391418 meters Centerline goodness [0,1] 0.9995886110208942 Centerline is valid? [True, True] Translation: X:77.70, Y:3.87, Z:0.51 [[ 9.99063505e-01 -3.95937633e-02 -1.74483928e-02 7.77043537e+01] [ 3.95960091e-02 9.99215747e-01 -2.16877233e-04 3.87396850e+00] [ 1.74432959e-02 -4.74212592e-04 9.99847742e-01 5.11400217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.594391418 meters Centerline goodness [0,1] 0.9995025198451323 Centerline is valid? [True, True] Translation: X:77.74, Y:3.87, Z:0.51 [[ 9.98947641e-01 -4.28121671e-02 -1.64538537e-02 7.77365247e+01] [ 4.28146131e-02 9.99083013e-01 -2.03732039e-04 3.87108412e+00] [ 1.64474880e-02 -5.00947742e-04 9.99864605e-01 5.12805638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62439141799999 meters Centerline goodness [0,1] 0.9994816974408811 Centerline is valid? [True, True] Translation: X:77.77, Y:3.87, Z:0.51 [[ 9.98865326e-01 -4.49070153e-02 -1.58562588e-02 7.77689538e+01] [ 4.49095699e-02 9.98991037e-01 -1.95104113e-04 3.87019396e+00] [ 1.58490220e-02 -5.17215029e-04 9.99874263e-01 5.13829317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65439141799999 meters Centerline goodness [0,1] 0.9993740556874595 Centerline is valid? [True, True] Translation: X:77.80, Y:3.87, Z:0.51 [[ 9.98748726e-01 -4.70687704e-02 -1.68971184e-02 7.78003011e+01] [ 4.70720010e-02 9.98891478e-01 -2.06693840e-04 3.86860294e+00] [ 1.68881164e-02 -5.88945964e-04 9.99857212e-01 5.13242151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68439141799999 meters Centerline goodness [0,1] 0.9995466223364062 Centerline is valid? [True, True] Translation: X:77.83, Y:3.87, Z:0.51 [[ 9.98720987e-01 -4.76461469e-02 -1.69185014e-02 7.78319188e+01] [ 4.76494853e-02 9.98864097e-01 -2.05961344e-04 3.86762025e+00] [ 1.69090968e-02 -6.00459964e-04 9.99856851e-01 5.13446457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71439141799999 meters Centerline goodness [0,1] 0.9991573033707866 Centerline is valid? [True, True] Translation: X:77.86, Y:3.87, Z:0.51 [[ 9.98706976e-01 -4.82262672e-02 -1.60811378e-02 7.78639061e+01] [ 4.82293754e-02 9.98836268e-01 -1.94706745e-04 3.86910486e+00] [ 1.60718137e-02 -5.81128249e-04 9.99870671e-01 5.14908789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74439141799999 meters Centerline goodness [0,1] 0.9993315508021391 Centerline is valid? [True, True] Translation: X:77.90, Y:3.86, Z:0.52 [[ 9.98653779e-01 -5.03148318e-02 -1.26113841e-02 7.78954595e+01] [ 5.03169191e-02 9.98733290e-01 -1.51938950e-04 3.86409163e+00] [ 1.26030539e-02 -4.82831584e-04 9.99920462e-01 5.16768997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.774391418 meters Centerline goodness [0,1] 0.9995048119361853 Centerline is valid? [True, True] Translation: X:77.93, Y:3.86, Z:0.52 [[ 9.98586026e-01 -5.17872343e-02 -1.20013285e-02 7.79277567e+01] [ 5.17892395e-02 9.98658027e-01 -1.43850396e-04 3.86124948e+00] [ 1.19926727e-02 -4.77892682e-04 9.99927971e-01 5.17023643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.804391418 meters Centerline goodness [0,1] 0.9994833598828949 Centerline is valid? [True, True] Translation: X:77.96, Y:3.86, Z:0.52 [[ 9.98476925e-01 -5.36320558e-02 -1.29395539e-02 7.79593640e+01] [ 5.36345538e-02 9.98560620e-01 -1.54134073e-04 3.86016065e+00] [ 1.29291955e-02 -5.40107883e-04 9.99916269e-01 5.17412299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.834391418 meters Centerline goodness [0,1] 0.999311102021485 Centerline is valid? [True, True] Translation: X:77.99, Y:3.86, Z:0.52 [[ 9.98473279e-01 -5.33344532e-02 -1.43717226e-02 7.79923842e+01] [ 5.33375219e-02 9.98576527e-01 -1.69962060e-04 3.86131423e+00] [ 1.43603297e-02 -5.96849494e-04 9.99896707e-01 5.17690512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.864391418 meters Centerline goodness [0,1] 0.9994616593811236 Centerline is valid? [True, True] Translation: X:78.02, Y:3.86, Z:0.52 [[ 9.98509201e-01 -5.20664869e-02 -1.63846188e-02 7.80244917e+01] [ 5.20703335e-02 9.98643402e-01 -1.92036813e-04 3.86298570e+00] [ 1.63723901e-02 -6.61402040e-04 9.99865745e-01 5.16074330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.894391418 meters Centerline goodness [0,1] 0.9995902169693309 Centerline is valid? [True, True] Translation: X:78.06, Y:3.87, Z:0.51 [[ 9.98613683e-01 -4.81627739e-02 -2.12381731e-02 7.80555334e+01] [ 4.81683848e-02 9.98839199e-01 -2.47589521e-04 3.86698331e+00] [ 2.12254444e-02 -7.75762213e-04 9.99774414e-01 5.10376206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.924391418 meters Centerline goodness [0,1] 0.999590649574491 Centerline is valid? [True, True] Translation: X:78.09, Y:3.87, Z:0.51 [[ 9.98705142e-01 -4.54926316e-02 -2.27697270e-02 7.80855085e+01] [ 4.54984023e-02 9.98964376e-01 -2.64825755e-04 3.86828186e+00] [ 2.27581938e-02 -7.71503359e-04 9.99740701e-01 5.07180088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.954391418 meters Centerline goodness [0,1] 0.9993960831679751 Centerline is valid? [True, True] Translation: X:78.12, Y:3.87, Z:0.51 [[ 9.98829109e-01 -4.28047888e-02 -2.25424282e-02 7.81173385e+01] [ 4.28097837e-02 9.99083207e-01 -2.61175825e-04 3.87430541e+00] [ 2.25329411e-02 -7.04166461e-04 9.99745853e-01 5.07731209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.984391418 meters Centerline goodness [0,1] 0.9991997404563642 Centerline is valid? [True, True] Translation: X:78.15, Y:3.88, Z:0.51 [[ 9.99149209e-01 -3.65951071e-02 -1.90172586e-02 7.81477495e+01] [ 3.65975456e-02 9.99330061e-01 -2.19902876e-04 3.88027631e+00] [ 1.90125655e-02 -4.76269202e-04 9.99819131e-01 5.10833209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01439141799999 meters Centerline goodness [0,1] 0.9994807667344554 Centerline is valid? [True, True] Translation: X:78.18, Y:3.88, Z:0.51 [[ 9.99270241e-01 -3.40502290e-02 -1.73080194e-02 7.81780843e+01] [ 3.40518701e-02 9.99420047e-01 -1.99962569e-04 3.88048044e+00] [ 1.73047903e-02 -3.89553785e-04 9.99850185e-01 5.12611675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04439141799999 meters Centerline goodness [0,1] 0.9994592022151078 Centerline is valid? [True, True] Translation: X:78.21, Y:3.89, Z:0.52 [[ 9.99403370e-01 -3.01507256e-02 -1.68474859e-02 7.82092719e+01] [ 3.01517351e-02 9.99545314e-01 -1.94144962e-04 3.88901761e+00] [ 1.68456792e-02 -3.13951802e-04 9.99858052e-01 5.16616624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07439141799999 meters Centerline goodness [0,1] 0.9996320983379502 Centerline is valid? [True, True] Translation: X:78.24, Y:3.89, Z:0.52 [[ 9.99430388e-01 -2.88532715e-02 -1.75039378e-02 7.82408629e+01] [ 2.88541748e-02 9.99583611e-01 -2.00999932e-04 3.88989112e+00] [ 1.75024489e-02 -3.04176241e-04 9.99846774e-01 5.16427093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10439141799999 meters Centerline goodness [0,1] 0.9996320983379502 Centerline is valid? [True, True] Translation: X:78.27, Y:3.89, Z:0.52 [[ 9.99431537e-01 -2.88134628e-02 -1.75039458e-02 7.82717149e+01] [ 2.88143722e-02 9.99584760e-01 -2.00302674e-04 3.89020615e+00] [ 1.75024489e-02 -3.04176399e-04 9.99846774e-01 5.16688301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13439141799999 meters Centerline goodness [0,1] 0.9995021860525518 Centerline is valid? [True, True] Translation: X:78.30, Y:3.89, Z:0.52 [[ 9.99426834e-01 -2.85013731e-02 -1.82667782e-02 7.83019297e+01] [ 2.85023213e-02 9.99593705e-01 -2.08486462e-04 3.89053265e+00] [ 1.82652987e-02 -3.12278618e-04 9.99833127e-01 5.16181049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.164391418 meters Centerline goodness [0,1] 0.9994581825274701 Centerline is valid? [True, True] Translation: X:78.33, Y:3.90, Z:0.52 [[ 9.99410417e-01 -2.85854128e-02 -1.90181926e-02 7.83327242e+01] [ 2.85864672e-02 9.99591300e-01 -2.16467252e-04 3.89586697e+00] [ 1.90166077e-02 -3.27323314e-04 9.99819114e-01 5.19352602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.194391418 meters Centerline goodness [0,1] 0.9994356659142212 Centerline is valid? [True, True] Translation: X:78.36, Y:3.90, Z:0.52 [[ 9.99393922e-01 -2.86678541e-02 -1.97469699e-02 7.83631272e+01] [ 2.86690183e-02 9.99588934e-01 -2.24187617e-04 3.89714264e+00] [ 1.97452795e-02 -3.42074499e-04 9.99804984e-01 5.19710113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.224391418 meters Centerline goodness [0,1] 0.9994130307180591 Centerline is valid? [True, True] Translation: X:78.39, Y:3.90, Z:0.52 [[ 9.99368648e-01 -2.89046868e-02 -2.06597123e-02 7.83939316e+01] [ 2.89060155e-02 9.99582106e-01 -2.34374403e-04 3.89746844e+00] [ 2.06578533e-02 -3.62963534e-04 9.99786538e-01 5.18283671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.254391418 meters Centerline goodness [0,1] 0.9996956720213899 Centerline is valid? [True, True] Translation: X:78.42, Y:3.90, Z:0.52 [[ 9.99353029e-01 -2.97032430e-02 -2.02790644e-02 7.84239351e+01] [ 2.97046827e-02 9.99558692e-01 -2.30287700e-04 3.89681030e+00] [ 2.02769554e-02 -3.72244463e-04 9.99794332e-01 5.17600479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.284391418 meters Centerline goodness [0,1] 0.9994575359111226 Centerline is valid? [True, True] Translation: X:78.45, Y:3.89, Z:0.51 [[ 9.99330655e-01 -3.06593826e-02 -1.99560626e-02 7.84536965e+01] [ 3.06609597e-02 9.99529816e-01 -2.27006322e-04 3.89179866e+00] [ 1.99536394e-02 -3.85017654e-04 9.99800832e-01 5.13310960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.314391418 meters Centerline goodness [0,1] 0.9994145452968473 Centerline is valid? [True, True] Translation: X:78.48, Y:3.89, Z:0.51 [[ 9.99331635e-01 -3.12494140e-02 -1.89672650e-02 7.84843765e+01] [ 3.12509419e-02 9.99511547e-01 -2.15914845e-04 3.89151579e+00] [ 1.89647476e-02 -3.76974362e-04 9.99820082e-01 5.13245674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.344391418 meters Centerline goodness [0,1] 0.9996966085166323 Centerline is valid? [True, True] Translation: X:78.52, Y:3.89, Z:0.52 [[ 9.99336445e-01 -3.22018960e-02 -1.70208185e-02 7.85156129e+01] [ 3.22032700e-02 9.99481321e-01 -1.93424177e-04 3.89408006e+00] [ 1.70182188e-02 -3.54830186e-04 9.99855117e-01 5.17327896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37439141799999 meters Centerline goodness [0,1] 0.9995017870681252 Centerline is valid? [True, True] Translation: X:78.55, Y:3.90, Z:0.52 [[ 9.99352345e-01 -3.23074592e-02 -1.58467315e-02 7.85466106e+01] [ 3.23086728e-02 9.99477922e-01 -1.79489381e-04 3.89578299e+00] [ 1.58442571e-02 -3.32613729e-04 9.99874417e-01 5.19730310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40439141799999 meters Centerline goodness [0,1] 0.9995658214657868 Centerline is valid? [True, True] Translation: X:78.58, Y:3.90, Z:0.52 [[ 9.99371554e-01 -3.20684511e-02 -1.51033805e-02 7.85790121e+01] [ 3.20695386e-02 9.99485626e-01 -1.70244875e-04 3.89676553e+00] [ 1.51010712e-02 -3.14220558e-04 9.99885923e-01 5.21604084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43439141799999 meters Centerline goodness [0,1] 0.9993714372412598 Centerline is valid? [True, True] Translation: X:78.61, Y:3.90, Z:0.52 [[ 9.99348874e-01 -3.25296104e-02 -1.56093949e-02 7.86116627e+01] [ 3.25308476e-02 9.99470717e-01 -1.74713238e-04 3.89568980e+00] [ 1.56068165e-02 -3.33187369e-04 9.99878151e-01 5.20977605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46439141799999 meters Centerline goodness [0,1] 0.9993722400207811 Centerline is valid? [True, True] Translation: X:78.64, Y:3.89, Z:0.52 [[ 9.99312853e-01 -3.33594403e-02 -1.61545832e-02 7.86438796e+01] [ 3.33608947e-02 9.99443354e-01 -1.79518757e-04 3.89451810e+00] [ 1.61515795e-02 -3.59535948e-04 9.99869490e-01 5.20405490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49439141799999 meters Centerline goodness [0,1] 0.9993938869166161 Centerline is valid? [True, True] Translation: X:78.67, Y:3.89, Z:0.52 [[ 9.99268420e-01 -3.47640561e-02 -1.59400519e-02 7.86747088e+01] [ 3.47656683e-02 9.99395476e-01 -1.76028759e-04 3.89072544e+00] [ 1.59365353e-02 -3.78266578e-04 9.99872934e-01 5.20085729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.524391418 meters Centerline goodness [0,1] 0.9994382872080714 Centerline is valid? [True, True] Translation: X:78.71, Y:3.89, Z:0.52 [[ 9.99160878e-01 -3.80361129e-02 -1.51919050e-02 7.87063831e+01] [ 3.80379730e-02 9.99276281e-01 -1.66597661e-04 3.88974797e+00] [ 1.51872470e-02 -4.11411407e-04 9.99884582e-01 5.21963222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.554391418 meters Centerline goodness [0,1] 0.9993948824343015 Centerline is valid? [True, True] Translation: X:78.74, Y:3.89, Z:0.52 [[ 9.99094902e-01 -3.93351409e-02 -1.61902025e-02 7.87376059e+01] [ 3.93374462e-02 9.99225968e-01 -1.76169206e-04 3.88707818e+00] [ 1.61846004e-02 -4.60871466e-04 9.99868915e-01 5.20932083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.584391418 meters Centerline goodness [0,1] 0.9995247250966752 Centerline is valid? [True, True] Translation: X:78.77, Y:3.89, Z:0.52 [[ 9.99030263e-01 -4.03218823e-02 -1.76827256e-02 7.87696507e+01] [ 4.03248093e-02 9.99186606e-01 -1.91144000e-04 3.88881210e+00] [ 1.76760498e-02 -5.22093894e-04 9.99843630e-01 5.19769161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.614391418 meters Centerline goodness [0,1] 0.9995247045606758 Centerline is valid? [True, True] Translation: X:78.80, Y:3.89, Z:0.52 [[ 9.98966648e-01 -4.11324482e-02 -1.93327993e-02 7.88015980e+01] [ 4.11361296e-02 9.99153530e-01 -2.07379695e-04 3.88823572e+00] [ 1.93249647e-02 -5.88111141e-04 9.99813082e-01 5.17651467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.644391418 meters Centerline goodness [0,1] 0.9995239125730362 Centerline is valid? [True, True] Translation: X:78.83, Y:3.88, Z:0.51 [[ 9.98873482e-01 -4.21960698e-02 -2.17084840e-02 7.88329658e+01] [ 4.22009966e-02 9.99109114e-01 -2.31315431e-04 3.88454943e+00] [ 2.16989048e-02 -6.85064808e-04 9.99764316e-01 5.14013523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.674391418 meters Centerline goodness [0,1] 0.9994800017333275 Centerline is valid? [True, True] Translation: X:78.86, Y:3.89, Z:0.52 [[ 9.98890405e-01 -4.19620549e-02 -2.13809324e-02 7.88641842e+01] [ 4.19668021e-02 9.99118980e-01 -2.26814774e-04 3.89235142e+00] [ 2.13716129e-02 -6.70726255e-04 9.99771376e-01 5.17782674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.704391418 meters Centerline goodness [0,1] 0.9996090780757955 Centerline is valid? [True, True] Translation: X:78.90, Y:3.90, Z:0.52 [[ 9.98979647e-01 -4.05900408e-02 -1.98018745e-02 7.88956463e+01] [ 4.05938583e-02 9.99175708e-01 -2.09300953e-04 3.89660469e+00] [ 1.97940475e-02 -5.94747093e-04 9.99803902e-01 5.19769212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.734391418 meters Centerline goodness [0,1] 0.9995223517662128 Centerline is valid? [True, True] Translation: X:78.93, Y:3.90, Z:0.52 [[ 9.99004651e-01 -4.00682932e-02 -1.96020366e-02 7.89281764e+01] [ 4.00719575e-02 9.99196775e-01 -2.05972422e-04 3.89719323e+00] [ 1.95945447e-02 -5.79724571e-04 9.99807840e-01 5.18897954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76439141799999 meters Centerline goodness [0,1] 0.9996305873660879 Centerline is valid? [True, True] Translation: X:78.96, Y:3.90, Z:0.52 [[ 9.98982520e-01 -4.03534548e-02 -2.01376026e-02 7.89597473e+01] [ 4.03574078e-02 9.99185286e-01 -2.10220733e-04 3.89626150e+00] [ 2.01296794e-02 -6.02694604e-04 9.99797196e-01 5.16804038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79439141799999 meters Centerline goodness [0,1] 0.9995868487431504 Centerline is valid? [True, True] Translation: X:78.99, Y:3.89, Z:0.52 [[ 9.98803235e-01 -4.49272223e-02 -1.93298480e-02 7.89900736e+01] [ 4.49317368e-02 9.98990039e-01 -2.00911014e-04 3.89259966e+00] [ 1.93193520e-02 -6.67853073e-04 9.99813141e-01 5.15598072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82439141799999 meters Centerline goodness [0,1] 0.9995436469130974 Centerline is valid? [True, True] Translation: X:79.02, Y:3.89, Z:0.52 [[ 9.98680851e-01 -4.80247583e-02 -1.81708587e-02 7.90221632e+01] [ 4.80292783e-02 9.98845911e-01 -1.87823708e-04 3.89060641e+00] [ 1.81589081e-02 -6.85157291e-04 9.99834879e-01 5.17227114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85439141799999 meters Centerline goodness [0,1] 0.9996959033841609 Centerline is valid? [True, True] Translation: X:79.05, Y:3.89, Z:0.52 [[ 9.98536772e-01 -5.12782770e-02 -1.71712665e-02 7.90543644e+01] [ 5.12828154e-02 9.98684155e-01 -1.76206877e-04 3.88874894e+00] [ 1.71577073e-02 -7.04641843e-04 9.99852547e-01 5.18966552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88439141799999 meters Centerline goodness [0,1] 0.9996955462769659 Centerline is valid? [True, True] Translation: X:79.08, Y:3.88, Z:0.52 [[ 9.98205704e-01 -5.71869676e-02 -1.77488930e-02 7.90836188e+01] [ 5.71927646e-02 9.98363138e-01 -1.81227057e-04 3.88400824e+00] [ 1.77302043e-02 -8.34206378e-04 9.99842460e-01 5.18714923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.914391418 meters Centerline goodness [0,1] 0.9996087721967442 Centerline is valid? [True, True] Translation: X:79.11, Y:3.88, Z:0.52 [[ 9.98019060e-01 -5.98789313e-02 -1.92994616e-02 7.91143605e+01] [ 5.98862962e-02 9.98205186e-01 -1.96618303e-04 3.88184899e+00] [ 1.92765959e-02 -9.59544457e-04 9.99813729e-01 5.16441374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.944391418 meters Centerline goodness [0,1] 0.9997607499401875 Centerline is valid? [True, True] Translation: X:79.14, Y:3.88, Z:0.51 [[ 9.97827645e-01 -6.23898080e-02 -2.11542594e-02 7.91445174e+01] [ 6.23992236e-02 9.98051246e-01 -2.15338393e-04 3.87845757e+00] [ 2.11264698e-02 -1.10513876e-03 9.99776200e-01 5.13701569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.974391418 meters Centerline goodness [0,1] 0.9995427526291724 Centerline is valid? [True, True] Translation: X:79.17, Y:3.88, Z:0.51 [[ 9.97532874e-01 -6.64895528e-02 -2.25234255e-02 7.91740332e+01] [ 6.65012658e-02 9.97786314e-01 -2.29404599e-04 3.87568372e+00] [ 2.24888187e-02 -1.26899768e-03 9.99746289e-01 5.11537279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.004391418 meters Centerline goodness [0,1] 0.9996943031202917 Centerline is valid? [True, True] Translation: X:79.21, Y:3.88, Z:0.51 [[ 9.97477040e-01 -6.73074083e-02 -2.25669625e-02 7.92058742e+01] [ 6.73193972e-02 9.97731450e-01 -2.28876988e-04 3.87751121e+00] [ 2.25311734e-02 -1.29089477e-03 9.99745307e-01 5.12441137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.034391418 meters Centerline goodness [0,1] 0.9997814828573302 Centerline is valid? [True, True] Translation: X:79.24, Y:3.88, Z:0.51 [[ 9.97520031e-01 -6.68037400e-02 -2.21595969e-02 7.92379859e+01] [ 6.68152120e-02 9.97765342e-01 -2.23113088e-04 3.88000277e+00] [ 2.21249826e-02 -1.25803839e-03 9.99754421e-01 5.13255275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.064391418 meters Centerline goodness [0,1] 0.9994760511723355 Centerline is valid? [True, True] Translation: X:79.27, Y:3.88, Z:0.51 [[ 9.97636196e-01 -6.51993364e-02 -2.17040995e-02 7.92696230e+01] [ 6.52099957e-02 9.97871540e-01 -2.17019999e-04 3.88368786e+00] [ 2.16720528e-02 -1.19881723e-03 9.99764415e-01 5.13599630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.094391418 meters Centerline goodness [0,1] 0.9996498139636681 Centerline is valid? [True, True] Translation: X:79.30, Y:3.89, Z:0.51 [[ 9.98045222e-01 -5.91658621e-02 -2.01279914e-02 7.92990453e+01] [ 5.91738113e-02 9.98247675e-01 -2.00948601e-04 3.89193406e+00] [ 2.01046099e-02 -9.90494176e-04 9.99797391e-01 5.14235398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12439141799999 meters Centerline goodness [0,1] 0.9994518024734672 Centerline is valid? [True, True] Translation: X:79.33, Y:3.90, Z:0.51 [[ 9.98224326e-01 -5.63716918e-02 -1.92464711e-02 7.93295044e+01] [ 5.63784423e-02 9.98409452e-01 -1.92102971e-04 3.89549174e+00] [ 1.92266879e-02 -8.93324203e-04 9.99814751e-01 5.14773472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15439141799999 meters Centerline goodness [0,1] 0.9996484984292273 Centerline is valid? [True, True] Translation: X:79.36, Y:3.90, Z:0.52 [[ 9.98350875e-01 -5.44481686e-02 -1.81913963e-02 7.93609315e+01] [ 5.44538896e-02 9.98516270e-01 -1.81067005e-04 3.90161350e+00] [ 1.81742639e-02 -8.09823884e-04 9.99834506e-01 5.16351185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18439141799999 meters Centerline goodness [0,1] 0.9994721098011614 Centerline is valid? [True, True] Translation: X:79.39, Y:3.91, Z:0.52 [[ 9.98488897e-01 -5.24438686e-02 -1.64183530e-02 7.93921154e+01] [ 5.24482674e-02 9.98623629e-01 -1.62844874e-04 3.90644578e+00] [ 1.64042954e-02 -6.98515368e-04 9.99865196e-01 5.19713822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21439141799999 meters Centerline goodness [0,1] 0.9996035853502764 Centerline is valid? [True, True] Translation: X:79.42, Y:3.91, Z:0.52 [[ 9.98570928e-01 -5.10849649e-02 -1.56980508e-02 7.94235006e+01] [ 5.10888293e-02 9.98694101e-01 -1.55009501e-04 3.90732144e+00] [ 1.56854694e-02 -6.47207056e-04 9.99876766e-01 5.21458024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24439141799999 meters Centerline goodness [0,1] 0.9995371390786864 Centerline is valid? [True, True] Translation: X:79.46, Y:3.92, Z:0.52 [[ 9.98688498e-01 -4.89559872e-02 -1.49865010e-02 7.94557804e+01] [ 4.89592842e-02 9.98800764e-01 -1.47028257e-04 3.91929269e+00] [ 1.49757265e-02 -5.86892931e-04 9.99887685e-01 5.24213206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.274391418 meters Centerline goodness [0,1] 0.9996896268871793 Centerline is valid? [True, True] Translation: X:79.49, Y:3.92, Z:0.52 [[ 9.99048331e-01 -4.07412991e-02 -1.55749369e-02 7.94857235e+01] [ 4.07438721e-02 9.99169612e-01 -1.52205792e-04 3.92451303e+00] [ 1.55682047e-02 -4.82522295e-04 9.99878692e-01 5.23663590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.304391418 meters Centerline goodness [0,1] 0.9997559189650964 Centerline is valid? [True, True] Translation: X:79.52, Y:3.93, Z:0.52 [[ 9.99243965e-01 -3.55919767e-02 -1.56431893e-02 7.95172231e+01] [ 3.55939459e-02 9.99366323e-01 -1.52607720e-04 3.93371009e+00] [ 1.56387082e-02 -4.04310491e-04 9.99877626e-01 5.24121729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.334391418 meters Centerline goodness [0,1] 0.9997331673041003 Centerline is valid? [True, True] Translation: X:79.55, Y:3.94, Z:0.52 [[ 9.99413517e-01 -3.05395994e-02 -1.54904869e-02 7.95479941e+01] [ 3.05409345e-02 9.99533506e-01 -1.50420002e-04 3.93994562e+00] [ 1.54878544e-02 -3.22762162e-04 9.99880004e-01 5.23824727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.364391418 meters Centerline goodness [0,1] 0.9996868639423829 Centerline is valid? [True, True] Translation: X:79.58, Y:3.95, Z:0.52 [[ 9.99634407e-01 -2.22375184e-02 -1.53800002e-02 7.95792230e+01] [ 2.22378607e-02 9.99752697e-01 -1.48780943e-04 3.95336123e+00] [ 1.53795052e-02 -1.93291752e-04 9.99881710e-01 5.22808997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.394391418 meters Centerline goodness [0,1] 0.9997763013667986 Centerline is valid? [True, True] Translation: X:79.61, Y:3.95, Z:0.52 [[ 9.99702320e-01 -1.87558299e-02 -1.56041747e-02 7.96094152e+01] [ 1.87557656e-02 9.99824084e-01 -1.50480436e-04 3.95493662e+00] [ 1.56042520e-02 -1.42232601e-04 9.99878236e-01 5.19595365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.424391418 meters Centerline goodness [0,1] 0.9999552732802576 Centerline is valid? [True, True] Translation: X:79.64, Y:3.96, Z:0.52 [[ 9.99731233e-01 -1.68349049e-02 -1.59388988e-02 7.96395922e+01] [ 1.68345940e-02 9.99858276e-01 -1.53683383e-04 3.95572141e+00] [ 1.59392272e-02 -1.14682813e-04 9.99872956e-01 5.17905613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.454391418 meters Centerline goodness [0,1] 0.9997759153856496 Centerline is valid? [True, True] Translation: X:79.67, Y:3.96, Z:0.52 [[ 9.99816442e-01 -1.22737411e-02 -1.47118046e-02 7.96689195e+01] [ 1.22729766e-02 9.99924674e-01 -1.42248507e-04 3.96114227e+00] [ 1.47124424e-02 -3.83352385e-05 9.99891765e-01 5.19809123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48439141799999 meters Centerline goodness [0,1] 0.9998878722640833 Centerline is valid? [True, True] Translation: X:79.70, Y:3.97, Z:0.52 [[ 9.99859328e-01 -1.00972219e-02 -1.33929274e-02 7.96962612e+01] [ 1.00963824e-02 9.99949022e-01 -1.30295433e-04 3.96620645e+00] [ 1.33935603e-02 -4.94301364e-06 9.99910302e-01 5.24680622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51439141799999 meters Centerline goodness [0,1] 0.9997301854974705 Centerline is valid? [True, True] Translation: X:79.73, Y:3.97, Z:0.53 [[ 9.99897033e-01 -7.57374656e-03 -1.21885865e-02 7.97253016e+01] [ 7.57284176e-03 9.99971318e-01 -1.20385563e-04 3.97177405e+00] [ 1.21891487e-02 2.80709307e-05 9.99925709e-01 5.28158047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54439141799999 meters Centerline goodness [0,1] 0.9997749217853203 Centerline is valid? [True, True] Translation: X:79.75, Y:3.98, Z:0.53 [[ 9.99899497e-01 -5.10879301e-03 -1.32248235e-02 7.97527010e+01] [ 5.10746884e-03 9.99986948e-01 -1.33899641e-04 3.97659087e+00] [ 1.32253349e-02 6.63408094e-05 9.99912539e-01 5.28564678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57439141799999 meters Centerline goodness [0,1] 0.9998426117456606 Centerline is valid? [True, True] Translation: X:79.78, Y:3.97, Z:0.52 [[ 9.99869732e-01 -4.32847731e-03 -1.55493537e-02 7.97810982e+01] [ 4.32649919e-03 9.99990628e-01 -1.60852871e-04 3.97400622e+00] [ 1.55499042e-02 9.35576504e-05 9.99879089e-01 5.21155270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60439141799999 meters Centerline goodness [0,1] 0.9997753717597376 Centerline is valid? [True, True] Translation: X:79.81, Y:3.97, Z:0.52 [[ 9.99865841e-01 -6.67160489e-03 -1.49596332e-02 7.98101238e+01] [ 6.66999542e-03 9.99977743e-01 -1.57478660e-04 3.96776609e+00] [ 1.49603509e-02 5.76768478e-05 9.99888086e-01 5.18143822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63439141799999 meters Centerline goodness [0,1] 0.9998882606655195 Centerline is valid? [True, True] Translation: X:79.84, Y:3.96, Z:0.52 [[ 9.99864817e-01 -9.78886204e-03 -1.32108300e-02 7.98390620e+01] [ 9.78786630e-03 9.99952088e-01 -1.40028436e-04 3.96152781e+00] [ 1.32115678e-02 1.07036686e-05 9.99912723e-01 5.17877639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.664391418 meters Centerline goodness [0,1] 0.9996213302445761 Centerline is valid? [True, True] Translation: X:79.87, Y:3.95, Z:0.52 [[ 9.99816897e-01 -1.68132592e-02 -9.13713817e-03 7.98671960e+01] [ 1.68130712e-02 9.99858646e-01 -9.73933466e-05 3.95355135e+00] [ 9.13748410e-03 -5.62478411e-05 9.99958251e-01 5.21848974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.694391418 meters Centerline goodness [0,1] 0.999666288460255 Centerline is valid? [True, True] Translation: X:79.90, Y:3.95, Z:0.53 [[ 9.99763038e-01 -2.02192400e-02 -8.06533890e-03 7.98986621e+01] [ 2.02191973e-02 9.99795567e-01 -8.68352663e-05 3.95132228e+00] [ 8.06544582e-03 -7.62599891e-05 9.99967471e-01 5.26390357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.724391418 meters Centerline goodness [0,1] 0.9995996530326283 Centerline is valid? [True, True] Translation: X:79.93, Y:3.95, Z:0.53 [[ 9.99705199e-01 -2.25515762e-02 -8.99672870e-03 7.99303305e+01] [ 2.25516227e-02 9.99745675e-01 -9.62869723e-05 3.95151186e+00] [ 8.99661203e-03 -1.06632245e-04 9.99959524e-01 5.27840179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.754391418 meters Centerline goodness [0,1] 0.9996671917641056 Centerline is valid? [True, True] Translation: X:79.96, Y:3.95, Z:0.53 [[ 9.99554322e-01 -2.69581945e-02 -1.28223848e-02 7.99615667e+01] [ 2.69586643e-02 9.99636540e-01 -1.36239157e-04 3.94573978e+00] [ 1.28213972e-02 -2.09495929e-04 9.99917781e-01 5.27319135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.784391418 meters Centerline goodness [0,1] 0.9996445866098005 Centerline is valid? [True, True] Translation: X:79.99, Y:3.94, Z:0.53 [[ 9.99475661e-01 -2.93906815e-02 -1.35864198e-02 7.99939119e+01] [ 2.93914462e-02 9.99567968e-01 -1.43426520e-04 3.94288065e+00] [ 1.35847655e-02 -2.55973211e-04 9.99907690e-01 5.26820873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.814391418 meters Centerline goodness [0,1] 0.9996455550386567 Centerline is valid? [True, True] Translation: X:80.03, Y:3.94, Z:0.53 [[ 9.99413889e-01 -3.14535367e-02 -1.35112179e-02 8.00252110e+01] [ 3.14544940e-02 9.99505175e-01 -1.41698693e-04 3.93589037e+00] [ 1.35089891e-02 -2.83372881e-04 9.99908709e-01 5.25080509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.844391418 meters Centerline goodness [0,1] 0.9996477167642784 Centerline is valid? [True, True] Translation: X:80.06, Y:3.93, Z:0.52 [[ 9.99323332e-01 -3.50783361e-02 -1.10629689e-02 8.00569458e+01] [ 3.50792071e-02 9.99384529e-01 -1.15366787e-04 3.92562813e+00] [ 1.10602069e-02 -2.72791455e-04 9.99938797e-01 5.24896256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87439141799999 meters Centerline goodness [0,1] 0.9996925914540424 Centerline is valid? [True, True] Translation: X:80.09, Y:3.92, Z:0.52 [[ 9.99302043e-01 -3.59054510e-02 -1.03065960e-02 8.00887082e+01] [ 3.59062601e-02 9.99355157e-01 -1.06586256e-04 3.92261470e+00] [ 1.03037769e-02 -2.63559454e-04 9.99946880e-01 5.24490654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90439141799999 meters Centerline goodness [0,1] 0.9995390390060803 Centerline is valid? [True, True] Translation: X:80.12, Y:3.92, Z:0.52 [[ 9.99281705e-01 -3.63641639e-02 -1.06639975e-02 8.01207047e+01] [ 3.63650633e-02 9.99338566e-01 -1.09614802e-04 3.92430735e+00] [ 1.06609300e-02 -2.78260875e-04 9.99943132e-01 5.23720334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93439141799999 meters Centerline goodness [0,1] 0.9998465787051243 Centerline is valid? [True, True] Translation: X:80.15, Y:3.92, Z:0.52 [[ 9.99273449e-01 -3.59273708e-02 -1.27199613e-02 8.01529102e+01] [ 3.59286309e-02 9.99354350e-01 -1.29515934e-04 3.91915203e+00] [ 1.27164018e-02 -3.27588958e-04 9.99919090e-01 5.20745114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96439141799999 meters Centerline goodness [0,1] 0.9996267018006149 Centerline is valid? [True, True] Translation: X:80.18, Y:3.92, Z:0.52 [[ 9.99280518e-01 -3.53398108e-02 -1.37675272e-02 8.01846031e+01] [ 3.53412496e-02 9.99375293e-01 -1.38843952e-04 3.92255581e+00] [ 1.37638333e-02 -3.47817560e-04 9.99905213e-01 5.20966149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99439141799999 meters Centerline goodness [0,1] 0.9996926589392343 Centerline is valid? [True, True] Translation: X:80.22, Y:3.92, Z:0.52 [[ 9.99299788e-01 -3.44876598e-02 -1.45098110e-02 8.02170993e+01] [ 3.44891857e-02 9.99405061e-01 -1.45132178e-04 3.92307593e+00] [ 1.45061839e-02 -3.55401012e-04 9.99894717e-01 5.21798065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.024391418 meters Centerline goodness [0,1] 0.9996926589392343 Centerline is valid? [True, True] Translation: X:80.25, Y:3.92, Z:0.52 [[ 9.99302538e-01 -3.44078895e-02 -1.45098226e-02 8.02488063e+01] [ 3.44094238e-02 9.99407810e-01 -1.43973006e-04 3.92331367e+00] [ 1.45061838e-02 -3.55402043e-04 9.99894717e-01 5.22066383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.054391418 meters Centerline goodness [0,1] 0.9996046128500824 Centerline is valid? [True, True] Translation: X:80.28, Y:3.93, Z:0.52 [[ 9.99376610e-01 -3.16168306e-02 -1.57088431e-02 8.02800866e+01] [ 3.16183121e-02 9.99500004e-01 -1.54104749e-04 3.92626324e+00] [ 1.57058611e-02 -3.42678423e-04 9.99876597e-01 5.24350940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.084391418 meters Centerline goodness [0,1] 0.9998460421844415 Centerline is valid? [True, True] Translation: X:80.31, Y:3.93, Z:0.52 [[ 9.99412747e-01 -2.99108293e-02 -1.67183835e-02 8.03115964e+01] [ 2.99122957e-02 9.99552514e-01 -1.62400137e-04 3.92829826e+00] [ 1.67157598e-02 -3.37780465e-04 9.99860225e-01 5.24304716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.114391418 meters Centerline goodness [0,1] 0.9997144488863506 Centerline is valid? [True, True] Translation: X:80.34, Y:3.93, Z:0.52 [[ 9.99452324e-01 -2.78387791e-02 -1.78900466e-02 8.03417662e+01] [ 2.78401441e-02 9.99612373e-01 -1.72789867e-04 3.92719773e+00] [ 1.78879222e-02 -3.25366241e-04 9.99839945e-01 5.21705025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.144391418 meters Centerline goodness [0,1] 0.9996703876241539 Centerline is valid? [True, True] Translation: X:80.37, Y:3.93, Z:0.52 [[ 9.99490061e-01 -2.58842584e-02 -1.86982340e-02 8.03718334e+01] [ 2.58854190e-02 9.99664900e-01 -1.79995935e-04 3.92925669e+00] [ 1.86966273e-02 -3.04107474e-04 9.99825157e-01 5.20311459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.174391418 meters Centerline goodness [0,1] 0.9997801569679249 Centerline is valid? [True, True] Translation: X:80.40, Y:3.93, Z:0.52 [[ 9.99570668e-01 -2.23516670e-02 -1.89441940e-02 8.04021235e+01] [ 2.23522241e-02 9.99750141e-01 -1.82363634e-04 3.92765318e+00] [ 1.89435368e-02 -2.41159530e-04 9.99820526e-01 5.16881484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.204391418 meters Centerline goodness [0,1] 0.9996709516079498 Centerline is valid? [True, True] Translation: X:80.43, Y:3.93, Z:0.52 [[ 9.99619276e-01 -2.09120242e-02 -1.79997536e-02 8.04305502e+01] [ 2.09122445e-02 9.99781300e-01 -1.76004122e-04 3.92779271e+00] [ 1.79994977e-02 -2.00478135e-04 9.99837976e-01 5.17305108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23439141799999 meters Centerline goodness [0,1] 0.9997150310177777 Centerline is valid? [True, True] Translation: X:80.46, Y:3.93, Z:0.52 [[ 9.99667697e-01 -1.91131729e-02 -1.72968998e-02 8.04589670e+01] [ 1.91130574e-02 9.99817314e-01 -1.72001121e-04 3.92851197e+00] [ 1.72970274e-02 -1.58652675e-04 9.99850383e-01 5.18868499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26439141799999 meters Centerline goodness [0,1] 0.9995834429536087 Centerline is valid? [True, True] Translation: X:80.49, Y:3.93, Z:0.53 [[ 9.99764152e-01 -1.55823028e-02 -1.51272197e-02 8.04876165e+01] [ 1.55817752e-02 9.99878585e-01 -1.52750585e-04 3.93248047e+00] [ 1.51277632e-02 -8.29943770e-05 9.99885565e-01 5.25303745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29439141799999 meters Centerline goodness [0,1] 0.9996492766330557 Centerline is valid? [True, True] Translation: X:80.52, Y:3.93, Z:0.53 [[ 9.99773141e-01 -1.45881534e-02 -1.55194445e-02 8.05159068e+01] [ 1.45874337e-02 9.99893585e-01 -1.59578016e-04 3.93289927e+00] [ 1.55201209e-02 -6.68470533e-05 9.99879553e-01 5.26541531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32439141799999 meters Centerline goodness [0,1] 0.9996280819969809 Centerline is valid? [True, True] Translation: X:80.54, Y:3.93, Z:0.53 [[ 9.99759996e-01 -1.46299187e-02 -1.63069202e-02 8.05447231e+01] [ 1.46290852e-02 9.99892975e-01 -1.70404069e-04 3.93177070e+00] [ 1.63076680e-02 -6.81921544e-05 9.99867019e-01 5.26434790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35439141799999 meters Centerline goodness [0,1] 0.9996939154769453 Centerline is valid? [True, True] Translation: X:80.57, Y:3.93, Z:0.53 [[ 9.99704833e-01 -1.64714525e-02 -1.78588347e-02 8.05723105e+01] [ 1.64706836e-02 9.99864331e-01 -1.90152249e-04 3.92698475e+00] [ 1.78595438e-02 -1.04051092e-04 9.99840500e-01 5.25084576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38439141799999 meters Centerline goodness [0,1] 0.9995416748510443 Centerline is valid? [True, True] Translation: X:80.60, Y:3.93, Z:0.53 [[ 9.99679575e-01 -1.82938475e-02 -1.74952291e-02 8.06000734e+01] [ 1.82933249e-02 9.99832645e-01 -1.89921018e-04 3.92536129e+00] [ 1.74957756e-02 -1.30185747e-04 9.99846929e-01 5.25921530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.414391418 meters Centerline goodness [0,1] 0.999280041888472 Centerline is valid? [True, True] Translation: X:80.63, Y:3.92, Z:0.53 [[ 9.99662945e-01 -1.97730620e-02 -1.68232752e-02 8.06291316e+01] [ 1.97727059e-02 9.99804483e-01 -1.87510541e-04 3.92461763e+00] [ 1.68236936e-02 -1.45194333e-04 9.99858461e-01 5.27430930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.444391418 meters Centerline goodness [0,1] 0.9995866779786378 Centerline is valid? [True, True] Translation: X:80.66, Y:3.92, Z:0.53 [[ 9.99640623e-01 -2.08880629e-02 -1.68022191e-02 8.06575516e+01] [ 2.08878171e-02 9.99781808e-01 -1.90141651e-04 3.92222140e+00] [ 1.68025247e-02 -1.60888362e-04 9.99858815e-01 5.27329230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.474391418 meters Centerline goodness [0,1] 0.9994347826086957 Centerline is valid? [True, True] Translation: X:80.69, Y:3.92, Z:0.53 [[ 9.99622493e-01 -2.16859003e-02 -1.68698793e-02 8.06869454e+01] [ 2.16857521e-02 9.99764818e-01 -1.91733519e-04 3.91916596e+00] [ 1.68700698e-02 -1.74174883e-04 9.99857675e-01 5.25951581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.504391418 meters Centerline goodness [0,1] 0.9992620727075421 Centerline is valid? [True, True] Translation: X:80.72, Y:3.91, Z:0.52 [[ 9.99584759e-01 -2.31418924e-02 -1.71686675e-02 8.07172022e+01] [ 2.31419422e-02 9.99732170e-01 -1.95796838e-04 3.91031912e+00] [ 1.71686003e-02 -2.01600777e-04 9.99852588e-01 5.22439297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.534391418 meters Centerline goodness [0,1] 0.9993724981066753 Centerline is valid? [True, True] Translation: X:80.75, Y:3.91, Z:0.52 [[ 9.99542486e-01 -2.50803039e-02 -1.69055355e-02 8.07461046e+01] [ 2.50806157e-02 9.99685413e-01 -1.93607964e-04 3.90602942e+00] [ 1.69050730e-02 -2.30481852e-04 9.99857072e-01 5.22515954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.564391418 meters Centerline goodness [0,1] 0.9990935186584076 Centerline is valid? [True, True] Translation: X:80.78, Y:3.90, Z:0.53 [[ 9.99427048e-01 -2.99563896e-02 -1.57540597e-02 8.07768889e+01] [ 2.99572587e-02 9.99551164e-01 -1.80877267e-04 3.90498737e+00] [ 1.57524071e-02 -2.91174808e-04 9.99875881e-01 5.27922510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.594391418 meters Centerline goodness [0,1] 0.9990721360291738 Centerline is valid? [True, True] Translation: X:80.81, Y:3.90, Z:0.53 [[ 9.99349007e-01 -3.25600056e-02 -1.55373059e-02 8.08082648e+01] [ 3.25611699e-02 9.99469729e-01 -1.78101591e-04 3.90446650e+00] [ 1.55348659e-02 -3.27927210e-04 9.99879273e-01 5.30342630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62439141799999 meters Centerline goodness [0,1] 0.9992236192283638 Centerline is valid? [True, True] Translation: X:80.84, Y:3.90, Z:0.53 [[ 9.99277804e-01 -3.46895920e-02 -1.55081355e-02 8.08391240e+01] [ 3.46910271e-02 9.99398070e-01 -1.76545377e-04 3.90179528e+00] [ 1.55049250e-02 -3.61575273e-04 9.99879726e-01 5.31494984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65439141799999 meters Centerline goodness [0,1] 0.9992045747699716 Centerline is valid? [True, True] Translation: X:80.87, Y:3.89, Z:0.53 [[ 9.99141521e-01 -3.86154606e-02 -1.50022474e-02 8.08702894e+01] [ 3.86172651e-02 9.99254061e-01 -1.69499481e-04 3.89237636e+00] [ 1.49976019e-02 -4.09991796e-04 9.99887446e-01 5.30173898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68439141799999 meters Centerline goodness [0,1] 0.9992710745219107 Centerline is valid? [True, True] Translation: X:80.90, Y:3.89, Z:0.53 [[ 9.99116688e-01 -3.95379569e-02 -1.42335270e-02 8.09025272e+01] [ 3.95396860e-02 9.99217988e-01 -1.60019648e-04 3.88659311e+00] [ 1.42287231e-02 -4.02910887e-04 9.99898685e-01 5.29214908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71439141799999 meters Centerline goodness [0,1] 0.9990159164812596 Centerline is valid? [True, True] Translation: X:80.94, Y:3.88, Z:0.53 [[ 9.99073570e-01 -4.07829218e-02 -1.37388111e-02 8.09351144e+01] [ 4.07846654e-02 9.99167948e-01 -1.53361035e-04 3.88117194e+00] [ 1.37336342e-02 -4.07113857e-04 9.99905606e-01 5.28718885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74439141799999 meters Centerline goodness [0,1] 0.9987175376723308 Centerline is valid? [True, True] Translation: X:80.97, Y:3.88, Z:0.53 [[ 9.99071597e-01 -4.03909302e-02 -1.49838658e-02 8.09665459e+01] [ 4.03929775e-02 9.99183857e-01 -1.66106639e-04 3.88089578e+00] [ 1.49783460e-02 -4.39290528e-04 9.99887722e-01 5.27664087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.774391418 meters Centerline goodness [0,1] 0.999144458228173 Centerline is valid? [True, True] Translation: X:81.00, Y:3.88, Z:0.53 [[ 9.99050506e-01 -4.10847141e-02 -1.44959610e-02 8.09990817e+01] [ 4.10867175e-02 9.99155572e-01 -1.59705187e-04 3.88173963e+00] [ 1.44902817e-02 -4.36037907e-04 9.99894915e-01 5.30344607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.804391418 meters Centerline goodness [0,1] 0.9990801548762488 Centerline is valid? [True, True] Translation: X:81.03, Y:3.88, Z:0.53 [[ 9.99053275e-01 -4.10957189e-02 -1.42722205e-02 8.10308276e+01] [ 4.10976785e-02 9.99155121e-01 -1.56086582e-04 3.88007703e+00] [ 1.42665767e-02 -4.30616319e-04 9.99898134e-01 5.30894782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.834391418 meters Centerline goodness [0,1] 0.9987195629441517 Centerline is valid? [True, True] Translation: X:81.06, Y:3.87, Z:0.53 [[ 9.99026097e-01 -4.18450317e-02 -1.39946551e-02 8.10635280e+01] [ 4.18470050e-02 9.99124019e-01 -1.51932167e-04 3.87282829e+00] [ 1.39887537e-02 -4.33850202e-04 9.99902058e-01 5.31009298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.864391418 meters Centerline goodness [0,1] 0.9992543990456307 Centerline is valid? [True, True] Translation: X:81.09, Y:3.87, Z:0.53 [[ 9.99019627e-01 -4.17541716e-02 -1.47096755e-02 8.10944154e+01] [ 4.17563641e-02 9.99127810e-01 -1.58177574e-04 3.86839008e+00] [ 1.47034504e-02 -4.56200063e-04 9.99891794e-01 5.30981199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.894391418 meters Centerline goodness [0,1] 0.9989785278031964 Centerline is valid? [True, True] Translation: X:81.13, Y:3.87, Z:0.53 [[ 9.99018919e-01 -4.11525701e-02 -1.63605051e-02 8.11264784e+01] [ 4.11552318e-02 9.99152749e-01 -1.74099376e-04 3.86811261e+00] [ 1.63538083e-02 -4.99391810e-04 9.99866143e-01 5.31075825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.924391418 meters Centerline goodness [0,1] 0.9989547781569966 Centerline is valid? [True, True] Translation: X:81.16, Y:3.87, Z:0.53 [[ 9.99012904e-01 -4.07191609e-02 -1.77529852e-02 8.11584579e+01] [ 4.07222526e-02 9.99170487e-01 -1.87461443e-04 3.86873990e+00] [ 1.77458921e-02 -5.35665145e-04 9.99842386e-01 5.30286707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.954391418 meters Centerline goodness [0,1] 0.9988921084029316 Centerline is valid? [True, True] Translation: X:81.19, Y:3.87, Z:0.53 [[ 9.99005237e-01 -4.04576061e-02 -1.87541413e-02 8.11901923e+01] [ 4.04610314e-02 9.99181098e-01 -1.96919148e-04 3.86873503e+00] [ 1.87467503e-02 -5.62088639e-04 9.99824106e-01 5.28860324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98439141799999 meters Centerline goodness [0,1] 0.9987665085812722 Centerline is valid? [True, True] Translation: X:81.22, Y:3.86, Z:0.52 [[ 9.98928261e-01 -4.15152365e-02 -2.04649559e-02 8.12209499e+01] [ 4.15195495e-02 9.99137669e-01 -2.14278792e-04 3.86069293e+00] [ 2.04562042e-02 -6.35646609e-04 9.99790548e-01 5.23255017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01439141799999 meters Centerline goodness [0,1] 0.9986392532902431 Centerline is valid? [True, True] Translation: X:81.25, Y:3.86, Z:0.52 [[ 9.98932027e-01 -4.17034699e-02 -1.98903541e-02 8.12514122e+01] [ 4.17075846e-02 9.99129838e-01 -2.08100180e-04 3.85734361e+00] [ 1.98817248e-02 -6.21700691e-04 9.99802146e-01 5.22430689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04439141799999 meters Centerline goodness [0,1] 0.9989152859603972 Centerline is valid? [True, True] Translation: X:81.28, Y:3.86, Z:0.53 [[ 9.98984577e-01 -4.10278213e-02 -1.86153953e-02 8.12814343e+01] [ 4.10313080e-02 9.99157842e-01 -1.94761094e-04 3.85922649e+00] [ 1.86077088e-02 -5.69250690e-04 9.99826700e-01 5.25147153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07439141799999 meters Centerline goodness [0,1] 0.9989163001211194 Centerline is valid? [True, True] Translation: X:81.31, Y:3.86, Z:0.53 [[ 9.99079528e-01 -3.95670267e-02 -1.65694476e-02 8.13125564e+01] [ 3.95695935e-02 9.99216802e-01 -1.73030668e-04 3.86055227e+00] [ 1.65633168e-02 -4.82774910e-04 9.99862702e-01 5.28658066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10439141799999 meters Centerline goodness [0,1] 0.9986812158339182 Centerline is valid? [True, True] Translation: X:81.34, Y:3.87, Z:0.54 [[ 9.99279267e-01 -3.52937698e-02 -1.39748750e-02 8.13443605e+01] [ 3.52951876e-02 9.99376920e-01 -1.45243505e-04 3.86794233e+00] [ 1.39712937e-02 -3.48107011e-04 9.99902336e-01 5.36012479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13439141799999 meters Centerline goodness [0,1] 0.9987443602621946 Centerline is valid? [True, True] Translation: X:81.38, Y:3.87, Z:0.54 [[ 9.99327035e-01 -3.36181612e-02 -1.46729829e-02 8.13752275e+01] [ 3.36195569e-02 9.99434691e-01 -1.51597957e-04 3.86903858e+00] [ 1.46697846e-02 -3.41803246e-04 9.99892334e-01 5.36648167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.164391418 meters Centerline goodness [0,1] 0.9989380230236609 Centerline is valid? [True, True] Translation: X:81.41, Y:3.87, Z:0.54 [[ 9.99362902e-01 -3.20840119e-02 -1.56335067e-02 8.14065372e+01] [ 3.20854188e-02 9.99485117e-01 -1.60878695e-04 3.87084920e+00] [ 1.56306189e-02 -3.40831411e-04 9.99877776e-01 5.35905012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.194391418 meters Centerline goodness [0,1] 0.9987923472954936 Centerline is valid? [True, True] Translation: X:81.44, Y:3.86, Z:0.53 [[ 9.99332346e-01 -3.19731908e-02 -1.76798790e-02 8.14371446e+01] [ 3.19749830e-02 9.99488653e-01 -1.81371477e-04 3.86415270e+00] [ 1.76766375e-02 -3.84063446e-04 9.99843682e-01 5.29041322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.224391418 meters Centerline goodness [0,1] 0.9989186438521722 Centerline is valid? [True, True] Translation: X:81.47, Y:3.86, Z:0.53 [[ 9.99317232e-01 -3.22180109e-02 -1.80850589e-02 8.14681477e+01] [ 3.22199294e-02 9.99480786e-01 -1.85356289e-04 3.86059302e+00] [ 1.80816407e-02 -3.97469586e-04 9.99836435e-01 5.26662999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.254391418 meters Centerline goodness [0,1] 0.9989828784539753 Centerline is valid? [True, True] Translation: X:81.50, Y:3.86, Z:0.53 [[ 9.99299962e-01 -3.35503140e-02 -1.65518347e-02 8.14978190e+01] [ 3.35521010e-02 9.99436955e-01 -1.69798038e-04 3.85820219e+00] [ 1.65482121e-02 -3.85669657e-04 9.99862995e-01 5.28198282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.284391418 meters Centerline goodness [0,1] 0.9986868858014233 Centerline is valid? [True, True] Translation: X:81.53, Y:3.86, Z:0.53 [[ 9.99307165e-01 -3.34675065e-02 -1.62823567e-02 8.15285946e+01] [ 3.34692221e-02 9.99439735e-01 -1.67194337e-04 3.85802607e+00] [ 1.62788298e-02 -3.77879313e-04 9.99867420e-01 5.29312211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.314391418 meters Centerline goodness [0,1] 0.9986852429119749 Centerline is valid? [True, True] Translation: X:81.56, Y:3.86, Z:0.54 [[ 9.99403655e-01 -3.12745394e-02 -1.46368672e-02 8.15589995e+01] [ 3.12756906e-02 9.99510785e-01 -1.50297734e-04 3.86402873e+00] [ 1.46344071e-02 -3.07570026e-04 9.99892864e-01 5.35236792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.344391418 meters Centerline goodness [0,1] 0.9990048276446176 Centerline is valid? [True, True] Translation: X:81.59, Y:3.86, Z:0.53 [[ 9.99475750e-01 -2.82315591e-02 -1.58494198e-02 8.15896701e+01] [ 2.82325289e-02 9.99601369e-01 -1.62600387e-04 3.86484294e+00] [ 1.58476922e-02 -2.84954060e-04 9.99874377e-01 5.34564970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37439141799999 meters Centerline goodness [0,1] 0.9987705613023571 Centerline is valid? [True, True] Translation: X:81.62, Y:3.87, Z:0.53 [[ 9.99528662e-01 -2.51568924e-02 -1.75950212e-02 8.16201329e+01] [ 2.51576147e-02 9.99683481e-01 -1.80319655e-04 3.86864337e+00] [ 1.75939883e-02 -2.62414101e-04 9.99845179e-01 5.33385735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40439141799999 meters Centerline goodness [0,1] 0.9991311902693311 Centerline is valid? [True, True] Translation: X:81.65, Y:3.87, Z:0.53 [[ 9.99653210e-01 -1.89531630e-02 -1.82821442e-02 8.16485543e+01] [ 1.89528951e-02 9.99820360e-01 -1.87932735e-04 3.87038904e+00] [ 1.82824219e-02 -1.58631999e-04 9.99832850e-01 5.30457422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43439141799999 meters Centerline goodness [0,1] 0.9991933258326788 Centerline is valid? [True, True] Translation: X:81.68, Y:3.87, Z:0.53 [[ 9.99711228e-01 -1.64200348e-02 -1.75454595e-02 8.16772405e+01] [ 1.64193451e-02 9.99865177e-01 -1.83371303e-04 3.87167299e+00] [ 1.75461049e-02 -1.04766605e-04 9.99846050e-01 5.31204378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46439141799999 meters Centerline goodness [0,1] 0.999171974522293 Centerline is valid? [True, True] Translation: X:81.71, Y:3.87, Z:0.53 [[ 9.99760759e-01 -1.42180096e-02 -1.66214334e-02 8.17061270e+01] [ 1.42170105e-02 9.99898917e-01 -1.78275251e-04 3.87260696e+00] [ 1.66222880e-02 -5.80744926e-05 9.99861839e-01 5.31895637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49439141799999 meters Centerline goodness [0,1] 0.9994262155729344 Centerline is valid? [True, True] Translation: X:81.73, Y:3.87, Z:0.53 [[ 9.99799254e-01 -1.24632850e-02 -1.56881850e-02 8.17341433e+01] [ 1.24621063e-02 9.99922330e-01 -1.72892138e-04 3.87390073e+00] [ 1.56891213e-02 -2.26503979e-05 9.99876918e-01 5.32848482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.524391418 meters Centerline goodness [0,1] 0.9992772108843537 Centerline is valid? [True, True] Translation: X:81.76, Y:3.88, Z:0.54 [[ 9.99844121e-01 -1.04972370e-02 -1.41965289e-02 8.17620109e+01] [ 1.04960300e-02 9.99944902e-01 -1.59529165e-04 3.87574652e+00] [ 1.41974213e-02 1.04971052e-05 9.99899211e-01 5.35860345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.554391418 meters Centerline goodness [0,1] 0.9992348890589136 Centerline is valid? [True, True] Translation: X:81.79, Y:3.88, Z:0.54 [[ 9.99840745e-01 -1.08231947e-02 -1.41895350e-02 8.17901768e+01] [ 1.08219835e-02 9.99941427e-01 -1.62145605e-04 3.87631774e+00] [ 1.41904589e-02 8.56086923e-06 9.99899310e-01 5.37902348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.584391418 meters Centerline goodness [0,1] 0.9992785758238028 Centerline is valid? [True, True] Translation: X:81.82, Y:3.88, Z:0.54 [[ 9.99818963e-01 -1.16452628e-02 -1.50475515e-02 8.18179433e+01] [ 1.16439178e-02 9.99932192e-01 -1.76992934e-04 3.87603513e+00] [ 1.50485922e-02 1.74843896e-06 9.99886764e-01 5.38402690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.614391418 meters Centerline goodness [0,1] 0.9993427468939491 Centerline is valid? [True, True] Translation: X:81.85, Y:3.87, Z:0.53 [[ 9.99728087e-01 -1.44168070e-02 -1.83277879e-02 8.18462316e+01] [ 1.44151972e-02 9.99896071e-01 -2.19943641e-04 3.87027718e+00] [ 1.83290540e-02 -4.43148426e-05 9.99832008e-01 5.34957295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.644391418 meters Centerline goodness [0,1] 0.9991946251827989 Centerline is valid? [True, True] Translation: X:81.87, Y:3.87, Z:0.53 [[ 9.99690302e-01 -1.64447223e-02 -1.86780971e-02 8.18745765e+01] [ 1.64433690e-02 9.99864773e-01 -2.26039867e-04 3.86560475e+00] [ 1.86792885e-02 -8.11609804e-05 9.99825524e-01 5.32910632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.674391418 meters Centerline goodness [0,1] 0.9992377403235368 Centerline is valid? [True, True] Translation: X:81.90, Y:3.86, Z:0.53 [[ 9.99661189e-01 -1.87762402e-02 -1.80266717e-02 8.19025049e+01] [ 1.87752886e-02 9.99823704e-01 -2.22048421e-04 3.86155127e+00] [ 1.80276630e-02 -1.16482775e-04 9.99837482e-01 5.33066285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.704391418 meters Centerline goodness [0,1] 0.998860735458554 Centerline is valid? [True, True] Translation: X:81.93, Y:3.85, Z:0.53 [[ 9.99586973e-01 -2.39759529e-02 -1.58441404e-02 8.19310791e+01] [ 2.39757998e-02 9.99712519e-01 -1.99645618e-04 3.85444167e+00] [ 1.58443722e-02 -1.80312778e-04 9.99874454e-01 5.34276887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73439141799999 meters Centerline goodness [0,1] 0.9990721410345628 Centerline is valid? [True, True] Translation: X:81.96, Y:3.85, Z:0.53 [[ 9.99519644e-01 -2.66121991e-02 -1.58830941e-02 8.19592796e+01] [ 2.66123321e-02 9.99645809e-01 -2.03019023e-04 3.85129733e+00] [ 1.58828712e-02 -2.19764673e-04 9.99873835e-01 5.34196023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76439141799999 meters Centerline goodness [0,1] 0.9992826398852224 Centerline is valid? [True, True] Translation: X:81.99, Y:3.85, Z:0.53 [[ 9.99434490e-01 -2.92201524e-02 -1.66397875e-02 8.19881619e+01] [ 2.92206421e-02 9.99572963e-01 -2.13753072e-04 3.84788461e+00] [ 1.66389276e-02 -2.72593082e-04 9.99861526e-01 5.33363425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79439141799999 meters Centerline goodness [0,1] 0.9989455925769718 Centerline is valid? [True, True] Translation: X:82.02, Y:3.84, Z:0.53 [[ 9.99303931e-01 -3.29043147e-02 -1.75772492e-02 8.20177020e+01] [ 3.29054148e-02 9.99458444e-01 -2.26698412e-04 3.84414023e+00] [ 1.75751895e-02 -3.51846061e-04 9.99845483e-01 5.32841356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82439141799999 meters Centerline goodness [0,1] 0.9987164650184114 Centerline is valid? [True, True] Translation: X:82.05, Y:3.84, Z:0.53 [[ 9.99252486e-01 -3.51542242e-02 -1.60825766e-02 8.20467783e+01] [ 3.51554264e-02 9.99381835e-01 -2.08044791e-04 3.83876390e+00] [ 1.60799485e-02 -3.57500562e-04 9.99870645e-01 5.34312014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85439141799999 meters Centerline goodness [0,1] 0.9989673340358272 Centerline is valid? [True, True] Translation: X:82.08, Y:3.83, Z:0.54 [[ 9.99148793e-01 -3.87032977e-02 -1.42738855e-02 8.20773200e+01] [ 3.87046022e-02 9.99250679e-01 -1.84951474e-04 3.83471491e+00] [ 1.42703480e-02 -3.67671019e-04 9.99898106e-01 5.38487995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88439141799999 meters Centerline goodness [0,1] 0.9985705877406879 Centerline is valid? [True, True] Translation: X:82.11, Y:3.83, Z:0.54 [[ 9.99092719e-01 -4.02216718e-02 -1.39984493e-02 8.21084626e+01] [ 4.02230784e-02 9.99190708e-01 -1.81161046e-04 3.83382994e+00] [ 1.39944071e-02 -3.82064044e-04 9.99902000e-01 5.40055737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.914391418 meters Centerline goodness [0,1] 0.9985705877406879 Centerline is valid? [True, True] Translation: X:82.14, Y:3.83, Z:0.54 [[ 9.99094329e-01 -4.01816540e-02 -1.39984566e-02 8.21393165e+01] [ 4.01830645e-02 9.99192318e-01 -1.80600406e-04 3.83418979e+00] [ 1.39944071e-02 -3.82064043e-04 9.99902000e-01 5.40316996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.944391418 meters Centerline goodness [0,1] 0.998759670366633 Centerline is valid? [True, True] Translation: X:82.17, Y:3.83, Z:0.54 [[ 9.99045810e-01 -4.13923350e-02 -1.39335962e-02 8.21710679e+01] [ 4.13938580e-02 9.99142891e-01 -1.79200986e-04 3.83429263e+00] [ 1.39290711e-02 -3.97735307e-04 9.99902907e-01 5.41610075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.974391418 meters Centerline goodness [0,1] 0.9985690536815303 Centerline is valid? [True, True] Translation: X:82.20, Y:3.83, Z:0.54 [[ 9.98982621e-01 -4.27560062e-02 -1.43404225e-02 8.22013260e+01] [ 4.27577667e-02 9.99085452e-01 -1.83954397e-04 3.83201691e+00] [ 1.43351727e-02 -4.29397195e-04 9.99897154e-01 5.40928725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.004391418 meters Centerline goodness [0,1] 0.9988215736200837 Centerline is valid? [True, True] Translation: X:82.23, Y:3.83, Z:0.54 [[ 9.98882682e-01 -4.47321222e-02 -1.52454622e-02 8.22320933e+01] [ 4.47343499e-02 9.98998899e-01 -1.95031326e-04 3.82500591e+00] [ 1.52389241e-02 -4.87182426e-04 9.99883762e-01 5.37142020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.034391418 meters Centerline goodness [0,1] 0.9987587831867716 Centerline is valid? [True, True] Translation: X:82.26, Y:3.82, Z:0.54 [[ 9.98855227e-01 -4.50941348e-02 -1.59610167e-02 8.22636224e+01] [ 4.50966348e-02 9.98982609e-01 -2.03429793e-04 3.82199667e+00] [ 1.59539516e-02 -5.16591231e-04 9.99872594e-01 5.35635373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.064391418 meters Centerline goodness [0,1] 0.9987618308115255 Centerline is valid? [True, True] Translation: X:82.30, Y:3.82, Z:0.54 [[ 9.98862570e-01 -4.49739052e-02 -1.58402885e-02 8.22953601e+01] [ 4.49763625e-02 9.98988031e-01 -2.01258660e-04 3.82158365e+00] [ 1.58333100e-02 -5.11408815e-04 9.99874515e-01 5.35970299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.094391418 meters Centerline goodness [0,1] 0.9986351706036746 Centerline is valid? [True, True] Translation: X:82.33, Y:3.82, Z:0.54 [[ 9.98909288e-01 -4.41941261e-02 -1.50702974e-02 8.23264772e+01] [ 4.41962704e-02 9.99022849e-01 -1.90887632e-04 3.82225424e+00] [ 1.50640075e-02 -4.75371511e-04 9.99886418e-01 5.37852809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12439141799999 meters Centerline goodness [0,1] 0.9990763482167223 Centerline is valid? [True, True] Translation: X:82.36, Y:3.82, Z:0.54 [[ 9.99031804e-01 -4.10676677e-02 -1.57766230e-02 8.23569676e+01] [ 4.10696437e-02 9.99156266e-01 -1.98859222e-04 3.82438488e+00] [ 1.57714785e-02 -4.49273600e-04 9.99875522e-01 5.39536759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15439141799999 meters Centerline goodness [0,1] 0.9990335322295991 Centerline is valid? [True, True] Translation: X:82.39, Y:3.83, Z:0.54 [[ 9.99082536e-01 -3.94014445e-02 -1.67813035e-02 8.23874139e+01] [ 3.94034582e-02 9.99223360e-01 -2.10757582e-04 3.82654580e+00] [ 1.67765746e-02 -4.50677172e-04 9.99859162e-01 5.39200087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18439141799999 meters Centerline goodness [0,1] 0.9988237271046883 Centerline is valid? [True, True] Translation: X:82.42, Y:3.83, Z:0.54 [[ 9.99150852e-01 -3.75367078e-02 -1.69873667e-02 8.24172939e+01] [ 3.75384991e-02 9.99295159e-01 -2.13514500e-04 3.82661435e+00] [ 1.69834080e-02 -4.24347057e-04 9.99855681e-01 5.38142579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21439141799999 meters Centerline goodness [0,1] 0.9989700472937467 Centerline is valid? [True, True] Translation: X:82.45, Y:3.83, Z:0.54 [[ 9.99296381e-01 -3.40899721e-02 -1.56402411e-02 8.24464151e+01] [ 3.40910617e-02 9.99418711e-01 -1.97017998e-04 3.82849931e+00] [ 1.56378659e-02 -3.36313052e-04 9.99877665e-01 5.40062392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24439141799999 meters Centerline goodness [0,1] 0.9988042292523286 Centerline is valid? [True, True] Translation: X:82.48, Y:3.83, Z:0.54 [[ 9.99356202e-01 -3.29983183e-02 -1.40816532e-02 8.24759453e+01] [ 3.29990874e-02 9.99455366e-01 -1.77792025e-04 3.82997942e+00] [ 1.40798507e-02 -2.87004141e-04 9.99900833e-01 5.42046948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.274391418 meters Centerline goodness [0,1] 0.9990116914795188 Centerline is valid? [True, True] Translation: X:82.51, Y:3.83, Z:0.54 [[ 9.99377233e-01 -3.26972334e-02 -1.32679165e-02 8.25055263e+01] [ 3.26978864e-02 9.99465267e-01 -1.67764778e-04 3.82923358e+00] [ 1.32663071e-02 -2.66172525e-04 9.99911963e-01 5.42880538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.304391418 meters Centerline goodness [0,1] 0.9992224113654036 Centerline is valid? [True, True] Translation: X:82.54, Y:3.83, Z:0.54 [[ 9.99329138e-01 -3.36064958e-02 -1.45559826e-02 8.25361340e+01] [ 3.36073756e-02 9.99435096e-01 -1.84230278e-04 3.82631017e+00] [ 1.45539512e-02 -3.05081690e-04 9.99894039e-01 5.40482696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.334391418 meters Centerline goodness [0,1] 0.9989931830099633 Centerline is valid? [True, True] Translation: X:82.57, Y:3.82, Z:0.54 [[ 9.99250037e-01 -3.51046210e-02 -1.63409974e-02 8.25652111e+01] [ 3.51059252e-02 9.99383576e-01 -2.07121049e-04 3.82164829e+00] [ 1.63381953e-02 -3.66700115e-04 9.99866456e-01 5.37403232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.364391418 meters Centerline goodness [0,1] 0.9991389268087787 Centerline is valid? [True, True] Translation: X:82.59, Y:3.82, Z:0.54 [[ 9.99132798e-01 -3.74193398e-02 -1.82604544e-02 8.25948517e+01] [ 3.74213416e-02 9.99299549e-01 -2.32177585e-04 3.81666823e+00] [ 1.82563518e-02 -4.51354460e-04 9.99833237e-01 5.35609203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.394391418 meters Centerline goodness [0,1] 0.9991811883266849 Centerline is valid? [True, True] Translation: X:82.62, Y:3.82, Z:0.54 [[ 9.99094216e-01 -3.82351938e-02 -1.86766587e-02 8.26248461e+01] [ 3.82374171e-02 9.99268654e-01 -2.38176426e-04 3.81813091e+00] [ 1.86721063e-02 -4.76186499e-04 9.99825548e-01 5.36490253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.424391418 meters Centerline goodness [0,1] 0.9987187834744071 Centerline is valid? [True, True] Translation: X:82.65, Y:3.82, Z:0.54 [[ 9.99070097e-01 -3.84633863e-02 -1.94809727e-02 8.26547009e+01] [ 3.84658343e-02 9.99259885e-01 -2.49170721e-04 3.82081097e+00] [ 1.94761385e-02 -5.00412853e-04 9.99810197e-01 5.37363385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.454391418 meters Centerline goodness [0,1] 0.9992862840589445 Centerline is valid? [True, True] Translation: X:82.68, Y:3.82, Z:0.54 [[ 9.99078411e-01 -3.84556291e-02 -1.90654778e-02 8.26836021e+01] [ 3.84579144e-02 9.99260190e-01 -2.46897438e-04 3.82347671e+00] [ 1.90608676e-02 -4.86548613e-04 9.99818207e-01 5.39411521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48439141799999 meters Centerline goodness [0,1] 0.9989718410340341 Centerline is valid? [True, True] Translation: X:82.71, Y:3.83, Z:0.55 [[ 9.99158529e-01 -3.81241433e-02 -1.51256280e-02 8.27135999e+01] [ 3.81255152e-02 9.99272939e-01 -1.97745487e-04 3.82719975e+00] [ 1.51221696e-02 -3.79093272e-04 9.99885582e-01 5.45031684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51439141799999 meters Centerline goodness [0,1] 0.998970998970999 Centerline is valid? [True, True] Translation: X:82.74, Y:3.82, Z:0.54 [[ 9.99185697e-01 -3.78979853e-02 -1.38450746e-02 8.27434810e+01] [ 3.78991093e-02 9.99281554e-01 -1.81270584e-04 3.81968809e+00] [ 1.38419974e-02 -3.43593019e-04 9.99904136e-01 5.43868438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54439141799999 meters Centerline goodness [0,1] 0.9988461377082197 Centerline is valid? [True, True] Translation: X:82.77, Y:3.82, Z:0.54 [[ 9.99173535e-01 -3.85055042e-02 -1.30220278e-02 8.27743895e+01] [ 3.85065480e-02 9.99258333e-01 -1.70655431e-04 3.82266902e+00] [ 1.30189409e-02 -3.30918946e-04 9.99915195e-01 5.44760484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57439141799999 meters Centerline goodness [0,1] 0.9991832631777345 Centerline is valid? [True, True] Translation: X:82.81, Y:3.82, Z:0.54 [[ 9.99080388e-01 -4.03940074e-02 -1.43771461e-02 8.28051843e+01] [ 4.03954799e-02 9.99183752e-01 -1.88081843e-04 3.81924398e+00] [ 1.43730082e-02 -3.92862838e-04 9.99896626e-01 5.42885944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60439141799999 meters Centerline goodness [0,1] 0.9988669506284228 Centerline is valid? [True, True] Translation: X:82.84, Y:3.82, Z:0.54 [[ 9.99018890e-01 -4.15392406e-02 -1.53541440e-02 8.28357943e+01] [ 4.15410652e-02 9.99136777e-01 -2.00215271e-04 3.81941445e+00] [ 1.53492068e-02 -4.37808661e-04 9.99882098e-01 5.42509150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63439141799999 meters Centerline goodness [0,1] 0.9986978072754767 Centerline is valid? [True, True] Translation: X:82.87, Y:3.82, Z:0.54 [[ 9.98979366e-01 -4.22570692e-02 -1.59551275e-02 8.28661660e+01] [ 4.22591338e-02 9.99106662e-01 -2.07874892e-04 3.82166791e+00] [ 1.59496584e-02 -4.66587141e-04 9.99872687e-01 5.43362705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.664391418 meters Centerline goodness [0,1] 0.998780615999159 Centerline is valid? [True, True] Translation: X:82.90, Y:3.82, Z:0.54 [[ 9.98951540e-01 -4.30024094e-02 -1.57039137e-02 8.28966735e+01] [ 4.30045015e-02 9.99074858e-01 -2.04601897e-04 3.82183089e+00] [ 1.56981837e-02 -4.70951600e-04 9.99876665e-01 5.44940643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.694391418 meters Centerline goodness [0,1] 0.9986397405043423 Centerline is valid? [True, True] Translation: X:82.93, Y:3.82, Z:0.55 [[ 9.98957252e-01 -4.28476188e-02 -1.57635843e-02 8.29268119e+01] [ 4.28497099e-02 9.99081508e-01 -2.05234148e-04 3.81966912e+00] [ 1.57578994e-02 -4.70444874e-04 9.99875726e-01 5.45036389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.724391418 meters Centerline goodness [0,1] 0.9987396811393282 Centerline is valid? [True, True] Translation: X:82.96, Y:3.82, Z:0.55 [[ 9.98992220e-01 -4.21586222e-02 -1.54011430e-02 8.29561706e+01] [ 4.21605368e-02 9.99110829e-01 -2.00487573e-04 3.81730440e+00] [ 1.53959010e-02 -4.49034929e-04 9.99881375e-01 5.45635231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.754391418 meters Centerline goodness [0,1] 0.9990338367184054 Centerline is valid? [True, True] Translation: X:82.99, Y:3.82, Z:0.55 [[ 9.99072515e-01 -4.03624230e-02 -1.49994609e-02 8.29871141e+01] [ 4.03640362e-02 9.99185021e-01 -1.95294161e-04 3.81794944e+00] [ 1.49951192e-02 -4.10325756e-04 9.99887483e-01 5.46961076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.784391418 meters Centerline goodness [0,1] 0.9992658318125563 Centerline is valid? [True, True] Translation: X:83.02, Y:3.82, Z:0.55 [[ 9.99090412e-01 -3.95121748e-02 -1.60354793e-02 8.30178510e+01] [ 3.95139120e-02 9.99218999e-01 -2.08606752e-04 3.82143866e+00] [ 1.60311981e-02 -4.25207512e-04 9.99871402e-01 5.46796897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.814391418 meters Centerline goodness [0,1] 0.9991167006666807 Centerline is valid? [True, True] Translation: X:83.05, Y:3.82, Z:0.54 [[ 9.99098036e-01 -3.84978782e-02 -1.79172425e-02 8.30473264e+01] [ 3.84998809e-02 9.99258578e-01 -2.33276272e-04 3.82168634e+00] [ 1.79129389e-02 -4.56745836e-04 9.99839446e-01 5.43783019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.844391418 meters Centerline goodness [0,1] 0.9989708693004011 Centerline is valid? [True, True] Translation: X:83.08, Y:3.83, Z:0.54 [[ 9.99084927e-01 -3.81330898e-02 -1.93694678e-02 8.30765112e+01] [ 3.81353497e-02 9.99272551e-01 -2.52811850e-04 3.82708594e+00] [ 1.93650180e-02 -4.86080920e-04 9.99812362e-01 5.43825207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87439141799999 meters Centerline goodness [0,1] 0.9989501091886444 Centerline is valid? [True, True] Translation: X:83.10, Y:3.83, Z:0.54 [[ 9.99110094e-01 -3.76038777e-02 -1.91041585e-02 8.31049003e+01] [ 3.76059576e-02 9.99292614e-01 -2.50487741e-04 3.82839217e+00] [ 1.91000638e-02 -4.68165344e-04 9.99817468e-01 5.43426353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90439141799999 meters Centerline goodness [0,1] 0.9990342829550941 Centerline is valid? [True, True] Translation: X:83.13, Y:3.83, Z:0.55 [[ 9.99137026e-01 -3.76983226e-02 -1.74367460e-02 8.31344318e+01] [ 3.77000530e-02 9.99289074e-01 -2.29575921e-04 3.82804919e+00] [ 1.74330044e-02 -4.27988444e-04 9.99847942e-01 5.45317796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93439141799999 meters Centerline goodness [0,1] 0.9990563268045128 Centerline is valid? [True, True] Translation: X:83.16, Y:3.82, Z:0.55 [[ 9.99099293e-01 -3.90347294e-02 -1.66400934e-02 8.31637681e+01] [ 3.90364821e-02 9.99237762e-01 -2.19588594e-04 3.82270709e+00] [ 1.66359813e-02 -4.30179900e-04 9.99861520e-01 5.47197075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96439141799999 meters Centerline goodness [0,1] 0.9990550784284904 Centerline is valid? [True, True] Translation: X:83.19, Y:3.82, Z:0.55 [[ 9.99047386e-01 -3.98552634e-02 -1.77729538e-02 8.31927311e+01] [ 3.98573827e-02 9.99205351e-01 -2.35098197e-04 3.82257747e+00] [ 1.77682004e-02 -4.73509181e-04 9.99842021e-01 5.47341148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99439141799999 meters Centerline goodness [0,1] 0.998637830588038 Centerline is valid? [True, True] Translation: X:83.22, Y:3.82, Z:0.55 [[ 9.99017648e-01 -4.00277412e-02 -1.90136772e-02 8.32224726e+01] [ 4.00301872e-02 9.99198439e-01 -2.52085033e-04 3.82328147e+00] [ 1.90085270e-02 -5.09283660e-04 9.99819192e-01 5.46409784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.024391418 meters Centerline goodness [0,1] 0.9990978705549145 Centerline is valid? [True, True] Translation: X:83.25, Y:3.83, Z:0.55 [[ 9.98991225e-01 -4.01922562e-02 -2.00278563e-02 8.32519948e+01] [ 4.01949903e-02 9.99191819e-01 -2.66179861e-04 3.82820362e+00] [ 2.00223686e-02 -5.39108145e-04 9.99799387e-01 5.47297142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.054391418 meters Centerline goodness [0,1] 0.9991606513345643 Centerline is valid? [True, True] Translation: X:83.28, Y:3.83, Z:0.55 [[ 9.99010138e-01 -3.94875430e-02 -2.04811458e-02 8.32818241e+01] [ 3.94902371e-02 9.99219919e-01 -2.73045818e-04 3.83175813e+00] [ 2.04759507e-02 -5.36029761e-04 9.99790202e-01 5.46710619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.084391418 meters Centerline goodness [0,1] 0.9989490941191307 Centerline is valid? [True, True] Translation: X:83.31, Y:3.83, Z:0.55 [[ 9.99048997e-01 -3.83287402e-02 -2.07848483e-02 8.33102766e+01] [ 3.83312381e-02 9.99265049e-01 -2.78353680e-04 3.83137979e+00] [ 2.07802414e-02 -5.18620004e-04 9.99783933e-01 5.45357959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.114391418 meters Centerline goodness [0,1] 0.9993288027519087 Centerline is valid? [True, True] Translation: X:83.34, Y:3.83, Z:0.55 [[ 9.99094659e-01 -3.81346286e-02 -1.88576764e-02 8.33387931e+01] [ 3.81365842e-02 9.99272503e-01 -2.56034006e-04 3.83100934e+00] [ 1.88537213e-02 -4.63365157e-04 9.99822145e-01 5.46957480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.144391418 meters Centerline goodness [0,1] 0.9992024681511953 Centerline is valid? [True, True] Translation: X:83.37, Y:3.83, Z:0.55 [[ 9.99138867e-01 -3.76114184e-02 -1.75186959e-02 8.33680042e+01] [ 3.76129804e-02 9.99292353e-01 -2.40439264e-04 3.83080250e+00] [ 1.75153421e-02 -4.18698152e-04 9.99846507e-01 5.48393943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.174391418 meters Centerline goodness [0,1] 0.9989719920276933 Centerline is valid? [True, True] Translation: X:83.40, Y:3.83, Z:0.55 [[ 9.99229190e-01 -3.60068010e-02 -1.56376798e-02 8.33976600e+01] [ 3.60078419e-02 9.99351484e-01 -2.15079918e-04 3.82932460e+00] [ 1.56352828e-02 -3.48164968e-04 9.99877701e-01 5.51288276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.204391418 meters Centerline goodness [0,1] 0.99884652489409 Centerline is valid? [True, True] Translation: X:83.43, Y:3.83, Z:0.55 [[ 9.99271109e-01 -3.48861346e-02 -1.54986426e-02 8.34281647e+01] [ 3.48870197e-02 9.99391240e-01 -2.13338655e-04 3.83413990e+00] [ 1.54966502e-02 -3.27518293e-04 9.99879866e-01 5.53433572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23439141799999 meters Centerline goodness [0,1] 0.9989696141310062 Centerline is valid? [True, True] Translation: X:83.46, Y:3.84, Z:0.55 [[ 9.99325702e-01 -3.23923075e-02 -1.72881201e-02 8.34585051e+01] [ 3.23930358e-02 9.99475180e-01 -2.37970795e-04 3.83970651e+00] [ 1.72867553e-02 -3.22204361e-04 9.99850521e-01 5.53167786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26439141799999 meters Centerline goodness [0,1] 0.999013330534271 Centerline is valid? [True, True] Translation: X:83.49, Y:3.84, Z:0.55 [[ 9.99337951e-01 -3.13447804e-02 -1.84706613e-02 8.34873006e+01] [ 3.13454218e-02 9.99508579e-01 -2.54856870e-04 3.83832829e+00] [ 1.84695728e-02 -3.24282525e-04 9.99829370e-01 5.50216467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29439141799999 meters Centerline goodness [0,1] 0.999139071457069 Centerline is valid? [True, True] Translation: X:83.52, Y:3.84, Z:0.55 [[ 9.99343282e-01 -3.06829244e-02 -1.92759639e-02 8.35157323e+01] [ 3.06834248e-02 9.99529116e-01 -2.69863327e-04 3.83849497e+00] [ 1.92751673e-02 -3.21766485e-04 9.99814165e-01 5.48719725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32439141799999 meters Centerline goodness [0,1] 0.999243761028485 Centerline is valid? [True, True] Translation: X:83.54, Y:3.84, Z:0.55 [[ 9.99372957e-01 -2.94653390e-02 -1.96338174e-02 8.35431801e+01] [ 2.94655483e-02 9.99565758e-01 -2.78691734e-04 3.83504704e+00] [ 1.96335033e-02 -3.00004212e-04 9.99807199e-01 5.46129537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35439141799999 meters Centerline goodness [0,1] 0.9992221988648308 Centerline is valid? [True, True] Translation: X:83.57, Y:3.84, Z:0.55 [[ 9.99503907e-01 -2.60770250e-02 -1.76614979e-02 8.35722433e+01] [ 2.60766093e-02 9.99659915e-01 -2.53868538e-04 3.83997686e+00] [ 1.76621116e-02 -2.06809385e-04 9.99843991e-01 5.51245687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38439141799999 meters Centerline goodness [0,1] 0.999244094488189 Centerline is valid? [True, True] Translation: X:83.60, Y:3.85, Z:0.55 [[ 9.99583362e-01 -2.35188630e-02 -1.67321497e-02 8.36011678e+01] [ 2.35180579e-02 9.99723382e-01 -2.44911880e-04 3.84547851e+00] [ 1.67332814e-02 -1.48697826e-04 9.99859978e-01 5.54838652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.414391418 meters Centerline goodness [0,1] 0.9993287041893054 Centerline is valid? [True, True] Translation: X:83.63, Y:3.85, Z:0.56 [[ 9.99657136e-01 -2.04774714e-02 -1.63182089e-02 8.36302013e+01] [ 2.04762269e-02 9.99790310e-01 -2.43360430e-04 3.85114076e+00] [ 1.63197706e-02 -9.08583571e-05 9.99866820e-01 5.56807135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.444391418 meters Centerline goodness [0,1] 0.9995165121607702 Centerline is valid? [True, True] Translation: X:83.66, Y:3.85, Z:0.56 [[ 9.99686341e-01 -1.80566221e-02 -1.73544972e-02 8.36581829e+01] [ 1.80547558e-02 9.99836965e-01 -2.64223571e-04 3.85473227e+00] [ 1.73564388e-02 -4.91905136e-05 9.99849364e-01 5.56645661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.474391418 meters Centerline goodness [0,1] 0.9992228360183999 Centerline is valid? [True, True] Translation: X:83.69, Y:3.85, Z:0.55 [[ 9.99688134e-01 -1.60556489e-02 -1.91272417e-02 8.36860876e+01] [ 1.60529372e-02 9.99871100e-01 -2.95315667e-04 3.85168911e+00] [ 1.91295177e-02 -1.18248414e-05 9.99817014e-01 5.51101581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.504391418 meters Centerline goodness [0,1] 0.999411777063507 Centerline is valid? [True, True] Translation: X:83.71, Y:3.85, Z:0.55 [[ 9.99685132e-01 -1.80499713e-02 -1.74309001e-02 8.37146454e+01] [ 1.80479638e-02 9.99837085e-01 -2.72487029e-04 3.84842925e+00] [ 1.74329787e-02 -4.21910208e-05 9.99848033e-01 5.51878187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.534391418 meters Centerline goodness [0,1] 0.999349218011966 Centerline is valid? [True, True] Translation: X:83.74, Y:3.84, Z:0.55 [[ 9.99603468e-01 -2.33510929e-02 -1.57363835e-02 8.37420937e+01] [ 2.33500671e-02 9.99727319e-01 -2.48946334e-04 3.84228815e+00] [ 1.57379056e-02 -1.18597991e-04 9.99876144e-01 5.53556186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.564391418 meters Centerline goodness [0,1] 0.9994131578395825 Centerline is valid? [True, True] Translation: X:83.77, Y:3.84, Z:0.55 [[ 9.99510345e-01 -2.73611044e-02 -1.51802637e-02 8.37702108e+01] [ 2.73605894e-02 9.99625600e-01 -2.41645683e-04 3.83949638e+00] [ 1.51811919e-02 -1.73813600e-04 9.99884744e-01 5.54675068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.594391418 meters Centerline goodness [0,1] 0.9990570584414223 Centerline is valid? [True, True] Translation: X:83.80, Y:3.84, Z:0.56 [[ 9.99388409e-01 -3.14096285e-02 -1.53702040e-02 8.37992067e+01] [ 3.14095600e-02 9.99506568e-01 -2.45916275e-04 3.83588759e+00] [ 1.53703440e-02 -2.37005472e-04 9.99881841e-01 5.55523188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62439141799999 meters Centerline goodness [0,1] 0.9992655853284932 Centerline is valid? [True, True] Translation: X:83.83, Y:3.83, Z:0.56 [[ 9.99105533e-01 -3.93466991e-02 -1.54909868e-02 8.38287090e+01] [ 3.93475687e-02 9.99225554e-01 -2.48759699e-04 3.82905665e+00] [ 1.54887778e-02 -3.60995478e-04 9.99879977e-01 5.57710957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65439141799999 meters Centerline goodness [0,1] 0.9991396676179285 Centerline is valid? [True, True] Translation: X:83.86, Y:3.82, Z:0.56 [[ 9.98953108e-01 -4.29920970e-02 -1.56322622e-02 8.38583444e+01] [ 4.29934185e-02 9.99075324e-01 -2.51676753e-04 3.82294949e+00] [ 1.56286275e-02 -4.20671114e-04 9.99877777e-01 5.57284384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68439141799999 meters Centerline goodness [0,1] 0.998993288590604 Centerline is valid? [True, True] Translation: X:83.89, Y:3.82, Z:0.56 [[ 9.98567441e-01 -5.10781362e-02 -1.59401993e-02 8.38888777e+01] [ 5.10805339e-02 9.98694504e-01 -2.56953645e-04 3.81570732e+00] [ 1.59325141e-02 -5.57648344e-04 9.99872914e-01 5.56598335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71439141799999 meters Centerline goodness [0,1] 0.9991194783957735 Centerline is valid? [True, True] Translation: X:83.92, Y:3.81, Z:0.56 [[ 9.98330124e-01 -5.54881213e-02 -1.60633532e-02 8.39195894e+01] [ 5.54911234e-02 9.98459147e-01 -2.59109701e-04 3.81087005e+00] [ 1.60529794e-02 -6.32696493e-04 9.99870942e-01 5.55577855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74439141799999 meters Centerline goodness [0,1] 0.9990990424707189 Centerline is valid? [True, True] Translation: X:83.95, Y:3.80, Z:0.55 [[ 9.98083590e-01 -5.99397546e-02 -1.53744259e-02 8.39497088e+01] [ 5.99430387e-02 9.98201769e-01 -2.47537120e-04 3.80412820e+00] [ 1.53616164e-02 -6.74527069e-04 9.99881776e-01 5.54996973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.774391418 meters Centerline goodness [0,1] 0.9990985324947589 Centerline is valid? [True, True] Translation: X:83.98, Y:3.80, Z:0.56 [[ 9.97600243e-01 -6.78526321e-02 -1.37758780e-02 8.39799447e+01] [ 6.78560284e-02 9.97695099e-01 -2.21262851e-04 3.79634742e+00] [ 1.37591393e-02 -7.14044496e-04 9.99905084e-01 5.55940675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.804391418 meters Centerline goodness [0,1] 0.9990985324947589 Centerline is valid? [True, True] Translation: X:84.01, Y:3.80, Z:0.56 [[ 9.97605687e-01 -6.77725428e-02 -1.37758857e-02 8.40116690e+01] [ 6.77759380e-02 9.97700543e-01 -2.20786483e-04 3.79677729e+00] [ 1.37591719e-02 -7.13415721e-04 9.99905084e-01 5.56209386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.834391418 meters Centerline goodness [0,1] 0.9990985324947589 Centerline is valid? [True, True] Translation: X:84.04, Y:3.80, Z:0.56 [[ 9.97611125e-01 -6.76924477e-02 -1.37759033e-02 8.40433934e+01] [ 6.76958506e-02 9.97705981e-01 -2.19680562e-04 3.79720432e+00] [ 1.37591718e-02 -7.13415720e-04 9.99905084e-01 5.56477986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.864391418 meters Centerline goodness [0,1] 0.9991179805955731 Centerline is valid? [True, True] Translation: X:84.07, Y:3.79, Z:0.56 [[ 9.97228836e-01 -7.31967376e-02 -1.32998893e-02 8.40728897e+01] [ 7.32004049e-02 9.97317229e-01 -2.11510298e-04 3.79206018e+00] [ 1.32796906e-02 -7.62633116e-04 9.99911530e-01 5.58464059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.894391418 meters Centerline goodness [0,1] 0.9991636348429724 Centerline is valid? [True, True] Translation: X:84.10, Y:3.79, Z:0.56 [[ 9.97118636e-01 -7.45825479e-02 -1.38517057e-02 8.41030902e+01] [ 7.45866586e-02 9.97214511e-01 -2.20320908e-04 3.79195556e+00] [ 1.38295540e-02 -8.13466360e-04 9.99904036e-01 5.59172749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.924391418 meters Centerline goodness [0,1] 0.9990776454804629 Centerline is valid? [True, True] Translation: X:84.13, Y:3.80, Z:0.56 [[ 9.97026154e-01 -7.56631499e-02 -1.46265570e-02 8.41343386e+01] [ 7.56678554e-02 9.97133051e-01 -2.32221196e-04 3.79759091e+00] [ 1.46021940e-02 -8.75229595e-04 9.99892999e-01 5.60067351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.954391418 meters Centerline goodness [0,1] 0.9993281122052617 Centerline is valid? [True, True] Translation: X:84.17, Y:3.80, Z:0.56 [[ 9.96988518e-01 -7.60238269e-02 -1.53059882e-02 8.41657913e+01] [ 7.60290320e-02 9.97105575e-01 -2.42374703e-04 3.79997219e+00] [ 1.52801124e-02 -9.22054668e-04 9.99882827e-01 5.60192681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98439141799999 meters Centerline goodness [0,1] 0.9992659549925547 Centerline is valid? [True, True] Translation: X:84.20, Y:3.80, Z:0.56 [[ 9.96959441e-01 -7.66778885e-02 -1.38699455e-02 8.41968797e+01] [ 7.66822329e-02 9.97055559e-01 -2.19103137e-04 3.80346050e+00] [ 1.38459066e-02 -8.45141449e-04 9.99903784e-01 5.60067386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01439141799999 meters Centerline goodness [0,1] 0.9993283378460635 Centerline is valid? [True, True] Translation: X:84.23, Y:3.80, Z:0.56 [[ 9.96910448e-01 -7.75458336e-02 -1.24980957e-02 8.42273007e+01] [ 7.75494357e-02 9.96988489e-01 -1.96886475e-04 3.80154029e+00] [ 1.24757252e-02 -7.72942083e-04 9.99921876e-01 5.60574654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04439141799999 meters Centerline goodness [0,1] 0.9992660319590656 Centerline is valid? [True, True] Translation: X:84.26, Y:3.80, Z:0.56 [[ 9.96782067e-01 -7.93959305e-02 -1.10362116e-02 8.42587886e+01] [ 7.93988579e-02 9.96842912e-01 -1.73323109e-04 3.79858504e+00] [ 1.10151305e-02 -7.03497234e-04 9.99939084e-01 5.60117933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07439141799999 meters Centerline goodness [0,1] 0.9989315344004023 Centerline is valid? [True, True] Translation: X:84.29, Y:3.80, Z:0.56 [[ 9.96735562e-01 -7.99581582e-02 -1.11764008e-02 8.42908385e+01] [ 7.99612020e-02 9.96797961e-01 -1.74961858e-04 3.80020177e+00] [ 1.11546031e-02 -7.19287735e-04 9.99937527e-01 5.59240663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10439141799999 meters Centerline goodness [0,1] 0.9988265124368727 Centerline is valid? [True, True] Translation: X:84.32, Y:3.80, Z:0.56 [[ 9.96720827e-01 -8.00008814e-02 -1.21429558e-02 8.43231072e+01] [ 8.00044903e-02 9.96794485e-01 -1.89053248e-04 3.80175445e+00] [ 1.21191558e-02 -7.83057682e-04 9.99926254e-01 5.58338656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13439141799999 meters Centerline goodness [0,1] 0.9985296897645404 Centerline is valid? [True, True] Translation: X:84.36, Y:3.81, Z:0.56 [[ 9.96795372e-01 -7.89713731e-02 -1.27479083e-02 8.43555466e+01] [ 7.89752802e-02 9.96876555e-01 -1.97415901e-04 3.80565188e+00] [ 1.27236811e-02 -8.09986370e-04 9.99918723e-01 5.58108378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.164391418 meters Centerline goodness [0,1] 0.9986347406007141 Centerline is valid? [True, True] Translation: X:84.38, Y:3.81, Z:0.56 [[ 9.97056058e-01 -7.56427537e-02 -1.25455955e-02 8.43848848e+01] [ 7.56462825e-02 9.97134696e-01 -1.93695901e-04 3.81040487e+00] [ 1.25243003e-02 -7.55901993e-04 9.99921282e-01 5.60579275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.194391418 meters Centerline goodness [0,1] 0.9985502374248855 Centerline is valid? [True, True] Translation: X:84.42, Y:3.82, Z:0.56 [[ 9.97231903e-01 -7.34398629e-02 -1.16240609e-02 8.44162050e+01] [ 7.34427428e-02 9.97299419e-01 -1.79496867e-04 3.81918513e+00] [ 1.16058514e-02 -6.74702912e-04 9.99932422e-01 5.61982705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.224391418 meters Centerline goodness [0,1] 0.9986761090213714 Centerline is valid? [True, True] Translation: X:84.45, Y:3.82, Z:0.56 [[ 9.97417209e-01 -7.09962186e-02 -1.08833844e-02 8.44468306e+01] [ 7.09986026e-02 9.97476401e-01 -1.67647765e-04 3.82207065e+00] [ 1.08678215e-02 -6.05490320e-04 9.99940760e-01 5.64478483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.254391418 meters Centerline goodness [0,1] 0.9988245418861905 Centerline is valid? [True, True] Translation: X:84.48, Y:3.82, Z:0.56 [[ 9.97498146e-01 -6.98023259e-02 -1.11840532e-02 8.44795545e+01] [ 6.98047754e-02 9.97560657e-01 -1.71674272e-04 3.82421730e+00] [ 1.11687547e-02 -6.09455551e-04 9.99937442e-01 5.63765425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.284391418 meters Centerline goodness [0,1] 0.9988444407093033 Centerline is valid? [True, True] Translation: X:84.51, Y:3.83, Z:0.56 [[ 9.97588778e-01 -6.83991937e-02 -1.17549958e-02 8.45106126e+01] [ 6.84018148e-02 9.97657837e-01 -1.79392650e-04 3.82655871e+00] [ 1.17397340e-02 -6.25102952e-04 9.99930892e-01 5.62259867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.314391418 meters Centerline goodness [0,1] 0.9988223418573351 Centerline is valid? [True, True] Translation: X:84.54, Y:3.84, Z:0.56 [[ 9.97797386e-01 -6.50101862e-02 -1.31928608e-02 8.45418583e+01] [ 6.50132019e-02 9.97884384e-01 -2.00609356e-04 3.83613350e+00] [ 1.31779914e-02 -6.57542630e-04 9.99912950e-01 5.59435944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.344391418 meters Centerline goodness [0,1] 0.9988214992213477 Centerline is valid? [True, True] Translation: X:84.57, Y:3.85, Z:0.56 [[ 9.97957839e-01 -6.25872842e-02 -1.27664929e-02 8.45730067e+01] [ 6.25899166e-02 9.98039310e-01 -1.93637006e-04 3.84747563e+00] [ 1.27535810e-02 -6.05812157e-04 9.99918486e-01 5.60330623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37439141799999 meters Centerline goodness [0,1] 0.998675747256905 Centerline is valid? [True, True] Translation: X:84.60, Y:3.85, Z:0.56 [[ 9.98142449e-01 -5.97932693e-02 -1.16797757e-02 8.46031208e+01] [ 5.97952861e-02 9.98210645e-01 -1.76772804e-04 3.84751966e+00] [ 1.16694463e-02 -5.21951092e-04 9.99931773e-01 5.60842907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40439141799999 meters Centerline goodness [0,1] 0.99850340422841 Centerline is valid? [True, True] Translation: X:84.63, Y:3.86, Z:0.56 [[ 9.98331172e-01 -5.68585722e-02 -1.00982249e-02 8.46342279e+01] [ 5.68599320e-02 9.98382154e-01 -1.52623014e-04 3.85603527e+00] [ 1.00905654e-02 -4.21816066e-04 9.99949000e-01 5.62814001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43439141799999 meters Centerline goodness [0,1] 0.998840714120102 Centerline is valid? [True, True] Translation: X:84.66, Y:3.87, Z:0.57 [[ 9.98616354e-01 -5.19851035e-02 -7.93265935e-03 8.46644733e+01] [ 5.19857911e-02 9.98647817e-01 -1.19632332e-04 3.87010972e+00] [ 7.92815205e-03 -2.92918768e-04 9.99968529e-01 5.68364364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46439141799999 meters Centerline goodness [0,1] 0.9987359639328376 Centerline is valid? [True, True] Translation: X:84.69, Y:3.87, Z:0.57 [[ 9.98784999e-01 -4.85293887e-02 -8.56880435e-03 8.46949681e+01] [ 4.85300640e-02 9.98821714e-01 -1.29223950e-04 3.87415281e+00] [ 8.56497901e-03 -2.86777680e-04 9.99963279e-01 5.68836918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49439141799999 meters Centerline goodness [0,1] 0.9986296171361106 Centerline is valid? [True, True] Translation: X:84.73, Y:3.88, Z:0.57 [[ 9.98911670e-01 -4.56516375e-02 -9.56051691e-03 8.47272410e+01] [ 4.56523492e-02 9.98957378e-01 -1.43899336e-04 3.87967902e+00] [ 9.55711814e-03 -2.92717330e-04 9.99954287e-01 5.69323843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.524391418 meters Centerline goodness [0,1] 0.9990932287383227 Centerline is valid? [True, True] Translation: X:84.76, Y:3.89, Z:0.57 [[ 9.99105873e-01 -4.07059569e-02 -1.14227996e-02 8.47587870e+01] [ 4.07066609e-02 9.99171126e-01 -1.70962787e-04 3.88878145e+00] [ 1.14202907e-02 -2.94174102e-04 9.99934743e-01 5.66909660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.554391418 meters Centerline goodness [0,1] 0.9990281827016521 Centerline is valid? [True, True] Translation: X:84.79, Y:3.89, Z:0.57 [[ 9.99181672e-01 -3.87598890e-02 -1.15610597e-02 8.47899275e+01] [ 3.87604881e-02 9.99248515e-01 -1.72325663e-04 3.89025796e+00] [ 1.15590510e-02 -2.75927672e-04 9.99933154e-01 5.66008988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.584391418 meters Centerline goodness [0,1] 0.9991971774449115 Centerline is valid? [True, True] Translation: X:84.82, Y:3.89, Z:0.57 [[ 9.99248970e-01 -3.70442756e-02 -1.13673915e-02 8.48209666e+01] [ 3.70447515e-02 9.99313593e-01 -1.68766821e-04 3.89046503e+00] [ 1.13658406e-02 -2.52462119e-04 9.99935375e-01 5.65463308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.614391418 meters Centerline goodness [0,1] 0.9995134334673155 Centerline is valid? [True, True] Translation: X:84.85, Y:3.89, Z:0.56 [[ 9.99350195e-01 -3.37562152e-02 -1.26374843e-02 8.48517739e+01] [ 3.37565495e-02 9.99430068e-01 -1.86910560e-04 3.89460427e+00] [ 1.26365912e-02 -2.39808759e-04 9.99920126e-01 5.63722881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.644391418 meters Centerline goodness [0,1] 0.9991787917710724 Centerline is valid? [True, True] Translation: X:84.88, Y:3.90, Z:0.56 [[ 9.99407891e-01 -3.18128909e-02 -1.31075061e-02 8.48828642e+01] [ 3.18130900e-02 9.99493817e-01 -1.93361064e-04 3.89796674e+00] [ 1.31070226e-02 -2.23743697e-04 9.99914074e-01 5.63190604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.674391418 meters Centerline goodness [0,1] 0.9992595100071934 Centerline is valid? [True, True] Translation: X:84.91, Y:3.90, Z:0.56 [[ 9.99471251e-01 -2.97650124e-02 -1.30867286e-02 8.49138787e+01] [ 2.97650420e-02 9.99556904e-01 -1.92552750e-04 3.90397157e+00] [ 1.30866613e-02 -1.97076088e-04 9.99914347e-01 5.64232727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.704391418 meters Centerline goodness [0,1] 0.9990678163598229 Centerline is valid? [True, True] Translation: X:84.94, Y:3.91, Z:0.57 [[ 9.99573843e-01 -2.67597533e-02 -1.16639936e-02 8.49439849e+01] [ 2.67595766e-02 9.99641884e-01 -1.71248275e-04 3.90985255e+00] [ 1.16643991e-02 -1.40948235e-04 9.99931959e-01 5.68493252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73439141799999 meters Centerline goodness [0,1] 0.9991735011761714 Centerline is valid? [True, True] Translation: X:84.97, Y:3.91, Z:0.57 [[ 9.99624967e-01 -2.49784167e-02 -1.12251741e-02 8.49746744e+01] [ 2.49781431e-02 9.99687984e-01 -1.64587007e-04 3.91227808e+00] [ 1.12257828e-02 -1.15858725e-04 9.99936982e-01 5.69404395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76439141799999 meters Centerline goodness [0,1] 0.9990462666638408 Centerline is valid? [True, True] Translation: X:85.01, Y:3.91, Z:0.57 [[ 9.99643280e-01 -2.41805494e-02 -1.13407624e-02 8.50063509e+01] [ 2.41802221e-02 9.99707602e-01 -1.65995408e-04 3.91486624e+00] [ 1.13414602e-02 -1.08285959e-04 9.99935678e-01 5.70325337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79439141799999 meters Centerline goodness [0,1] 0.9992577039723441 Centerline is valid? [True, True] Translation: X:85.04, Y:3.91, Z:0.57 [[ 9.99633338e-01 -2.45663146e-02 -1.13879819e-02 8.50365323e+01] [ 2.45660142e-02 9.99698196e-01 -1.66283129e-04 3.91476239e+00] [ 1.13886299e-02 -1.13535165e-04 9.99935141e-01 5.70656608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82439141799999 meters Centerline goodness [0,1] 0.9991102448945005 Centerline is valid? [True, True] Translation: X:85.07, Y:3.91, Z:0.57 [[ 9.99578321e-01 -2.71755214e-02 -1.02308739e-02 8.50683528e+01] [ 2.71754178e-02 9.99630669e-01 -1.49162120e-04 3.91226843e+00] [ 1.02311488e-02 -1.28929050e-04 9.99947652e-01 5.71722346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85439141799999 meters Centerline goodness [0,1] 0.9989843419382142 Centerline is valid? [True, True] Translation: X:85.10, Y:3.91, Z:0.57 [[ 9.99527083e-01 -2.91577524e-02 -9.76912396e-03 8.50995112e+01] [ 2.91577567e-02 9.99574812e-01 -1.42016677e-04 3.90859648e+00] [ 9.76911113e-03 -1.42896225e-04 9.99952271e-01 5.71959883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88439141799999 meters Centerline goodness [0,1] 0.9987518774724461 Centerline is valid? [True, True] Translation: X:85.13, Y:3.90, Z:0.57 [[ 9.99415309e-01 -3.22725241e-02 -1.12926329e-02 8.51314764e+01] [ 3.22727380e-02 9.99479086e-01 -1.63334254e-04 3.90303721e+00] [ 1.12920217e-02 -2.01205430e-04 9.99936223e-01 5.69951679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.914391418 meters Centerline goodness [0,1] 0.9988571186691781 Centerline is valid? [True, True] Translation: X:85.16, Y:3.90, Z:0.57 [[ 9.99354742e-01 -3.31747978e-02 -1.37671070e-02 8.51639847e+01] [ 3.31752187e-02 9.99449531e-01 -1.97866050e-04 3.90251933e+00] [ 1.37660928e-02 -2.58988411e-04 9.99905209e-01 5.68178664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.944391418 meters Centerline goodness [0,1] 0.99873058858376 Centerline is valid? [True, True] Translation: X:85.20, Y:3.90, Z:0.57 [[ 9.99294516e-01 -3.39074957e-02 -1.61478304e-02 8.51957183e+01] [ 3.39081883e-02 9.99424925e-01 -2.30974795e-04 3.90280121e+00] [ 1.61463760e-02 -3.16731828e-04 9.99869589e-01 5.66038886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.974391418 meters Centerline goodness [0,1] 0.9991318893052997 Centerline is valid? [True, True] Translation: X:85.23, Y:3.90, Z:0.57 [[ 9.99229874e-01 -3.50205446e-02 -1.76980506e-02 8.52265935e+01] [ 3.50215609e-02 9.99386525e-01 -2.52594025e-04 3.90332540e+00] [ 1.76960393e-02 -3.67413863e-04 9.99843345e-01 5.65127863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.004391418 meters Centerline goodness [0,1] 0.9990083760575564 Centerline is valid? [True, True] Translation: X:85.26, Y:3.90, Z:0.57 [[ 9.99195084e-01 -3.72434793e-02 -1.49032688e-02 8.52570062e+01] [ 3.72444510e-02 9.99306162e-01 -2.12436237e-04 3.89920768e+00] [ 1.49008402e-02 -3.42798819e-04 9.99888918e-01 5.67925599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.034391418 meters Centerline goodness [0,1] 0.9991153611222277 Centerline is valid? [True, True] Translation: X:85.29, Y:3.90, Z:0.57 [[ 9.99180936e-01 -3.86813151e-02 -1.18832907e-02 8.52883385e+01] [ 3.86820376e-02 9.99251556e-01 -1.69123336e-04 3.89549887e+00] [ 1.18809386e-02 -2.90685085e-04 9.99929377e-01 5.71847547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.064391418 meters Centerline goodness [0,1] 0.9989051479103064 Centerline is valid? [True, True] Translation: X:85.32, Y:3.89, Z:0.58 [[ 9.99135521e-01 -4.06768529e-02 -8.57934385e-03 8.53199293e+01] [ 4.06773051e-02 9.99172328e-01 -1.21861560e-04 3.88874618e+00] [ 8.57719992e-03 -2.27228374e-04 9.99963189e-01 5.76436093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.094391418 meters Centerline goodness [0,1] 0.9989681821053297 Centerline is valid? [True, True] Translation: X:85.35, Y:3.89, Z:0.58 [[ 9.99119388e-01 -4.07351871e-02 -1.00544773e-02 8.53517148e+01] [ 4.07358161e-02 9.99169942e-01 -1.42308364e-04 3.88938003e+00] [ 1.00519285e-02 -2.67394292e-04 9.99949442e-01 5.75479988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12439141799999 meters Centerline goodness [0,1] 0.9992419297100381 Centerline is valid? [True, True] Translation: X:85.38, Y:3.89, Z:0.57 [[ 9.99112685e-01 -4.00926766e-02 -1.29004190e-02 8.53834127e+01] [ 4.00936743e-02 9.99195909e-01 -1.81378918e-04 3.89177536e+00] [ 1.28973179e-02 -3.36007220e-04 9.99916770e-01 5.73333121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15439141799999 meters Centerline goodness [0,1] 0.9990930948664951 Centerline is valid? [True, True] Translation: X:85.41, Y:3.89, Z:0.57 [[ 9.99120510e-01 -3.85180400e-02 -1.65700846e-02 8.54146130e+01] [ 3.85194923e-02 9.99257822e-01 -2.31620302e-04 3.89426920e+00] [ 1.65667082e-02 -4.06854652e-04 9.99862680e-01 5.69211585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18439141799999 meters Centerline goodness [0,1] 0.9988843984171087 Centerline is valid? [True, True] Translation: X:85.45, Y:3.89, Z:0.57 [[ 9.99198080e-01 -3.68083914e-02 -1.57587986e-02 8.54457260e+01] [ 3.68095022e-02 9.99322276e-01 -2.19656701e-04 3.89179553e+00] [ 1.57562037e-02 -3.60592977e-04 9.99875798e-01 5.67772475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21439141799999 meters Centerline goodness [0,1] 0.999053727263169 Centerline is valid? [True, True] Translation: X:85.48, Y:3.89, Z:0.57 [[ 9.99259996e-01 -3.54308352e-02 -1.49705151e-02 8.54766822e+01] [ 3.54316855e-02 9.99372079e-01 -2.08511361e-04 3.88973668e+00] [ 1.49685025e-02 -3.22073520e-04 9.99887914e-01 5.68010970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24439141799999 meters Centerline goodness [0,1] 0.9989918719677399 Centerline is valid? [True, True] Translation: X:85.51, Y:3.89, Z:0.57 [[ 9.99342979e-01 -3.32794918e-02 -1.43556994e-02 8.55075411e+01] [ 3.32800517e-02 9.99446046e-01 -1.99948125e-04 3.88999444e+00] [ 1.43544012e-02 -2.77941664e-04 9.99896932e-01 5.68890488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.274391418 meters Centerline goodness [0,1] 0.9987594878156473 Centerline is valid? [True, True] Translation: X:85.54, Y:3.89, Z:0.57 [[ 9.99430221e-01 -3.05645634e-02 -1.43192427e-02 8.55375228e+01] [ 3.05648436e-02 9.99532766e-01 -1.99328338e-04 3.89284506e+00] [ 1.43186446e-02 -2.38450647e-04 9.99897455e-01 5.70264313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.304391418 meters Centerline goodness [0,1] 0.9987180026060275 Centerline is valid? [True, True] Translation: X:85.57, Y:3.90, Z:0.57 [[ 9.99512795e-01 -2.74694755e-02 -1.48189025e-02 8.55677742e+01] [ 2.74694380e-02 9.99622623e-01 -2.06115976e-04 3.89848940e+00] [ 1.48189721e-02 -2.01051369e-04 9.99890173e-01 5.71885975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.334391418 meters Centerline goodness [0,1] 0.9987785359278915 Centerline is valid? [True, True] Translation: X:85.60, Y:3.90, Z:0.57 [[ 9.99582038e-01 -2.44098603e-02 -1.54889871e-02 8.55979850e+01] [ 2.44094520e-02 9.99702022e-01 -2.15436175e-04 3.90497587e+00] [ 1.54896305e-02 -1.62731556e-04 9.99880015e-01 5.73700692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.364391418 meters Centerline goodness [0,1] 0.9990724148835248 Centerline is valid? [True, True] Translation: X:85.63, Y:3.91, Z:0.58 [[ 9.99720268e-01 -1.82674364e-02 -1.50228410e-02 8.56280385e+01] [ 1.82663501e-02 9.99833134e-01 -2.09530948e-04 3.91243814e+00] [ 1.50241618e-02 -6.49401376e-05 9.99887129e-01 5.75499326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.394391418 meters Centerline goodness [0,1] 0.9988828935165669 Centerline is valid? [True, True] Translation: X:85.66, Y:3.91, Z:0.57 [[ 9.99772749e-01 -1.58279057e-02 -1.42803554e-02 8.56557433e+01] [ 1.58266569e-02 9.99874731e-01 -2.00464568e-04 3.91209139e+00] [ 1.42817394e-02 -2.55912721e-05 9.99898010e-01 5.74030301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.424391418 meters Centerline goodness [0,1] 0.9988414223120997 Centerline is valid? [True, True] Translation: X:85.68, Y:3.91, Z:0.57 [[ 9.99795152e-01 -1.41706178e-02 -1.44515693e-02 8.56839805e+01] [ 1.41691252e-02 9.99899592e-01 -2.05673746e-04 3.91061088e+00] [ 1.44530328e-02 8.65519746e-07 9.99895549e-01 5.72864427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.454391418 meters Centerline goodness [0,1] 0.9991153797548338 Centerline is valid? [True, True] Translation: X:85.71, Y:3.91, Z:0.57 [[ 9.99808696e-01 -1.25920289e-02 -1.49670315e-02 8.57108505e+01] [ 1.25901855e-02 9.99920717e-01 -2.17388826e-04 3.90897251e+00] [ 1.49685823e-02 2.89095352e-05 9.99887964e-01 5.71177002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48439141799999 meters Centerline goodness [0,1] 0.9992642576359547 Centerline is valid? [True, True] Translation: X:85.74, Y:3.91, Z:0.57 [[ 9.99833581e-01 -9.50059240e-03 -1.55739556e-02 8.57383098e+01] [ 9.49817275e-03 9.99954865e-01 -2.29325866e-04 3.91029151e+00] [ 1.55754314e-02 8.13635817e-05 9.99878692e-01 5.70145264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51439141799999 meters Centerline goodness [0,1] 0.9991372961599159 Centerline is valid? [True, True] Translation: X:85.77, Y:3.91, Z:0.57 [[ 9.99842252e-01 -8.31943079e-03 -1.56926021e-02 8.57661716e+01] [ 8.31679768e-03 9.99965388e-01 -2.33046584e-04 3.91343612e+00] [ 1.56939978e-02 1.02497624e-04 9.99876836e-01 5.71396508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54439141799999 meters Centerline goodness [0,1] 0.9990944127371901 Centerline is valid? [True, True] Translation: X:85.79, Y:3.92, Z:0.57 [[ 9.99855979e-01 -7.01841294e-03 -1.54519920e-02 8.57944880e+01] [ 7.01566275e-03 9.99975363e-01 -2.32182504e-04 3.91672413e+00] [ 1.54532409e-02 1.23743100e-04 9.99880584e-01 5.74682054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57439141799999 meters Centerline goodness [0,1] 0.9992838788491512 Centerline is valid? [True, True] Translation: X:85.82, Y:3.92, Z:0.58 [[ 9.99861782e-01 -7.57057619e-03 -1.48021409e-02 8.58225350e+01] [ 7.56805003e-03 9.99971336e-01 -2.26669793e-04 3.91501445e+00] [ 1.48034326e-02 1.14615120e-04 9.99890417e-01 5.75838511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60439141799999 meters Centerline goodness [0,1] 0.9994322602350864 Centerline is valid? [True, True] Translation: X:85.85, Y:3.91, Z:0.58 [[ 9.99849028e-01 -9.00096606e-03 -1.48628169e-02 8.58500093e+01] [ 8.99852700e-03 9.99959486e-01 -2.30973169e-04 3.91201292e+00] [ 1.48642937e-02 9.71948392e-05 9.99889516e-01 5.75471512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63439141799999 meters Centerline goodness [0,1] 0.9990961449531257 Centerline is valid? [True, True] Translation: X:85.88, Y:3.91, Z:0.58 [[ 9.99827525e-01 -1.13055912e-02 -1.47344353e-02 8.58793478e+01] [ 1.13034081e-02 9.99936088e-01 -2.31438717e-04 3.90562272e+00] [ 1.47361102e-02 6.48494642e-05 9.99891416e-01 5.75109982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.664391418 meters Centerline goodness [0,1] 0.9991598403696702 Centerline is valid? [True, True] Translation: X:85.91, Y:3.89, Z:0.57 [[ 9.99724020e-01 -1.71150981e-02 -1.60921374e-02 8.59085608e+01] [ 1.71131981e-02 9.99853526e-01 -2.55777923e-04 3.89400161e+00] [ 1.60941580e-02 -1.96806019e-05 9.99870480e-01 5.73085216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.694391418 meters Centerline goodness [0,1] 0.9987824334536904 Centerline is valid? [True, True] Translation: X:85.94, Y:3.89, Z:0.57 [[ 9.99656403e-01 -1.92393212e-02 -1.78023618e-02 8.59362588e+01] [ 1.92373025e-02 9.99814905e-01 -2.84653897e-04 3.89095992e+00] [ 1.78045432e-02 -5.79133279e-05 9.99841485e-01 5.69897354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.724391418 meters Centerline goodness [0,1] 0.9987824334536904 Centerline is valid? [True, True] Translation: X:85.96, Y:3.89, Z:0.57 [[ 9.99650170e-01 -1.95605795e-02 -1.78022996e-02 8.59636595e+01] [ 1.95585432e-02 9.99808672e-01 -2.88501972e-04 3.89153736e+00] [ 1.78045368e-02 -5.97859992e-05 9.99841485e-01 5.70129684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.754391418 meters Centerline goodness [0,1] 0.9990123560561486 Centerline is valid? [True, True] Translation: X:85.99, Y:3.89, Z:0.57 [[ 9.99575245e-01 -2.28711199e-02 -1.80621780e-02 8.59917046e+01] [ 2.28694881e-02 9.99738415e-01 -2.96918451e-04 3.89039291e+00] [ 1.80642440e-02 -1.16280431e-04 9.99836821e-01 5.71916214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.784391418 meters Centerline goodness [0,1] 0.9991386192697173 Centerline is valid? [True, True] Translation: X:86.02, Y:3.89, Z:0.57 [[ 9.99520931e-01 -2.52544824e-02 -1.78918971e-02 8.60208484e+01] [ 2.52531936e-02 9.99681043e-01 -2.97995787e-04 3.88974699e+00] [ 1.78937160e-02 -1.53974514e-04 9.99839883e-01 5.73032842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.814391418 meters Centerline goodness [0,1] 0.9989084115288536 Centerline is valid? [True, True] Translation: X:86.05, Y:3.88, Z:0.58 [[ 9.99448249e-01 -2.93760040e-02 -1.54999264e-02 8.60500860e+01] [ 2.93754707e-02 9.99568413e-01 -2.62131583e-04 3.88365547e+00] [ 1.55009373e-02 -1.93330683e-04 9.99879835e-01 5.75425431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.844391418 meters Centerline goodness [0,1] 0.9988478297301827 Centerline is valid? [True, True] Translation: X:86.08, Y:3.88, Z:0.58 [[ 9.99404127e-01 -3.12893572e-02 -1.45727857e-02 8.60789534e+01] [ 3.12890519e-02 9.99510347e-01 -2.49005737e-04 3.87831686e+00] [ 1.45734413e-02 -2.07111285e-04 9.99893780e-01 5.76287619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87439141799999 meters Centerline goodness [0,1] 0.9989312881121519 Centerline is valid? [True, True] Translation: X:86.11, Y:3.87, Z:0.58 [[ 9.99251094e-01 -3.60205809e-02 -1.41339881e-02 8.61085845e+01] [ 3.60207567e-02 9.99351013e-01 -2.42212599e-04 3.86933040e+00] [ 1.41335400e-02 -2.67085743e-04 9.99900081e-01 5.77625854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90439141799999 meters Centerline goodness [0,1] 0.9988484328217584 Centerline is valid? [True, True] Translation: X:86.14, Y:3.87, Z:0.58 [[ 9.99151491e-01 -3.86796368e-02 -1.41486264e-02 8.61387651e+01] [ 3.86800763e-02 9.99251616e-01 -2.42686538e-04 3.86622447e+00] [ 1.41474249e-02 -3.04789334e-04 9.99899874e-01 5.77908908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93439141799999 meters Centerline goodness [0,1] 0.9987001551427733 Centerline is valid? [True, True] Translation: X:86.17, Y:3.86, Z:0.58 [[ 9.99053537e-01 -4.07334999e-02 -1.52581557e-02 8.61693986e+01] [ 4.07342531e-02 9.99169982e-01 -2.61539245e-04 3.86477935e+00] [ 1.52561445e-02 -3.60237868e-04 9.99883553e-01 5.76568771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96439141799999 meters Centerline goodness [0,1] 0.998763387897969 Centerline is valid? [True, True] Translation: X:86.20, Y:3.86, Z:0.58 [[ 9.98845674e-01 -4.55694777e-02 -1.51902006e-02 8.61988556e+01] [ 4.55707810e-02 9.98961078e-01 -2.60503980e-04 3.85897152e+00] [ 1.51862902e-02 -4.32026030e-04 9.99884588e-01 5.77511950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99439141799999 meters Centerline goodness [0,1] 0.998889959368324 Centerline is valid? [True, True] Translation: X:86.23, Y:3.86, Z:0.58 [[ 9.98790083e-01 -4.67698202e-02 -1.51971673e-02 8.62295078e+01] [ 4.67712611e-02 9.98905592e-01 -2.60786723e-04 3.85530074e+00] [ 1.51927323e-02 -4.50319485e-04 9.99884482e-01 5.76892104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.024391418 meters Centerline goodness [0,1] 0.9987849840791018 Centerline is valid? [True, True] Translation: X:86.26, Y:3.85, Z:0.58 [[ 9.98760297e-01 -4.74109313e-02 -1.51681573e-02 8.62589325e+01] [ 4.74124402e-02 9.98875364e-01 -2.60312109e-04 3.84996707e+00] [ 1.51634403e-02 -4.59169952e-04 9.99884923e-01 5.75766331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.054391418 meters Centerline goodness [0,1] 0.9990566631029495 Centerline is valid? [True, True] Translation: X:86.29, Y:3.85, Z:0.58 [[ 9.98787643e-01 -4.69724366e-02 -1.47253272e-02 8.62898921e+01] [ 4.69738106e-02 9.98896089e-01 -2.52740837e-04 3.84591983e+00] [ 1.47209436e-02 -4.39270305e-04 9.99891545e-01 5.75982744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.084391418 meters Centerline goodness [0,1] 0.9989521773754139 Centerline is valid? [True, True] Translation: X:86.32, Y:3.85, Z:0.58 [[ 9.98846653e-01 -4.53822354e-02 -1.56785319e-02 8.63200314e+01] [ 4.53835974e-02 9.98969597e-01 -2.69101341e-04 3.84737359e+00] [ 1.56745891e-02 -4.42757206e-04 9.99877048e-01 5.75781339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.114391418 meters Centerline goodness [0,1] 0.9992034210967634 Centerline is valid? [True, True] Translation: X:86.35, Y:3.85, Z:0.58 [[ 9.98945989e-01 -4.28967679e-02 -1.63333319e-02 8.63501352e+01] [ 4.28979140e-02 9.99079421e-01 -2.80340119e-04 3.85002477e+00] [ 1.63303214e-02 -4.20621229e-04 9.99866563e-01 5.76039117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.144391418 meters Centerline goodness [0,1] 0.9990151499277078 Centerline is valid? [True, True] Translation: X:86.38, Y:3.86, Z:0.58 [[ 9.99196327e-01 -3.64547481e-02 -1.66658711e-02 8.63791592e+01] [ 3.64550403e-02 9.99335253e-01 -2.86368571e-04 3.85833100e+00] [ 1.66652320e-02 -3.21416577e-04 9.99861074e-01 5.77566206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.174391418 meters Centerline goodness [0,1] 0.9992461206625761 Centerline is valid? [True, True] Translation: X:86.41, Y:3.86, Z:0.58 [[ 9.99325565e-01 -3.32766934e-02 -1.55266550e-02 8.64075731e+01] [ 3.32765523e-02 9.99446146e-01 -2.67510361e-04 3.86160464e+00] [ 1.55269573e-02 -2.49343603e-04 9.99879418e-01 5.78833346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.204391418 meters Centerline goodness [0,1] 0.9992880028479886 Centerline is valid? [True, True] Translation: X:86.44, Y:3.86, Z:0.58 [[ 9.99421895e-01 -3.04347674e-02 -1.51525873e-02 8.64370351e+01] [ 3.04342952e-02 9.99536735e-01 -2.61807931e-04 3.86462336e+00] [ 1.51535357e-02 -1.99501736e-04 9.99885159e-01 5.80295104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23439141799999 meters Centerline goodness [0,1] 0.999330165574697 Centerline is valid? [True, True] Translation: X:86.47, Y:3.86, Z:0.58 [[ 9.99503691e-01 -2.81721161e-02 -1.40961991e-02 8.64655434e+01] [ 2.81714724e-02 9.99603075e-01 -2.44268243e-04 3.86334041e+00] [ 1.40974855e-02 -1.52963672e-04 9.99900614e-01 5.79937611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26439141799999 meters Centerline goodness [0,1] 0.9993926319978218 Centerline is valid? [True, True] Translation: X:86.49, Y:3.86, Z:0.58 [[ 9.99547396e-01 -2.63531699e-02 -1.45090728e-02 8.64945435e+01] [ 2.63522635e-02 9.99652687e-01 -2.53688521e-04 3.86074945e+00] [ 1.45107191e-02 -1.28773210e-04 9.99894706e-01 5.78481136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29439141799999 meters Centerline goodness [0,1] 0.9993937366726596 Centerline is valid? [True, True] Translation: X:86.52, Y:3.86, Z:0.58 [[ 9.99523541e-01 -2.66699964e-02 -1.55371426e-02 8.65226680e+01] [ 2.66689454e-02 9.99644283e-01 -2.74872658e-04 3.86054097e+00] [ 1.55389466e-02 -1.39617515e-04 9.99879254e-01 5.76714262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32439141799999 meters Centerline goodness [0,1] 0.9993083356039488 Centerline is valid? [True, True] Translation: X:86.55, Y:3.86, Z:0.58 [[ 9.99482922e-01 -2.74547245e-02 -1.67370108e-02 8.65517746e+01] [ 2.74535579e-02 9.99623035e-01 -2.99506581e-04 3.86235431e+00] [ 1.67389244e-02 -1.60138782e-04 9.99859882e-01 5.76434121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35439141799999 meters Centerline goodness [0,1] 0.9993087412807139 Centerline is valid? [True, True] Translation: X:86.58, Y:3.86, Z:0.58 [[ 9.99374707e-01 -3.07900098e-02 -1.73830576e-02 8.65800902e+01] [ 3.07891643e-02 9.99525851e-01 -3.16330397e-04 3.86473907e+00] [ 1.73845552e-02 -2.19077217e-04 9.99848853e-01 5.78665840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38439141799999 meters Centerline goodness [0,1] 0.9991413252911117 Centerline is valid? [True, True] Translation: X:86.61, Y:3.86, Z:0.58 [[ 9.99289138e-01 -3.34011850e-02 -1.74808209e-02 8.66073956e+01] [ 3.34006665e-02 9.99441990e-01 -3.21699479e-04 3.86229875e+00] [ 1.74818115e-02 -2.62400272e-04 9.99847147e-01 5.79201086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.414391418 meters Centerline goodness [0,1] 0.9993294778308608 Centerline is valid? [True, True] Translation: X:86.64, Y:3.86, Z:0.58 [[ 9.99192207e-01 -3.66731337e-02 -1.64321350e-02 8.66359064e+01] [ 3.66730673e-02 9.99327270e-01 -3.05470565e-04 3.85805409e+00] [ 1.64322831e-02 -2.97392983e-04 9.99864937e-01 5.79832710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.444391418 meters Centerline goodness [0,1] 0.9992671384898865 Centerline is valid? [True, True] Translation: X:86.67, Y:3.85, Z:0.58 [[ 9.98933511e-01 -4.29183356e-02 -1.70251960e-02 8.66652992e+01] [ 4.29191219e-02 9.99078499e-01 -3.19359720e-04 3.84818064e+00] [ 1.70232137e-02 -4.11687337e-04 9.99855010e-01 5.79319646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.474391418 meters Centerline goodness [0,1] 0.9990766777185546 Centerline is valid? [True, True] Translation: X:86.69, Y:3.84, Z:0.58 [[ 9.98793572e-01 -4.57395139e-02 -1.78688804e-02 8.66941991e+01] [ 4.57407756e-02 9.98953286e-01 -3.38298612e-04 3.84278952e+00] [ 1.78656504e-02 -4.79445969e-04 9.99840282e-01 5.77477828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.504391418 meters Centerline goodness [0,1] 0.999014179041866 Centerline is valid? [True, True] Translation: X:86.72, Y:3.84, Z:0.58 [[ 9.98625709e-01 -4.81637666e-02 -2.06626534e-02 8.67231509e+01] [ 4.81659009e-02 9.98839271e-01 -3.94655940e-04 3.84424974e+00] [ 2.06576778e-02 -6.01121749e-04 9.99786427e-01 5.76134175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.534391418 meters Centerline goodness [0,1] 0.9993077552390343 Centerline is valid? [True, True] Translation: X:86.75, Y:3.85, Z:0.58 [[ 9.98397172e-01 -5.33020855e-02 -1.90256363e-02 8.67518931e+01] [ 5.33048056e-02 9.98578222e-01 -3.64489283e-04 3.84530036e+00] [ 1.90180141e-02 -6.50252776e-04 9.99818930e-01 5.79935722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.564391418 meters Centerline goodness [0,1] 0.9989930774071744 Centerline is valid? [True, True] Translation: X:86.78, Y:3.84, Z:0.58 [[ 9.98237020e-01 -5.65477403e-02 -1.80334646e-02 8.67816829e+01] [ 5.65506978e-02 9.98399669e-01 -3.46307152e-04 3.84411513e+00] [ 1.80241880e-02 -6.74108388e-04 9.99837324e-01 5.81127028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.594391418 meters Centerline goodness [0,1] 0.9989322725845284 Centerline is valid? [True, True] Translation: X:86.81, Y:3.84, Z:0.58 [[ 9.98069377e-01 -5.96775473e-02 -1.72078134e-02 8.68116536e+01] [ 5.96806962e-02 9.98217464e-01 -3.30931375e-04 3.84232119e+00] [ 1.71968890e-02 -6.96681811e-04 9.99851880e-01 5.81976235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62439141799999 meters Centerline goodness [0,1] 0.9990553363002771 Centerline is valid? [True, True] Translation: X:86.84, Y:3.83, Z:0.58 [[ 9.97602154e-01 -6.75804176e-02 -1.49274580e-02 8.68415306e+01] [ 6.75836655e-02 9.97713569e-01 -2.87350593e-04 3.82961859e+00] [ 1.49127467e-02 -7.22190759e-04 9.99888538e-01 5.83442864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65439141799999 meters Centerline goodness [0,1] 0.998948851094246 Centerline is valid? [True, True] Translation: X:86.87, Y:3.83, Z:0.58 [[ 9.97319158e-01 -7.18099097e-02 -1.40653161e-02 8.68717952e+01] [ 7.18132085e-02 9.97418062e-01 -2.71037564e-04 3.82535670e+00] [ 1.40484635e-02 -7.39764524e-04 9.99901042e-01 5.84896129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68439141799999 meters Centerline goodness [0,1] 0.9987394693165823 Centerline is valid? [True, True] Translation: X:86.90, Y:3.82, Z:0.59 [[ 9.97002705e-01 -7.59433886e-02 -1.47718351e-02 8.69024408e+01] [ 7.59474774e-02 9.97111779e-01 -2.84789776e-04 3.82259680e+00] [ 1.47507987e-02 -8.37947436e-04 9.99890850e-01 5.85561110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71439141799999 meters Centerline goodness [0,1] 0.9988886092937427 Centerline is valid? [True, True] Translation: X:86.93, Y:3.82, Z:0.59 [[ 9.96656801e-01 -8.00121894e-02 -1.65309263e-02 8.69327313e+01] [ 8.00178687e-02 9.96793378e-01 -3.18649029e-04 3.82244579e+00] [ 1.65034136e-02 -1.00518576e-03 9.99863304e-01 5.85217924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74439141799999 meters Centerline goodness [0,1] 0.9981288369354975 Centerline is valid? [True, True] Translation: X:86.96, Y:3.82, Z:0.58 [[ 9.95967016e-01 -8.71324064e-02 -2.13926881e-02 8.69627267e+01] [ 8.71435459e-02 9.96195680e-01 -4.12733211e-04 3.82275121e+00] [ 2.13472659e-02 -1.45316603e-03 9.99771065e-01 5.81200514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.774391418 meters Centerline goodness [0,1] 0.9929792108969373 Centerline is valid? [True, True] Translation: X:86.99, Y:3.82, Z:0.58 [[ 9.95730077e-01 -8.95217281e-02 -2.25271786e-02 8.69918376e+01] [ 8.95346722e-02 9.95983611e-01 -4.35381935e-04 3.81958527e+00] [ 2.24756768e-02 -1.58344067e-03 9.99746136e-01 5.78860346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.804391418 meters Centerline goodness [0,1] 0.9807660003359651 Centerline is valid? [True, True] Translation: X:87.02, Y:3.82, Z:0.58 [[ 9.95572948e-01 -9.10863317e-02 -2.31901826e-02 8.70204632e+01] [ 9.11004447e-02 9.95841607e-01 -4.49357153e-04 3.81702488e+00] [ 2.31346790e-02 -1.66526812e-03 9.99730971e-01 5.76951093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.834391418 meters Centerline goodness [0,1] 0.9602117558085794 Centerline is valid? [True, True] Translation: X:87.05, Y:3.82, Z:0.58 [[ 9.95503137e-01 -9.15551331e-02 -2.43138164e-02 8.70489280e+01] [ 9.15706743e-02 9.95798466e-01 -4.75759949e-04 3.81600827e+00] [ 2.42552193e-02 -1.75281204e-03 9.99704262e-01 5.75072178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.864391418 meters Centerline goodness [0,1] 0.9985909568874869 Centerline is valid? [True, True] Translation: X:87.08, Y:3.84, Z:0.58 [[ 9.95759344e-01 -8.92439873e-02 -2.23347146e-02 8.70788599e+01] [ 8.92564702e-02 9.96008579e-01 -4.39351728e-04 3.83591131e+00] [ 2.22847768e-02 -1.55602920e-03 9.99750453e-01 5.81732192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.894391418 meters Centerline goodness [0,1] 0.9986154814348647 Centerline is valid? [True, True] Translation: X:87.11, Y:3.84, Z:0.58 [[ 9.95979377e-01 -8.73711445e-02 -1.97829205e-02 8.71077804e+01] [ 8.73805569e-02 9.96174928e-01 -3.89781318e-04 3.83638511e+00] [ 1.97413050e-02 -1.34042845e-03 9.99804223e-01 5.84766226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.924391418 meters Centerline goodness [0,1] 0.9977215719063545 Centerline is valid? [True, True] Translation: X:87.14, Y:3.84, Z:0.59 [[ 9.96426627e-01 -8.22166212e-02 -1.93495254e-02 8.71369066e+01] [ 8.22246460e-02 9.96613748e-01 -3.81829891e-04 3.84360867e+00] [ 1.93153958e-02 -1.21054241e-03 9.99812707e-01 5.86888120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.954391418 meters Centerline goodness [0,1] 0.9982849852550562 Centerline is valid? [True, True] Translation: X:87.17, Y:3.86, Z:0.59 [[ 9.96597832e-01 -7.99408849e-02 -2.00553306e-02 8.71667358e+01] [ 7.99490431e-02 9.96798873e-01 -3.95954698e-04 3.86178685e+00] [ 2.00227839e-02 -1.20879689e-03 9.99798793e-01 5.88310194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98439141799999 meters Centerline goodness [0,1] 0.9988261680675792 Centerline is valid? [True, True] Translation: X:87.20, Y:3.86, Z:0.59 [[ 9.96775337e-01 -7.75391381e-02 -2.06545160e-02 8.71959763e+01] [ 7.75472864e-02 9.96988592e-01 -4.07350766e-04 3.86373667e+00] [ 2.06239024e-02 -1.19566447e-03 9.99786590e-01 5.86309733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01439141799999 meters Centerline goodness [0,1] 0.9984083436302331 Centerline is valid? [True, True] Translation: X:87.23, Y:3.87, Z:0.58 [[ 9.96876975e-01 -7.59106094e-02 -2.17687077e-02 8.72274770e+01] [ 7.59192925e-02 9.97113874e-01 -4.28464822e-04 3.86662065e+00] [ 2.17384055e-02 -1.22553817e-03 9.99762942e-01 5.84353981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04439141799999 meters Centerline goodness [0,1] 0.9985950638512026 Centerline is valid? [True, True] Translation: X:87.26, Y:3.87, Z:0.58 [[ 9.96939211e-01 -7.48675767e-02 -2.25178989e-02 8.72569711e+01] [ 7.48766045e-02 9.97192708e-01 -4.43137490e-04 3.86676468e+00] [ 2.24878612e-02 -1.24428267e-03 9.99746342e-01 5.82502137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07439141799999 meters Centerline goodness [0,1] 0.9987621685129238 Centerline is valid? [True, True] Translation: X:87.29, Y:3.87, Z:0.58 [[ 9.97033205e-01 -7.35090159e-02 -2.28300871e-02 8.72860187e+01] [ 7.35179303e-02 9.97293794e-01 -4.49741293e-04 3.87151795e+00] [ 2.28013643e-02 -1.23001375e-03 9.99739258e-01 5.83001001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10439141799999 meters Centerline goodness [0,1] 0.9986363731722155 Centerline is valid? [True, True] Translation: X:87.32, Y:3.88, Z:0.59 [[ 9.97131245e-01 -7.22026537e-02 -2.27168742e-02 8.73160452e+01] [ 7.22111380e-02 9.97389268e-01 -4.47679220e-04 3.88075019e+00] [ 2.26898901e-02 -1.19401640e-03 9.99741838e-01 5.85622550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13439141799999 meters Centerline goodness [0,1] 0.9986574365428991 Centerline is valid? [True, True] Translation: X:87.35, Y:3.88, Z:0.59 [[ 9.97312337e-01 -6.98582284e-02 -2.20891354e-02 8.73462256e+01] [ 6.98656827e-02 9.97556313e-01 -4.35029990e-04 3.88471140e+00] [ 2.20655468e-02 -1.10941175e-03 9.99755911e-01 5.87061252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.164391418 meters Centerline goodness [0,1] 0.9988027222315577 Centerline is valid? [True, True] Translation: X:87.38, Y:3.90, Z:0.59 [[ 9.97768330e-01 -6.29730695e-02 -2.21980432e-02 8.73765375e+01] [ 6.29789013e-02 9.98014763e-01 -4.36969289e-04 3.90347581e+00] [ 2.21814922e-02 -9.62014257e-04 9.99753498e-01 5.89672830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.194391418 meters Centerline goodness [0,1] 0.9988854072469558 Centerline is valid? [True, True] Translation: X:87.41, Y:3.91, Z:0.59 [[ 9.97996902e-01 -5.92894926e-02 -2.20667106e-02 8.74063469e+01] [ 5.92943570e-02 9.98240447e-01 -4.34364603e-04 3.90895419e+00] [ 2.20536363e-02 -8.74936887e-04 9.99756406e-01 5.89223091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.224391418 meters Centerline goodness [0,1] 0.9986535103406198 Centerline is valid? [True, True] Translation: X:87.44, Y:3.91, Z:0.59 [[ 9.98201575e-01 -5.59045662e-02 -2.16401463e-02 8.74367723e+01] [ 5.59084499e-02 9.98435809e-01 -4.25968045e-04 3.91374565e+00] [ 2.16301105e-02 -7.84665062e-04 9.99765734e-01 5.88807514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.254391418 meters Centerline goodness [0,1] 0.9989251164457184 Centerline is valid? [True, True] Translation: X:87.47, Y:3.92, Z:0.59 [[ 9.98516607e-01 -5.05773391e-02 -2.01623050e-02 8.74665024e+01] [ 5.05796252e-02 9.98719953e-01 -3.96877984e-04 3.92214929e+00] [ 2.01565693e-02 -6.23512573e-04 9.99796641e-01 5.89543534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.284391418 meters Centerline goodness [0,1] 0.9988392706398784 Centerline is valid? [True, True] Translation: X:87.50, Y:3.93, Z:0.59 [[ 9.98609267e-01 -4.88637998e-02 -1.97954751e-02 8.74974144e+01] [ 4.88656757e-02 9.98805283e-01 -3.89219247e-04 3.92746218e+00] [ 1.97908438e-02 -5.78641319e-04 9.99803975e-01 5.90918655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.314391418 meters Centerline goodness [0,1] 0.9990075594408547 Centerline is valid? [True, True] Translation: X:87.53, Y:3.93, Z:0.59 [[ 9.98693307e-01 -4.71597252e-02 -1.96885611e-02 8.75285030e+01] [ 4.71612649e-02 9.98887214e-01 -3.86358266e-04 3.93282662e+00] [ 1.96848725e-02 -5.42684032e-04 9.99806087e-01 5.91944985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.344391418 meters Centerline goodness [0,1] 0.998800530291871 Centerline is valid? [True, True] Translation: X:87.56, Y:3.94, Z:0.59 [[ 9.98780609e-01 -4.50683390e-02 -2.01529355e-02 8.75590399e+01] [ 4.50695381e-02 9.98983774e-01 -3.94912642e-04 3.93748919e+00] [ 2.01502536e-02 -5.13852404e-04 9.99796831e-01 5.90935610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37439141799999 meters Centerline goodness [0,1] 0.998901006002198 Centerline is valid? [True, True] Translation: X:87.59, Y:3.94, Z:0.59 [[ 9.98818170e-01 -4.41737725e-02 -2.02716608e-02 8.75895047e+01] [ 4.41748050e-02 9.99023738e-01 -3.97076144e-04 3.94122421e+00] [ 2.02694107e-02 -4.98889796e-04 9.99794430e-01 5.91622039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40439141799999 meters Centerline goodness [0,1] 0.998792475213965 Centerline is valid? [True, True] Translation: X:87.62, Y:3.94, Z:0.59 [[ 9.98874977e-01 -4.30356788e-02 -1.99175862e-02 8.76200073e+01] [ 4.30364494e-02 9.99073427e-01 -3.90140621e-04 3.94383994e+00] [ 1.99159211e-02 -4.67480489e-04 9.99801549e-01 5.92454577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43439141799999 meters Centerline goodness [0,1] 0.9990044060328758 Centerline is valid? [True, True] Translation: X:87.65, Y:3.95, Z:0.60 [[ 9.99010659e-01 -4.02703074e-02 -1.88680830e-02 8.76502141e+01] [ 4.02705219e-02 9.99188745e-01 -3.68729742e-04 3.94966405e+00] [ 1.88676251e-02 -3.91462610e-04 9.99821914e-01 5.95037571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46439141799999 meters Centerline goodness [0,1] 0.9991940615058325 Centerline is valid? [True, True] Translation: X:87.68, Y:3.95, Z:0.60 [[ 9.99042369e-01 -3.93867917e-02 -1.90532314e-02 8.76811736e+01] [ 3.93868715e-02 9.99223967e-01 -3.71214774e-04 3.95452487e+00] [ 1.90530665e-02 -3.79587892e-04 9.99818402e-01 5.96356163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49439141799999 meters Centerline goodness [0,1] 0.998663328524145 Centerline is valid? [True, True] Translation: X:87.71, Y:3.95, Z:0.59 [[ 9.99049472e-01 -3.86169953e-02 -2.02207612e-02 8.77113779e+01] [ 3.86169399e-02 9.99254010e-01 -3.93357631e-04 3.95498194e+00] [ 2.02208670e-02 -3.87880187e-04 9.99795462e-01 5.94414766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.524391418 meters Centerline goodness [0,1] 0.99891868970635 Centerline is valid? [True, True] Translation: X:87.74, Y:3.95, Z:0.59 [[ 9.98990860e-01 -4.01511767e-02 -2.01281981e-02 8.77406448e+01] [ 4.01514319e-02 9.99193529e-01 -3.91611339e-04 3.95159899e+00] [ 2.01276889e-02 -4.16959827e-04 9.99797331e-01 5.91722857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.554391418 meters Centerline goodness [0,1] 0.9991742361684558 Centerline is valid? [True, True] Translation: X:87.77, Y:3.95, Z:0.59 [[ 9.98946429e-01 -4.15548360e-02 -1.94737655e-02 8.77711362e+01] [ 4.15553383e-02 9.99136132e-01 -3.79036768e-04 3.95086420e+00] [ 1.94726935e-02 -4.30601487e-04 9.99810296e-01 5.91987160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.584391418 meters Centerline goodness [0,1] 0.9990059221658206 Centerline is valid? [True, True] Translation: X:87.80, Y:3.95, Z:0.59 [[ 9.98884606e-01 -4.31569671e-02 -1.91577511e-02 8.78010560e+01] [ 4.31577477e-02 9.99068201e-01 -3.72885873e-04 3.94762384e+00] [ 1.91559925e-02 -4.54335429e-04 9.99816404e-01 5.91753293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.614391418 meters Centerline goodness [0,1] 0.9990692558277278 Centerline is valid? [True, True] Translation: X:87.83, Y:3.95, Z:0.59 [[ 9.98816480e-01 -4.47644164e-02 -1.90207013e-02 8.78316971e+01] [ 4.47654771e-02 9.98997455e-01 -3.70218340e-04 3.94753889e+00] [ 1.90182048e-02 -4.81690589e-04 9.99819022e-01 5.93151777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.644391418 meters Centerline goodness [0,1] 0.9990692558277278 Centerline is valid? [True, True] Translation: X:87.86, Y:3.95, Z:0.59 [[ 9.98818261e-01 -4.47246571e-02 -1.90207095e-02 8.78625483e+01] [ 4.47257186e-02 9.98999236e-01 -3.69798293e-04 3.94810059e+00] [ 1.90182133e-02 -4.81353610e-04 9.99819022e-01 5.93413120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.674391418 meters Centerline goodness [0,1] 0.9990892724769671 Centerline is valid? [True, True] Translation: X:87.89, Y:3.95, Z:0.60 [[ 9.98678425e-01 -4.77285384e-02 -1.90627927e-02 8.78934080e+01] [ 4.77301618e-02 9.98860198e-01 -3.70068951e-04 3.95200506e+00] [ 1.90587277e-02 -5.40290303e-04 9.99818220e-01 5.97009956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.704391418 meters Centerline goodness [0,1] 0.9988358063628474 Centerline is valid? [True, True] Translation: X:87.92, Y:3.95, Z:0.60 [[ 9.98642729e-01 -4.85648966e-02 -1.88188734e-02 8.79233379e+01] [ 4.85666340e-02 9.98819878e-01 -3.64964871e-04 3.95292671e+00] [ 1.88143893e-02 -5.49499821e-04 9.99822843e-01 5.98126638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73439141799999 meters Centerline goodness [0,1] 0.9989199949176232 Centerline is valid? [True, True] Translation: X:87.95, Y:3.95, Z:0.60 [[ 9.98618936e-01 -4.92288640e-02 -1.83504765e-02 8.79535003e+01] [ 4.92306343e-02 9.98787374e-01 -3.55526941e-04 3.95056836e+00] [ 1.83457264e-02 -5.48369663e-04 9.99831553e-01 5.97951345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76439141799999 meters Centerline goodness [0,1] 0.9987730580470469 Centerline is valid? [True, True] Translation: X:87.99, Y:3.95, Z:0.60 [[ 9.98537252e-01 -5.05102517e-02 -1.92891177e-02 8.79852342e+01] [ 5.05124745e-02 9.98723361e-01 -3.72269039e-04 3.94838860e+00] [ 1.92832958e-02 -6.02616563e-04 9.99813878e-01 5.95577279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79439141799999 meters Centerline goodness [0,1] 0.9990703374252572 Centerline is valid? [True, True] Translation: X:88.02, Y:3.95, Z:0.59 [[ 9.98496721e-01 -5.10684022e-02 -1.99077166e-02 8.80167647e+01] [ 5.10709104e-02 9.98694956e-01 -3.82723936e-04 3.94607867e+00] [ 1.99012812e-02 -6.34556614e-04 9.99801749e-01 5.93419111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82439141799999 meters Centerline goodness [0,1] 0.99868810833686 Centerline is valid? [True, True] Translation: X:88.05, Y:3.94, Z:0.59 [[ 9.98463809e-01 -5.14920713e-02 -2.04594599e-02 8.80471729e+01] [ 5.14948214e-02 9.98673184e-01 -3.92745234e-04 3.94445205e+00] [ 2.04525372e-02 -6.61414330e-04 9.99790606e-01 5.92018945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85439141799999 meters Centerline goodness [0,1] 0.9991975504170626 Centerline is valid? [True, True] Translation: X:88.08, Y:3.95, Z:0.59 [[ 9.98471953e-01 -5.18417967e-02 -1.91360040e-02 8.80783860e+01] [ 5.18442775e-02 9.98655114e-01 -3.66761803e-04 3.94521171e+00] [ 1.91292818e-02 -6.25890925e-04 9.99816823e-01 5.93858620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88439141799999 meters Centerline goodness [0,1] 0.9989004947773502 Centerline is valid? [True, True] Translation: X:88.11, Y:3.95, Z:0.60 [[ 9.98504157e-01 -5.15009146e-02 -1.83603902e-02 8.81097044e+01] [ 5.15031712e-02 9.98672770e-01 -3.50234883e-04 3.94633147e+00] [ 1.83540591e-02 -5.95907332e-04 9.99831372e-01 5.95786860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.914391418 meters Centerline goodness [0,1] 0.9989438553504288 Centerline is valid? [True, True] Translation: X:88.14, Y:3.95, Z:0.60 [[ 9.98550614e-01 -5.07917211e-02 -1.78009185e-02 8.81405986e+01] [ 5.07937559e-02 9.98709107e-01 -3.38088534e-04 3.94790260e+00] [ 1.77951115e-02 -5.66576997e-04 9.99841494e-01 5.97751226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.944391418 meters Centerline goodness [0,1] 0.9989855440020289 Centerline is valid? [True, True] Translation: X:88.17, Y:3.95, Z:0.60 [[ 9.98607030e-01 -4.95930764e-02 -1.80146246e-02 8.81729428e+01] [ 4.95949848e-02 9.98769353e-01 -3.41079032e-04 3.94878965e+00] [ 1.80093701e-02 -5.52831113e-04 9.99837665e-01 5.98306713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.974391418 meters Centerline goodness [0,1] 0.9989447914907986 Centerline is valid? [True, True] Translation: X:88.20, Y:3.95, Z:0.60 [[ 9.98713968e-01 -4.67042003e-02 -1.97263267e-02 8.82039638e+01] [ 4.67059487e-02 9.98908612e-01 -3.72322197e-04 3.95040772e+00] [ 1.97221866e-02 -5.49493422e-04 9.99805348e-01 5.96072427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.004391418 meters Centerline goodness [0,1] 0.9989434313124697 Centerline is valid? [True, True] Translation: X:88.23, Y:3.95, Z:0.59 [[ 9.98732339e-01 -4.63794695e-02 -1.95616894e-02 8.82346320e+01] [ 4.63811375e-02 9.98923748e-01 -3.68659737e-04 3.94823418e+00] [ 1.95577344e-02 -5.39101005e-04 9.99808584e-01 5.94741538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.034391418 meters Centerline goodness [0,1] 0.9991125760649088 Centerline is valid? [True, True] Translation: X:88.27, Y:3.95, Z:0.59 [[ 9.98794660e-01 -4.50869121e-02 -1.94009464e-02 8.82655625e+01] [ 4.50883209e-02 9.98982938e-01 -3.65017989e-04 3.95042710e+00] [ 1.93976720e-02 -5.10178078e-04 9.99811717e-01 5.93811196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.064391418 meters Centerline goodness [0,1] 0.9991558331926389 Centerline is valid? [True, True] Translation: X:88.30, Y:3.95, Z:0.59 [[ 9.98850736e-01 -4.41435524e-02 -1.86696224e-02 8.82961940e+01] [ 4.41447023e-02 9.99025086e-01 -3.50719454e-04 3.94843742e+00] [ 1.86669031e-02 -4.73848538e-04 9.99825646e-01 5.93531106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.094391418 meters Centerline goodness [0,1] 0.999155351901514 Centerline is valid? [True, True] Translation: X:88.33, Y:3.95, Z:0.60 [[ 9.99027863e-01 -4.09980483e-02 -1.62015306e-02 8.83266636e+01] [ 4.09985031e-02 9.99159162e-01 -3.04206202e-04 3.95487576e+00] [ 1.62003796e-02 -3.60328033e-04 9.99868700e-01 5.98205778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12439141799999 meters Centerline goodness [0,1] 0.999155351901514 Centerline is valid? [True, True] Translation: X:88.36, Y:3.96, Z:0.60 [[ 9.99029528e-01 -4.09574371e-02 -1.62015365e-02 8.83575122e+01] [ 4.09578917e-02 9.99160827e-01 -3.03891833e-04 3.95541712e+00] [ 1.62003873e-02 -3.59983864e-04 9.99868700e-01 5.98467097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15439141799999 meters Centerline goodness [0,1] 0.9990075594408547 Centerline is valid? [True, True] Translation: X:88.39, Y:3.96, Z:0.60 [[ 9.99202027e-01 -3.65746645e-02 -1.60500310e-02 8.83893612e+01] [ 3.65745583e-02 9.99330882e-01 -3.00245297e-04 3.95892808e+00] [ 1.60502730e-02 -2.87017086e-04 9.99871145e-01 6.00234072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18439141799999 meters Centerline goodness [0,1] 0.9989232328350646 Centerline is valid? [True, True] Translation: X:88.42, Y:3.96, Z:0.60 [[ 9.99264669e-01 -3.43690455e-02 -1.69967422e-02 8.84203472e+01] [ 3.43686197e-02 9.99409174e-01 -3.17234166e-04 3.96068647e+00] [ 1.69976031e-02 -2.67153674e-04 9.99855495e-01 5.99416894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21439141799999 meters Centerline goodness [0,1] 0.9993238389046191 Centerline is valid? [True, True] Translation: X:88.45, Y:3.96, Z:0.60 [[ 9.99310596e-01 -3.23059188e-02 -1.82937227e-02 8.84511124e+01] [ 3.23050833e-02 9.99477996e-01 -3.41256929e-04 3.96248558e+00] [ 1.82951979e-02 -2.49958570e-04 9.99832598e-01 5.98403214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24439141799999 meters Centerline goodness [0,1] 0.9994086089637985 Centerline is valid? [True, True] Translation: X:88.48, Y:3.96, Z:0.60 [[ 9.99385522e-01 -2.96414873e-02 -1.87072554e-02 8.84805846e+01] [ 2.96401431e-02 9.99560573e-01 -3.49180268e-04 3.96280748e+00] [ 1.87093852e-02 -2.05520022e-04 9.99824943e-01 5.96037341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.274391418 meters Centerline goodness [0,1] 0.9992614319778852 Centerline is valid? [True, True] Translation: X:88.51, Y:3.96, Z:0.60 [[ 9.99423800e-01 -2.89010561e-02 -1.77988124e-02 8.85098481e+01] [ 2.88997122e-02 9.99582261e-01 -3.32763972e-04 3.96278588e+00] [ 1.78009944e-02 -1.81808323e-04 9.99841533e-01 5.96458485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.304391418 meters Centerline goodness [0,1] 0.9993884823819665 Centerline is valid? [True, True] Translation: X:88.54, Y:3.96, Z:0.60 [[ 9.99457196e-01 -2.84944930e-02 -1.65341525e-02 8.85394938e+01] [ 2.84932671e-02 9.99593936e-01 -3.09758555e-04 3.96241542e+00] [ 1.65362649e-02 -1.61521606e-04 9.99863254e-01 5.97494200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.334391418 meters Centerline goodness [0,1] 0.9991992076370303 Centerline is valid? [True, True] Translation: X:88.57, Y:3.96, Z:0.60 [[ 9.99499733e-01 -2.82145503e-02 -1.42906852e-02 8.85692228e+01] [ 2.82135983e-02 9.99601881e-01 -2.68258445e-04 3.96273700e+00] [ 1.42925646e-02 -1.35067408e-04 9.99897847e-01 6.01512413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.364391418 meters Centerline goodness [0,1] 0.9989656337076754 Centerline is valid? [True, True] Translation: X:88.60, Y:3.96, Z:0.60 [[ 9.99511332e-01 -2.81060360e-02 -1.36802035e-02 8.85997285e+01] [ 2.81051538e-02 9.99604939e-01 -2.56775844e-04 3.96327659e+00] [ 1.36820159e-02 -1.27833857e-04 9.99906389e-01 6.02447803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.394391418 meters Centerline goodness [0,1] 0.9993040470717254 Centerline is valid? [True, True] Translation: X:88.63, Y:3.96, Z:0.60 [[ 9.99505098e-01 -2.80147154e-02 -1.43085781e-02 8.86307988e+01] [ 2.80137528e-02 9.99607502e-01 -2.67733086e-04 3.96356774e+00] [ 1.43104625e-02 -1.33236386e-04 9.99897591e-01 6.02801299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.424391418 meters Centerline goodness [0,1] 0.9993055847817853 Centerline is valid? [True, True] Translation: X:88.66, Y:3.96, Z:0.60 [[ 9.99419810e-01 -3.01715306e-02 -1.58026036e-02 8.86608814e+01] [ 3.01706344e-02 9.99544719e-01 -2.95165878e-04 3.96121137e+00] [ 1.58043145e-02 -1.81779950e-04 9.99875087e-01 6.00644382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.454391418 meters Centerline goodness [0,1] 0.9990525517938352 Centerline is valid? [True, True] Translation: X:88.69, Y:3.96, Z:0.60 [[ 9.99347590e-01 -3.24484689e-02 -1.58584438e-02 8.86917782e+01] [ 3.24478556e-02 9.99473386e-01 -2.96039818e-04 3.95882013e+00] [ 1.58596986e-02 -2.18725818e-04 9.99874203e-01 6.00079130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48439141799999 meters Centerline goodness [0,1] 0.9991994269582438 Centerline is valid? [True, True] Translation: X:88.72, Y:3.95, Z:0.60 [[ 9.99176142e-01 -3.82016367e-02 -1.36993534e-02 8.87227790e+01] [ 3.82017195e-02 9.99270015e-01 -2.55734681e-04 3.95255076e+00] [ 1.36991225e-02 -2.67814863e-04 9.99906127e-01 6.01461001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51439141799999 meters Centerline goodness [0,1] 0.9992643040316139 Centerline is valid? [True, True] Translation: X:88.75, Y:3.95, Z:0.60 [[ 9.99086387e-01 -4.08919149e-02 -1.24194485e-02 8.87540546e+01] [ 4.08921926e-02 9.99163538e-01 -2.31680862e-04 3.94960997e+00] [ 1.24185340e-02 -2.76389287e-04 9.99922849e-01 6.02747364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54439141799999 meters Centerline goodness [0,1] 0.9989467253691727 Centerline is valid? [True, True] Translation: X:88.79, Y:3.95, Z:0.60 [[ 9.99036245e-01 -4.25191499e-02 -1.08950513e-02 8.87865699e+01] [ 4.25194658e-02 9.99095618e-01 -2.02742494e-04 3.94801620e+00] [ 1.08938184e-02 -2.60704660e-04 9.99940627e-01 6.03636472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57439141799999 meters Centerline goodness [0,1] 0.998989920245786 Centerline is valid? [True, True] Translation: X:88.82, Y:3.94, Z:0.61 [[ 9.98898424e-01 -4.59600379e-02 -9.46642290e-03 8.88180783e+01] [ 4.59604374e-02 9.98943245e-01 -1.75450006e-04 3.94483556e+00] [ 9.46448290e-03 -2.59824202e-04 9.99955177e-01 6.07414089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60439141799999 meters Centerline goodness [0,1] 0.998968963703314 Centerline is valid? [True, True] Translation: X:88.85, Y:3.95, Z:0.61 [[ 9.98832723e-01 -4.71934797e-02 -1.02939969e-02 8.88497536e+01] [ 4.71940288e-02 9.98885723e-01 -1.89705383e-04 3.94505305e+00] [ 1.02914794e-02 -2.96331243e-04 9.99946997e-01 6.07896671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63439141799999 meters Centerline goodness [0,1] 0.9988833642339457 Centerline is valid? [True, True] Translation: X:88.88, Y:3.95, Z:0.61 [[ 9.98786313e-01 -4.77200683e-02 -1.21940584e-02 8.88822351e+01] [ 4.77208887e-02 9.98860684e-01 -2.23838648e-04 3.94535170e+00] [ 1.21908471e-02 -3.58344326e-04 9.99925625e-01 6.06436565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.664391418 meters Centerline goodness [0,1] 0.9990105679760852 Centerline is valid? [True, True] Translation: X:88.91, Y:3.95, Z:0.60 [[ 9.98776671e-01 -4.74900334e-02 -1.37788814e-02 8.89142718e+01] [ 4.74910751e-02 9.98871631e-01 -2.51771161e-04 3.94532423e+00] [ 1.37752904e-02 -4.02910730e-04 9.99905035e-01 6.04018695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.694391418 meters Centerline goodness [0,1] 0.9989477893053305 Centerline is valid? [True, True] Translation: X:88.95, Y:3.94, Z:0.60 [[ 9.98841821e-01 -4.61070112e-02 -1.37535618e-02 8.89469855e+01] [ 4.61079344e-02 9.98936432e-01 -2.50127009e-04 3.94458859e+00] [ 1.37504666e-02 -3.84311008e-04 9.99905384e-01 6.01767422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.724391418 meters Centerline goodness [0,1] 0.9989913211591401 Centerline is valid? [True, True] Translation: X:88.98, Y:3.94, Z:0.60 [[ 9.98921931e-01 -4.48298154e-02 -1.20524896e-02 8.89788898e+01] [ 4.48304438e-02 9.98994586e-01 -2.18159788e-04 3.94495006e+00] [ 1.20501520e-02 -3.22393863e-04 9.99927342e-01 6.03349944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.754391418 meters Centerline goodness [0,1] 0.9990762706526988 Centerline is valid? [True, True] Translation: X:89.01, Y:3.95, Z:0.61 [[ 9.99035845e-01 -4.26942254e-02 -1.02266002e-02 8.90108340e+01] [ 4.26945734e-02 9.99088154e-01 -1.84379303e-04 3.94644675e+00] [ 1.02251471e-02 -2.52418802e-04 9.99947690e-01 6.05422883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.784391418 meters Centerline goodness [0,1] 0.998949270793931 Centerline is valid? [True, True] Translation: X:89.04, Y:3.95, Z:0.61 [[ 9.99295165e-01 -3.63499412e-02 -9.37309115e-03 8.90407671e+01] [ 3.63499607e-02 9.99339108e-01 -1.68333452e-04 3.95264339e+00] [ 9.37301546e-03 -1.72496691e-04 9.99956057e-01 6.08905713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.814391418 meters Centerline goodness [0,1] 0.9993901541437974 Centerline is valid? [True, True] Translation: X:89.07, Y:3.96, Z:0.61 [[ 9.99413830e-01 -3.27951947e-02 -9.82195227e-03 8.90726999e+01] [ 3.27950474e-02 9.99462082e-01 -1.76102181e-04 3.95872558e+00] [ 9.82244417e-03 -1.46112435e-04 9.99951748e-01 6.10585454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.844391418 meters Centerline goodness [0,1] 0.999157930192413 Centerline is valid? [True, True] Translation: X:89.10, Y:3.96, Z:0.61 [[ 9.99535740e-01 -2.85489918e-02 -1.06423247e-02 8.91035898e+01] [ 2.85485893e-02 9.99592388e-01 -1.89763143e-04 3.96365401e+00] [ 1.06434043e-02 -1.14148313e-04 9.99943351e-01 6.10562575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87439141799999 meters Centerline goodness [0,1] 0.9992001178773654 Centerline is valid? [True, True] Translation: X:89.14, Y:3.97, Z:0.61 [[ 9.99627151e-01 -2.45224910e-02 -1.20086054e-02 8.91353998e+01] [ 2.45217061e-02 9.99699275e-01 -2.12613781e-04 3.96735795e+00] [ 1.20102080e-02 -8.19369856e-05 9.99927871e-01 6.09458908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90439141799999 meters Centerline goodness [0,1] 0.999368075156928 Centerline is valid? [True, True] Translation: X:89.17, Y:3.97, Z:0.60 [[ 9.99719900e-01 -1.86512288e-02 -1.45688833e-02 8.91664448e+01] [ 1.86494590e-02 9.99826051e-01 -2.57336186e-04 3.96774249e+00] [ 1.45711486e-02 -1.44376850e-05 9.99893835e-01 6.03260996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93439141799999 meters Centerline goodness [0,1] 0.9991796727104455 Centerline is valid? [True, True] Translation: X:89.19, Y:3.97, Z:0.60 [[ 9.99737200e-01 -1.70950640e-02 -1.52738373e-02 8.91942075e+01] [ 1.70929297e-02 9.99853869e-01 -2.70279930e-04 3.96629486e+00] [ 1.52762258e-02 9.13427372e-06 9.99883312e-01 6.00833492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96439141799999 meters Centerline goodness [0,1] 0.9993469972405368 Centerline is valid? [True, True] Translation: X:89.22, Y:3.97, Z:0.60 [[ 9.99789597e-01 -1.51669865e-02 -1.38102968e-02 8.92224086e+01] [ 1.51650242e-02 9.99884974e-01 -2.46799965e-04 3.96637368e+00] [ 1.38124515e-02 3.73145514e-05 9.99904603e-01 6.02543928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99439141799999 meters Centerline goodness [0,1] 0.9995367250673854 Centerline is valid? [True, True] Translation: X:89.25, Y:3.97, Z:0.61 [[ 9.99819509e-01 -1.40112652e-02 -1.28309748e-02 8.92502508e+01] [ 1.40094366e-02 9.99901836e-01 -2.32388414e-04 3.96974476e+00] [ 1.28329713e-02 5.25917422e-05 9.99917653e-01 6.05502638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.024391418 meters Centerline goodness [0,1] 0.9993888947423876 Centerline is valid? [True, True] Translation: X:89.28, Y:3.97, Z:0.61 [[ 9.99831390e-01 -1.30382396e-02 -1.29304062e-02 8.92785209e+01] [ 1.30362697e-02 9.99914996e-01 -2.36624937e-04 3.97384469e+00] [ 1.29323923e-02 6.80207770e-05 9.99916371e-01 6.08446308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.054391418 meters Centerline goodness [0,1] 0.9995575128005225 Centerline is valid? [True, True] Translation: X:89.31, Y:3.98, Z:0.61 [[ 9.99860292e-01 -1.04381457e-02 -1.30553073e-02 8.93067934e+01] [ 1.04358803e-02 9.99945516e-01 -2.41639904e-04 3.97638454e+00] [ 1.30571183e-02 1.05362521e-04 9.99914747e-01 6.10448016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.084391418 meters Centerline goodness [0,1] 0.9993890106185741 Centerline is valid? [True, True] Translation: X:89.34, Y:3.97, Z:0.61 [[ 9.99859310e-01 -9.89048219e-03 -1.35476736e-02 8.93353292e+01] [ 9.88796136e-03 9.99951081e-01 -2.53042189e-04 3.97403012e+00] [ 1.35495136e-02 1.19047715e-04 9.99908194e-01 6.09504953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.114391418 meters Centerline goodness [0,1] 0.9997475172529877 Centerline is valid? [True, True] Translation: X:89.36, Y:3.97, Z:0.61 [[ 9.99859893e-01 -9.41123234e-03 -1.38428282e-02 8.93635617e+01] [ 9.40851310e-03 9.99955705e-01 -2.61549065e-04 3.97163603e+00] [ 1.38446766e-02 1.31271990e-04 9.99904149e-01 6.07532821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.144391418 meters Centerline goodness [0,1] 0.9997055297309804 Centerline is valid? [True, True] Translation: X:89.39, Y:3.97, Z:0.61 [[ 9.99850093e-01 -1.00233661e-02 -1.41181968e-02 8.93917905e+01] [ 1.00205605e-02 9.99949757e-01 -2.69446560e-04 3.96915505e+00] [ 1.41201882e-02 1.27933922e-04 9.99900297e-01 6.06616768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.174391418 meters Centerline goodness [0,1] 0.9992856692648696 Centerline is valid? [True, True] Translation: X:89.42, Y:3.97, Z:0.61 [[ 9.99840248e-01 -1.25448810e-02 -1.27320283e-02 8.94207124e+01] [ 1.25427569e-02 9.99921306e-01 -2.46670609e-04 3.96510685e+00] [ 1.27341209e-02 8.69364663e-05 9.99918914e-01 6.06233694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.204391418 meters Centerline goodness [0,1] 0.9995799290080023 Centerline is valid? [True, True] Translation: X:89.45, Y:3.96, Z:0.61 [[ 9.99820216e-01 -1.54964697e-02 -1.09267638e-02 8.94481418e+01] [ 1.54950564e-02 9.99879922e-01 -2.13999811e-04 3.96320953e+00] [ 1.09287679e-02 4.46505170e-05 9.99940278e-01 6.09399094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23439141799999 meters Centerline goodness [0,1] 0.9993911911659739 Centerline is valid? [True, True] Translation: X:89.48, Y:3.96, Z:0.61 [[ 9.99790284e-01 -1.79334407e-02 -9.88839688e-03 8.94777894e+01] [ 1.79323942e-02 9.99839183e-01 -1.94488956e-04 3.96089906e+00] [ 9.89029451e-03 1.71255372e-05 9.99951090e-01 6.11337116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26439141799999 meters Centerline goodness [0,1] 0.9995180015926904 Centerline is valid? [True, True] Translation: X:89.51, Y:3.95, Z:0.61 [[ 9.99701662e-01 -2.23080889e-02 -9.94662339e-03 8.95075607e+01] [ 2.23072429e-02 9.99751143e-01 -1.96006350e-04 3.95433190e+00] [ 9.94852063e-03 -2.59338699e-05 9.99950512e-01 6.12695425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29439141799999 meters Centerline goodness [0,1] 0.9994971294472614 Centerline is valid? [True, True] Translation: X:89.54, Y:3.95, Z:0.61 [[ 9.99645598e-01 -2.42487054e-02 -1.09853617e-02 8.95379747e+01] [ 2.42477885e-02 9.99705956e-01 -2.16662474e-04 3.95091720e+00] [ 1.09873853e-02 -4.97850386e-05 9.99939636e-01 6.12161092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32439141799999 meters Centerline goodness [0,1] 0.999329505929682 Centerline is valid? [True, True] Translation: X:89.57, Y:3.95, Z:0.61 [[ 9.99579645e-01 -2.63201507e-02 -1.21566166e-02 8.95685804e+01] [ 2.63191811e-02 9.99653562e-01 -2.39762941e-04 3.94714915e+00] [ 1.21587156e-02 -8.02900375e-05 9.99926077e-01 6.11328664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35439141799999 meters Centerline goodness [0,1] 0.9992249523450428 Centerline is valid? [True, True] Translation: X:89.60, Y:3.94, Z:0.61 [[ 9.99437613e-01 -3.08059327e-02 -1.32458163e-02 8.95984468e+01] [ 3.08051740e-02 9.99525374e-01 -2.61349225e-04 3.93849098e+00] [ 1.32475806e-02 -1.46837431e-04 9.99912236e-01 6.09175348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38439141799999 meters Centerline goodness [0,1] 0.99928810720268 Centerline is valid? [True, True] Translation: X:89.63, Y:3.94, Z:0.61 [[ 9.99356717e-01 -3.32079188e-02 -1.35419971e-02 8.96277603e+01] [ 3.32073423e-02 9.99448448e-01 -2.67492568e-04 3.93693295e+00] [ 1.35434109e-02 -1.82373239e-04 9.99908267e-01 6.09577348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.414391418 meters Centerline goodness [0,1] 0.99939254294093 Centerline is valid? [True, True] Translation: X:89.66, Y:3.93, Z:0.61 [[ 9.99285745e-01 -3.54222962e-02 -1.31628635e-02 8.96580967e+01] [ 3.54219423e-02 9.99372412e-01 -2.60088912e-04 3.93438471e+00] [ 1.31638156e-02 -2.06351050e-04 9.99913332e-01 6.09860064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.444391418 meters Centerline goodness [0,1] 0.999207474764328 Centerline is valid? [True, True] Translation: X:89.69, Y:3.93, Z:0.61 [[ 9.99156989e-01 -3.90463020e-02 -1.26766451e-02 8.96884110e+01] [ 3.90462686e-02 9.99237372e-01 -2.50234144e-04 3.92866902e+00] [ 1.26767483e-02 -2.44952496e-04 9.99919617e-01 6.09779861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.474391418 meters Centerline goodness [0,1] 0.9990585183170492 Centerline is valid? [True, True] Translation: X:89.72, Y:3.93, Z:0.61 [[ 9.99106929e-01 -4.02547779e-02 -1.28412630e-02 8.97202402e+01] [ 4.02548478e-02 9.99189413e-01 -2.53135051e-04 3.92681785e+00] [ 1.28410439e-02 -2.64014102e-04 9.99917516e-01 6.09634454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.504391418 meters Centerline goodness [0,1] 0.9991628821965971 Centerline is valid? [True, True] Translation: X:89.75, Y:3.92, Z:0.61 [[ 9.99041410e-01 -4.16253280e-02 -1.35496798e-02 8.97508925e+01] [ 4.16255381e-02 9.99133246e-01 -2.66633231e-04 3.92342843e+00] [ 1.35490342e-02 -2.97635074e-04 9.99908163e-01 6.09344825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.534391418 meters Centerline goodness [0,1] 0.9991628821965971 Centerline is valid? [True, True] Translation: X:89.78, Y:3.92, Z:0.61 [[ 9.99041410e-01 -4.16253265e-02 -1.35496831e-02 8.97808933e+01] [ 4.16255390e-02 9.99133246e-01 -2.66462489e-04 3.92401833e+00] [ 1.35490305e-02 -2.97805803e-04 9.99908163e-01 6.09598936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.564391418 meters Centerline goodness [0,1] 0.9992242861335905 Centerline is valid? [True, True] Translation: X:89.81, Y:3.92, Z:0.61 [[ 9.98971752e-01 -4.30373502e-02 -1.42557269e-02 8.98111646e+01] [ 4.30377291e-02 9.99073408e-01 -2.80347255e-04 3.92220867e+00] [ 1.42545831e-02 -3.33475124e-04 9.99898343e-01 6.09749898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.594391418 meters Centerline goodness [0,1] 0.9994145321484579 Centerline is valid? [True, True] Translation: X:89.84, Y:3.92, Z:0.61 [[ 9.98814110e-01 -4.61336447e-02 -1.55583067e-02 8.98410314e+01] [ 4.61344692e-02 9.98935192e-01 -3.06103849e-04 3.91909101e+00] [ 1.55558618e-02 -4.12033377e-04 9.99878915e-01 6.09850292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62439141799999 meters Centerline goodness [0,1] 0.9992243349196034 Centerline is valid? [True, True] Translation: X:89.87, Y:3.92, Z:0.61 [[ 9.98700941e-01 -4.81500646e-02 -1.66733928e-02 8.98716557e+01] [ 4.81512893e-02 9.98840000e-01 -3.28222680e-04 3.91882437e+00] [ 1.66698557e-02 -4.75049064e-04 9.99860935e-01 6.09614104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65439141799999 meters Centerline goodness [0,1] 0.9993713327745181 Centerline is valid? [True, True] Translation: X:89.90, Y:3.92, Z:0.61 [[ 9.98541232e-01 -5.12738974e-02 -1.69232389e-02 8.99024290e+01] [ 5.12756073e-02 9.98684485e-01 -3.33141004e-04 3.91727723e+00] [ 1.69180576e-02 -5.35094325e-04 9.99856736e-01 6.09561908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68439141799999 meters Centerline goodness [0,1] 0.9992660165670546 Centerline is valid? [True, True] Translation: X:89.93, Y:3.91, Z:0.61 [[ 9.98494871e-01 -5.22372819e-02 -1.67110443e-02 8.99316736e+01] [ 5.22390811e-02 9.98634553e-01 -3.29129578e-04 3.91463581e+00] [ 1.67054191e-02 -5.44335403e-04 9.99860307e-01 6.09314076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71439141799999 meters Centerline goodness [0,1] 0.9991201424531266 Centerline is valid? [True, True] Translation: X:89.96, Y:3.91, Z:0.61 [[ 9.98477376e-01 -5.26371675e-02 -1.65002739e-02 8.99619582e+01] [ 5.26389734e-02 9.98613555e-01 -3.25146452e-04 3.91291072e+00] [ 1.64945120e-02 -5.43906103e-04 9.99863808e-01 6.09304772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74439141799999 meters Centerline goodness [0,1] 0.999119496855346 Centerline is valid? [True, True] Translation: X:89.99, Y:3.91, Z:0.61 [[ 9.98509693e-01 -5.20428598e-02 -1.64296440e-02 8.99925921e+01] [ 5.20445699e-02 9.98644711e-01 -3.23754654e-04 3.91243679e+00] [ 1.64242262e-02 -5.31801597e-04 9.99864972e-01 6.08992678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.774391418 meters Centerline goodness [0,1] 0.9992265077871851 Centerline is valid? [True, True] Translation: X:90.02, Y:3.91, Z:0.61 [[ 9.98671180e-01 -4.86744808e-02 -1.69312797e-02 9.00225964e+01] [ 4.86758132e-02 9.98814574e-01 -3.33639645e-04 3.91471739e+00] [ 1.69274487e-02 -4.90947510e-04 9.99856600e-01 6.09685353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.804391418 meters Centerline goodness [0,1] 0.9994964330675619 Centerline is valid? [True, True] Translation: X:90.05, Y:3.92, Z:0.61 [[ 9.98825432e-01 -4.53614811e-02 -1.70321260e-02 9.00528016e+01] [ 4.53623482e-02 9.98970542e-01 -3.35626874e-04 3.92000469e+00] [ 1.70298167e-02 -4.37384574e-04 9.99854886e-01 6.11349511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.834391418 meters Centerline goodness [0,1] 0.9994138212573535 Centerline is valid? [True, True] Translation: X:90.08, Y:3.93, Z:0.61 [[ 9.99179956e-01 -3.68929493e-02 -1.66831296e-02 9.00814668e+01] [ 3.68925955e-02 9.99319182e-01 -3.29074845e-04 3.93011925e+00] [ 1.66839119e-02 -2.86678962e-04 9.99860773e-01 6.13230913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.864391418 meters Centerline goodness [0,1] 0.9992466728048882 Centerline is valid? [True, True] Translation: X:90.11, Y:3.93, Z:0.61 [[ 9.99339309e-01 -3.24608317e-02 -1.63474615e-02 9.01107080e+01] [ 3.24598750e-02 9.99472987e-01 -3.23922938e-04 3.93262145e+00] [ 1.63493609e-02 -2.06927631e-04 9.99866319e-01 6.12444003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.894391418 meters Centerline goodness [0,1] 0.9993734204975041 Centerline is valid? [True, True] Translation: X:90.14, Y:3.94, Z:0.61 [[ 9.99465754e-01 -2.86259045e-02 -1.57722468e-02 9.01399407e+01] [ 2.86244867e-02 9.99590186e-01 -3.15682785e-04 3.93589283e+00] [ 1.57748198e-02 -1.35958335e-04 9.99875561e-01 6.12454109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.924391418 meters Centerline goodness [0,1] 0.9992077226195192 Centerline is valid? [True, True] Translation: X:90.17, Y:3.94, Z:0.61 [[ 9.99563943e-01 -2.51854899e-02 -1.54147793e-02 9.01688823e+01] [ 2.51836611e-02 9.99682792e-01 -3.12774767e-04 3.93870536e+00] [ 1.54177670e-02 -7.55621974e-05 9.99881136e-01 6.12314037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.954391418 meters Centerline goodness [0,1] 0.999375650364204 Centerline is valid? [True, True] Translation: X:90.20, Y:3.95, Z:0.61 [[ 9.99671490e-01 -2.11571759e-02 -1.44667418e-02 9.01971408e+01] [ 2.11550848e-02 9.99776162e-01 -2.97573391e-04 3.94509632e+00] [ 1.44697994e-02 -8.56951508e-06 9.99895307e-01 6.13841312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98439141799999 meters Centerline goodness [0,1] 0.9994150214143946 Centerline is valid? [True, True] Translation: X:90.23, Y:3.95, Z:0.61 [[ 9.99676876e-01 -2.04625019e-02 -1.50807606e-02 9.02255285e+01] [ 2.04600817e-02 9.99790621e-01 -3.14763414e-04 3.94815774e+00] [ 1.50840439e-02 6.10811201e-06 9.99886229e-01 6.14068995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01439141799999 meters Centerline goodness [0,1] 0.9993332083098915 Centerline is valid? [True, True] Translation: X:90.25, Y:3.95, Z:0.62 [[ 9.99664817e-01 -2.15286801e-02 -1.43795122e-02 9.02531702e+01] [ 2.15265416e-02 9.99768231e-01 -3.03499688e-04 3.94929404e+00] [ 1.43827134e-02 -6.14320734e-06 9.99896563e-01 6.15444944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04439141799999 meters Centerline goodness [0,1] 0.999269173748721 Centerline is valid? [True, True] Translation: X:90.28, Y:3.94, Z:0.62 [[ 9.99573710e-01 -2.56224105e-02 -1.39960707e-02 9.02811432e+01] [ 2.56207411e-02 9.99671690e-01 -2.98592026e-04 3.94450686e+00] [ 1.39991263e-02 -6.01249633e-05 9.99902006e-01 6.15347529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07439141799999 meters Centerline goodness [0,1] 0.9993113522537562 Centerline is valid? [True, True] Translation: X:90.31, Y:3.94, Z:0.61 [[ 9.99492635e-01 -2.84880040e-02 -1.42445177e-02 9.03095512e+01] [ 2.84864989e-02 9.99594130e-01 -3.08587978e-04 3.94055017e+00] [ 1.42475273e-02 -9.73450270e-05 9.99898494e-01 6.14851417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10439141799999 meters Centerline goodness [0,1] 0.9991443894905987 Centerline is valid? [True, True] Translation: X:90.34, Y:3.93, Z:0.61 [[ 9.99302083e-01 -3.40318025e-02 -1.54007516e-02 9.03384708e+01] [ 3.40306521e-02 9.99420733e-01 -3.36834505e-04 3.93365511e+00] [ 1.54032935e-02 -1.87498197e-04 9.99881345e-01 6.14259112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13439141799999 meters Centerline goodness [0,1] 0.9991849870433838 Centerline is valid? [True, True] Translation: X:90.37, Y:3.93, Z:0.62 [[ 9.99178277e-01 -3.73590970e-02 -1.57184331e-02 9.03676882e+01] [ 3.73582919e-02 9.99301876e-01 -3.44945386e-04 3.93355693e+00] [ 1.57203466e-02 -2.42551876e-04 9.99876398e-01 6.15902679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.164391418 meters Centerline goodness [0,1] 0.9992662319964779 Centerline is valid? [True, True] Translation: X:90.40, Y:3.93, Z:0.62 [[ 9.99052631e-01 -4.02699307e-02 -1.64977008e-02 9.03972298e+01] [ 4.02694223e-02 9.99188792e-01 -3.63147242e-04 3.93375493e+00] [ 1.64989417e-02 -3.01549674e-04 9.99863838e-01 6.16069616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.194391418 meters Centerline goodness [0,1] 0.9992040718011017 Centerline is valid? [True, True] Translation: X:90.43, Y:3.93, Z:0.62 [[ 9.98906341e-01 -4.34538327e-02 -1.72593597e-02 9.04267808e+01] [ 4.34537431e-02 9.99055368e-01 -3.80390976e-04 3.93367018e+00] [ 1.72595854e-02 -3.70008825e-04 9.99850974e-01 6.16023499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.224391418 meters Centerline goodness [0,1] 0.99939254294093 Centerline is valid? [True, True] Translation: X:90.46, Y:3.92, Z:0.61 [[ 9.98589323e-01 -5.02433830e-02 -1.71745619e-02 9.04558710e+01] [ 5.02442951e-02 9.98736886e-01 -3.78659459e-04 3.92375215e+00] [ 1.71718936e-02 -4.84798465e-04 9.99852435e-01 6.13260565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.254391418 meters Centerline goodness [0,1] 0.9993086399061426 Centerline is valid? [True, True] Translation: X:90.49, Y:3.92, Z:0.61 [[ 9.98400865e-01 -5.40268951e-02 -1.66375227e-02 9.04861688e+01] [ 5.40282749e-02 9.98539339e-01 -3.66864492e-04 3.92120487e+00] [ 1.66330414e-02 -5.32618822e-04 9.99861520e-01 6.14059942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.284391418 meters Centerline goodness [0,1] 0.9989789752245213 Centerline is valid? [True, True] Translation: X:90.52, Y:3.92, Z:0.61 [[ 9.98206850e-01 -5.77576461e-02 -1.57206615e-02 9.05160190e+01] [ 5.77593381e-02 9.98330476e-01 -3.46763430e-04 3.91571030e+00] [ 1.57144437e-02 -5.61873372e-04 9.99876363e-01 6.14943353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.314391418 meters Centerline goodness [0,1] 0.9992465624411377 Centerline is valid? [True, True] Translation: X:90.55, Y:3.92, Z:0.62 [[ 9.97882885e-01 -6.34928030e-02 -1.40858946e-02 9.05467978e+01] [ 6.34947306e-02 9.97982125e-01 -3.10775129e-04 3.91783795e+00] [ 1.40772031e-02 -5.84262904e-04 9.99900741e-01 6.19989939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.344391418 meters Centerline goodness [0,1] 0.9988486256777408 Centerline is valid? [True, True] Translation: X:90.58, Y:3.92, Z:0.62 [[ 9.97758735e-01 -6.55300495e-02 -1.35395828e-02 9.05777421e+01] [ 6.55320200e-02 9.97850422e-01 -2.98549398e-04 3.91818449e+00] [ 1.35300423e-02 -5.89395938e-04 9.99908291e-01 6.21594882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37439141799999 meters Centerline goodness [0,1] 0.9989508802115026 Centerline is valid? [True, True] Translation: X:90.61, Y:3.92, Z:0.62 [[ 9.97572531e-01 -6.81807426e-02 -1.41574004e-02 9.06089270e+01] [ 6.81831691e-02 9.97672771e-01 -3.11767728e-04 3.91900026e+00] [ 1.41457094e-02 -6.54285501e-04 9.99899730e-01 6.20858227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40439141799999 meters Centerline goodness [0,1] 0.998953317981997 Centerline is valid? [True, True] Translation: X:90.64, Y:3.92, Z:0.62 [[ 9.97516102e-01 -6.88599547e-02 -1.48301392e-02 9.06407425e+01] [ 6.88627054e-02 9.97626093e-01 -3.25696084e-04 3.91953953e+00] [ 1.48173613e-02 -6.96356419e-04 9.99889974e-01 6.19682387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43439141799999 meters Centerline goodness [0,1] 0.9990580256217031 Centerline is valid? [True, True] Translation: X:90.67, Y:3.92, Z:0.62 [[ 9.97494773e-01 -6.91257113e-02 -1.50270812e-02 9.06714475e+01] [ 6.91285804e-02 9.97607704e-01 -3.29040259e-04 3.91878802e+00] [ 1.50138771e-02 -7.10584854e-04 9.99887033e-01 6.18718438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46439141799999 meters Centerline goodness [0,1] 0.9989518259192487 Centerline is valid? [True, True] Translation: X:90.70, Y:3.92, Z:0.62 [[ 9.97483648e-01 -6.91094933e-02 -1.58192833e-02 9.07034754e+01] [ 6.91126863e-02 9.97608800e-01 -3.45412537e-04 3.92380250e+00] [ 1.58053275e-02 -7.48769806e-04 9.99874808e-01 6.18175443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49439141799999 meters Centerline goodness [0,1] 0.9990573942186846 Centerline is valid? [True, True] Translation: X:90.73, Y:3.92, Z:0.62 [[ 9.97535397e-01 -6.83541860e-02 -1.58378380e-02 9.07335570e+01] [ 6.83573050e-02 9.97660844e-01 -3.44968943e-04 3.92403840e+00] [ 1.58243709e-02 -7.38513192e-04 9.99874514e-01 6.18031547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.524391418 meters Centerline goodness [0,1] 0.9990366895627408 Centerline is valid? [True, True] Translation: X:90.76, Y:3.93, Z:0.62 [[ 9.97725734e-01 -6.57829317e-02 -1.46957412e-02 9.07646473e+01] [ 6.57853447e-02 9.97833747e-01 -3.19675244e-04 3.93253759e+00] [ 1.46849357e-02 -6.47816184e-04 9.99891961e-01 6.21106646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.554391418 meters Centerline goodness [0,1] 0.9990366895627408 Centerline is valid? [True, True] Translation: X:90.80, Y:3.93, Z:0.62 [[ 9.97731145e-01 -6.57008143e-02 -1.46957599e-02 9.07963585e+01] [ 6.57032311e-02 9.97839157e-01 -3.18812957e-04 3.93314939e+00] [ 1.46849510e-02 -6.47469294e-04 9.99891961e-01 6.21375213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.584391418 meters Centerline goodness [0,1] 0.9990565444367571 Centerline is valid? [True, True] Translation: X:90.83, Y:3.94, Z:0.62 [[ 9.98027599e-01 -6.10364001e-02 -1.46788790e-02 9.08264062e+01] [ 6.10383178e-02 9.98135373e-01 -3.17750373e-04 3.93987238e+00] [ 1.46709027e-02 -5.78850440e-04 9.99892209e-01 6.23119998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.614391418 meters Centerline goodness [0,1] 0.9989945748936973 Centerline is valid? [True, True] Translation: X:90.86, Y:3.94, Z:0.62 [[ 9.98177487e-01 -5.83796600e-02 -1.52813520e-02 9.08573357e+01] [ 5.83814317e-02 9.98294295e-01 -3.30515221e-04 3.94395453e+00] [ 1.52745819e-02 -5.62234354e-04 9.99883179e-01 6.22644452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.644391418 meters Centerline goodness [0,1] 0.9988883295578488 Centerline is valid? [True, True] Translation: X:90.89, Y:3.95, Z:0.62 [[ 9.98312840e-01 -5.57843090e-02 -1.61116032e-02 9.08882788e+01] [ 5.57859517e-02 9.98442691e-01 -3.47800557e-04 3.94849417e+00] [ 1.61059143e-02 -5.51587359e-04 9.99870139e-01 6.21693463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.674391418 meters Centerline goodness [0,1] 0.999202668960742 Centerline is valid? [True, True] Translation: X:90.92, Y:3.96, Z:0.62 [[ 9.98526001e-01 -5.12472445e-02 -1.78758336e-02 9.09189361e+01] [ 5.12485540e-02 9.98685855e-01 -3.85129084e-04 3.95606123e+00] [ 1.78720789e-02 -5.31549218e-04 9.99840140e-01 6.18860796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.704391418 meters Centerline goodness [0,1] 0.9990370928577409 Centerline is valid? [True, True] Translation: X:90.95, Y:3.96, Z:0.62 [[ 9.98567507e-01 -5.06991341e-02 -1.71035491e-02 9.09494866e+01] [ 5.07002609e-02 9.98713847e-01 -3.67997961e-04 3.95778836e+00] [ 1.71002085e-02 -4.99683597e-04 9.99853656e-01 6.19318095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73439141799999 meters Centerline goodness [0,1] 0.9990135169171355 Centerline is valid? [True, True] Translation: X:90.98, Y:3.96, Z:0.62 [[ 9.98618497e-01 -4.98169299e-02 -1.67144084e-02 9.09803647e+01] [ 4.98178907e-02 9.98758253e-01 -3.59139325e-04 3.96167885e+00] [ 1.67115445e-02 -4.74033395e-04 9.99860240e-01 6.20005428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76439141799999 meters Centerline goodness [0,1] 0.9988891450608874 Centerline is valid? [True, True] Translation: X:91.01, Y:3.97, Z:0.62 [[ 9.98683548e-01 -4.87693996e-02 -1.58970396e-02 9.10113460e+01] [ 4.87701459e-02 9.98809970e-01 -3.40960330e-04 3.96673918e+00] [ 1.58947501e-02 -4.34789469e-04 9.99873576e-01 6.21783903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79439141799999 meters Centerline goodness [0,1] 0.99903648778853 Centerline is valid? [True, True] Translation: X:91.04, Y:3.97, Z:0.62 [[ 9.98719977e-01 -4.83299220e-02 -1.49206962e-02 9.10424146e+01] [ 4.83305389e-02 9.98831346e-01 -3.19438964e-04 3.97156319e+00] [ 1.49186976e-02 -4.02095216e-04 9.99888629e-01 6.24803000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82439141799999 meters Centerline goodness [0,1] 0.9990978894809718 Centerline is valid? [True, True] Translation: X:91.07, Y:3.97, Z:0.63 [[ 9.98736932e-01 -4.78897328e-02 -1.52024592e-02 9.10724296e+01] [ 4.78903297e-02 9.98852547e-01 -3.24989867e-04 3.97324546e+00] [ 1.52005788e-02 -4.03471402e-04 9.99884383e-01 6.25513251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85439141799999 meters Centerline goodness [0,1] 0.9989315791678887 Centerline is valid? [True, True] Translation: X:91.10, Y:3.98, Z:0.63 [[ 9.98750472e-01 -4.75327439e-02 -1.54315505e-02 9.11042048e+01] [ 4.75333253e-02 9.98869598e-01 -3.29309441e-04 3.97690495e+00] [ 1.54297596e-02 -4.04614950e-04 9.99880872e-01 6.25633762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88439141799999 meters Centerline goodness [0,1] 0.9990345059188985 Centerline is valid? [True, True] Translation: X:91.13, Y:3.98, Z:0.62 [[ 9.98750465e-01 -4.72304680e-02 -1.63337583e-02 9.11348112e+01] [ 4.72310900e-02 9.98883929e-01 -3.47886904e-04 3.97845501e+00] [ 1.63319595e-02 -4.24009001e-04 9.99866535e-01 6.24656227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.914391418 meters Centerline goodness [0,1] 0.9988053820681561 Centerline is valid? [True, True] Translation: X:91.17, Y:3.98, Z:0.63 [[ 9.98713614e-01 -4.83787114e-02 -1.51860667e-02 9.11664687e+01] [ 4.83793880e-02 9.98828980e-01 -3.23024337e-04 3.98306000e+00] [ 1.51839110e-02 -4.12083809e-04 9.99884633e-01 6.25032762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.944391418 meters Centerline goodness [0,1] 0.9987815637998403 Centerline is valid? [True, True] Translation: X:91.20, Y:3.98, Z:0.62 [[ 9.98698015e-01 -4.88379716e-02 -1.47352227e-02 9.11979801e+01] [ 4.88386671e-02 9.98806631e-01 -3.12855225e-04 3.98479940e+00] [ 1.47329174e-02 -4.07200744e-04 9.99891382e-01 6.24743818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.974391418 meters Centerline goodness [0,1] 0.9989727032579983 Centerline is valid? [True, True] Translation: X:91.23, Y:3.98, Z:0.63 [[ 9.98670189e-01 -4.98001538e-02 -1.33340951e-02 9.12296610e+01] [ 4.98008170e-02 9.98759130e-01 -2.82499373e-04 3.98480035e+00] [ 1.33316178e-02 -3.81925130e-04 9.99911057e-01 6.26095811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.004391418 meters Centerline goodness [0,1] 0.9989712366155784 Centerline is valid? [True, True] Translation: X:91.26, Y:3.98, Z:0.63 [[ 9.98650784e-01 -5.03546919e-02 -1.26892579e-02 9.12622651e+01] [ 5.03553479e-02 9.98731329e-01 -2.68002902e-04 3.98446059e+00] [ 1.26866546e-02 -3.71330690e-04 9.99919452e-01 6.26179731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.034391418 meters Centerline goodness [0,1] 0.9987829699729316 Centerline is valid? [True, True] Translation: X:91.29, Y:3.99, Z:0.63 [[ 9.98649829e-01 -5.01450716e-02 -1.35643453e-02 9.12935283e+01] [ 5.01458161e-02 9.98741866e-01 -2.85440659e-04 3.98510130e+00] [ 1.35615929e-02 -3.95139897e-04 9.99907959e-01 6.26273356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.064391418 meters Centerline goodness [0,1] 0.9987834805042264 Centerline is valid? [True, True] Translation: X:91.33, Y:3.99, Z:0.63 [[ 9.98692381e-01 -4.90351703e-02 -1.44595764e-02 9.13254532e+01] [ 4.90359148e-02 9.98796970e-01 -3.03257316e-04 3.99027421e+00] [ 1.44570514e-02 -4.06177785e-04 9.99895409e-01 6.27473956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.094391418 meters Centerline goodness [0,1] 0.9988857353095764 Centerline is valid? [True, True] Translation: X:91.36, Y:4.00, Z:0.63 [[ 9.98810285e-01 -4.63536755e-02 -1.51443249e-02 9.13561793e+01] [ 4.63541988e-02 9.98925016e-01 -3.16655567e-04 3.99961662e+00] [ 1.51427231e-02 -3.85724207e-04 9.99885268e-01 6.29251259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12439141799999 meters Centerline goodness [0,1] 0.999137314312166 Centerline is valid? [True, True] Translation: X:91.39, Y:4.00, Z:0.63 [[ 9.98882335e-01 -4.47546462e-02 -1.52020289e-02 9.13883352e+01] [ 4.47550014e-02 9.98997943e-01 -3.17006461e-04 4.00266916e+00] [ 1.52009831e-02 -3.63714669e-04 9.99884392e-01 6.29528125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15439141799999 meters Centerline goodness [0,1] 0.9989491382934006 Centerline is valid? [True, True] Translation: X:91.42, Y:4.01, Z:0.63 [[ 9.98941212e-01 -4.34733711e-02 -1.50506367e-02 9.14200924e+01] [ 4.34735897e-02 9.99054528e-01 -3.12801819e-04 4.00556519e+00] [ 1.50500053e-02 -3.41834577e-04 9.99886684e-01 6.29771805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18439141799999 meters Centerline goodness [0,1] 0.998948828995501 Centerline is valid? [True, True] Translation: X:91.45, Y:4.01, Z:0.63 [[ 9.99053506e-01 -4.09357789e-02 -1.47089935e-02 9.14509182e+01] [ 4.09357238e-02 9.99161735e-01 -3.04955201e-04 4.00576148e+00] [ 1.47091470e-02 -2.97456731e-04 9.99891770e-01 6.28266021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21439141799999 meters Centerline goodness [0,1] 0.9991803106412492 Centerline is valid? [True, True] Translation: X:91.48, Y:4.01, Z:0.63 [[ 9.99109953e-01 -3.93362528e-02 -1.52302477e-02 9.14825744e+01] [ 3.93360172e-02 9.99225990e-01 -3.15149687e-04 4.00776450e+00] [ 1.52308561e-02 -2.84228095e-04 9.99883963e-01 6.27342361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24439141799999 meters Centerline goodness [0,1] 0.9990334306906768 Centerline is valid? [True, True] Translation: X:91.51, Y:4.01, Z:0.63 [[ 9.99159784e-01 -3.77226023e-02 -1.60228549e-02 9.15135192e+01] [ 3.77221444e-02 9.99288212e-01 -3.30909943e-04 4.01141450e+00] [ 1.60239328e-02 -2.73784540e-04 9.99871571e-01 6.26862640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.274391418 meters Centerline goodness [0,1] 0.9989461925938415 Centerline is valid? [True, True] Translation: X:91.54, Y:4.02, Z:0.63 [[ 9.99254395e-01 -3.40189222e-02 -1.82583394e-02 9.15443824e+01] [ 3.40177233e-02 9.99421159e-01 -3.76326221e-04 4.01943473e+00] [ 1.82605730e-02 -2.45061509e-04 9.99833232e-01 6.26222925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.304391418 meters Centerline goodness [0,1] 0.9991144845034788 Centerline is valid? [True, True] Translation: X:91.57, Y:4.02, Z:0.63 [[ 9.99305431e-01 -3.17741175e-02 -1.94695086e-02 9.15746463e+01] [ 3.17723352e-02 9.99495051e-01 -4.00941825e-04 4.02449690e+00] [ 1.94724171e-02 -2.17928410e-04 9.99810371e-01 6.27176013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.334391418 meters Centerline goodness [0,1] 0.9991335587489434 Centerline is valid? [True, True] Translation: X:91.60, Y:4.03, Z:0.63 [[ 9.99353391e-01 -3.03584655e-02 -1.92656018e-02 9.16031483e+01] [ 3.03564446e-02 9.99539058e-01 -3.97398360e-04 4.02588082e+00] [ 1.92687859e-02 -1.87693776e-04 9.99814322e-01 6.26848255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.364391418 meters Centerline goodness [0,1] 0.9990708282299278 Centerline is valid? [True, True] Translation: X:91.63, Y:4.03, Z:0.63 [[ 9.99428033e-01 -2.84085626e-02 -1.83455616e-02 9.16322962e+01] [ 2.84063451e-02 9.99596386e-01 -3.81502516e-04 4.02955164e+00] [ 1.83489950e-02 -1.39846044e-04 9.99831633e-01 6.29557820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.394391418 meters Centerline goodness [0,1] 0.9991566874683758 Centerline is valid? [True, True] Translation: X:91.66, Y:4.03, Z:0.63 [[ 9.99444202e-01 -2.82086740e-02 -1.77639409e-02 9.16622263e+01] [ 2.82065184e-02 9.99602048e-01 -3.71932675e-04 4.02968817e+00] [ 1.77673635e-02 -1.29332971e-04 9.99842140e-01 6.30359362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.424391418 meters Centerline goodness [0,1] 0.9991150628937443 Centerline is valid? [True, True] Translation: X:91.69, Y:4.03, Z:0.63 [[ 9.99440254e-01 -2.86967258e-02 -1.71952761e-02 9.16908299e+01] [ 2.86947636e-02 9.99588155e-01 -3.60876532e-04 4.02944946e+00] [ 1.71985503e-02 -1.32739851e-04 9.99852085e-01 6.30754223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.454391418 meters Centerline goodness [0,1] 0.9991150628937443 Centerline is valid? [True, True] Translation: X:91.72, Y:4.03, Z:0.63 [[ 9.99439123e-01 -2.87360911e-02 -1.71952583e-02 9.17199776e+01] [ 2.87341202e-02 9.99587024e-01 -3.61725537e-04 4.03010112e+00] [ 1.71985516e-02 -1.32567965e-04 9.99852085e-01 6.31001292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48439141799999 meters Centerline goodness [0,1] 0.9992414505151815 Centerline is valid? [True, True] Translation: X:91.75, Y:4.03, Z:0.63 [[ 9.99383629e-01 -3.08221777e-02 -1.68034571e-02 9.17494790e+01] [ 3.08205793e-02 9.99524870e-01 -3.54139679e-04 4.02976306e+00] [ 1.68063886e-02 -1.63970884e-04 9.99858749e-01 6.31386297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51439141799999 meters Centerline goodness [0,1] 0.9990300474433316 Centerline is valid? [True, True] Translation: X:91.78, Y:4.03, Z:0.63 [[ 9.99319854e-01 -3.27702103e-02 -1.69098357e-02 9.17790788e+01] [ 3.27688619e-02 9.99462893e-01 -3.56885093e-04 4.02765702e+00] [ 1.69124485e-02 -1.97473713e-04 9.99856955e-01 6.29774095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54439141799999 meters Centerline goodness [0,1] 0.999071945329143 Centerline is valid? [True, True] Translation: X:91.81, Y:4.03, Z:0.63 [[ 9.99243642e-01 -3.46489465e-02 -1.76520655e-02 9.18092261e+01] [ 3.46477671e-02 9.99399516e-01 -3.72723676e-04 4.02689003e+00] [ 1.76543802e-02 -2.39162893e-04 9.99844121e-01 6.29060957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57439141799999 meters Centerline goodness [0,1] 0.9991141856835534 Centerline is valid? [True, True] Translation: X:91.84, Y:4.03, Z:0.63 [[ 9.99075386e-01 -3.89249547e-02 -1.82543359e-02 9.18398316e+01] [ 3.89244070e-02 9.99242084e-01 -3.85440624e-04 4.02714891e+00] [ 1.82555039e-02 -3.25454957e-04 9.99833301e-01 6.30627174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60439141799999 meters Centerline goodness [0,1] 0.9989026526262477 Centerline is valid? [True, True] Translation: X:91.87, Y:4.02, Z:0.63 [[ 9.98989512e-01 -4.12043524e-02 -1.79486970e-02 9.18692331e+01] [ 4.12041898e-02 9.99150675e-01 -3.79027988e-04 4.02007722e+00] [ 1.79490703e-02 -3.60916533e-04 9.99838837e-01 6.28608617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63439141799999 meters Centerline goodness [0,1] 0.9989683558961618 Centerline is valid? [True, True] Translation: X:91.90, Y:4.02, Z:0.63 [[ 9.98880245e-01 -4.37664327e-02 -1.79654024e-02 9.18999258e+01] [ 4.37666832e-02 9.99041708e-01 -3.79417349e-04 4.01951096e+00] [ 1.79647921e-02 -4.07293583e-04 9.99838537e-01 6.29938892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.664391418 meters Centerline goodness [0,1] 0.998861983941329 Centerline is valid? [True, True] Translation: X:91.93, Y:4.02, Z:0.63 [[ 9.98781964e-01 -4.61855553e-02 -1.73632752e-02 9.19310744e+01] [ 4.61861609e-02 9.98932783e-01 -3.66332541e-04 4.02011435e+00] [ 1.73616641e-02 -4.36056687e-04 9.99849180e-01 6.31281381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.694391418 meters Centerline goodness [0,1] 0.9989051018044764 Centerline is valid? [True, True] Translation: X:91.96, Y:4.02, Z:0.63 [[ 9.98548321e-01 -5.09341190e-02 -1.75204704e-02 9.19610657e+01] [ 5.09354721e-02 9.98701878e-01 -3.69295368e-04 4.01812776e+00] [ 1.75165364e-02 -5.23654160e-04 9.99846437e-01 6.32547820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.724391418 meters Centerline goodness [0,1] 0.9988428117570326 Centerline is valid? [True, True] Translation: X:91.99, Y:4.02, Z:0.63 [[ 9.98453471e-01 -5.27656084e-02 -1.75059337e-02 9.19925655e+01] [ 5.27672500e-02 9.98606770e-01 -3.68435786e-04 4.01704769e+00] [ 1.75009846e-02 -5.55873991e-04 9.99846692e-01 6.32916338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.754391418 meters Centerline goodness [0,1] 0.9986086516569694 Centerline is valid? [True, True] Translation: X:92.02, Y:4.02, Z:0.63 [[ 9.98377110e-01 -5.42401871e-02 -1.73536517e-02 9.20245094e+01] [ 5.42420445e-02 9.98527750e-01 -3.63978585e-04 4.02127690e+00] [ 1.73478451e-02 -5.77909662e-04 9.99849348e-01 6.34587136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.784391418 meters Centerline goodness [0,1] 0.9989455036274675 Centerline is valid? [True, True] Translation: X:92.06, Y:4.02, Z:0.63 [[ 9.98227914e-01 -5.71008284e-02 -1.67489629e-02 9.20554037e+01] [ 5.71029920e-02 9.98368232e-01 -3.49424560e-04 4.01873112e+00] [ 1.67415849e-02 -6.07610547e-04 9.99859665e-01 6.34395206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.814391418 meters Centerline goodness [0,1] 0.9989469693778695 Centerline is valid? [True, True] Translation: X:92.09, Y:4.02, Z:0.63 [[ 9.98135447e-01 -5.87800601e-02 -1.64478921e-02 9.20876254e+01] [ 5.87824046e-02 9.98270761e-01 -3.41300858e-04 4.01714270e+00] [ 1.64395115e-02 -6.26182164e-04 9.99864666e-01 6.33683633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.844391418 meters Centerline goodness [0,1] 0.9985253844533389 Centerline is valid? [True, True] Translation: X:92.12, Y:4.01, Z:0.63 [[ 9.97889933e-01 -6.28776629e-02 -1.61888955e-02 9.21176475e+01] [ 6.28804831e-02 9.98021008e-01 -3.35252145e-04 4.01233513e+00] [ 1.61779376e-02 -6.83420828e-04 9.99868895e-01 6.32138610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87439141799999 meters Centerline goodness [0,1] 0.9987377190583384 Centerline is valid? [True, True] Translation: X:92.15, Y:4.01, Z:0.63 [[ 9.97744133e-01 -6.50632846e-02 -1.65352367e-02 9.21491698e+01] [ 6.50665345e-02 9.97880869e-01 -3.41930691e-04 4.01396385e+00] [ 1.65224435e-02 -7.34731209e-04 9.99863225e-01 6.32732824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90439141799999 meters Centerline goodness [0,1] 0.9987782014282404 Centerline is valid? [True, True] Translation: X:92.18, Y:4.01, Z:0.63 [[ 9.97593715e-01 -6.73212347e-02 -1.65720076e-02 9.21805414e+01] [ 6.73248267e-02 9.97731051e-01 -3.41680253e-04 4.01268399e+00] [ 1.65574090e-02 -7.74849470e-04 9.99862616e-01 6.32909475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93439141799999 meters Centerline goodness [0,1] 0.9986933063564323 Centerline is valid? [True, True] Translation: X:92.21, Y:4.01, Z:0.63 [[ 9.97352450e-01 -7.07879046e-02 -1.66482382e-02 9.22119157e+01] [ 7.07920254e-02 9.97491039e-01 -3.42412661e-04 4.01434806e+00] [ 1.66307071e-02 -8.37056397e-04 9.99861350e-01 6.34455245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96439141799999 meters Centerline goodness [0,1] 0.9986101752021563 Centerline is valid? [True, True] Translation: X:92.24, Y:4.02, Z:0.64 [[ 9.97249197e-01 -7.22115792e-02 -1.67190340e-02 9.22436050e+01] [ 7.22159485e-02 9.97388961e-01 -3.43039052e-04 4.01518127e+00] [ 1.67001513e-02 -8.65285479e-04 9.99860168e-01 6.35119280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99439141799999 meters Centerline goodness [0,1] 0.998565582415728 Centerline is valid? [True, True] Translation: X:92.28, Y:4.02, Z:0.64 [[ 9.97185355e-01 -7.30748004e-02 -1.67762157e-02 9.22761971e+01] [ 7.30793411e-02 9.97326071e-01 -3.43037684e-04 4.01620804e+00] [ 1.67564247e-02 -8.83922638e-04 9.99859211e-01 6.35002647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.024391418 meters Centerline goodness [0,1] 0.9985893548930437 Centerline is valid? [True, True] Translation: X:92.31, Y:4.01, Z:0.64 [[ 9.97083901e-01 -7.44247243e-02 -1.68717289e-02 9.23071414e+01] [ 7.44295295e-02 9.97226217e-01 -3.43805793e-04 4.01433180e+00] [ 1.68505180e-02 -9.12951621e-04 9.99857603e-01 6.35149147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.054391418 meters Centerline goodness [0,1] 0.9985442116589658 Centerline is valid? [True, True] Translation: X:92.34, Y:4.02, Z:0.63 [[ 9.97085416e-01 -7.42535535e-02 -1.75238033e-02 9.23393085e+01] [ 7.42587326e-02 9.97238945e-01 -3.55865817e-04 4.01698286e+00] [ 1.75018434e-02 -9.46466808e-04 9.99846383e-01 6.34972893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.084391418 meters Centerline goodness [0,1] 0.9988807467319917 Centerline is valid? [True, True] Translation: X:92.37, Y:4.02, Z:0.64 [[ 9.97114825e-01 -7.37613040e-02 -1.79247125e-02 9.23716652e+01] [ 7.37666691e-02 9.97275462e-01 -3.62579789e-04 4.02206820e+00] [ 1.79026203e-02 -9.60712654e-04 9.99839274e-01 6.35087237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.114391418 meters Centerline goodness [0,1] 0.9984783803203855 Centerline is valid? [True, True] Translation: X:92.40, Y:4.02, Z:0.63 [[ 9.97179152e-01 -7.28532018e-02 -1.80596132e-02 9.24031187e+01] [ 7.28585221e-02 9.97342220e-01 -3.64055922e-04 4.02383381e+00] [ 1.80381373e-02 -9.52767752e-04 9.99836846e-01 6.34509005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.144391418 meters Centerline goodness [0,1] 0.9987105229780577 Centerline is valid? [True, True] Translation: X:92.43, Y:4.03, Z:0.63 [[ 9.97418670e-01 -6.97493893e-02 -1.70592998e-02 9.24337080e+01] [ 6.97536973e-02 9.97564185e-01 -3.43077686e-04 4.02933835e+00] [ 1.70416760e-02 -8.47757147e-04 9.99854421e-01 6.34781707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.174391418 meters Centerline goodness [0,1] 0.9986042970732533 Centerline is valid? [True, True] Translation: X:92.47, Y:4.04, Z:0.64 [[ 9.97590517e-01 -6.75389998e-02 -1.58632818e-02 9.24653762e+01] [ 6.75424604e-02 9.97716350e-01 -3.18115780e-04 4.03710038e+00] [ 1.58485408e-02 -7.54095798e-04 9.99874120e-01 6.36997911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.204391418 meters Centerline goodness [0,1] 0.9985620030451701 Centerline is valid? [True, True] Translation: X:92.50, Y:4.04, Z:0.64 [[ 9.97774128e-01 -6.49576561e-02 -1.50762239e-02 9.24958148e+01] [ 6.49604995e-02 9.97887791e-01 -3.01544916e-04 4.04125913e+00] [ 1.50639674e-02 -6.78485317e-04 9.99886302e-01 6.38637253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23439141799999 meters Centerline goodness [0,1] 0.9987447342666269 Centerline is valid? [True, True] Translation: X:92.53, Y:4.05, Z:0.64 [[ 9.98139814e-01 -5.92622651e-02 -1.43141909e-02 9.25266203e+01] [ 5.92642475e-02 9.98242289e-01 -2.86020628e-04 4.05332259e+00] [ 1.43059809e-02 -5.62831178e-04 9.99897506e-01 6.41842153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26439141799999 meters Centerline goodness [0,1] 0.9989790709545686 Centerline is valid? [True, True] Translation: X:92.56, Y:4.06, Z:0.64 [[ 9.98317638e-01 -5.61686688e-02 -1.43866137e-02 9.25581725e+01] [ 5.61703599e-02 9.98421158e-01 -2.86818670e-04 4.05915592e+00] [ 1.43800098e-02 -5.21765134e-04 9.99896466e-01 6.43041961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29439141799999 meters Centerline goodness [0,1] 0.9989773308334754 Centerline is valid? [True, True] Translation: X:92.59, Y:4.07, Z:0.64 [[ 9.98602436e-01 -5.06069744e-02 -1.52351171e-02 9.25890421e+01] [ 5.06082393e-02 9.98718536e-01 -3.02745979e-04 4.06883866e+00] [ 1.52309149e-02 -4.68699578e-04 9.99883893e-01 6.42367322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32439141799999 meters Centerline goodness [0,1] 0.9987849331713244 Centerline is valid? [True, True] Translation: X:92.62, Y:4.07, Z:0.64 [[ 9.98735955e-01 -4.75970269e-02 -1.61559473e-02 9.26213679e+01] [ 4.75980715e-02 9.98866518e-01 -3.20077844e-04 4.07333380e+00] [ 1.61528696e-02 -4.49318683e-04 9.99869433e-01 6.40591671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35439141799999 meters Centerline goodness [0,1] 0.9990424105717873 Centerline is valid? [True, True] Translation: X:92.65, Y:4.08, Z:0.64 [[ 9.98828641e-01 -4.58283309e-02 -1.55276863e-02 9.26524344e+01] [ 4.58290988e-02 9.98949248e-01 -3.06564850e-04 4.07636616e+00] [ 1.55254199e-02 -4.05414118e-04 9.99879391e-01 6.41104714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38439141799999 meters Centerline goodness [0,1] 0.99856862074859 Centerline is valid? [True, True] Translation: X:92.68, Y:4.08, Z:0.64 [[ 9.98922202e-01 -4.36652872e-02 -1.57409414e-02 9.26849142e+01] [ 4.36658249e-02 9.99046145e-01 -3.09696068e-04 4.07901606e+00] [ 1.57394498e-02 -3.77978913e-04 9.99876056e-01 6.39488900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.414391418 meters Centerline goodness [0,1] 0.9992306705987947 Centerline is valid? [True, True] Translation: X:92.72, Y:4.08, Z:0.64 [[ 9.99046748e-01 -4.09622507e-02 -1.50894104e-02 9.27158269e+01] [ 4.09624520e-02 9.99160643e-01 -2.95854054e-04 4.08235338e+00] [ 1.50888638e-02 -3.22527219e-04 9.99886105e-01 6.39868410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.444391418 meters Centerline goodness [0,1] 0.998911860718172 Centerline is valid? [True, True] Translation: X:92.75, Y:4.09, Z:0.64 [[ 9.99111749e-01 -3.94060592e-02 -1.49290441e-02 9.27483079e+01] [ 3.94060973e-02 9.99223236e-01 -2.91725414e-04 4.08516263e+00] [ 1.49289435e-02 -2.96829078e-04 9.99888513e-01 6.39988267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.474391418 meters Centerline goodness [0,1] 0.9989935113604729 Centerline is valid? [True, True] Translation: X:92.78, Y:4.10, Z:0.64 [[ 9.99254817e-01 -3.50875370e-02 -1.60834036e-02 9.27802592e+01] [ 3.50870431e-02 9.99384211e-01 -3.12972245e-04 4.09573961e+00] [ 1.60844810e-02 -2.51580051e-04 9.99870605e-01 6.42538754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.504391418 meters Centerline goodness [0,1] 0.9991194158075601 Centerline is valid? [True, True] Translation: X:92.81, Y:4.10, Z:0.64 [[ 9.99343707e-01 -3.19867227e-02 -1.70001645e-02 9.28111945e+01] [ 3.19857432e-02 9.99488271e-01 -3.29584537e-04 4.10067585e+00] [ 1.70020073e-02 -2.14394662e-04 9.99855432e-01 6.42192823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.534391418 meters Centerline goodness [0,1] 0.9992034788598984 Centerline is valid? [True, True] Translation: X:92.84, Y:4.11, Z:0.64 [[ 9.99396669e-01 -2.99741524e-02 -1.75455831e-02 9.28420833e+01] [ 2.99728147e-02 9.99550657e-01 -3.39261113e-04 4.10570070e+00] [ 1.75478682e-02 -1.86834084e-04 9.99846007e-01 6.43599417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.564391418 meters Centerline goodness [0,1] 0.9992473280144513 Centerline is valid? [True, True] Translation: X:92.87, Y:4.11, Z:0.64 [[ 9.99447987e-01 -2.80155085e-02 -1.78564234e-02 9.28720171e+01] [ 2.80138287e-02 9.99607476e-01 -3.44247579e-04 4.10743315e+00] [ 1.78590586e-02 -1.56169237e-04 9.99840502e-01 6.42552863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.594391418 meters Centerline goodness [0,1] 0.9993336199484093 Centerline is valid? [True, True] Translation: X:92.90, Y:4.11, Z:0.64 [[ 9.99494862e-01 -2.69307207e-02 -1.68747670e-02 9.29022460e+01] [ 2.69290755e-02 9.99637294e-01 -3.24754077e-04 4.10699399e+00] [ 1.68773923e-02 -1.29831842e-04 9.99857558e-01 6.41033464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62439141799999 meters Centerline goodness [0,1] 0.9992915870596569 Centerline is valid? [True, True] Translation: X:92.93, Y:4.11, Z:0.64 [[ 9.99506048e-01 -2.72949176e-02 -1.55771694e-02 9.29327056e+01] [ 2.72935599e-02 9.99627416e-01 -2.99781874e-04 4.10658710e+00] [ 1.55795481e-02 -1.25522609e-04 9.99878624e-01 6.41364175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65439141799999 meters Centerline goodness [0,1] 0.9990982673851901 Centerline is valid? [True, True] Translation: X:92.96, Y:4.11, Z:0.64 [[ 9.99455373e-01 -2.99752617e-02 -1.38000410e-02 9.29626242e+01] [ 2.99744530e-02 9.99550630e-01 -2.65472403e-04 4.10664580e+00] [ 1.38017973e-02 -1.48320861e-04 9.99904740e-01 6.43692447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68439141799999 meters Centerline goodness [0,1] 0.999098306103609 Centerline is valid? [True, True] Translation: X:92.99, Y:4.11, Z:0.65 [[ 9.99405272e-01 -3.17259621e-02 -1.35116528e-02 9.29947795e+01] [ 3.17253546e-02 9.99496591e-01 -2.59354844e-04 4.10742595e+00] [ 1.35130792e-02 -1.69461376e-04 9.99908680e-01 6.45146729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71439141799999 meters Centerline goodness [0,1] 0.9991215289681179 Centerline is valid? [True, True] Translation: X:93.03, Y:4.11, Z:0.65 [[ 9.99345787e-01 -3.35243706e-02 -1.35688900e-02 9.30272030e+01] [ 3.35239383e-02 9.99437881e-01 -2.59374225e-04 4.10740403e+00] [ 1.35699580e-02 -1.95678093e-04 9.99907905e-01 6.46013271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74439141799999 meters Centerline goodness [0,1] 0.9990776490776491 Centerline is valid? [True, True] Translation: X:93.06, Y:4.10, Z:0.64 [[ 9.99162515e-01 -3.81775804e-02 -1.47221263e-02 9.30585855e+01] [ 3.81775925e-02 9.99270931e-01 -2.80323373e-04 4.10193878e+00] [ 1.47220949e-02 -2.81966731e-04 9.99891584e-01 6.44157778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.774391418 meters Centerline goodness [0,1] 0.9992923921434085 Centerline is valid? [True, True] Translation: X:93.09, Y:4.10, Z:0.64 [[ 9.99044436e-01 -4.09276015e-02 -1.53344654e-02 9.30910275e+01] [ 4.09279547e-02 9.99162058e-01 -2.90919939e-04 4.09851855e+00] [ 1.53335227e-02 -3.36966358e-04 9.99882378e-01 6.42929659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.804391418 meters Centerline goodness [0,1] 0.9989934035809133 Centerline is valid? [True, True] Translation: X:93.12, Y:4.10, Z:0.64 [[ 9.98909338e-01 -4.39539434e-02 -1.57539157e-02 9.31232304e+01] [ 4.39547125e-02 9.99033480e-01 -2.97591872e-04 4.09644094e+00] [ 1.57517696e-02 -3.95191536e-04 9.99875855e-01 6.42412941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.834391418 meters Centerline goodness [0,1] 0.9989742055435642 Centerline is valid? [True, True] Translation: X:93.15, Y:4.09, Z:0.64 [[ 9.98779381e-01 -4.68053895e-02 -1.57798167e-02 9.31549207e+01] [ 4.68065406e-02 9.98903929e-01 -2.96570185e-04 4.09425799e+00] [ 1.57764020e-02 -4.42390446e-04 9.99875447e-01 6.42644893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.864391418 meters Centerline goodness [0,1] 0.998780670417353 Centerline is valid? [True, True] Translation: X:93.19, Y:4.09, Z:0.64 [[ 9.98605613e-01 -5.06915039e-02 -1.47377629e-02 9.31869135e+01] [ 5.06929512e-02 9.98714248e-01 -2.75591840e-04 4.09219434e+00] [ 1.47327839e-02 -4.71893135e-04 9.99891355e-01 6.43538995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.894391418 meters Centerline goodness [0,1] 0.9994006977590377 Centerline is valid? [True, True] Translation: X:93.22, Y:4.09, Z:0.65 [[ 9.98515927e-01 -5.26527037e-02 -1.39153258e-02 9.32194744e+01] [ 5.26541994e-02 9.98612772e-01 -2.59115225e-04 4.09185580e+00] [ 1.39096652e-02 -4.73969662e-04 9.99903144e-01 6.46315594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.924391418 meters Centerline goodness [0,1] 0.9990371036076519 Centerline is valid? [True, True] Translation: X:93.25, Y:4.09, Z:0.65 [[ 9.98477299e-01 -5.35563371e-02 -1.32212839e-02 9.32504246e+01] [ 5.35577789e-02 9.98564722e-01 -2.45245571e-04 4.08909101e+00] [ 1.32154422e-02 -4.63230465e-04 9.99912565e-01 6.46030923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.954391418 meters Centerline goodness [0,1] 0.998975606632947 Centerline is valid? [True, True] Translation: X:93.28, Y:4.09, Z:0.64 [[ 9.98443955e-01 -5.42530916e-02 -1.28946374e-02 9.32828810e+01] [ 5.42545321e-02 9.98527110e-01 -2.38328558e-04 4.08538950e+00] [ 1.28885751e-02 -4.61634813e-04 9.99916832e-01 6.44245074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98439141799999 meters Centerline goodness [0,1] 0.999060551712358 Centerline is valid? [True, True] Translation: X:93.32, Y:4.09, Z:0.64 [[ 9.98431138e-01 -5.44777464e-02 -1.29397975e-02 9.33150184e+01] [ 5.44792294e-02 9.98514876e-01 -2.38114086e-04 4.08605052e+00] [ 1.29335522e-02 -4.67209681e-04 9.99916249e-01 6.44008349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01439141799999 meters Centerline goodness [0,1] 0.9991247358196529 Centerline is valid? [True, True] Translation: X:93.35, Y:4.09, Z:0.64 [[ 9.98402281e-01 -5.48398774e-02 -1.36188629e-02 9.33471892e+01] [ 5.48415695e-02 9.98495038e-01 -2.49460283e-04 4.08698328e+00] [ 1.36120474e-02 -4.97818103e-04 9.99907228e-01 6.43797827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04439141799999 meters Centerline goodness [0,1] 0.9991010851186781 Centerline is valid? [True, True] Translation: X:93.38, Y:4.09, Z:0.65 [[ 9.98327890e-01 -5.61670473e-02 -1.36633613e-02 9.33783495e+01] [ 5.61688884e-02 9.98421251e-01 -2.49263845e-04 4.08905522e+00] [ 1.36557907e-02 -5.18608768e-04 9.99906621e-01 6.45273405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07439141799999 meters Centerline goodness [0,1] 0.9989952326998311 Centerline is valid? [True, True] Translation: X:93.41, Y:4.08, Z:0.65 [[ 9.98291629e-01 -5.71640152e-02 -1.20871640e-02 9.34097799e+01] [ 5.71655371e-02 9.98364689e-01 -2.19834043e-04 4.08427173e+00] [ 1.20799644e-02 -4.71510738e-04 9.99926923e-01 6.46275191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10439141799999 meters Centerline goodness [0,1] 0.9989726906942898 Centerline is valid? [True, True] Translation: X:93.44, Y:4.09, Z:0.65 [[ 9.98266796e-01 -5.76968925e-02 -1.15961969e-02 9.34423469e+01] [ 5.76983378e-02 9.98334041e-01 -2.10161998e-04 4.08554538e+00] [ 1.15890038e-02 -4.59283541e-04 9.99932740e-01 6.46326783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13439141799999 meters Centerline goodness [0,1] 0.9988679809479057 Centerline is valid? [True, True] Translation: X:93.47, Y:4.08, Z:0.65 [[ 9.98250725e-01 -5.79422352e-02 -1.17552869e-02 9.34747031e+01] [ 5.79437486e-02 9.98319827e-01 -2.12090777e-04 4.08341804e+00] [ 1.17478250e-02 -4.69425619e-04 9.99930882e-01 6.45591357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.164391418 meters Centerline goodness [0,1] 0.9987852956846031 Centerline is valid? [True, True] Translation: X:93.51, Y:4.08, Z:0.65 [[ 9.98251598e-01 -5.78163619e-02 -1.22888118e-02 9.35075948e+01] [ 5.78180207e-02 9.98327115e-01 -2.20541435e-04 4.08475988e+00] [ 1.22810049e-02 -4.90358934e-04 9.99924465e-01 6.45408576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.194391418 meters Centerline goodness [0,1] 0.9989542874215716 Centerline is valid? [True, True] Translation: X:93.54, Y:4.09, Z:0.65 [[ 9.98252311e-01 -5.76395367e-02 -1.30386534e-02 9.35399480e+01] [ 5.76414094e-02 9.98337325e-01 -2.32435573e-04 4.08516283e+00] [ 1.30303718e-02 -5.19537011e-04 9.99914966e-01 6.45595768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.224391418 meters Centerline goodness [0,1] 0.9992079462259708 Centerline is valid? [True, True] Translation: X:93.57, Y:4.09, Z:0.65 [[ 9.98325386e-01 -5.57598822e-02 -1.54032249e-02 9.35709383e+01] [ 5.57622945e-02 9.98444035e-01 -2.73166621e-04 4.09165775e+00] [ 1.53944898e-02 -5.86209992e-04 9.99881326e-01 6.45266696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.254391418 meters Centerline goodness [0,1] 0.9991226380775075 Centerline is valid? [True, True] Translation: X:93.60, Y:4.10, Z:0.65 [[ 9.98381390e-01 -5.46343431e-02 -1.58015206e-02 9.36029083e+01] [ 5.46367582e-02 9.98506258e-01 -2.79138635e-04 4.09533725e+00] [ 1.57931678e-02 -5.84657044e-04 9.99875109e-01 6.45359868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.284391418 meters Centerline goodness [0,1] 0.999057714958775 Centerline is valid? [True, True] Translation: X:93.63, Y:4.10, Z:0.64 [[ 9.98460571e-01 -5.31244576e-02 -1.59461495e-02 9.36347961e+01] [ 5.31267450e-02 9.98587738e-01 -2.80430354e-04 4.09594270e+00] [ 1.59385270e-02 -5.67168364e-04 9.99872813e-01 6.44658595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.314391418 meters Centerline goodness [0,1] 0.999121830020562 Centerline is valid? [True, True] Translation: X:93.67, Y:4.10, Z:0.64 [[ 9.98564774e-01 -5.13326552e-02 -1.52757869e-02 9.36667231e+01] [ 5.13345629e-02 9.98681476e-01 -2.67463750e-04 4.09680253e+00] [ 1.52693750e-02 -5.17095965e-04 9.99883283e-01 6.44208220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.344391418 meters Centerline goodness [0,1] 0.999121830020562 Centerline is valid? [True, True] Translation: X:93.70, Y:4.10, Z:0.64 [[ 9.98568849e-01 -5.12533328e-02 -1.52758081e-02 9.36984324e+01] [ 5.12552497e-02 9.98685550e-01 -2.66250126e-04 4.09727757e+00] [ 1.52693750e-02 -5.17096277e-04 9.99883283e-01 6.44476615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37439141799999 meters Centerline goodness [0,1] 0.9988461785004594 Centerline is valid? [True, True] Translation: X:93.73, Y:4.10, Z:0.64 [[ 9.98717664e-01 -4.85301924e-02 -1.44169151e-02 9.37286412e+01] [ 4.85316271e-02 9.98821615e-01 -2.50528317e-04 4.09591570e+00] [ 1.44120846e-02 -4.49469292e-04 9.99896039e-01 6.43953413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40439141799999 meters Centerline goodness [0,1] 0.998780618247941 Centerline is valid? [True, True] Translation: X:93.76, Y:4.10, Z:0.65 [[ 9.98789576e-01 -4.72147197e-02 -1.37895792e-02 9.37605636e+01] [ 4.72159148e-02 9.98884678e-01 -2.39061729e-04 4.09818516e+00] [ 1.37854866e-02 -4.12315233e-04 9.99904891e-01 6.45012093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43439141799999 meters Centerline goodness [0,1] 0.9988660676080445 Centerline is valid? [True, True] Translation: X:93.79, Y:4.11, Z:0.65 [[ 9.98872685e-01 -4.56700501e-02 -1.29462390e-02 9.37924420e+01] [ 4.56709864e-02 9.98956511e-01 -2.23467348e-04 4.10580433e+00] [ 1.29429355e-02 -3.68052076e-04 9.99916169e-01 6.48011911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46439141799999 meters Centerline goodness [0,1] 0.9990996591566808 Centerline is valid? [True, True] Translation: X:93.82, Y:4.11, Z:0.65 [[ 9.99047657e-01 -4.22866626e-02 -1.07525288e-02 9.38228854e+01] [ 4.22871193e-02 9.99105483e-01 -1.84978584e-04 4.11382502e+00] [ 1.07507326e-02 -2.69891047e-04 9.99942173e-01 6.53608989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49439141799999 meters Centerline goodness [0,1] 0.9991415572152116 Centerline is valid? [True, True] Translation: X:93.86, Y:4.12, Z:0.66 [[ 9.99129591e-01 -4.05137284e-02 -9.93465612e-03 9.38551103e+01] [ 4.05140334e-02 9.99178955e-01 -1.70632312e-04 4.11594052e+00] [ 9.93341227e-03 -2.32009198e-04 9.99950636e-01 6.55078116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.524391418 meters Centerline goodness [0,1] 0.999100488306348 Centerline is valid? [True, True] Translation: X:93.89, Y:4.11, Z:0.65 [[ 9.99208411e-01 -3.86484738e-02 -9.42583587e-03 9.38861489e+01] [ 3.86486727e-02 9.99252848e-01 -1.61116948e-04 4.11381385e+00] [ 9.42502026e-03 -2.03306635e-04 9.99955563e-01 6.54669925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.554391418 meters Centerline goodness [0,1] 0.9990787359400107 Centerline is valid? [True, True] Translation: X:93.92, Y:4.11, Z:0.65 [[ 9.99296582e-01 -3.60748952e-02 -1.02441395e-02 9.39180893e+01] [ 3.60750092e-02 9.99349070e-01 -1.73714969e-04 4.11472974e+00] [ 1.02437381e-02 -1.95964652e-04 9.99947512e-01 6.50944820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.584391418 meters Centerline goodness [0,1] 0.9990154952486945 Centerline is valid? [True, True] Translation: X:93.95, Y:4.11, Z:0.65 [[ 9.99318034e-01 -3.50660399e-02 -1.15688751e-02 9.39492292e+01] [ 3.50661287e-02 9.99384975e-01 -1.95226167e-04 4.11455992e+00] [ 1.15686057e-02 -2.10582633e-04 9.99933059e-01 6.48448596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.614391418 meters Centerline goodness [0,1] 0.9992498606884136 Centerline is valid? [True, True] Translation: X:93.98, Y:4.12, Z:0.65 [[ 9.99314772e-01 -3.50717141e-02 -1.18305409e-02 9.39816181e+01] [ 3.50718168e-02 9.99384775e-01 -1.98853515e-04 4.11735588e+00] [ 1.18302366e-02 -2.16201307e-04 9.99929997e-01 6.49807739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.644391418 meters Centerline goodness [0,1] 0.9994001842291296 Centerline is valid? [True, True] Translation: X:94.01, Y:4.12, Z:0.65 [[ 9.99306130e-01 -3.50945699e-02 -1.24751717e-02 9.40128581e+01] [ 3.50947015e-02 9.99383969e-01 -2.08435752e-04 4.11865678e+00] [ 1.24748016e-02 -2.29521302e-04 9.99922160e-01 6.49770457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.674391418 meters Centerline goodness [0,1] 0.9990772334170261 Centerline is valid? [True, True] Translation: X:94.04, Y:4.12, Z:0.65 [[ 9.99264740e-01 -3.61526498e-02 -1.27658017e-02 9.40443684e+01] [ 3.61528918e-02 9.99346248e-01 -2.11890117e-04 4.11950185e+00] [ 1.27651165e-02 -2.49786325e-04 9.99918491e-01 6.49938952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.704391418 meters Centerline goodness [0,1] 0.9990772334170261 Centerline is valid? [True, True] Translation: X:94.08, Y:4.12, Z:0.65 [[ 9.99267494e-01 -3.60764420e-02 -1.27658153e-02 9.40760657e+01] [ 3.60766882e-02 9.99349002e-01 -2.11071080e-04 4.11994595e+00] [ 1.27651195e-02 -2.49631869e-04 9.99918491e-01 6.50207289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73439141799999 meters Centerline goodness [0,1] 0.9988225723582805 Centerline is valid? [True, True] Translation: X:94.11, Y:4.12, Z:0.65 [[ 9.99268440e-01 -3.62336135e-02 -1.22356284e-02 9.41080093e+01] [ 3.62338627e-02 9.99343318e-01 -2.01385928e-04 4.12021009e+00] [ 1.22348904e-02 -2.42105477e-04 9.99925122e-01 6.51642782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76439141799999 meters Centerline goodness [0,1] 0.9988653636188478 Centerline is valid? [True, True] Translation: X:94.14, Y:4.12, Z:0.65 [[ 9.99304615e-01 -3.53877743e-02 -1.17470209e-02 9.41400814e+01] [ 3.53879562e-02 9.99373632e-01 -1.92435570e-04 4.12072487e+00] [ 1.17464728e-02 -2.23401309e-04 9.99930983e-01 6.52698538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79439141799999 meters Centerline goodness [0,1] 0.999270433233912 Centerline is valid? [True, True] Translation: X:94.17, Y:4.13, Z:0.65 [[ 9.99404596e-01 -3.21729081e-02 -1.24642429e-02 9.41723390e+01] [ 3.21728760e-02 9.99482298e-01 -2.03144381e-04 4.12570135e+00] [ 1.24643259e-02 -1.97987114e-04 9.99922298e-01 6.53736937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82439141799999 meters Centerline goodness [0,1] 0.9993344783168742 Centerline is valid? [True, True] Translation: X:94.20, Y:4.13, Z:0.65 [[ 9.99481385e-01 -2.97473664e-02 -1.23310823e-02 9.42045637e+01] [ 2.97471626e-02 9.99557435e-01 -1.99981049e-04 4.12902530e+00] [ 1.23315739e-02 -1.66937373e-04 9.99923949e-01 6.53769386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85439141799999 meters Centerline goodness [0,1] 0.999291951852726 Centerline is valid? [True, True] Translation: X:94.24, Y:4.13, Z:0.65 [[ 9.99549470e-01 -2.73151607e-02 -1.24394502e-02 9.42360136e+01] [ 2.73147766e-02 9.99626862e-01 -2.00807732e-04 4.13109173e+00] [ 1.24402936e-02 -1.39063540e-04 9.99922607e-01 6.53420875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88439141799999 meters Centerline goodness [0,1] 0.999056543088106 Centerline is valid? [True, True] Translation: X:94.27, Y:4.13, Z:0.65 [[ 9.99676182e-01 -2.26385632e-02 -1.16200877e-02 9.42672130e+01] [ 2.26379190e-02 9.99743712e-01 -1.86979509e-04 4.13345144e+00] [ 1.16213425e-02 -7.61356418e-05 9.99932467e-01 6.53023056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.914391418 meters Centerline goodness [0,1] 0.999121359535392 Centerline is valid? [True, True] Translation: X:94.30, Y:4.13, Z:0.65 [[ 9.99714697e-01 -2.10015893e-02 -1.13779974e-02 9.42982513e+01] [ 2.10008708e-02 9.99779441e-01 -1.82638786e-04 4.13363822e+00] [ 1.13793236e-02 -5.63611744e-05 9.99935252e-01 6.53025768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.944391418 meters Centerline goodness [0,1] 0.9990798202439546 Centerline is valid? [True, True] Translation: X:94.33, Y:4.13, Z:0.65 [[ 9.99741360e-01 -1.96916601e-02 -1.13777044e-02 9.43298763e+01] [ 1.96908620e-02 9.99806100e-01 -1.82175641e-04 4.13371395e+00] [ 1.13790856e-02 -4.19082846e-05 9.99935255e-01 6.53265316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.974391418 meters Centerline goodness [0,1] 0.998991870616246 Centerline is valid? [True, True] Translation: X:94.36, Y:4.13, Z:0.65 [[ 9.99769203e-01 -1.81663318e-02 -1.14684525e-02 9.43610256e+01] [ 1.81654260e-02 9.99834978e-01 -1.83160001e-04 4.13396439e+00] [ 1.14698873e-02 -2.52115964e-05 9.99934218e-01 6.53111174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.004391418 meters Centerline goodness [0,1] 0.9990978218842634 Centerline is valid? [True, True] Translation: X:94.39, Y:4.13, Z:0.66 [[ 9.99771925e-01 -1.81946931e-02 -1.11826343e-02 9.43911853e+01] [ 1.81938374e-02 9.99834463e-01 -1.78259537e-04 4.13488737e+00] [ 1.11840265e-02 -2.52361482e-05 9.99937457e-01 6.56182892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.034391418 meters Centerline goodness [0,1] 0.9992057017732171 Centerline is valid? [True, True] Translation: X:94.42, Y:4.13, Z:0.66 [[ 9.99761571e-01 -1.87103917e-02 -1.12571300e-02 9.44224863e+01] [ 1.87095585e-02 9.99824945e-01 -1.79333732e-04 4.13476425e+00] [ 1.12585148e-02 -3.13249592e-05 9.99936620e-01 6.56668601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.064391418 meters Centerline goodness [0,1] 0.9992912523356458 Centerline is valid? [True, True] Translation: X:94.45, Y:4.13, Z:0.66 [[ 9.99734076e-01 -1.99219685e-02 -1.16142847e-02 9.44540686e+01] [ 1.99211690e-02 9.99801537e-01 -1.84540654e-04 4.13362588e+00] [ 1.16156561e-02 -4.68785482e-05 9.99932535e-01 6.56456624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.094391418 meters Centerline goodness [0,1] 0.9990587027212049 Centerline is valid? [True, True] Translation: X:94.48, Y:4.13, Z:0.65 [[ 9.99643965e-01 -2.36827328e-02 -1.22911184e-02 9.44845579e+01] [ 2.36821270e-02 9.99719520e-01 -1.94854055e-04 4.12792479e+00] [ 1.22922857e-02 -9.62951468e-05 9.99924442e-01 6.54469742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12439141799999 meters Centerline goodness [0,1] 0.9990790910843167 Centerline is valid? [True, True] Translation: X:94.52, Y:4.12, Z:0.65 [[ 9.99587210e-01 -2.60560798e-02 -1.21032819e-02 9.45157259e+01] [ 2.60556700e-02 9.99660475e-01 -1.91564193e-04 4.12453098e+00] [ 1.21041640e-02 -1.23874003e-04 9.99926734e-01 6.53618534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15439141799999 meters Centerline goodness [0,1] 0.9990568868692931 Centerline is valid? [True, True] Translation: X:94.55, Y:4.12, Z:0.65 [[ 9.99534599e-01 -2.80882099e-02 -1.19011595e-02 9.45470753e+01] [ 2.80879633e-02 9.99605438e-01 -1.87898709e-04 4.12108715e+00] [ 1.19017415e-02 -1.46468072e-04 9.99929161e-01 6.53091658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18439141799999 meters Centerline goodness [0,1] 0.9986139247254505 Centerline is valid? [True, True] Translation: X:94.58, Y:4.11, Z:0.65 [[ 9.99414664e-01 -3.22505337e-02 -1.14119275e-02 9.45777832e+01] [ 3.22505832e-02 9.99479798e-01 -1.79736666e-04 4.11483499e+00] [ 1.14117876e-02 -1.88409857e-04 9.99934866e-01 6.53137952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21439141799999 meters Centerline goodness [0,1] 0.9987418433061799 Centerline is valid? [True, True] Translation: X:94.61, Y:4.11, Z:0.65 [[ 9.99369589e-01 -3.32936887e-02 -1.23269633e-02 9.46103599e+01] [ 3.32938340e-02 9.99445588e-01 -1.93485872e-04 4.11328176e+00] [ 1.23265710e-02 -2.17047975e-04 9.99924001e-01 6.52194780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24439141799999 meters Centerline goodness [0,1] 0.9989748846745259 Centerline is valid? [True, True] Translation: X:94.64, Y:4.11, Z:0.65 [[ 9.99317881e-01 -3.46750248e-02 -1.27049701e-02 9.46423396e+01] [ 3.46753036e-02 9.99398611e-01 -1.98405657e-04 4.11365792e+00] [ 1.27042091e-02 -2.42278373e-04 9.99919269e-01 6.54005701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.274391418 meters Centerline goodness [0,1] 0.9989341973440198 Centerline is valid? [True, True] Translation: X:94.67, Y:4.11, Z:0.65 [[ 9.99260429e-01 -3.59017250e-02 -1.37717528e-02 9.46738982e+01] [ 3.59021833e-02 9.99355286e-01 -2.14029792e-04 4.11252130e+00] [ 1.37705580e-02 -2.80564491e-04 9.99905142e-01 6.54011813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.304391418 meters Centerline goodness [0,1] 0.9988056645623614 Centerline is valid? [True, True] Translation: X:94.71, Y:4.11, Z:0.65 [[ 9.99258813e-01 -3.60126917e-02 -1.35981915e-02 9.47058408e+01] [ 3.60131609e-02 9.99351294e-01 -2.10445011e-04 4.11219198e+00] [ 1.35969489e-02 -2.79424825e-04 9.99907518e-01 6.54238310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.334391418 meters Centerline goodness [0,1] 0.999188952681792 Centerline is valid? [True, True] Translation: X:94.74, Y:4.11, Z:0.65 [[ 9.99256872e-01 -3.61392285e-02 -1.34037015e-02 9.47374511e+01] [ 3.61397082e-02 9.99346726e-01 -2.06504970e-04 4.11080771e+00] [ 1.34024081e-02 -2.78054350e-04 9.99910145e-01 6.54259942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.364391418 meters Centerline goodness [0,1] 0.9987652218342843 Centerline is valid? [True, True] Translation: X:94.77, Y:4.11, Z:0.65 [[ 9.99259694e-01 -3.63461353e-02 -1.26104284e-02 9.47690715e+01] [ 3.63465851e-02 9.99339226e-01 -1.93587906e-04 4.10775025e+00] [ 1.26091319e-02 -2.64901417e-04 9.99920467e-01 6.54044980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.394391418 meters Centerline goodness [0,1] 0.9987444404247622 Centerline is valid? [True, True] Translation: X:94.80, Y:4.11, Z:0.65 [[ 9.99264517e-01 -3.65695469e-02 -1.15365789e-02 9.48010998e+01] [ 3.65699459e-02 9.99331080e-01 -1.76430015e-04 4.10635527e+00] [ 1.15353138e-02 -2.45591812e-04 9.99933436e-01 6.54528878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.424391418 meters Centerline goodness [0,1] 0.9987248150981892 Centerline is valid? [True, True] Translation: X:94.83, Y:4.11, Z:0.66 [[ 9.99252158e-01 -3.70238407e-02 -1.11517114e-02 9.48328048e+01] [ 3.70242511e-02 9.99314353e-01 -1.69715485e-04 4.10725757e+00] [ 1.11503488e-02 -2.43295199e-04 9.99937803e-01 6.55286411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.454391418 meters Centerline goodness [0,1] 0.9987888317538566 Centerline is valid? [True, True] Translation: X:94.87, Y:4.11, Z:0.66 [[ 9.99182087e-01 -3.90294435e-02 -1.05764027e-02 9.48654101e+01] [ 3.90299335e-02 9.99238029e-01 -1.60144689e-04 4.10601891e+00] [ 1.05745941e-02 -2.52782590e-04 9.99944055e-01 6.55411349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48439141799999 meters Centerline goodness [0,1] 0.9989789189304176 Centerline is valid? [True, True] Translation: X:94.90, Y:4.10, Z:0.66 [[ 9.99128227e-01 -4.02524470e-02 -1.10691608e-02 9.48969347e+01] [ 4.02530687e-02 9.99189503e-01 -1.66709005e-04 4.10270988e+00] [ 1.10668997e-02 -2.79004017e-04 9.99938721e-01 6.55361726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51439141799999 meters Centerline goodness [0,1] 0.9985775248933144 Centerline is valid? [True, True] Translation: X:94.93, Y:4.10, Z:0.66 [[ 9.99050475e-01 -4.19692249e-02 -1.16933097e-02 9.49287131e+01] [ 4.19700457e-02 9.99118854e-01 -1.75293388e-04 4.10403699e+00] [ 1.16903632e-02 -3.15641802e-04 9.99931616e-01 6.55709798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54439141799999 meters Centerline goodness [0,1] 0.9988943697907807 Centerline is valid? [True, True] Translation: X:94.96, Y:4.10, Z:0.66 [[ 9.98850956e-01 -4.62606852e-02 -1.25186241e-02 9.49599914e+01] [ 4.62619772e-02 9.98929324e-01 -1.86511198e-04 4.10014437e+00] [ 1.25138489e-02 -3.92839416e-04 9.99921622e-01 6.55058415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57439141799999 meters Centerline goodness [0,1] 0.9988722684426665 Centerline is valid? [True, True] Translation: X:94.99, Y:4.10, Z:0.65 [[ 9.98730202e-01 -4.86218267e-02 -1.31871426e-02 9.49917061e+01] [ 4.86234818e-02 9.98817160e-01 -1.95269900e-04 4.09838468e+00] [ 1.31810387e-02 -4.46182843e-04 9.99913027e-01 6.54855861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60439141799999 meters Centerline goodness [0,1] 0.9987661937075879 Centerline is valid? [True, True] Translation: X:95.02, Y:4.10, Z:0.66 [[ 9.98607963e-01 -5.11294645e-02 -1.29581843e-02 9.50235963e+01] [ 5.11312866e-02 9.98691922e-01 -1.90864491e-04 4.09690374e+00] [ 1.29509927e-02 -4.71969832e-04 9.99916021e-01 6.55083999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63439141799999 meters Centerline goodness [0,1] 0.9989146164978292 Centerline is valid? [True, True] Translation: X:95.06, Y:4.09, Z:0.65 [[ 9.98473459e-01 -5.36448818e-02 -1.31520881e-02 9.50550028e+01] [ 5.36469933e-02 9.98559945e-01 -1.92458024e-04 4.09379358e+00] [ 1.31434727e-02 -5.13405751e-04 9.99913489e-01 6.54956332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.664391418 meters Centerline goodness [0,1] 0.9984681176996234 Centerline is valid? [True, True] Translation: X:95.09, Y:4.09, Z:0.65 [[ 9.98151140e-01 -5.91752234e-02 -1.38778285e-02 9.50861881e+01] [ 5.91781167e-02 9.98247419e-01 -2.02438394e-04 4.08921522e+00] [ 1.38654858e-02 -6.19199641e-04 9.99903678e-01 6.53894628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.694391418 meters Centerline goodness [0,1] 0.9986834840956386 Centerline is valid? [True, True] Translation: X:95.12, Y:4.09, Z:0.65 [[ 9.98007351e-01 -6.14737999e-02 -1.42231738e-02 9.51180460e+01] [ 6.14770791e-02 9.98108474e-01 -2.06962483e-04 4.08899241e+00] [ 1.42089930e-02 -6.67849099e-04 9.99898824e-01 6.53912680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.724391418 meters Centerline goodness [0,1] 0.9988318749469034 Centerline is valid? [True, True] Translation: X:95.15, Y:4.08, Z:0.65 [[ 9.97722465e-01 -6.58062953e-02 -1.48126449e-02 9.51482835e+01] [ 6.58103361e-02 9.97832127e-01 -2.15011752e-04 4.08475348e+00] [ 1.47946821e-02 -7.60303086e-04 9.99890264e-01 6.53709476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.754391418 meters Centerline goodness [0,1] 0.9988110150958619 Centerline is valid? [True, True] Translation: X:95.18, Y:4.08, Z:0.65 [[ 9.97655519e-01 -6.68480116e-02 -1.46563495e-02 9.51803197e+01] [ 6.68520868e-02 9.97762874e-01 -2.12254425e-04 4.08497918e+00] [ 1.46377502e-02 -7.68050751e-04 9.99892567e-01 6.54751182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.784391418 meters Centerline goodness [0,1] 0.9987662461976984 Centerline is valid? [True, True] Translation: X:95.21, Y:4.09, Z:0.66 [[ 9.97619879e-01 -6.74309955e-02 -1.44096433e-02 9.52122031e+01] [ 6.74350118e-02 9.97723647e-01 -2.07533386e-04 4.08929777e+00] [ 1.43908360e-02 -7.64675032e-04 9.99896154e-01 6.56013051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.814391418 meters Centerline goodness [0,1] 0.998641304347826 Centerline is valid? [True, True] Translation: X:95.24, Y:4.09, Z:0.66 [[ 9.97660606e-01 -6.69051673e-02 -1.40361767e-02 9.52438213e+01] [ 6.69089405e-02 9.97759066e-01 -2.01130700e-04 4.08738354e+00] [ 1.40181793e-02 -7.38485536e-04 9.99901468e-01 6.56652787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.844391418 meters Centerline goodness [0,1] 0.9985958343084484 Centerline is valid? [True, True] Translation: X:95.28, Y:4.09, Z:0.66 [[ 9.97743488e-01 -6.57097669e-02 -1.37898138e-02 9.52762908e+01] [ 6.57133078e-02 9.97838525e-01 -1.96664467e-04 4.09040443e+00] [ 1.37729302e-02 -7.09953586e-04 9.99904897e-01 6.57724094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87439141799999 meters Centerline goodness [0,1] 0.9988301854687766 Centerline is valid? [True, True] Translation: X:95.31, Y:4.10, Z:0.66 [[ 9.98011075e-01 -6.15931108e-02 -1.34232493e-02 9.53071415e+01] [ 6.15961045e-02 9.98101139e-01 -1.90679773e-04 4.09703667e+00] [ 1.34095050e-02 -6.36519343e-04 9.99909886e-01 6.58150373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90439141799999 meters Centerline goodness [0,1] 0.9990848532572839 Centerline is valid? [True, True] Translation: X:95.34, Y:4.10, Z:0.66 [[ 9.98190126e-01 -5.86730718e-02 -1.31887188e-02 9.53378910e+01] [ 5.86757121e-02 9.98277079e-01 -1.86990965e-04 4.09873033e+00] [ 1.31769671e-02 -5.87204936e-04 9.99913008e-01 6.58105471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93439141799999 meters Centerline goodness [0,1] 0.9988733472216317 Centerline is valid? [True, True] Translation: X:95.37, Y:4.10, Z:0.66 [[ 9.98378038e-01 -5.55422375e-02 -1.25041147e-02 9.53688317e+01] [ 5.55443718e-02 9.98456204e-01 -1.76802226e-04 4.10013801e+00] [ 1.24946309e-02 -5.18017734e-04 9.99921805e-01 6.57825707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96439141799999 meters Centerline goodness [0,1] 0.9990411659422143 Centerline is valid? [True, True] Translation: X:95.40, Y:4.11, Z:0.66 [[ 9.98739921e-01 -4.87345727e-02 -1.19796154e-02 9.53997430e+01] [ 4.87360471e-02 9.98811679e-01 -1.68994861e-04 4.11090485e+00] [ 1.19736157e-02 -4.15057189e-04 9.99928228e-01 6.59236221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99439141799999 meters Centerline goodness [0,1] 0.998870514022675 Centerline is valid? [True, True] Translation: X:95.43, Y:4.11, Z:0.66 [[ 9.98915580e-01 -4.50724121e-02 -1.16679929e-02 9.54301378e+01] [ 4.50735639e-02 9.98983657e-01 -1.64368853e-04 4.11492674e+00] [ 1.16635428e-02 -3.61727418e-04 9.99931913e-01 6.59885155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.024391418 meters Centerline goodness [0,1] 0.9991026599722251 Centerline is valid? [True, True] Translation: X:95.46, Y:4.13, Z:0.66 [[ 9.99225383e-01 -3.74454242e-02 -1.21026614e-02 9.54612174e+01] [ 3.74461072e-02 9.99298634e-01 -1.70241465e-04 4.12719108e+00] [ 1.21005478e-02 -2.83087963e-04 9.99926746e-01 6.60576833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.054391418 meters Centerline goodness [0,1] 0.9988679325885896 Centerline is valid? [True, True] Translation: X:95.49, Y:4.13, Z:0.66 [[ 9.99353867e-01 -3.37054851e-02 -1.24815019e-02 9.54936394e+01] [ 3.37059263e-02 9.99431779e-01 -1.75071149e-04 4.13139314e+00] [ 1.24803105e-02 -2.45742554e-04 9.99922088e-01 6.60153074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.084391418 meters Centerline goodness [0,1] 0.9991432488005483 Centerline is valid? [True, True] Translation: X:95.52, Y:4.14, Z:0.66 [[ 9.99545467e-01 -2.70475465e-02 -1.33150212e-02 9.55235843e+01] [ 2.70474688e-02 9.99634133e-01 -1.85939503e-04 4.13816125e+00] [ 1.33151789e-02 -1.74282633e-04 9.99911334e-01 6.58317960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.114391418 meters Centerline goodness [0,1] 0.9993356051351293 Centerline is valid? [True, True] Translation: X:95.55, Y:4.14, Z:0.66 [[ 9.99616640e-01 -2.39531038e-02 -1.38860054e-02 9.55545574e+01] [ 2.39527263e-02 9.99713074e-01 -1.93522412e-04 4.14243181e+00] [ 1.38866566e-02 -1.39159462e-04 9.99903566e-01 6.58209673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.144391418 meters Centerline goodness [0,1] 0.9992059574650729 Centerline is valid? [True, True] Translation: X:95.59, Y:4.15, Z:0.66 [[ 9.99681046e-01 -2.11117991e-02 -1.38599293e-02 9.55854750e+01] [ 2.11111561e-02 9.99777116e-01 -1.92716904e-04 4.14652663e+00] [ 1.38609088e-02 -9.99436946e-05 9.99903928e-01 6.58391074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.174391418 meters Centerline goodness [0,1] 0.9993982894227876 Centerline is valid? [True, True] Translation: X:95.62, Y:4.15, Z:0.66 [[ 9.99737448e-01 -1.83648887e-02 -1.37027870e-02 9.56159790e+01] [ 1.83640058e-02 9.99831349e-01 -1.90265174e-04 4.15069347e+00] [ 1.37039702e-02 -6.14228413e-05 9.99906094e-01 6.58924297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.204391418 meters Centerline goodness [0,1] 0.9993982894227876 Centerline is valid? [True, True] Translation: X:95.65, Y:4.15, Z:0.66 [[ 9.99786466e-01 -1.54442011e-02 -1.37294951e-02 9.56460813e+01] [ 1.54430402e-02 9.99880731e-01 -1.90577914e-04 4.15474349e+00] [ 1.37308009e-02 -2.14879244e-05 9.99905728e-01 6.59551395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23439141799999 meters Centerline goodness [0,1] 0.9992478617784846 Centerline is valid? [True, True] Translation: X:95.67, Y:4.16, Z:0.66 [[ 9.99824255e-01 -1.25551320e-02 -1.39222204e-02 9.56749990e+01] [ 1.25536511e-02 9.99921181e-01 -1.93758865e-04 4.15762011e+00] [ 1.39235557e-02 1.89501160e-05 9.99903062e-01 6.59137862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26439141799999 meters Centerline goodness [0,1] 0.9992478617784846 Centerline is valid? [True, True] Translation: X:95.70, Y:4.16, Z:0.66 [[ 9.99820195e-01 -1.28743729e-02 -1.39221887e-02 9.57023713e+01] [ 1.28728916e-02 9.99917122e-01 -1.96013584e-04 4.15813946e+00] [ 1.39235584e-02 1.67595151e-05 9.99903062e-01 6.59369906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29439141799999 meters Centerline goodness [0,1] 0.9996129032258064 Centerline is valid? [True, True] Translation: X:95.73, Y:4.16, Z:0.66 [[ 9.99853002e-01 -9.98710034e-03 -1.39367045e-02 9.57305036e+01] [ 9.98529017e-03 9.99950126e-01 -1.99465012e-04 4.16091245e+00] [ 1.39380015e-02 6.02736527e-05 9.99902860e-01 6.58945501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32439141799999 meters Centerline goodness [0,1] 0.9993309159975826 Centerline is valid? [True, True] Translation: X:95.76, Y:4.16, Z:0.66 [[ 9.99905752e-01 -5.57502403e-03 -1.25461677e-02 9.57589642e+01] [ 5.57318596e-03 9.99984453e-01 -1.81462838e-04 4.16447749e+00] [ 1.25469843e-02 1.11523609e-04 9.99921277e-01 6.60382057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35439141799999 meters Centerline goodness [0,1] 0.9995901639344262 Centerline is valid? [True, True] Translation: X:95.79, Y:4.17, Z:0.66 [[ 9.99921243e-01 -3.60071354e-03 -1.20225942e-02 9.57871510e+01] [ 3.59885130e-03 9.99993509e-01 -1.76526555e-04 4.16699183e+00] [ 1.20231518e-02 1.33245124e-04 9.99927710e-01 6.61170035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38439141799999 meters Centerline goodness [0,1] 0.9993721720681518 Centerline is valid? [True, True] Translation: X:95.82, Y:4.17, Z:0.66 [[ 9.99940677e-01 -1.96814648e-03 -1.07129815e-02 9.58158069e+01] [ 1.96655945e-03 9.99998054e-01 -1.58673132e-04 4.16907667e+00] [ 1.07132729e-02 1.37596004e-04 9.99942602e-01 6.62892789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.414391418 meters Centerline goodness [0,1] 0.9992419484091746 Centerline is valid? [True, True] Translation: X:95.84, Y:4.17, Z:0.66 [[ 9.99946864e-01 -2.41806238e-03 -1.00211257e-02 9.58437548e+01] [ 2.41666925e-03 9.99997068e-01 -1.51126611e-04 4.16891245e+00] [ 1.00214617e-02 1.26900834e-04 9.99949776e-01 6.63362599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.444391418 meters Centerline goodness [0,1] 0.9992866407263294 Centerline is valid? [True, True] Translation: X:95.87, Y:4.17, Z:0.66 [[ 9.99949217e-01 -2.95815447e-03 -9.63393174e-03 9.58714477e+01] [ 2.95686561e-03 9.99995618e-01 -1.48024039e-04 4.16801087e+00] [ 9.63432740e-03 1.19530280e-04 9.99953582e-01 6.63247476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.474391418 meters Centerline goodness [0,1] 0.9992661500938896 Centerline is valid? [True, True] Translation: X:95.90, Y:4.16, Z:0.66 [[ 9.99929318e-01 -6.33544182e-03 -1.00608864e-02 9.59004851e+01] [ 6.33419695e-03 9.99979927e-01 -1.55592898e-04 4.16207750e+00] [ 1.00616702e-02 9.18542647e-05 9.99949376e-01 6.61220457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.504391418 meters Centerline goodness [0,1] 0.9993970325387084 Centerline is valid? [True, True] Translation: X:95.93, Y:4.16, Z:0.66 [[ 9.99899881e-01 -9.00628633e-03 -1.09139935e-02 9.59279872e+01] [ 9.00496967e-03 9.99959440e-01 -1.69776211e-04 4.16004919e+00] [ 1.09150798e-02 7.14790329e-05 9.99940426e-01 6.60247997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.534391418 meters Centerline goodness [0,1] 0.9991814931288502 Centerline is valid? [True, True] Translation: X:95.96, Y:4.16, Z:0.66 [[ 9.99861608e-01 -1.23832646e-02 -1.11094626e-02 9.59568826e+01] [ 1.23820907e-02 9.99923324e-01 -1.74440957e-04 4.15673746e+00] [ 1.11107709e-02 3.68584419e-05 9.99938273e-01 6.60416235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.564391418 meters Centerline goodness [0,1] 0.9992693828433901 Centerline is valid? [True, True] Translation: X:95.99, Y:4.15, Z:0.66 [[ 9.99752661e-01 -1.88101079e-02 -1.18657684e-02 9.59852443e+01] [ 1.88091881e-02 9.99823074e-01 -1.89119774e-04 4.15152869e+00] [ 1.18672264e-02 -3.41124722e-05 9.99929581e-01 6.60815728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59439141799999 meters Centerline goodness [0,1] 0.9991624970472652 Centerline is valid? [True, True] Translation: X:96.02, Y:4.15, Z:0.66 [[ 9.99679351e-01 -2.22022875e-02 -1.21759041e-02 9.60156629e+01] [ 2.22015641e-02 9.99753496e-01 -1.94591950e-04 4.14898422e+00] [ 1.21772231e-02 -7.57945613e-05 9.99925852e-01 6.61005321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62439141799999 meters Centerline goodness [0,1] 0.9992491042886872 Centerline is valid? [True, True] Translation: X:96.05, Y:4.15, Z:0.66 [[ 9.99605083e-01 -2.52280608e-02 -1.23783307e-02 9.60463932e+01] [ 2.52275481e-02 9.99681715e-01 -1.97589457e-04 4.14535306e+00] [ 1.23793756e-02 -1.14763506e-04 9.99923366e-01 6.60877668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65439141799999 meters Centerline goodness [0,1] 0.9990159164812596 Centerline is valid? [True, True] Translation: X:96.08, Y:4.14, Z:0.66 [[ 9.99523371e-01 -2.82401943e-02 -1.24708683e-02 9.60775904e+01] [ 2.82399166e-02 9.99601154e-01 -1.98390122e-04 4.14168473e+00] [ 1.24714969e-02 -1.53880717e-04 9.99922216e-01 6.60568111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68439141799999 meters Centerline goodness [0,1] 0.9990157901493432 Centerline is valid? [True, True] Translation: X:96.11, Y:4.13, Z:0.66 [[ 9.99396215e-01 -3.27340103e-02 -1.16485945e-02 9.61095371e+01] [ 3.27340812e-02 9.99464079e-01 -1.84625445e-04 4.13433289e+00] [ 1.16483953e-02 -1.96792067e-04 9.99932136e-01 6.60308727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71439141799999 meters Centerline goodness [0,1] 0.9990604313474268 Centerline is valid? [True, True] Translation: X:96.14, Y:4.13, Z:0.66 [[ 9.99338360e-01 -3.47568279e-02 -1.07147417e-02 9.61415090e+01] [ 3.47570157e-02 9.99395778e-01 -1.68736514e-04 4.13145489e+00] [ 1.07141324e-02 -2.03787575e-04 9.99942581e-01 6.60919184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74439141799999 meters Centerline goodness [0,1] 0.9989542874215716 Centerline is valid? [True, True] Translation: X:96.17, Y:4.13, Z:0.66 [[ 9.99295875e-01 -3.61518196e-02 -1.00399088e-02 9.61735129e+01] [ 3.61520625e-02 9.99346288e-01 -1.57351610e-04 4.13098273e+00] [ 1.00390342e-02 -2.05722597e-04 9.99949586e-01 6.61789658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.774391418 meters Centerline goodness [0,1] 0.998742406479804 Centerline is valid? [True, True] Translation: X:96.20, Y:4.13, Z:0.66 [[ 9.99260210e-01 -3.72833942e-02 -9.43294581e-03 9.62047377e+01] [ 3.72836657e-02 9.99304712e-01 -1.47126358e-04 4.12853901e+00] [ 9.43187256e-03 -2.04677282e-04 9.99955498e-01 6.62476673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.804391418 meters Centerline goodness [0,1] 0.9988079526586913 Centerline is valid? [True, True] Translation: X:96.24, Y:4.13, Z:0.66 [[ 9.99198516e-01 -3.90530299e-02 -8.78553776e-03 9.62370981e+01] [ 3.90533383e-02 9.99237118e-01 -1.36520127e-04 4.12703881e+00] [ 8.78416695e-03 -2.06693870e-04 9.99961397e-01 6.62844313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.834391418 meters Centerline goodness [0,1] 0.9988313288853002 Centerline is valid? [True, True] Translation: X:96.27, Y:4.13, Z:0.66 [[ 9.99163569e-01 -3.99584945e-02 -8.68801386e-03 9.62694903e+01] [ 3.99588364e-02 9.99201318e-01 -1.34301336e-04 4.12503573e+00] [ 8.68644138e-03 -2.12973922e-04 9.99962249e-01 6.62571876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.864391418 meters Centerline goodness [0,1] 0.9987030107161082 Centerline is valid? [True, True] Translation: X:96.30, Y:4.12, Z:0.66 [[ 9.99106664e-01 -4.12862147e-02 -9.01790178e-03 9.63008635e+01] [ 4.12866438e-02 9.99147333e-01 -1.38648443e-04 4.12215649e+00] [ 9.01593678e-03 -2.33794316e-04 9.99959328e-01 6.62720852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.894391418 meters Centerline goodness [0,1] 0.9989174043176463 Centerline is valid? [True, True] Translation: X:96.33, Y:4.12, Z:0.66 [[ 9.98945885e-01 -4.50055804e-02 -9.03422834e-03 9.63330209e+01] [ 4.50061682e-02 9.98986699e-01 -1.38337076e-04 4.11814351e+00] [ 9.03129989e-03 -2.68404747e-04 9.99959181e-01 6.62405952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.924391418 meters Centerline goodness [0,1] 0.9992145541002398 Centerline is valid? [True, True] Translation: X:96.37, Y:4.12, Z:0.66 [[ 9.98825539e-01 -4.75344183e-02 -9.38195001e-03 9.63651350e+01] [ 4.75351711e-02 9.98869555e-01 -1.42864364e-04 4.11668662e+00] [ 9.37813520e-03 -3.03276023e-04 9.99955978e-01 6.62810190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.954391418 meters Centerline goodness [0,1] 0.9990870682151122 Centerline is valid? [True, True] Translation: X:96.40, Y:4.11, Z:0.66 [[ 9.98531105e-01 -5.30222698e-02 -1.11477418e-02 9.63959175e+01] [ 5.30236848e-02 9.98593241e-01 -1.68787180e-04 4.11198164e+00] [ 1.11410091e-02 -4.22555100e-04 9.99937848e-01 6.61744669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98439141799999 meters Centerline goodness [0,1] 0.9987482231133177 Centerline is valid? [True, True] Translation: X:96.43, Y:4.11, Z:0.66 [[ 9.98360046e-01 -5.60359245e-02 -1.17130048e-02 9.64271800e+01] [ 5.60377013e-02 9.98428638e-01 -1.76703069e-04 4.10811224e+00] [ 1.17045012e-02 -4.79956583e-04 9.99931385e-01 6.60518224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01439141799999 meters Centerline goodness [0,1] 0.9985778872073525 Centerline is valid? [True, True] Translation: X:96.46, Y:4.10, Z:0.66 [[ 9.98196615e-01 -5.87166003e-02 -1.24851731e-02 9.64581412e+01] [ 5.87188374e-02 9.98274543e-01 -1.87637071e-04 4.10377307e+00] [ 1.24746479e-02 -5.45816160e-04 9.99922040e-01 6.58764341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04439141799999 meters Centerline goodness [0,1] 0.9987286250079461 Centerline is valid? [True, True] Translation: X:96.49, Y:4.10, Z:0.66 [[ 9.97880591e-01 -6.35104529e-02 -1.41685552e-02 9.64891975e+01] [ 6.35138231e-02 9.97980936e-01 -2.12434807e-04 4.09806924e+00] [ 1.41534398e-02 -6.87914538e-04 9.99899598e-01 6.56705151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07439141799999 meters Centerline goodness [0,1] 0.9987696485013046 Centerline is valid? [True, True] Translation: X:96.52, Y:4.10, Z:0.66 [[ 9.97755568e-01 -6.52641680e-02 -1.49804582e-02 9.65206120e+01] [ 6.52681412e-02 9.97867737e-01 -2.24040517e-04 4.09590571e+00] [ 1.49631377e-02 -7.54208987e-04 9.99887762e-01 6.56700325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10439141799999 meters Centerline goodness [0,1] 0.9986857724266576 Centerline is valid? [True, True] Translation: X:96.55, Y:4.10, Z:0.66 [[ 9.97710340e-01 -6.59722514e-02 -1.48909108e-02 9.65522389e+01] [ 6.59762691e-02 9.97821168e-01 -2.21814058e-04 4.09760023e+00] [ 1.48730996e-02 -7.61140562e-04 9.99889100e-01 6.57810152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13439141799999 meters Centerline goodness [0,1] 0.9989595719381689 Centerline is valid? [True, True] Translation: X:96.58, Y:4.10, Z:0.66 [[ 9.97700371e-01 -6.61463943e-02 -1.47859260e-02 9.65844627e+01] [ 6.61503897e-02 9.97809640e-01 -2.19232247e-04 4.10096169e+00] [ 1.47680410e-02 -7.59366675e-04 9.99890658e-01 6.59682207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.164391418 meters Centerline goodness [0,1] 0.9985530991339873 Centerline is valid? [True, True] Translation: X:96.61, Y:4.10, Z:0.66 [[ 9.97842770e-01 -6.42305917e-02 -1.35734376e-02 9.66148718e+01] [ 6.42337917e-02 9.97934857e-01 -2.00518975e-04 4.10336898e+00] [ 1.35582860e-02 -6.71786954e-04 9.99907857e-01 6.62073507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.194391418 meters Centerline goodness [0,1] 0.9985120312898563 Centerline is valid? [True, True] Translation: X:96.65, Y:4.10, Z:0.66 [[ 9.97970493e-01 -6.23504215e-02 -1.29351882e-02 9.66463378e+01] [ 6.23531756e-02 9.98054129e-01 -1.90664122e-04 4.10159613e+00] [ 1.29219060e-02 -6.16272895e-04 9.99916319e-01 6.63029454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.224391418 meters Centerline goodness [0,1] 0.9984471058733434 Centerline is valid? [True, True] Translation: X:96.68, Y:4.10, Z:0.66 [[ 9.98124495e-01 -5.99912068e-02 -1.21880335e-02 9.66782626e+01] [ 5.99934846e-02 9.98198753e-01 -1.78964629e-04 4.10407628e+00] [ 1.21768161e-02 -5.52573619e-04 9.99925707e-01 6.63540868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.254391418 meters Centerline goodness [0,1] 0.9982578027067797 Centerline is valid? [True, True] Translation: X:96.71, Y:4.11, Z:0.66 [[ 9.98261025e-01 -5.78089098e-02 -1.15349859e-02 9.67100206e+01] [ 5.78108121e-02 9.98327542e-01 -1.68729656e-04 4.10853716e+00] [ 1.15254482e-02 -4.98410661e-04 9.99933456e-01 6.64487127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.284391418 meters Centerline goodness [0,1] 0.9986613403595257 Centerline is valid? [True, True] Translation: X:96.74, Y:4.11, Z:0.66 [[ 9.98424583e-01 -5.47857565e-02 -1.21191431e-02 9.67410793e+01] [ 5.47876422e-02 9.98498014e-01 -1.76598596e-04 4.11275201e+00] [ 1.21106154e-02 -4.87658898e-04 9.99926545e-01 6.63680875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.314391418 meters Centerline goodness [0,1] 0.9988503544740371 Centerline is valid? [True, True] Translation: X:96.77, Y:4.12, Z:0.66 [[ 9.98666315e-01 -5.02887248e-02 -1.16891061e-02 9.67712749e+01] [ 5.02901760e-02 9.98734634e-01 -1.69937034e-04 4.11714761e+00] [ 1.16828610e-02 -4.18136813e-04 9.99931666e-01 6.64903787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34439141799999 meters Centerline goodness [0,1] 0.9989970765849391 Centerline is valid? [True, True] Translation: X:96.80, Y:4.12, Z:0.67 [[ 9.98792176e-01 -4.76437408e-02 -1.20109585e-02 9.68022019e+01] [ 4.76450866e-02 9.98864313e-01 -1.74237180e-04 4.11992612e+00] [ 1.20056191e-02 -3.98236427e-04 9.99927851e-01 6.65128561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37439141799999 meters Centerline goodness [0,1] 0.9989531703982225 Centerline is valid? [True, True] Translation: X:96.83, Y:4.12, Z:0.67 [[ 9.98902358e-01 -4.52752694e-02 -1.20095474e-02 9.68344088e+01] [ 4.52764529e-02 9.98974481e-01 -1.73459673e-04 4.12301269e+00] [ 1.20050848e-02 -3.70480430e-04 9.99927868e-01 6.65394224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40439141799999 meters Centerline goodness [0,1] 0.9989100468038725 Centerline is valid? [True, True] Translation: X:96.87, Y:4.13, Z:0.67 [[ 9.99003500e-01 -4.29197815e-02 -1.22433568e-02 9.68669284e+01] [ 4.29208464e-02 9.99078460e-01 -1.75889474e-04 4.12539620e+00] [ 1.22396232e-02 -3.49781038e-04 9.99925032e-01 6.65531922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43439141799999 meters Centerline goodness [0,1] 0.9991246610730374 Centerline is valid? [True, True] Translation: X:96.90, Y:4.13, Z:0.67 [[ 9.99187174e-01 -3.84562967e-02 -1.20873550e-02 9.68976369e+01] [ 3.84570175e-02 9.99260240e-01 -1.72877414e-04 4.12882585e+00] [ 1.20850615e-02 -2.92106730e-04 9.99926930e-01 6.65282304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46439141799999 meters Centerline goodness [0,1] 0.99906000982717 Centerline is valid? [True, True] Translation: X:96.93, Y:4.13, Z:0.67 [[ 9.99253052e-01 -3.65333604e-02 -1.25957090e-02 9.69303195e+01] [ 3.65339994e-02 9.99332394e-01 -1.79431782e-04 4.13181859e+00] [ 1.25938553e-02 -2.80873869e-04 9.99920655e-01 6.65507994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49439141799999 meters Centerline goodness [0,1] 0.9993577392421323 Centerline is valid? [True, True] Translation: X:96.96, Y:4.14, Z:0.67 [[ 9.99340708e-01 -3.39729847e-02 -1.28056571e-02 9.69620837e+01] [ 3.39734497e-02 9.99422719e-01 -1.81285170e-04 4.13714428e+00] [ 1.28044234e-02 -2.53886696e-04 9.99917988e-01 6.66229873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.524391418 meters Centerline goodness [0,1] 0.9992931196983977 Centerline is valid? [True, True] Translation: X:96.99, Y:4.15, Z:0.67 [[ 9.99489559e-01 -2.94015242e-02 -1.24969103e-02 9.69932217e+01] [ 2.94016199e-02 9.99567663e-01 -1.76105028e-04 4.14629016e+00] [ 1.24966851e-02 -1.91414268e-04 9.99921895e-01 6.68518952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.554391418 meters Centerline goodness [0,1] 0.9997427156364572 Centerline is valid? [True, True] Translation: X:97.02, Y:4.15, Z:0.67 [[ 9.99561710e-01 -2.67759933e-02 -1.26267302e-02 9.70233943e+01] [ 2.67758870e-02 9.99641446e-01 -1.77498437e-04 4.14650182e+00] [ 1.26269556e-02 -1.60671260e-04 9.99920264e-01 6.68029642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.584391418 meters Centerline goodness [0,1] 0.9993141142428464 Centerline is valid? [True, True] Translation: X:97.06, Y:4.15, Z:0.67 [[ 9.99614968e-01 -2.44973127e-02 -1.30306132e-02 9.70551851e+01] [ 2.44970111e-02 9.99699886e-01 -1.82776677e-04 4.15126033e+00] [ 1.30311801e-02 -1.36504774e-04 9.99915081e-01 6.68054535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.614391418 meters Centerline goodness [0,1] 0.9997640851866944 Centerline is valid? [True, True] Translation: X:97.09, Y:4.15, Z:0.67 [[ 9.99720105e-01 -1.93517126e-02 -1.36096921e-02 9.70854770e+01] [ 1.93509141e-02 9.99812735e-01 -1.90368006e-04 4.15370154e+00] [ 1.36108274e-02 -7.30452587e-05 9.99907366e-01 6.66031821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.644391418 meters Centerline goodness [0,1] 0.9995492207959473 Centerline is valid? [True, True] Translation: X:97.12, Y:4.16, Z:0.67 [[ 9.99754314e-01 -1.69465357e-02 -1.42872777e-02 9.71155540e+01] [ 1.69454092e-02 9.99856396e-01 -1.99909012e-04 4.15604846e+00] [ 1.42886138e-02 -4.22438695e-05 9.99897912e-01 6.65693650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.674391418 meters Centerline goodness [0,1] 0.99944256249732 Centerline is valid? [True, True] Translation: X:97.14, Y:4.16, Z:0.67 [[ 9.99816957e-01 -1.22810545e-02 -1.46706621e-02 9.71439647e+01] [ 1.22793332e-02 9.99924585e-01 -2.07401577e-04 4.16110188e+00] [ 1.46721028e-02 2.72176651e-05 9.99892359e-01 6.66410887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.704391418 meters Centerline goodness [0,1] 0.9993556839414961 Centerline is valid? [True, True] Translation: X:97.17, Y:4.16, Z:0.67 [[ 9.99841275e-01 -1.01671063e-02 -1.46306225e-02 9.71716398e+01] [ 1.01651238e-02 9.99948312e-01 -2.09869234e-04 4.16416529e+00] [ 1.46320000e-02 6.11138342e-05 9.99892945e-01 6.67534003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73439141799999 meters Centerline goodness [0,1] 0.9993773884666581 Centerline is valid? [True, True] Translation: X:97.20, Y:4.17, Z:0.67 [[ 9.99866298e-01 -8.60533373e-03 -1.39044483e-02 9.71990974e+01] [ 8.60335644e-03 9.99962970e-01 -2.02015845e-04 4.16662836e+00] [ 1.39056718e-02 8.23639101e-05 9.99903308e-01 6.68831186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76439141799999 meters Centerline goodness [0,1] 0.9995069033530573 Centerline is valid? [True, True] Translation: X:97.23, Y:4.17, Z:0.67 [[ 9.99902476e-01 -5.85498347e-03 -1.26790429e-02 9.72280753e+01] [ 5.85307171e-03 9.99982853e-01 -1.87883266e-04 4.16725754e+00] [ 1.26799256e-02 1.13653595e-04 9.99919600e-01 6.70054395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79439141799999 meters Centerline goodness [0,1] 0.9994431832783656 Centerline is valid? [True, True] Translation: X:97.26, Y:4.17, Z:0.67 [[ 9.99903299e-01 -5.43440172e-03 -1.28007661e-02 9.72555022e+01] [ 5.43238235e-03 9.99985226e-01 -1.92519483e-04 4.16609571e+00] [ 1.28016232e-02 1.22962210e-04 9.99918048e-01 6.69328348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82439141799999 meters Centerline goodness [0,1] 0.999293301353435 Centerline is valid? [True, True] Translation: X:97.28, Y:4.16, Z:0.67 [[ 9.99887907e-01 -6.70752628e-03 -1.33858817e-02 9.72838207e+01] [ 6.70539858e-03 9.99977498e-01 -2.03825604e-04 4.16123757e+00] [ 1.33869476e-02 1.14045084e-04 9.99910384e-01 6.68203821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85439141799999 meters Centerline goodness [0,1] 0.9996153681781272 Centerline is valid? [True, True] Translation: X:97.31, Y:4.16, Z:0.67 [[ 9.99877791e-01 -7.95165775e-03 -1.34600839e-02 9.73120693e+01] [ 7.94957434e-03 9.99968380e-01 -2.08281891e-04 4.15986761e+00] [ 1.34613145e-02 1.01254499e-04 9.99909387e-01 6.67697148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88439141799999 meters Centerline goodness [0,1] 0.9992088607594937 Centerline is valid? [True, True] Translation: X:97.34, Y:4.16, Z:0.67 [[ 9.99847946e-01 -1.03811433e-02 -1.40113033e-02 9.73397904e+01] [ 1.03790868e-02 9.99946112e-01 -2.19487412e-04 4.15776161e+00] [ 1.40128268e-02 7.40295053e-05 9.99901813e-01 6.67938140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.914391418 meters Centerline goodness [0,1] 0.9995939129691374 Centerline is valid? [True, True] Translation: X:97.37, Y:4.15, Z:0.67 [[ 9.99821076e-01 -1.31352389e-02 -1.36118361e-02 9.73680932e+01] [ 1.31334975e-02 9.99913728e-01 -2.17319269e-04 4.15484907e+00] [ 1.36135163e-02 3.85093706e-05 9.99907331e-01 6.68284376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.944391418 meters Centerline goodness [0,1] 0.9991050119331742 Centerline is valid? [True, True] Translation: X:97.40, Y:4.15, Z:0.67 [[ 9.99705475e-01 -2.00972046e-02 -1.36039185e-02 9.73961228e+01] [ 2.00960702e-02 9.99798029e-01 -2.20098251e-04 4.14605137e+00] [ 1.36055943e-02 -5.33518752e-05 9.99907438e-01 6.68188000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.974391418 meters Centerline goodness [0,1] 0.9993614983505374 Centerline is valid? [True, True] Translation: X:97.43, Y:4.14, Z:0.67 [[ 9.99613991e-01 -2.39443847e-02 -1.40902363e-02 9.74262901e+01] [ 2.39435343e-02 9.99713286e-01 -2.29069717e-04 4.14151672e+00] [ 1.40916814e-02 -1.08388761e-04 9.99900701e-01 6.68695793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.004391418 meters Centerline goodness [0,1] 0.9991071238759327 Centerline is valid? [True, True] Translation: X:97.46, Y:4.14, Z:0.67 [[ 9.99493529e-01 -2.83537472e-02 -1.44482247e-02 9.74571035e+01] [ 2.83533086e-02 9.99597936e-01 -2.35241213e-04 4.13664251e+00] [ 1.44490855e-02 -1.74532902e-04 9.99895591e-01 6.68649387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.034391418 meters Centerline goodness [0,1] 0.9993417839777481 Centerline is valid? [True, True] Translation: X:97.49, Y:4.13, Z:0.67 [[ 9.99353726e-01 -3.26562771e-02 -1.50232141e-02 9.74876611e+01] [ 3.26562908e-02 9.99466611e-01 -2.44472214e-04 4.13060572e+00] [ 1.50231845e-02 -2.46288232e-04 9.99887115e-01 6.68179375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.064391418 meters Centerline goodness [0,1] 0.9988112422518468 Centerline is valid? [True, True] Translation: X:97.52, Y:4.13, Z:0.67 [[ 9.99203542e-01 -3.69763112e-02 -1.50011225e-02 9.75190485e+01] [ 3.69768180e-02 9.99316094e-01 -2.43677012e-04 4.12907305e+00] [ 1.49998734e-02 -3.11210841e-04 9.99887447e-01 6.69211185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09439141799999 meters Centerline goodness [0,1] 0.9987913742287059 Centerline is valid? [True, True] Translation: X:97.55, Y:4.12, Z:0.67 [[ 9.98902452e-01 -4.43413722e-02 -1.50908704e-02 9.75497399e+01] [ 4.43427319e-02 9.99016347e-01 -2.44652520e-04 4.11953673e+00] [ 1.50868744e-02 -4.24786416e-04 9.99886096e-01 6.68563791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12439141799999 meters Centerline goodness [0,1] 0.9989829646580218 Centerline is valid? [True, True] Translation: X:97.58, Y:4.12, Z:0.67 [[ 9.98756297e-01 -4.75682407e-02 -1.49372434e-02 9.75812327e+01] [ 4.75699397e-02 9.98867880e-01 -2.41736476e-04 4.11548113e+00] [ 1.49318317e-02 -4.69127943e-04 9.99888404e-01 6.68744849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15439141799999 meters Centerline goodness [0,1] 0.9989829646580218 Centerline is valid? [True, True] Translation: X:97.61, Y:4.12, Z:0.67 [[ 9.98760064e-01 -4.74890729e-02 -1.49372571e-02 9.76129368e+01] [ 4.74907757e-02 9.98871648e-01 -2.40889223e-04 4.11591485e+00] [ 1.49318422e-02 -4.68791391e-04 9.99888404e-01 6.69013309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18439141799999 meters Centerline goodness [0,1] 0.9989644751579704 Centerline is valid? [True, True] Translation: X:97.64, Y:4.11, Z:0.67 [[ 9.98491632e-01 -5.28702692e-02 -1.48052336e-02 9.76443553e+01] [ 5.28725464e-02 9.98601240e-01 -2.37837184e-04 4.11012204e+00] [ 1.47970991e-02 -5.45311961e-04 9.99890368e-01 6.69118569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21439141799999 meters Centerline goodness [0,1] 0.9989678126053252 Centerline is valid? [True, True] Translation: X:97.68, Y:4.11, Z:0.67 [[ 9.98366153e-01 -5.52173981e-02 -1.46991088e-02 9.76751928e+01] [ 5.52199055e-02 9.98474189e-01 -2.35537372e-04 4.10659813e+00] [ 1.46896865e-02 -5.76530858e-04 9.99891935e-01 6.69251568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24439141799999 meters Centerline goodness [0,1] 0.9983930308284349 Centerline is valid? [True, True] Translation: X:97.71, Y:4.11, Z:0.67 [[ 9.98254390e-01 -5.72741440e-02 -1.44168085e-02 9.77075985e+01] [ 5.72767819e-02 9.98358311e-01 -2.30192045e-04 4.10513318e+00] [ 1.44063246e-02 -5.95958175e-04 9.99896046e-01 6.69748598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.274391418 meters Centerline goodness [0,1] 0.9983492762211124 Centerline is valid? [True, True] Translation: X:97.74, Y:4.10, Z:0.67 [[ 9.98080662e-01 -6.04996933e-02 -1.32204427e-02 9.77381362e+01] [ 6.05022035e-02 9.98168042e-01 -2.10362406e-04 4.09799884e+00] [ 1.32089502e-02 -5.89907263e-04 9.99912584e-01 6.71400486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.304391418 meters Centerline goodness [0,1] 0.9987524580804771 Centerline is valid? [True, True] Translation: X:97.77, Y:4.10, Z:0.67 [[ 9.98008917e-01 -6.17102888e-02 -1.30400174e-02 9.77701318e+01] [ 6.17128407e-02 9.98093925e-01 -2.06975351e-04 4.09677358e+00] [ 1.30279347e-02 -5.98173274e-04 9.99914954e-01 6.72737779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.334391418 meters Centerline goodness [0,1] 0.9985190200143866 Centerline is valid? [True, True] Translation: X:97.80, Y:4.10, Z:0.67 [[ 9.97959252e-01 -6.26409536e-02 -1.23871628e-02 9.78017289e+01] [ 6.26433385e-02 9.98035958e-01 -1.95760631e-04 4.10171868e+00] [ 1.23750965e-02 -5.80612098e-04 9.99923257e-01 6.74636677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.364391418 meters Centerline goodness [0,1] 0.9987747686847775 Centerline is valid? [True, True] Translation: X:97.83, Y:4.10, Z:0.67 [[ 9.97863084e-01 -6.41107427e-02 -1.26126623e-02 9.78331127e+01] [ 6.41133422e-02 9.97942604e-01 -1.98547071e-04 4.10110315e+00] [ 1.25994421e-02 -6.10517142e-04 9.99920437e-01 6.74764143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.394391418 meters Centerline goodness [0,1] 0.9986245715011215 Centerline is valid? [True, True] Translation: X:97.87, Y:4.10, Z:0.67 [[ 9.97824329e-01 -6.45833032e-02 -1.32516367e-02 9.78651201e+01] [ 6.45862265e-02 9.97912108e-01 -2.07686306e-04 4.10021112e+00] [ 1.32373817e-02 -6.48638757e-04 9.99912172e-01 6.73975130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.424391418 meters Centerline goodness [0,1] 0.9985415037307912 Centerline is valid? [True, True] Translation: X:97.90, Y:4.10, Z:0.67 [[ 9.97779080e-01 -6.48967877e-02 -1.50104795e-02 9.78972225e+01] [ 6.49005934e-02 9.97891707e-01 -2.33964729e-04 4.09943092e+00] [ 1.49940165e-02 -7.40743912e-04 9.99887309e-01 6.71224479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.454391418 meters Centerline goodness [0,1] 0.9987125912793888 Centerline is valid? [True, True] Translation: X:97.93, Y:4.10, Z:0.67 [[ 9.97732109e-01 -6.56565096e-02 -1.48277526e-02 9.79283652e+01] [ 6.56603283e-02 9.97842006e-01 -2.29665999e-04 4.09770585e+00] [ 1.48108335e-02 -7.44449963e-04 9.99890036e-01 6.70836861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48439141799999 meters Centerline goodness [0,1] 0.9985841381204962 Centerline is valid? [True, True] Translation: X:97.96, Y:4.10, Z:0.67 [[ 9.97695274e-01 -6.60477688e-02 -1.55509390e-02 9.79601513e+01] [ 6.60520473e-02 9.97816150e-01 -2.38886313e-04 4.09725589e+00] [ 1.55327559e-02 -7.88835610e-04 9.99879048e-01 6.69919598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51439141799999 meters Centerline goodness [0,1] 0.998498752484459 Centerline is valid? [True, True] Translation: X:97.99, Y:4.10, Z:0.67 [[ 9.97629087e-01 -6.65440472e-02 -1.75526278e-02 9.79925529e+01] [ 6.65496086e-02 9.97783082e-01 -2.67723379e-04 4.09914687e+00] [ 1.75315305e-02 -9.01031880e-04 9.99845905e-01 6.68838307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54439141799999 meters Centerline goodness [0,1] 0.9986056239832675 Centerline is valid? [True, True] Translation: X:98.02, Y:4.11, Z:0.67 [[ 9.97617330e-01 -6.65296020e-02 -1.82612768e-02 9.80246921e+01] [ 6.65356467e-02 9.97784010e-01 -2.77026643e-04 4.10586287e+00] [ 1.82392405e-02 -9.38659285e-04 9.99833211e-01 6.69604832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57439141799999 meters Centerline goodness [0,1] 0.9984742853510203 Centerline is valid? [True, True] Translation: X:98.06, Y:4.10, Z:0.67 [[ 9.97622049e-01 -6.62757992e-02 -1.89146879e-02 9.80557029e+01] [ 6.62822647e-02 9.97800872e-01 -2.85567144e-04 4.10350802e+00] [ 1.88920183e-02 -9.68820274e-04 9.99821061e-01 6.69259390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60439141799999 meters Centerline goodness [0,1] 0.9983463715575908 Centerline is valid? [True, True] Translation: X:98.09, Y:4.11, Z:0.67 [[ 9.97751614e-01 -6.41859755e-02 -1.92841399e-02 9.80869771e+01] [ 6.41923257e-02 9.97937504e-01 -2.90169193e-04 4.11266674e+00] [ 1.92629912e-02 -9.48377005e-04 9.99814002e-01 6.70724794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63439141799999 meters Centerline goodness [0,1] 0.9985994694960212 Centerline is valid? [True, True] Translation: X:98.12, Y:4.11, Z:0.67 [[ 9.97875033e-01 -6.23154962e-02 -1.90314757e-02 9.81176975e+01] [ 6.23213562e-02 9.98056094e-01 -2.85596545e-04 4.11062854e+00] [ 1.90122774e-02 -9.01077712e-04 9.99818844e-01 6.70134094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.664391418 meters Centerline goodness [0,1] 0.998644211418282 Centerline is valid? [True, True] Translation: X:98.15, Y:4.12, Z:0.67 [[ 9.98026357e-01 -6.01369473e-02 -1.80814162e-02 9.81493477e+01] [ 6.01418966e-02 9.98189801e-01 -2.70418437e-04 4.11932702e+00] [ 1.80649474e-02 -8.17565936e-04 9.99836481e-01 6.72448663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.694391418 meters Centerline goodness [0,1] 0.9984694853644538 Centerline is valid? [True, True] Translation: X:98.18, Y:4.13, Z:0.67 [[ 9.98395703e-01 -5.42390434e-02 -1.62525902e-02 9.81798220e+01] [ 5.42422718e-02 9.98527775e-01 -2.42437541e-04 4.12783839e+00] [ 1.62418123e-02 -6.39528813e-04 9.99867889e-01 6.74129544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.724391418 meters Centerline goodness [0,1] 0.9988723884090038 Centerline is valid? [True, True] Translation: X:98.21, Y:4.13, Z:0.68 [[ 9.98596130e-01 -5.05138899e-02 -1.59410050e-02 9.82113111e+01] [ 5.05165292e-02 9.98723197e-01 -2.37314589e-04 4.13291632e+00] [ 1.59326391e-02 -5.68302814e-04 9.99872906e-01 6.75147045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.754391418 meters Centerline goodness [0,1] 0.9986806264896153 Centerline is valid? [True, True] Translation: X:98.24, Y:4.14, Z:0.68 [[ 9.98772034e-01 -4.69936893e-02 -1.56849430e-02 9.82414959e+01] [ 4.69958185e-02 9.98895059e-01 -2.33014594e-04 4.13804437e+00] [ 1.56785623e-02 -5.04398274e-04 9.99876957e-01 6.75520766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.784391418 meters Centerline goodness [0,1] 0.9991685321394308 Centerline is valid? [True, True] Translation: X:98.27, Y:4.14, Z:0.68 [[ 9.98954262e-01 -4.31199955e-02 -1.52002662e-02 9.82729855e+01] [ 4.31215537e-02 9.99069808e-01 -2.25376242e-04 4.14361420e+00] [ 1.51958453e-02 -4.30318538e-04 9.99884444e-01 6.76613987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.814391418 meters Centerline goodness [0,1] 0.9987656160214528 Centerline is valid? [True, True] Translation: X:98.30, Y:4.15, Z:0.68 [[ 9.99101931e-01 -3.97211277e-02 -1.47500239e-02 9.83039336e+01] [ 3.97222333e-02 9.99210737e-01 -2.18117895e-04 4.14899010e+00] [ 1.47470461e-02 -3.67981880e-04 9.99891189e-01 6.77210244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84439141799999 meters Centerline goodness [0,1] 0.999018896898861 Centerline is valid? [True, True] Translation: X:98.33, Y:4.16, Z:0.68 [[ 9.99330229e-01 -3.39436055e-02 -1.36720213e-02 9.83343300e+01] [ 3.39440206e-02 9.99423715e-01 -2.01756920e-04 4.15563919e+00] [ 1.36709906e-02 -2.62461582e-04 9.99906513e-01 6.78617594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87439141799999 meters Centerline goodness [0,1] 0.9989757377888739 Centerline is valid? [True, True] Translation: X:98.37, Y:4.16, Z:0.68 [[ 9.99401779e-01 -3.17372688e-02 -1.37415632e-02 9.83657529e+01] [ 3.17374849e-02 9.99496219e-01 -2.02401725e-04 4.15980758e+00] [ 1.37410641e-02 -2.33842010e-04 9.99905560e-01 6.79301248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90439141799999 meters Centerline goodness [0,1] 0.9989072677408296 Centerline is valid? [True, True] Translation: X:98.40, Y:4.17, Z:0.68 [[ 9.99489108e-01 -2.87295444e-02 -1.40048349e-02 9.83965275e+01] [ 2.87294815e-02 9.99587202e-01 -2.05715720e-04 4.16632082e+00] [ 1.40049639e-02 -1.96741025e-04 9.99901906e-01 6.79590281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93439141799999 meters Centerline goodness [0,1] 0.9991002763436945 Centerline is valid? [True, True] Translation: X:98.43, Y:4.17, Z:0.68 [[ 9.99507247e-01 -2.79893318e-02 -1.42077789e-02 9.84277793e+01] [ 2.79892004e-02 9.99608204e-01 -2.08129025e-04 4.16945893e+00] [ 1.42080377e-02 -1.89637902e-04 9.99899043e-01 6.80221614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96439141799999 meters Centerline goodness [0,1] 0.9995709719630178 Centerline is valid? [True, True] Translation: X:98.46, Y:4.17, Z:0.68 [[ 9.99518802e-01 -2.70646887e-02 -1.51547734e-02 9.84577040e+01] [ 2.70644404e-02 9.99633666e-01 -2.21511169e-04 4.17140303e+00] [ 1.51552168e-02 -1.88750883e-04 9.99885135e-01 6.79294427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99439141799999 meters Centerline goodness [0,1] 0.9993350921219141 Centerline is valid? [True, True] Translation: X:98.49, Y:4.17, Z:0.68 [[ 9.99527227e-01 -2.63292490e-02 -1.58774117e-02 9.84890477e+01] [ 2.63288912e-02 9.99653308e-01 -2.31600595e-04 4.17313530e+00] [ 1.58780050e-02 -1.86543544e-04 9.99873919e-01 6.78153088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.024391418 meters Centerline goodness [0,1] 0.9990778271033048 Centerline is valid? [True, True] Translation: X:98.52, Y:4.17, Z:0.67 [[ 9.99530129e-01 -2.52908816e-02 -1.73173825e-02 9.85197387e+01] [ 2.52903097e-02 9.99680117e-01 -2.52056558e-04 4.17335672e+00] [ 1.73182177e-02 -1.86023843e-04 9.99850011e-01 6.74642227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.054391418 meters Centerline goodness [0,1] 0.9993352774680504 Centerline is valid? [True, True] Translation: X:98.55, Y:4.17, Z:0.67 [[ 9.99536018e-01 -2.47444773e-02 -1.77611922e-02 9.85490313e+01] [ 2.47437861e-02 9.99693792e-01 -2.58709194e-04 4.17414755e+00] [ 1.77621552e-02 -1.80889982e-04 9.99842224e-01 6.74049446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.084391418 meters Centerline goodness [0,1] 0.9993135404153081 Centerline is valid? [True, True] Translation: X:98.58, Y:4.18, Z:0.68 [[ 9.99567849e-01 -2.32338427e-02 -1.80084171e-02 9.85787031e+01] [ 2.32328739e-02 9.99730046e-01 -2.63031707e-04 4.17864132e+00] [ 1.80096669e-02 -1.55469246e-04 9.99837801e-01 6.75704795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.114391418 meters Centerline goodness [0,1] 0.9992694613351668 Centerline is valid? [True, True] Translation: X:98.61, Y:4.18, Z:0.68 [[ 9.99590072e-01 -2.26863399e-02 -1.74647835e-02 9.86071875e+01] [ 2.26852945e-02 9.99742622e-01 -2.57993582e-04 4.18214736e+00] [ 1.74661414e-02 -1.38305933e-04 9.99847446e-01 6.77275578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.144391418 meters Centerline goodness [0,1] 0.9993985091619944 Centerline is valid? [True, True] Translation: X:98.64, Y:4.18, Z:0.68 [[ 9.99622161e-01 -2.17092448e-02 -1.68595175e-02 9.86360041e+01] [ 2.17080836e-02 9.99764320e-01 -2.51898412e-04 4.18453994e+00] [ 1.68610126e-02 -1.14184581e-04 9.99857837e-01 6.78211842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.174391418 meters Centerline goodness [0,1] 0.9991614706514728 Centerline is valid? [True, True] Translation: X:98.67, Y:4.19, Z:0.68 [[ 9.99689860e-01 -1.92602950e-02 -1.57868287e-02 9.86658483e+01] [ 1.92589593e-02 9.99814501e-01 -2.36647594e-04 4.18725502e+00] [ 1.57884581e-02 -6.74636910e-05 9.99875352e-01 6.79001802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.204391418 meters Centerline goodness [0,1] 0.9989243379299959 Centerline is valid? [True, True] Translation: X:98.69, Y:4.19, Z:0.68 [[ 9.99714227e-01 -1.90803322e-02 -1.44015437e-02 9.86949365e+01] [ 1.90791732e-02 9.99817952e-01 -2.17877434e-04 4.18783087e+00] [ 1.44030791e-02 -5.69543763e-05 9.99896269e-01 6.79532208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23439141799999 meters Centerline goodness [0,1] 0.9993787755451781 Centerline is valid? [True, True] Translation: X:98.72, Y:4.19, Z:0.68 [[ 9.99729581e-01 -1.84031048e-02 -1.42158906e-02 9.87246270e+01] [ 1.84018737e-02 9.99830648e-01 -2.17411211e-04 4.18826066e+00] [ 1.42174842e-02 -4.42466050e-05 9.99898925e-01 6.79375717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26439141799999 meters Centerline goodness [0,1] 0.9990750500118307 Centerline is valid? [True, True] Translation: X:98.75, Y:4.19, Z:0.68 [[ 9.99734976e-01 -1.82346323e-02 -1.40526396e-02 9.87547204e+01] [ 1.82334101e-02 9.99833734e-01 -2.15096151e-04 4.18908257e+00] [ 1.40542253e-02 -4.11883958e-05 9.99901234e-01 6.78514810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29439141799999 meters Centerline goodness [0,1] 0.9990961132871347 Centerline is valid? [True, True] Translation: X:98.78, Y:4.19, Z:0.68 [[ 9.99729406e-01 -1.84525016e-02 -1.41640034e-02 9.87835815e+01] [ 1.84512709e-02 9.99829737e-01 -2.17573375e-04 4.18929217e+00] [ 1.41656066e-02 -4.38293634e-05 9.99899662e-01 6.78044134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32439141799999 meters Centerline goodness [0,1] 0.9993766524084862 Centerline is valid? [True, True] Translation: X:98.81, Y:4.19, Z:0.68 [[ 9.99723349e-01 -1.87437335e-02 -1.42091000e-02 9.88135464e+01] [ 1.87425120e-02 9.99824320e-01 -2.19134234e-04 4.18900288e+00] [ 1.42107111e-02 -4.72406178e-05 9.99899022e-01 6.77684404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35439141799999 meters Centerline goodness [0,1] 0.9995276537272415 Centerline is valid? [True, True] Translation: X:98.84, Y:4.19, Z:0.68 [[ 9.99697576e-01 -1.94247654e-02 -1.50809503e-02 9.88422680e+01] [ 1.94234557e-02 9.99811320e-01 -2.33323119e-04 4.18790835e+00] [ 1.50826371e-02 -5.96716136e-05 9.99886249e-01 6.76691566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38439141799999 meters Centerline goodness [0,1] 0.999140358040876 Centerline is valid? [True, True] Translation: X:98.87, Y:4.19, Z:0.68 [[ 9.99673972e-01 -2.06218608e-02 -1.50561964e-02 9.88714606e+01] [ 2.06206779e-02 9.99787344e-01 -2.33820518e-04 4.18618072e+00] [ 1.50578164e-02 -7.67246894e-05 9.99886622e-01 6.75827324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.414391418 meters Centerline goodness [0,1] 0.9994849564358985 Centerline is valid? [True, True] Translation: X:98.90, Y:4.18, Z:0.68 [[ 9.99644481e-01 -2.17809243e-02 -1.53786681e-02 9.89001911e+01] [ 2.17798118e-02 9.99762763e-01 -2.39842024e-04 4.18429450e+00] [ 1.53802437e-02 -9.51877410e-05 9.99881713e-01 6.75422718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.444391418 meters Centerline goodness [0,1] 0.9990354938271605 Centerline is valid? [True, True] Translation: X:98.93, Y:4.18, Z:0.67 [[ 9.99569847e-01 -2.47940307e-02 -1.56645140e-02 9.89302842e+01] [ 2.47932320e-02 9.99692571e-01 -2.45210356e-04 4.18153575e+00] [ 1.56657780e-02 -1.43269052e-04 9.99877274e-01 6.74873426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.474391418 meters Centerline goodness [0,1] 0.9989722287647474 Centerline is valid? [True, True] Translation: X:98.96, Y:4.18, Z:0.68 [[ 9.99544508e-01 -2.57720812e-02 -1.57027719e-02 9.89606531e+01] [ 2.57713943e-02 9.99667832e-01 -2.46133228e-04 4.18111474e+00] [ 1.57038993e-02 -1.58661211e-04 9.99876674e-01 6.75151862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.504391418 meters Centerline goodness [0,1] 0.9990134683023076 Centerline is valid? [True, True] Translation: X:98.99, Y:4.18, Z:0.68 [[ 9.99522022e-01 -2.66770132e-02 -1.56225808e-02 9.89907684e+01] [ 2.66764437e-02 9.99644090e-01 -2.44876271e-04 4.18062576e+00] [ 1.56235531e-02 -1.71995672e-04 9.99877930e-01 6.75637954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.534391418 meters Centerline goodness [0,1] 0.9992715118272197 Centerline is valid? [True, True] Translation: X:99.02, Y:4.18, Z:0.68 [[ 9.99516090e-01 -2.68365700e-02 -1.57284430e-02 9.90209821e+01] [ 2.68360147e-02 9.99639819e-01 -2.46399587e-04 4.17957959e+00] [ 1.57293904e-02 -1.75808375e-04 9.99876270e-01 6.75176702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.564391418 meters Centerline goodness [0,1] 0.9991640229786505 Centerline is valid? [True, True] Translation: X:99.05, Y:4.18, Z:0.67 [[ 9.99541385e-01 -2.58277819e-02 -1.58096865e-02 9.90511217e+01] [ 2.58270972e-02 9.99666394e-01 -2.47512870e-04 4.18005399e+00] [ 1.58108051e-02 -1.60918956e-04 9.99874988e-01 6.74751737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59439141799999 meters Centerline goodness [0,1] 0.9992283289033697 Centerline is valid? [True, True] Translation: X:99.08, Y:4.18, Z:0.67 [[ 9.99573491e-01 -2.44603299e-02 -1.59539512e-02 9.90812645e+01] [ 2.44594563e-02 9.99700792e-01 -2.49908409e-04 4.18106533e+00] [ 1.59552905e-02 -1.40423153e-04 9.99872696e-01 6.74539171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62439141799999 meters Centerline goodness [0,1] 0.9992714493871604 Centerline is valid? [True, True] Translation: X:99.11, Y:4.19, Z:0.67 [[ 9.99672084e-01 -2.01701274e-02 -1.57762651e-02 9.91102952e+01] [ 2.01687344e-02 9.99796560e-01 -2.47410916e-04 4.18589864e+00] [ 1.57780459e-02 -7.08575164e-05 9.99875516e-01 6.74791362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65439141799999 meters Centerline goodness [0,1] 0.999592990874427 Centerline is valid? [True, True] Translation: X:99.14, Y:4.19, Z:0.68 [[ 9.99724741e-01 -1.77099845e-02 -1.53882623e-02 9.91388187e+01] [ 1.77083388e-02 9.99843165e-01 -2.43211517e-04 4.19008446e+00] [ 1.53901562e-02 -2.93559911e-05 9.99881564e-01 6.76148311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68439141799999 meters Centerline goodness [0,1] 0.9991419439260356 Centerline is valid? [True, True] Translation: X:99.17, Y:4.19, Z:0.68 [[ 9.99762726e-01 -1.56800374e-02 -1.51204723e-02 9.91674316e+01] [ 1.56781595e-02 9.99877061e-01 -2.42728233e-04 4.19420146e+00] [ 1.51224194e-02 5.60946233e-06 9.99885650e-01 6.76916049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71439141799999 meters Centerline goodness [0,1] 0.999828200833226 Centerline is valid? [True, True] Translation: X:99.19, Y:4.20, Z:0.68 [[ 9.99836402e-01 -1.15856429e-02 -1.38903727e-02 9.91947211e+01] [ 1.15836294e-02 9.99932882e-01 -2.25404445e-04 4.19940771e+00] [ 1.38920519e-02 6.44666392e-05 9.99903499e-01 6.78259727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74439141799999 meters Centerline goodness [0,1] 0.9992491042886872 Centerline is valid? [True, True] Translation: X:99.22, Y:4.20, Z:0.68 [[ 9.99849111e-01 -1.07030603e-02 -1.36820996e-02 9.92229375e+01] [ 1.07009941e-02 9.99942718e-01 -2.24217747e-04 4.20089403e+00] [ 1.36837157e-02 7.77718489e-05 9.99906371e-01 6.78192265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.774391418 meters Centerline goodness [0,1] 0.9995705205291187 Centerline is valid? [True, True] Translation: X:99.25, Y:4.20, Z:0.68 [[ 9.99858533e-01 -9.93059330e-03 -1.35756249e-02 9.92505347e+01] [ 9.92845008e-03 9.99950686e-01 -2.25260507e-04 4.20161672e+00] [ 1.35771925e-02 9.04437252e-05 9.99907822e-01 6.77957038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.804391418 meters Centerline goodness [0,1] 0.9993774018334443 Centerline is valid? [True, True] Translation: X:99.28, Y:4.20, Z:0.68 [[ 9.99830559e-01 -1.08323047e-02 -1.48833684e-02 9.92781761e+01] [ 1.08297870e-02 9.99941325e-01 -2.49750000e-04 4.19966895e+00] [ 1.48852004e-02 8.85239732e-05 9.99889205e-01 6.77152651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.834391418 meters Centerline goodness [0,1] 0.9994412927625924 Centerline is valid? [True, True] Translation: X:99.30, Y:4.20, Z:0.67 [[ 9.99806318e-01 -1.19765627e-02 -1.56169424e-02 9.93047628e+01] [ 1.19738723e-02 9.99928275e-01 -2.65772380e-04 4.20044082e+00] [ 1.56190053e-02 7.87256303e-05 9.99878013e-01 6.74921356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.864391418 meters Centerline goodness [0,1] 0.9993557669594348 Centerline is valid? [True, True] Translation: X:99.33, Y:4.20, Z:0.67 [[ 9.99775605e-01 -1.37860750e-02 -1.60836667e-02 9.93329393e+01] [ 1.37834033e-02 9.99904966e-01 -2.76952190e-04 4.19915448e+00] [ 1.60859563e-02 5.52023780e-05 9.99870611e-01 6.74084825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.894391418 meters Centerline goodness [0,1] 0.9992264219868062 Centerline is valid? [True, True] Translation: X:99.36, Y:4.19, Z:0.68 [[ 9.99674136e-01 -1.88716869e-02 -1.71895655e-02 9.93612996e+01] [ 1.88693296e-02 9.99821914e-01 -2.99334798e-04 4.19476547e+00] [ 1.71921532e-02 -2.51183201e-05 9.99852204e-01 6.76086194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.924391418 meters Centerline goodness [0,1] 0.9995058333154287 Centerline is valid? [True, True] Translation: X:99.39, Y:4.19, Z:0.68 [[ 9.99607657e-01 -2.21926600e-02 -1.70885404e-02 9.93887941e+01] [ 2.21907528e-02 9.99753710e-01 -3.01234381e-04 4.19295923e+00] [ 1.70910169e-02 -7.80913830e-05 9.99853935e-01 6.76634430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.954391418 meters Centerline goodness [0,1] 0.9991439455549372 Centerline is valid? [True, True] Translation: X:99.42, Y:4.19, Z:0.68 [[ 9.99532012e-01 -2.54596983e-02 -1.69576074e-02 9.94174937e+01] [ 2.54582026e-02 9.99675841e-01 -3.04099268e-04 4.19115503e+00] [ 1.69598527e-02 -1.27753252e-04 9.99856163e-01 6.77468805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98439141799999 meters Centerline goodness [0,1] 0.9992057358749785 Centerline is valid? [True, True] Translation: X:99.45, Y:4.19, Z:0.68 [[ 9.99447032e-01 -2.89298492e-02 -1.63918773e-02 9.94469495e+01] [ 2.89288745e-02 9.99581429e-01 -2.96629585e-04 4.18905947e+00] [ 1.63935976e-02 -1.77733002e-04 9.99865600e-01 6.78589727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01439141799999 meters Centerline goodness [0,1] 0.999207199485751 Centerline is valid? [True, True] Translation: X:99.48, Y:4.19, Z:0.68 [[ 9.99350692e-01 -3.22235791e-02 -1.61194065e-02 9.94774377e+01] [ 3.22230617e-02 9.99480660e-01 -2.91885156e-04 4.18564886e+00] [ 1.61204406e-02 -2.27720998e-04 9.99870031e-01 6.78510242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04439141799999 meters Centerline goodness [0,1] 0.9987800701994692 Centerline is valid? [True, True] Translation: X:99.51, Y:4.18, Z:0.68 [[ 9.99118862e-01 -3.88138260e-02 -1.59683127e-02 9.95086284e+01] [ 3.88141671e-02 9.99246405e-01 -2.88671284e-04 4.18119478e+00] [ 1.59674835e-02 -3.31379834e-04 9.99872457e-01 6.78912398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07439141799999 meters Centerline goodness [0,1] 0.9987800701994692 Centerline is valid? [True, True] Translation: X:99.54, Y:4.18, Z:0.68 [[ 9.99122047e-01 -3.87317318e-02 -1.59683301e-02 9.95403265e+01] [ 3.87320778e-02 9.99249590e-01 -2.87708695e-04 4.18169187e+00] [ 1.59674907e-02 -3.31030503e-04 9.99872457e-01 6.79180800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10439141799999 meters Centerline goodness [0,1] 0.9989959410382397 Centerline is valid? [True, True] Translation: X:99.57, Y:4.18, Z:0.68 [[ 9.99001095e-01 -4.16576745e-02 -1.61694238e-02 9.95720301e+01] [ 4.16584375e-02 9.99131868e-01 -2.89773759e-04 4.17948696e+00] [ 1.61674579e-02 -3.84108628e-04 9.99869224e-01 6.79192246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13439141799999 meters Centerline goodness [0,1] 0.9990590248075278 Centerline is valid? [True, True] Translation: X:99.60, Y:4.18, Z:0.68 [[ 9.98880624e-01 -4.45109204e-02 -1.60086801e-02 9.96041299e+01] [ 4.45120591e-02 9.99008806e-01 -2.85348834e-04 4.17759172e+00] [ 1.60055136e-02 -4.27549896e-04 9.99871812e-01 6.79425557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.164391418 meters Centerline goodness [0,1] 0.9992301112061591 Centerline is valid? [True, True] Translation: X:99.63, Y:4.17, Z:0.68 [[ 9.98609278e-01 -5.04069647e-02 -1.54482513e-02 9.96340945e+01] [ 5.04087400e-02 9.98728634e-01 -2.74692744e-04 4.17398083e+00] [ 1.54424574e-02 -5.04416161e-04 9.99880631e-01 6.80623136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.194391418 meters Centerline goodness [0,1] 0.9989958337784425 Centerline is valid? [True, True] Translation: X:99.67, Y:4.17, Z:0.68 [[ 9.98441343e-01 -5.38002384e-02 -1.48465296e-02 9.96663561e+01] [ 5.38022604e-02 9.98551575e-01 -2.63471968e-04 4.17285379e+00] [ 1.48392004e-02 -5.35715545e-04 9.99889749e-01 6.81915548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.224391418 meters Centerline goodness [0,1] 0.9987597827481504 Centerline is valid? [True, True] Translation: X:99.70, Y:4.17, Z:0.68 [[ 9.98032430e-01 -6.12235203e-02 -1.35258874e-02 9.96970753e+01] [ 6.12258881e-02 9.98123907e-01 -2.39352174e-04 4.16660635e+00] [ 1.35151655e-02 -5.89253233e-04 9.99908492e-01 6.83760767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.254391418 meters Centerline goodness [0,1] 0.9987228064200264 Centerline is valid? [True, True] Translation: X:99.73, Y:4.16, Z:0.68 [[ 9.97794766e-01 -6.50384598e-02 -1.32515761e-02 9.97275029e+01] [ 6.50410705e-02 9.97882560e-01 -2.34315358e-04 4.16217081e+00] [ 1.32387562e-02 -6.28098061e-04 9.99912167e-01 6.84538499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.284391418 meters Centerline goodness [0,1] 0.9986782638355931 Centerline is valid? [True, True] Translation: X:99.76, Y:4.16, Z:0.69 [[ 9.97567002e-01 -6.85463870e-02 -1.27070612e-02 9.97590851e+01] [ 6.85490757e-02 9.97647720e-01 -2.24350305e-04 4.16130167e+00] [ 1.26925490e-02 -6.47252836e-04 9.99919237e-01 6.85243716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.314391418 meters Centerline goodness [0,1] 0.9985079398912927 Centerline is valid? [True, True] Translation: X:99.79, Y:4.16, Z:0.69 [[ 9.97065034e-01 -7.53859927e-02 -1.33517839e-02 9.97889912e+01] [ 7.53895760e-02 9.97154129e-01 -2.35450486e-04 4.15507852e+00] [ 1.33315361e-02 -7.71825880e-04 9.99910833e-01 6.85156723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34439141799999 meters Centerline goodness [0,1] 0.9984649496844619 Centerline is valid? [True, True] Translation: X:99.82, Y:4.15, Z:0.68 [[ 9.96844435e-01 -7.81193406e-02 -1.40904797e-02 9.98201208e+01] [ 7.81236030e-02 9.96943650e-01 -2.48512487e-04 4.15433498e+00] [ 1.40668279e-02 -8.53070754e-04 9.99900693e-01 6.84343774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37439141799999 meters Centerline goodness [0,1] 0.9986106064168608 Centerline is valid? [True, True] Translation: X:99.85, Y:4.15, Z:0.68 [[ 9.96662623e-01 -8.02525089e-02 -1.49382467e-02 9.98514159e+01] [ 8.02575451e-02 9.96774126e-01 -2.63017906e-04 4.15381173e+00] [ 1.49111656e-02 -9.36766891e-04 9.99888384e-01 6.83554525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40439141799999 meters Centerline goodness [0,1] 0.9985685290033116 Centerline is valid? [True, True] Translation: X:99.88, Y:4.15, Z:0.68 [[ 9.96537934e-01 -8.15110713e-02 -1.63735160e-02 9.98822675e+01] [ 8.15173157e-02 9.96671884e-01 -2.86786399e-04 4.15193268e+00] [ 1.63423993e-02 -1.04893154e-03 9.99865904e-01 6.81937067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43439141799999 meters Centerline goodness [0,1] 0.9987599418455486 Centerline is valid? [True, True] Translation: X:99.91, Y:4.15, Z:0.68 [[ 9.96581783e-01 -8.08981282e-02 -1.67404685e-02 9.99139816e+01] [ 8.09046012e-02 9.96721807e-01 -2.91318233e-04 4.15062770e+00] [ 1.67091571e-02 -1.06405848e-03 9.99859826e-01 6.81785971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46439141799999 meters Centerline goodness [0,1] 0.9991445314170837 Centerline is valid? [True, True] Translation: X:99.95, Y:4.15, Z:0.68 [[ 9.96694633e-01 -7.94473288e-02 -1.69684992e-02 9.99457884e+01] [ 7.94537933e-02 9.96838507e-01 -2.93911225e-04 4.15463179e+00] [ 1.69382038e-02 -1.05527189e-03 9.99855981e-01 6.82371127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49439141799999 meters Centerline goodness [0,1] 0.9989964341383213 Centerline is valid? [True, True] Translation: X:99.98, Y:4.16, Z:0.68 [[ 9.96835078e-01 -7.74685701e-02 -1.78451207e-02 9.99776621e+01] [ 7.74754271e-02 9.96994214e-01 -3.07807225e-04 4.15909742e+00] [ 1.78153275e-02 -1.07572531e-03 9.99840716e-01 6.82903473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.524391418 meters Centerline goodness [0,1] 0.9990355351708174 Centerline is valid? [True, True] Translation: X:100.01, Y:4.17, Z:0.68 [[ 9.97269810e-01 -7.15670542e-02 -1.81957070e-02 1.00007793e+02] [ 7.15732144e-02 9.97435300e-01 -3.13278286e-04 4.16940487e+00] [ 1.81714609e-02 -9.89902260e-04 9.99834395e-01 6.83990201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.554391418 meters Centerline goodness [0,1] 0.9988867241859171 Centerline is valid? [True, True] Translation: X:100.04, Y:4.17, Z:0.68 [[ 9.97499082e-01 -6.82502639e-02 -1.83706805e-02 1.00039183e+02] [ 6.82559903e-02 9.97667790e-01 -3.15844778e-04 4.17472641e+00] [ 1.83493927e-02 -9.38854115e-04 9.99831195e-01 6.84549354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.584391418 meters Centerline goodness [0,1] 0.998927383889306 Centerline is valid? [True, True] Translation: X:100.07, Y:4.18, Z:0.69 [[ 9.97738745e-01 -6.46931102e-02 -1.82263024e-02 1.00070409e+02] [ 6.46981682e-02 9.97904830e-01 -3.12622109e-04 4.18097611e+00] [ 1.82083397e-02 -8.67293185e-04 9.99833838e-01 6.85269732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.614391418 meters Centerline goodness [0,1] 0.9989923245143861 Centerline is valid? [True, True] Translation: X:100.10, Y:4.19, Z:0.69 [[ 9.98211285e-01 -5.73325662e-02 -1.69471928e-02 1.00100532e+02] [ 5.73358856e-02 9.98354903e-01 -2.90347815e-04 4.19089540e+00] [ 1.69359594e-02 -6.81853839e-04 9.99856344e-01 6.85954557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.644391418 meters Centerline goodness [0,1] 0.9994205013736264 Centerline is valid? [True, True] Translation: X:100.13, Y:4.20, Z:0.69 [[ 9.98444056e-01 -5.32605612e-02 -1.65160565e-02 1.00132078e+02] [ 5.32631656e-02 9.98580470e-01 -2.82460426e-04 4.19588729e+00] [ 1.65076554e-02 -5.97676518e-04 9.99863561e-01 6.86829687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.674391418 meters Centerline goodness [0,1] 0.9991191130972843 Centerline is valid? [True, True] Translation: X:100.16, Y:4.20, Z:0.69 [[ 9.98650539e-01 -4.93916210e-02 -1.60489783e-02 1.00162036e+02] [ 4.93935916e-02 9.98779354e-01 -2.73818235e-04 4.20075937e+00] [ 1.60429125e-02 -5.19267953e-04 9.99871169e-01 6.87692188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.704391418 meters Centerline goodness [0,1] 0.9990553480183778 Centerline is valid? [True, True] Translation: X:100.19, Y:4.21, Z:0.69 [[ 9.98854070e-01 -4.53348597e-02 -1.53393784e-02 1.00192962e+02] [ 4.53361886e-02 9.98971752e-01 -2.61267445e-04 4.20727563e+00] [ 1.53354502e-02 -4.34460901e-04 9.99882311e-01 6.88879368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73439141799999 meters Centerline goodness [0,1] 0.999138376701706 Centerline is valid? [True, True] Translation: X:100.22, Y:4.22, Z:0.69 [[ 9.99183896e-01 -3.76245764e-02 -1.46946993e-02 1.00223456e+02] [ 3.76249691e-02 9.99291899e-01 -2.49832030e-04 4.21722953e+00] [ 1.46936938e-02 -3.03259467e-04 9.99891996e-01 6.90128773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76439141799999 meters Centerline goodness [0,1] 0.9992015020394069 Centerline is valid? [True, True] Translation: X:100.26, Y:4.22, Z:0.69 [[ 9.99306095e-01 -3.42942412e-02 -1.45338799e-02 1.00255399e+02] [ 3.42942828e-02 9.99411748e-01 -2.46438776e-04 4.22250939e+00] [ 1.45337818e-02 -2.52161218e-04 9.99894347e-01 6.90857672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79439141799999 meters Centerline goodness [0,1] 0.9995472479141064 Centerline is valid? [True, True] Translation: X:100.29, Y:4.23, Z:0.69 [[ 9.99405809e-01 -3.09970747e-02 -1.50735232e-02 1.00287812e+02] [ 3.09967633e-02 9.99519453e-01 -2.54344602e-04 4.22696664e+00] [ 1.50741636e-02 -2.13036958e-04 9.99886356e-01 6.91136896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82439141799999 meters Centerline goodness [0,1] 0.9996116504854369 Centerline is valid? [True, True] Translation: X:100.32, Y:4.23, Z:0.69 [[ 9.99547293e-01 -2.55856963e-02 -1.58297713e-02 1.00318157e+02] [ 2.55846880e-02 9.99672623e-01 -2.66240905e-04 4.23369688e+00] [ 1.58314010e-02 -1.38879384e-04 9.99874666e-01 6.90331577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85439141799999 meters Centerline goodness [0,1] 0.9995021106180323 Centerline is valid? [True, True] Translation: X:100.35, Y:4.24, Z:0.69 [[ 9.99596172e-01 -2.30512004e-02 -1.66173347e-02 1.00348995e+02] [ 2.30497420e-02 9.99734280e-01 -2.79309841e-04 4.23656168e+00] [ 1.66193575e-02 -1.03828230e-04 9.99861884e-01 6.89647522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88439141799999 meters Centerline goodness [0,1] 0.9996531541296336 Centerline is valid? [True, True] Translation: X:100.38, Y:4.24, Z:0.69 [[ 9.99627049e-01 -2.12126966e-02 -1.71984009e-02 1.00378052e+02] [ 2.12108594e-02 9.99774983e-01 -2.89245598e-04 4.23859907e+00] [ 1.72006666e-02 -7.56551389e-05 9.99852055e-01 6.88188918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.914391418 meters Centerline goodness [0,1] 0.999587861434676 Centerline is valid? [True, True] Translation: X:100.41, Y:4.24, Z:0.69 [[ 9.99649089e-01 -1.92764248e-02 -1.81691382e-02 1.00407392e+02] [ 1.92740444e-02 9.99814191e-01 -3.06129429e-04 4.24094425e+00] [ 1.81716633e-02 -4.41707717e-05 9.99834881e-01 6.87417396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.944391418 meters Centerline goodness [0,1] 0.9995873781136665 Centerline is valid? [True, True] Translation: X:100.44, Y:4.24, Z:0.69 [[ 9.99684484e-01 -1.60180935e-02 -1.93482274e-02 1.00435553e+02] [ 1.60147563e-02 9.99871702e-01 -3.27421697e-04 4.24478326e+00] [ 1.93509897e-02 1.74612445e-05 9.99812752e-01 6.85142937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.974391418 meters Centerline goodness [0,1] 0.9994138971498036 Centerline is valid? [True, True] Translation: X:100.46, Y:4.25, Z:0.69 [[ 9.99703304e-01 -1.47358201e-02 -1.93948437e-02 1.00462214e+02] [ 1.47321644e-02 9.99891421e-01 -3.31357722e-04 4.24745081e+00] [ 1.93976206e-02 4.55313834e-05 9.99811847e-01 6.85225127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.004391418 meters Centerline goodness [0,1] 0.9995870283428969 Centerline is valid? [True, True] Translation: X:100.49, Y:4.25, Z:0.69 [[ 9.99724856e-01 -1.37172862e-02 -1.90275535e-02 1.00489877e+02] [ 1.37134866e-02 9.99905911e-01 -3.30159491e-04 4.25007874e+00] [ 1.90302921e-02 6.91345489e-05 9.99818905e-01 6.86779718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.034391418 meters Centerline goodness [0,1] 0.9996304267484075 Centerline is valid? [True, True] Translation: X:100.52, Y:4.25, Z:0.69 [[ 9.99738771e-01 -1.28842745e-02 -1.88781655e-02 1.00517214e+02] [ 1.28802741e-02 9.99916990e-01 -3.33486977e-04 4.25281015e+00] [ 1.88808952e-02 9.02439149e-05 9.99821736e-01 6.88250767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.064391418 meters Centerline goodness [0,1] 0.9994126732070219 Centerline is valid? [True, True] Translation: X:100.54, Y:4.26, Z:0.69 [[ 9.99768908e-01 -1.22932814e-02 -1.76353699e-02 1.00544639e+02] [ 1.22896037e-02 9.99924430e-01 -3.16904674e-04 4.25620268e+00] [ 1.76379329e-02 1.00099734e-04 9.99844435e-01 6.91178299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09439141799999 meters Centerline goodness [0,1] 0.9994563326374392 Centerline is valid? [True, True] Translation: X:100.57, Y:4.26, Z:0.69 [[ 9.99771596e-01 -1.27516739e-02 -1.71508230e-02 1.00572569e+02] [ 1.27481720e-02 9.99918690e-01 -3.13500357e-04 4.25696473e+00] [ 1.71534261e-02 9.47871097e-05 9.99852865e-01 6.91912189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12439141799999 meters Centerline goodness [0,1] 0.9994350405249778 Centerline is valid? [True, True] Translation: X:100.60, Y:4.26, Z:0.69 [[ 9.99737046e-01 -1.57285918e-02 -1.66868053e-02 1.00601690e+02] [ 1.57256103e-02 9.99876297e-01 -3.09880097e-04 4.25514258e+00] [ 1.66896151e-02 4.73884159e-05 9.99860718e-01 6.91899736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15439141799999 meters Centerline goodness [0,1] 0.9994138335287222 Centerline is valid? [True, True] Translation: X:100.63, Y:4.25, Z:0.69 [[ 9.99700650e-01 -1.82247055e-02 -1.63239444e-02 1.00629652e+02] [ 1.82221348e-02 9.99833916e-01 -3.06216319e-04 4.25340067e+00] [ 1.63268140e-02 8.66753689e-06 9.99866709e-01 6.91208982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18439141799999 meters Centerline goodness [0,1] 0.9995656988990467 Centerline is valid? [True, True] Translation: X:100.66, Y:4.25, Z:0.69 [[ 9.99645668e-01 -2.11418640e-02 -1.61728451e-02 1.00658348e+02] [ 2.11396750e-02 9.99776485e-01 -3.06314706e-04 4.25084917e+00] [ 1.61757063e-02 -3.56825207e-05 9.99869164e-01 6.91192643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21439141799999 meters Centerline goodness [0,1] 0.9994358985485235 Centerline is valid? [True, True] Translation: X:100.69, Y:4.24, Z:0.69 [[ 9.99483839e-01 -2.76823331e-02 -1.63016536e-02 1.00687760e+02] [ 2.76809357e-02 9.99616761e-01 -3.11395361e-04 4.24367711e+00] [ 1.63040263e-02 -1.40010394e-04 9.99867071e-01 6.90211108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24439141799999 meters Centerline goodness [0,1] 0.9991776137814616 Centerline is valid? [True, True] Translation: X:100.72, Y:4.24, Z:0.69 [[ 9.99391553e-01 -3.08225699e-02 -1.63245951e-02 1.00719167e+02] [ 3.08215871e-02 9.99524853e-01 -3.11852720e-04 4.24085441e+00] [ 1.63264506e-02 -1.91486955e-04 9.99866696e-01 6.90535808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.274391418 meters Centerline goodness [0,1] 0.9992430468445868 Centerline is valid? [True, True] Translation: X:100.75, Y:4.24, Z:0.69 [[ 9.99221765e-01 -3.55567457e-02 -1.70757863e-02 1.00749469e+02] [ 3.55563702e-02 9.99367619e-01 -3.25681811e-04 4.23543481e+00] [ 1.70765681e-02 -2.81724625e-04 9.99854145e-01 6.90310091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.304391418 meters Centerline goodness [0,1] 0.9994373633983251 Centerline is valid? [True, True] Translation: X:100.78, Y:4.23, Z:0.69 [[ 9.99153699e-01 -3.74699397e-02 -1.69673090e-02 1.00781780e+02] [ 3.74698592e-02 9.99297706e-01 -3.22760162e-04 4.23479776e+00] [ 1.69674867e-02 -3.13275669e-04 9.99855993e-01 6.92035483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.334391418 meters Centerline goodness [0,1] 0.9994373633983251 Centerline is valid? [True, True] Translation: X:100.81, Y:4.24, Z:0.69 [[ 9.99156722e-01 -3.73892314e-02 -1.69673350e-02 1.00813479e+02] [ 3.73891626e-02 9.99300729e-01 -3.21389474e-04 4.23532292e+00] [ 1.69674867e-02 -3.13275992e-04 9.99855993e-01 6.92303771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.364391418 meters Centerline goodness [0,1] 0.99900529787004 Centerline is valid? [True, True] Translation: X:100.84, Y:4.23, Z:0.69 [[ 9.99118250e-01 -3.84029765e-02 -1.69686216e-02 1.00844829e+02] [ 3.84030741e-02 9.99262279e-01 -3.20218206e-04 4.23391667e+00] [ 1.69684008e-02 -3.31711377e-04 9.99855971e-01 6.92366880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.394391418 meters Centerline goodness [0,1] 0.9994163171775693 Centerline is valid? [True, True] Translation: X:100.88, Y:4.23, Z:0.69 [[ 9.99121747e-01 -3.85955670e-02 -1.63131086e-02 1.00876317e+02] [ 3.85956984e-02 9.99254861e-01 -3.06892956e-04 4.23232005e+00] [ 1.63127977e-02 -3.22992392e-04 9.99866885e-01 6.93144342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.424391418 meters Centerline goodness [0,1] 0.9992654842403162 Centerline is valid? [True, True] Translation: X:100.91, Y:4.23, Z:0.69 [[ 9.99152770e-01 -3.78850633e-02 -1.60768143e-02 1.00908394e+02] [ 3.78851166e-02 9.99282056e-01 -3.01345856e-04 4.23384269e+00] [ 1.60766886e-02 -3.07981439e-04 9.99870714e-01 6.93877017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.454391418 meters Centerline goodness [0,1] 0.999546455876636 Centerline is valid? [True, True] Translation: X:100.94, Y:4.23, Z:0.69 [[ 9.99250260e-01 -3.55295491e-02 -1.53808146e-02 1.00939845e+02] [ 3.55293353e-02 9.99368593e-01 -2.87242158e-04 4.23407320e+00] [ 1.53813086e-02 -2.59443318e-04 9.99881667e-01 6.93537403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48439141799999 meters Centerline goodness [0,1] 0.9994381415451108 Centerline is valid? [True, True] Translation: X:100.97, Y:4.24, Z:0.69 [[ 9.99304882e-01 -3.38796992e-02 -1.55537318e-02 1.00971883e+02] [ 3.38792976e-02 9.99425890e-01 -2.89385891e-04 4.23564199e+00] [ 1.55546066e-02 -2.37764775e-04 9.99878992e-01 6.93323909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51439141799999 meters Centerline goodness [0,1] 0.9993730814129448 Centerline is valid? [True, True] Translation: X:101.00, Y:4.24, Z:0.69 [[ 9.99379417e-01 -3.18876959e-02 -1.49651381e-02 1.01003174e+02] [ 3.18871166e-02 9.99491438e-01 -2.77379818e-04 4.23611538e+00] [ 1.49663724e-02 -1.99987422e-04 9.99887978e-01 6.92940052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54439141799999 meters Centerline goodness [0,1] 0.9991788222582388 Centerline is valid? [True, True] Translation: X:101.03, Y:4.24, Z:0.69 [[ 9.99497023e-01 -2.77120986e-02 -1.54188570e-02 1.01034567e+02] [ 2.77109993e-02 9.99615936e-01 -2.84982584e-04 4.23928792e+00] [ 1.54208327e-02 -1.42432692e-04 9.99881082e-01 6.92609323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57439141799999 meters Centerline goodness [0,1] 0.9994595529421938 Centerline is valid? [True, True] Translation: X:101.07, Y:4.24, Z:0.69 [[ 9.99552738e-01 -2.54578987e-02 -1.56913713e-02 1.01065581e+02] [ 2.54564925e-02 9.99675889e-01 -2.89381349e-04 4.24166695e+00] [ 1.56936526e-02 -1.10195355e-04 9.99876841e-01 6.93646658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60439141799999 meters Centerline goodness [0,1] 0.9994173122990267 Centerline is valid? [True, True] Translation: X:101.10, Y:4.24, Z:0.69 [[ 9.99599652e-01 -2.34923958e-02 -1.57684286e-02 1.01096976e+02] [ 2.34907412e-02 9.99724012e-01 -2.90163884e-04 4.24380746e+00] [ 1.57708933e-02 -8.03643570e-05 9.99875628e-01 6.94611124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63439141799999 meters Centerline goodness [0,1] 0.9994158246608538 Centerline is valid? [True, True] Translation: X:101.13, Y:4.25, Z:0.70 [[ 9.99675687e-01 -2.06279084e-02 -1.49335228e-02 1.01127016e+02] [ 2.06261096e-02 9.99787221e-01 -2.74476425e-04 4.24600231e+00] [ 1.49360071e-02 -3.36330689e-05 9.99888451e-01 6.96657619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.664391418 meters Centerline goodness [0,1] 0.9996103727434088 Centerline is valid? [True, True] Translation: X:101.16, Y:4.25, Z:0.70 [[ 9.99697307e-01 -1.94146578e-02 -1.51117629e-02 1.01156749e+02] [ 1.94126753e-02 9.99811518e-01 -2.77884129e-04 4.24597534e+00] [ 1.51143096e-02 -1.55597306e-05 9.99885772e-01 6.97130200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.694391418 meters Centerline goodness [0,1] 0.9994385661844094 Centerline is valid? [True, True] Translation: X:101.19, Y:4.24, Z:0.70 [[ 9.99706668e-01 -1.89988781e-02 -1.50206678e-02 1.01185183e+02] [ 1.89968642e-02 9.99819505e-01 -2.76760932e-04 4.24498460e+00] [ 1.50232148e-02 -8.66583774e-06 9.99887145e-01 6.96637202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.724391418 meters Centerline goodness [0,1] 0.9996120020693223 Centerline is valid? [True, True] Translation: X:101.21, Y:4.24, Z:0.69 [[ 9.99691610e-01 -1.86540377e-02 -1.63924267e-02 1.01214570e+02] [ 1.86515787e-02 9.99825998e-01 -3.02889182e-04 4.24064140e+00] [ 1.63952245e-02 -2.94886376e-06 9.99865589e-01 6.93715595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.754391418 meters Centerline goodness [0,1] 0.9994603578906469 Centerline is valid? [True, True] Translation: X:101.24, Y:4.24, Z:0.69 [[ 9.99679416e-01 -1.90316711e-02 -1.66990936e-02 1.01243765e+02] [ 1.90291270e-02 9.99818881e-01 -3.11248216e-04 4.23905749e+00] [ 1.67019926e-02 -6.62073720e-06 9.99860512e-01 6.93103632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.784391418 meters Centerline goodness [0,1] 0.9994623540291189 Centerline is valid? [True, True] Translation: X:101.27, Y:4.24, Z:0.69 [[ 9.99656942e-01 -1.92307846e-02 -1.77812909e-02 1.01271266e+02] [ 1.92278688e-02 9.99815071e-01 -3.34940106e-04 4.23771722e+00] [ 1.77844438e-02 -7.07112689e-06 9.99841844e-01 6.91794795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.814391418 meters Centerline goodness [0,1] 0.9994410285075461 Centerline is valid? [True, True] Translation: X:101.30, Y:4.24, Z:0.69 [[ 9.99646892e-01 -2.00070604e-02 -1.74873753e-02 1.01299063e+02] [ 2.00043287e-02 9.99799839e-01 -3.31136206e-04 4.23546640e+00] [ 1.74905001e-02 -1.88039247e-05 9.99847029e-01 6.91821614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84439141799999 meters Centerline goodness [0,1] 0.9992673361203293 Centerline is valid? [True, True] Translation: X:101.33, Y:4.23, Z:0.69 [[ 9.99642926e-01 -2.05396472e-02 -1.70922259e-02 1.01327528e+02] [ 2.05370610e-02 9.99789039e-01 -3.26838970e-04 4.23495586e+00] [ 1.70953332e-02 -2.43018205e-05 9.99853864e-01 6.93116312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87439141799999 meters Centerline goodness [0,1] 0.9992245891399402 Centerline is valid? [True, True] Translation: X:101.36, Y:4.23, Z:0.69 [[ 9.99655176e-01 -2.08119006e-02 -1.60123142e-02 1.01356552e+02] [ 2.08095967e-02 9.99783409e-01 -3.10502673e-04 4.23456182e+00] [ 1.60153083e-02 -2.28141965e-05 9.99871746e-01 6.94433418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90439141799999 meters Centerline goodness [0,1] 0.9992489431557263 Centerline is valid? [True, True] Translation: X:101.39, Y:4.23, Z:0.70 [[ 9.99648503e-01 -2.15875075e-02 -1.53899349e-02 1.01386134e+02] [ 2.15854313e-02 9.99766962e-01 -3.01018880e-04 4.23391217e+00] [ 1.53928467e-02 -3.12853102e-05 9.99881523e-01 6.97266716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93439141799999 meters Centerline goodness [0,1] 0.9992486529420604 Centerline is valid? [True, True] Translation: X:101.42, Y:4.23, Z:0.70 [[ 9.99642738e-01 -2.26338101e-02 -1.42164417e-02 1.01415394e+02] [ 2.26321364e-02 9.99743822e-01 -2.78619597e-04 4.23183677e+00] [ 1.42191059e-02 -4.32283899e-05 9.99898902e-01 6.99589904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96439141799999 meters Centerline goodness [0,1] 0.9992486529420604 Centerline is valid? [True, True] Translation: X:101.45, Y:4.23, Z:0.70 [[ 9.99642738e-01 -2.26338130e-02 -1.42164349e-02 1.01445388e+02] [ 2.26321344e-02 9.99743822e-01 -2.78967169e-04 4.23242550e+00] [ 1.42191070e-02 -4.28807594e-05 9.99898902e-01 6.99844099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99439141799999 meters Centerline goodness [0,1] 0.9992271029241273 Centerline is valid? [True, True] Translation: X:101.48, Y:4.23, Z:0.70 [[ 9.99634009e-01 -2.31682091e-02 -1.39671854e-02 1.01475942e+02] [ 2.31666426e-02 9.99731580e-01 -2.73964223e-04 4.23178516e+00] [ 1.39697836e-02 -4.97088377e-05 9.99902417e-01 7.00122529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.024391418 meters Centerline goodness [0,1] 0.9995280995280995 Centerline is valid? [True, True] Translation: X:101.51, Y:4.23, Z:0.70 [[ 9.99621510e-01 -2.38938080e-02 -1.36353396e-02 1.01506254e+02] [ 2.38923849e-02 9.99714500e-01 -2.67286832e-04 4.23153661e+00] [ 1.36378332e-02 -5.85951138e-05 9.99906999e-01 7.00777860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.054391418 meters Centerline goodness [0,1] 0.9990565835459594 Centerline is valid? [True, True] Translation: X:101.54, Y:4.23, Z:0.70 [[ 9.99609118e-01 -2.43975509e-02 -1.36517708e-02 1.01537522e+02] [ 2.43961742e-02 9.99702333e-01 -2.67397791e-04 4.23095569e+00] [ 1.36542310e-02 -6.57577087e-05 9.99906774e-01 7.00270571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.084391418 meters Centerline goodness [0,1] 0.9991852661821145 Centerline is valid? [True, True] Translation: X:101.57, Y:4.23, Z:0.70 [[ 9.99581661e-01 -2.59191095e-02 -1.28336841e-02 1.01568922e+02] [ 2.59180247e-02 9.99664040e-01 -2.50872244e-04 4.22800051e+00] [ 1.28358749e-02 -8.18564469e-05 9.99917613e-01 6.99545249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.114391418 meters Centerline goodness [0,1] 0.998993295778268 Centerline is valid? [True, True] Translation: X:101.60, Y:4.23, Z:0.70 [[ 9.99571167e-01 -2.65479508e-02 -1.23567523e-02 1.01600221e+02] [ 2.65469991e-02 9.99647537e-01 -2.41059272e-04 4.22646534e+00] [ 1.23587967e-02 -8.70787954e-05 9.99923623e-01 6.99391375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.144391418 meters Centerline goodness [0,1] 0.9993391178288955 Centerline is valid? [True, True] Translation: X:101.63, Y:4.22, Z:0.70 [[ 9.99555910e-01 -2.72129385e-02 -1.21424104e-02 1.01630932e+02] [ 2.72120758e-02 9.99629655e-01 -2.36294637e-04 4.22260243e+00] [ 1.21443438e-02 -9.42304910e-05 9.99926250e-01 6.99270217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.174391418 meters Centerline goodness [0,1] 0.9990602908826859 Centerline is valid? [True, True] Translation: X:101.66, Y:4.22, Z:0.70 [[ 9.99550640e-01 -2.72839648e-02 -1.24138369e-02 1.01661974e+02] [ 2.72830776e-02 9.99627719e-01 -2.40843825e-04 4.22194300e+00] [ 1.24157866e-02 -9.79520758e-05 9.99922916e-01 6.99429266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.204391418 meters Centerline goodness [0,1] 0.9993157714676703 Centerline is valid? [True, True] Translation: X:101.69, Y:4.22, Z:0.70 [[ 9.99553220e-01 -2.67481298e-02 -1.33378188e-02 1.01692530e+02] [ 2.67470641e-02 9.99642200e-01 -2.58308828e-04 4.22265978e+00] [ 1.33399558e-02 -9.85540732e-05 9.99911014e-01 6.99920654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23439141799999 meters Centerline goodness [0,1] 0.999486499208353 Centerline is valid? [True, True] Translation: X:101.72, Y:4.22, Z:0.70 [[ 9.99569754e-01 -2.56888822e-02 -1.41558496e-02 1.01722792e+02] [ 2.56875834e-02 9.99669982e-01 -2.73599253e-04 4.22413444e+00] [ 1.41582064e-02 -9.01480290e-05 9.99899764e-01 7.00374775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26439141799999 meters Centerline goodness [0,1] 0.9991231447025108 Centerline is valid? [True, True] Translation: X:101.75, Y:4.23, Z:0.70 [[ 9.99592066e-01 -2.46469872e-02 -1.44300837e-02 1.01753929e+02] [ 2.46455406e-02 9.99696214e-01 -2.78098031e-04 4.22584123e+00] [ 1.44325544e-02 -7.76526292e-05 9.99895842e-01 7.00886422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29439141799999 meters Centerline goodness [0,1] 0.9994227192063458 Centerline is valid? [True, True] Translation: X:101.78, Y:4.23, Z:0.70 [[ 9.99627274e-01 -2.32160441e-02 -1.43641496e-02 1.01784798e+02] [ 2.32144677e-02 9.99730470e-01 -2.76495607e-04 4.22700263e+00] [ 1.43666972e-02 -5.70635381e-05 9.99896792e-01 7.01325937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32439141799999 meters Centerline goodness [0,1] 0.9993375643737846 Centerline is valid? [True, True] Translation: X:101.81, Y:4.23, Z:0.70 [[ 9.99704272e-01 -1.98696608e-02 -1.40201827e-02 1.01814935e+02] [ 1.98678228e-02 9.99802579e-01 -2.70383066e-04 4.22734374e+00] [ 1.40227872e-02 -8.24739822e-06 9.99901676e-01 7.00859754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35439141799999 meters Centerline goodness [0,1] 0.9994447884857673 Centerline is valid? [True, True] Translation: X:101.84, Y:4.23, Z:0.70 [[ 9.99742004e-01 -1.78490604e-02 -1.40476369e-02 1.01844040e+02] [ 1.78470032e-02 9.99840693e-01 -2.71800698e-04 4.22736852e+00] [ 1.40502504e-02 2.10223522e-05 9.99901290e-01 6.99790942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38439141799999 meters Centerline goodness [0,1] 0.9994242333774044 Centerline is valid? [True, True] Translation: X:101.87, Y:4.23, Z:0.70 [[ 9.99770120e-01 -1.56498163e-02 -1.46557277e-02 1.01873256e+02] [ 1.56473129e-02 9.99877533e-01 -2.85472925e-04 4.22777802e+00] [ 1.46584005e-02 5.60845433e-05 9.99892558e-01 6.98088753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.414391418 meters Centerline goodness [0,1] 0.999509312397329 Centerline is valid? [True, True] Translation: X:101.90, Y:4.23, Z:0.70 [[ 9.99764876e-01 -1.48504852e-02 -1.58005299e-02 1.01901805e+02] [ 1.48474020e-02 9.99889722e-01 -3.12432537e-04 4.22867548e+00] [ 1.58034273e-02 7.77622571e-05 9.99875115e-01 6.98626571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.444391418 meters Centerline goodness [0,1] 0.9995091448449538 Centerline is valid? [True, True] Translation: X:101.93, Y:4.23, Z:0.70 [[ 9.99766742e-01 -1.27919513e-02 -1.74019663e-02 1.01930939e+02] [ 1.27878084e-02 9.99918172e-01 -3.49328690e-04 4.23161940e+00] [ 1.74050109e-02 1.26714195e-04 9.99848513e-01 6.97803261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.474391418 meters Centerline goodness [0,1] 0.9993592344988146 Centerline is valid? [True, True] Translation: X:101.96, Y:4.23, Z:0.70 [[ 9.99767261e-01 -1.29931684e-02 -1.72221471e-02 1.01958758e+02] [ 1.29890504e-02 9.99915577e-01 -3.50952232e-04 4.23310709e+00] [ 1.72252531e-02 1.27171214e-04 9.99851626e-01 6.99429155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.504391418 meters Centerline goodness [0,1] 0.9994453688297282 Centerline is valid? [True, True] Translation: X:101.99, Y:4.23, Z:0.70 [[ 9.99761035e-01 -1.33249973e-02 -1.73296589e-02 1.01986957e+02] [ 1.33207795e-02 9.99911210e-01 -3.58795101e-04 4.23365321e+00] [ 1.73329011e-02 1.27864797e-04 9.99849766e-01 7.00594538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.534391418 meters Centerline goodness [0,1] 0.9992546689665452 Centerline is valid? [True, True] Translation: X:102.02, Y:4.23, Z:0.70 [[ 9.99757253e-01 -1.47771207e-02 -1.63423227e-02 1.02015424e+02] [ 1.47734850e-02 9.99890807e-01 -3.43179425e-04 4.22981090e+00] [ 1.63456095e-02 1.01663059e-04 9.99866396e-01 7.01519449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.564391418 meters Centerline goodness [0,1] 0.9994677113718142 Centerline is valid? [True, True] Translation: X:102.04, Y:4.23, Z:0.70 [[ 9.99737559e-01 -1.63501023e-02 -1.60463977e-02 1.02043215e+02] [ 1.63467499e-02 9.99866325e-01 -3.40072382e-04 4.22687696e+00] [ 1.60498129e-02 7.76766834e-05 9.99871190e-01 7.02010910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59439141799999 meters Centerline goodness [0,1] 0.9992777636162801 Centerline is valid? [True, True] Translation: X:102.07, Y:4.22, Z:0.70 [[ 9.99707903e-01 -1.82452574e-02 -1.58499071e-02 1.02071129e+02] [ 1.82421998e-02 9.99833540e-01 -3.37476877e-04 4.22367388e+00] [ 1.58534261e-02 4.82411287e-05 9.99874325e-01 7.02018172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62439141799999 meters Centerline goodness [0,1] 0.9989388569366922 Centerline is valid? [True, True] Translation: X:102.10, Y:4.22, Z:0.70 [[ 9.99597815e-01 -2.35908933e-02 -1.57377731e-02 1.02099370e+02] [ 2.35884907e-02 9.99721696e-01 -3.38304985e-04 4.21800784e+00] [ 1.57413741e-02 -3.30613895e-05 9.99876096e-01 7.02180031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65439141799999 meters Centerline goodness [0,1] 0.9995762442528127 Centerline is valid? [True, True] Translation: X:102.13, Y:4.22, Z:0.70 [[ 9.99530904e-01 -2.60808471e-02 -1.60549674e-02 1.02129541e+02] [ 2.60786174e-02 9.99659834e-01 -3.48262191e-04 4.21576308e+00] [ 1.60585890e-02 -7.05925284e-05 9.99871050e-01 7.01724224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68439141799999 meters Centerline goodness [0,1] 0.999597815503154 Centerline is valid? [True, True] Translation: X:102.16, Y:4.21, Z:0.70 [[ 9.99451515e-01 -2.90262206e-02 -1.59419797e-02 1.02158794e+02] [ 2.90243909e-02 9.99578644e-01 -3.46177627e-04 4.21295377e+00] [ 1.59453107e-02 -1.16718497e-04 9.99872859e-01 7.02337883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71439141799999 meters Centerline goodness [0,1] 0.9993446781524152 Centerline is valid? [True, True] Translation: X:102.19, Y:4.20, Z:0.70 [[ 9.99280588e-01 -3.48524534e-02 -1.49536727e-02 1.02189260e+02] [ 3.48514953e-02 9.99392449e-01 -3.24741378e-04 4.20405135e+00] [ 1.49559056e-02 -1.96650098e-04 9.99888135e-01 7.01862939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74439141799999 meters Centerline goodness [0,1] 0.9989648689186049 Centerline is valid? [True, True] Translation: X:102.22, Y:4.20, Z:0.70 [[ 9.99177286e-01 -3.76868665e-02 -1.49816793e-02 1.02220583e+02] [ 3.76862271e-02 9.99289569e-01 -3.25089747e-04 4.19976530e+00] [ 1.49832875e-02 -2.39780679e-04 9.99887715e-01 7.01813174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.774391418 meters Centerline goodness [0,1] 0.9990923674434313 Centerline is valid? [True, True] Translation: X:102.25, Y:4.20, Z:0.70 [[ 9.99069081e-01 -4.03943852e-02 -1.51415057e-02 1.02251260e+02] [ 4.03940502e-02 9.99183773e-01 -3.28084395e-04 4.19589580e+00] [ 1.51423996e-02 -2.83847766e-04 9.99885307e-01 7.01976064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.804391418 meters Centerline goodness [0,1] 0.9987760097919217 Centerline is valid? [True, True] Translation: X:102.28, Y:4.19, Z:0.70 [[ 9.98843727e-01 -4.57099881e-02 -1.48931264e-02 1.02282867e+02] [ 4.57102607e-02 9.98954688e-01 -3.22275537e-04 4.19303820e+00] [ 1.48922897e-02 -3.58865794e-04 9.99889039e-01 7.04123260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.834391418 meters Centerline goodness [0,1] 0.9991787053026155 Centerline is valid? [True, True] Translation: X:102.31, Y:4.19, Z:0.70 [[ 9.98722954e-01 -4.82264782e-02 -1.50554875e-02 1.02313743e+02] [ 4.82270538e-02 9.98836346e-01 -3.25037520e-04 4.19112778e+00] [ 1.50536435e-02 -4.01459373e-04 9.99886607e-01 7.04819243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.864391418 meters Centerline goodness [0,1] 0.99881928777752 Centerline is valid? [True, True] Translation: X:102.35, Y:4.19, Z:0.71 [[ 9.98618350e-01 -5.04732590e-02 -1.46233320e-02 1.02345308e+02] [ 5.04740553e-02 9.98725323e-01 -3.14842657e-04 4.18947499e+00] [ 1.46205831e-02 -4.23691216e-04 9.99893024e-01 7.05062180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.894391418 meters Centerline goodness [0,1] 0.9989247311827957 Centerline is valid? [True, True] Translation: X:102.38, Y:4.19, Z:0.71 [[ 9.98493203e-01 -5.29055908e-02 -1.45712848e-02 1.02377477e+02] [ 5.29066543e-02 9.98599413e-01 -3.12749650e-04 4.18760648e+00] [ 1.45674226e-02 -4.58639527e-04 9.99893784e-01 7.05023337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.924391418 meters Centerline goodness [0,1] 0.9989898139574038 Centerline is valid? [True, True] Translation: X:102.41, Y:4.18, Z:0.70 [[ 9.98258465e-01 -5.73531361e-02 -1.38078142e-02 1.02408547e+02] [ 5.73545260e-02 9.98353831e-01 -2.95635598e-04 4.18001834e+00] [ 1.38020398e-02 -4.96819901e-04 9.99904624e-01 7.03444920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.954391418 meters Centerline goodness [0,1] 0.9987170049426859 Centerline is valid? [True, True] Translation: X:102.44, Y:4.18, Z:0.70 [[ 9.98138969e-01 -5.95346171e-02 -1.31995454e-02 1.02440259e+02] [ 5.95360833e-02 9.98226114e-01 -2.82182551e-04 4.17681187e+00] [ 1.31929306e-02 -5.04191834e-04 9.99912842e-01 7.03184613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98439141799999 meters Centerline goodness [0,1] 0.9989283913262733 Centerline is valid? [True, True] Translation: X:102.47, Y:4.18, Z:0.70 [[ 9.97949245e-01 -6.25950427e-02 -1.33852728e-02 1.02471783e+02] [ 6.25968359e-02 9.98038854e-01 -2.85355403e-04 4.17872103e+00] [ 1.33768841e-02 -5.53105514e-04 9.99910373e-01 7.03897047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01439141799999 meters Centerline goodness [0,1] 0.9987841180663285 Centerline is valid? [True, True] Translation: X:102.50, Y:4.18, Z:0.70 [[ 9.97884452e-01 -6.35147979e-02 -1.38741159e-02 1.02502872e+02] [ 6.35168252e-02 9.97980724e-01 -2.94911308e-04 4.17809325e+00] [ 1.38648314e-02 -5.86952384e-04 9.99903706e-01 7.04131579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04439141799999 meters Centerline goodness [0,1] 0.9988002778303972 Centerline is valid? [True, True] Translation: X:102.53, Y:4.18, Z:0.70 [[ 9.97867967e-01 -6.36810784e-02 -1.42912795e-02 1.02534150e+02] [ 6.36832590e-02 9.97970115e-01 -3.02906366e-04 4.17604922e+00] [ 1.42815592e-02 -6.07854694e-04 9.99897829e-01 7.04113552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07439141799999 meters Centerline goodness [0,1] 0.9991581428631561 Centerline is valid? [True, True] Translation: X:102.57, Y:4.18, Z:0.71 [[ 9.97866776e-01 -6.36157884e-02 -1.46604323e-02 1.02566175e+02] [ 6.36180906e-02 9.97974270e-01 -3.09743009e-04 4.18102766e+00] [ 1.46504388e-02 -6.23586453e-04 9.99892482e-01 7.05357103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10439141799999 meters Centerline goodness [0,1] 0.9988837875405416 Centerline is valid? [True, True] Translation: X:102.60, Y:4.19, Z:0.71 [[ 9.97943846e-01 -6.24448445e-02 -1.44472304e-02 1.02598379e+02] [ 6.24469741e-02 9.98048237e-01 -3.04103238e-04 4.18800402e+00] [ 1.44380226e-02 -5.98707871e-04 9.99895587e-01 7.05789640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13439141799999 meters Centerline goodness [0,1] 0.9990100052659294 Centerline is valid? [True, True] Translation: X:102.63, Y:4.18, Z:0.71 [[ 9.97989896e-01 -6.18247098e-02 -1.39238409e-02 1.02629912e+02] [ 6.18266416e-02 9.98086860e-01 -2.92078750e-04 4.18495213e+00] [ 1.39152603e-02 -5.69372679e-04 9.99903016e-01 7.05600903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.164391418 meters Centerline goodness [0,1] 0.9988816677920324 Centerline is valid? [True, True] Translation: X:102.66, Y:4.19, Z:0.71 [[ 9.98031394e-01 -6.12533409e-02 -1.34671896e-02 1.02662399e+02] [ 6.12551083e-02 9.98122103e-01 -2.81595777e-04 4.18931111e+00] [ 1.34591482e-02 -5.43892730e-04 9.99909274e-01 7.06469900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.194391418 meters Centerline goodness [0,1] 0.998839711404582 Centerline is valid? [True, True] Translation: X:102.69, Y:4.19, Z:0.71 [[ 9.98041697e-01 -6.10938305e-02 -1.34281459e-02 1.02694172e+02] [ 6.10955877e-02 9.98131881e-01 -2.79704940e-04 4.19132018e+00] [ 1.34201487e-02 -5.41243271e-04 9.99909799e-01 7.07012817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.224391418 meters Centerline goodness [0,1] 0.9987104684593269 Centerline is valid? [True, True] Translation: X:102.73, Y:4.19, Z:0.71 [[ 9.98060658e-01 -6.07585075e-02 -1.35398503e-02 1.02726430e+02] [ 6.07602780e-02 9.98152348e-01 -2.80942592e-04 4.19435920e+00] [ 1.35319030e-02 -5.42287319e-04 9.99908293e-01 7.07222902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.254391418 meters Centerline goodness [0,1] 0.9986692858500729 Centerline is valid? [True, True] Translation: X:102.76, Y:4.20, Z:0.71 [[ 9.98148523e-01 -5.89361416e-02 -1.50352242e-02 1.02758401e+02] [ 5.89381378e-02 9.98261589e-01 -3.10681347e-04 4.20050656e+00] [ 1.50273972e-02 -5.76041991e-04 9.99886916e-01 7.06181862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.284391418 meters Centerline goodness [0,1] 0.9985403312813352 Centerline is valid? [True, True] Translation: X:102.79, Y:4.20, Z:0.71 [[ 9.98246946e-01 -5.70619348e-02 -1.57152856e-02 1.02790476e+02] [ 5.70639044e-02 9.98370475e-01 -3.23425649e-04 4.20304113e+00] [ 1.57081324e-02 -5.73916887e-04 9.99876455e-01 7.05517810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.314391418 meters Centerline goodness [0,1] 0.9984127655972234 Centerline is valid? [True, True] Translation: X:102.82, Y:4.21, Z:0.71 [[ 9.98491802e-01 -5.25679273e-02 -1.58346203e-02 1.02821967e+02] [ 5.25693812e-02 9.98617221e-01 -3.24691926e-04 4.20945294e+00] [ 1.58297929e-02 -5.08213966e-04 9.99874572e-01 7.05474824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34439141799999 meters Centerline goodness [0,1] 0.9984127655972234 Centerline is valid? [True, True] Translation: X:102.85, Y:4.21, Z:0.71 [[ 9.98496019e-01 -5.24877596e-02 -1.58346441e-02 1.02853670e+02] [ 5.24892219e-02 9.98621438e-01 -3.23528147e-04 4.21002401e+00] [ 1.58297964e-02 -5.08106582e-04 9.99874572e-01 7.05743232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37439141799999 meters Centerline goodness [0,1] 0.9988562472200453 Centerline is valid? [True, True] Translation: X:102.88, Y:4.22, Z:0.71 [[ 9.98770200e-01 -4.70328378e-02 -1.56843792e-02 1.02883539e+02] [ 4.70336131e-02 9.98893256e-01 -3.19638988e-04 4.21898313e+00] [ 1.56820541e-02 -4.18447126e-04 9.99876941e-01 7.08088007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40439141799999 meters Centerline goodness [0,1] 0.998747372667247 Centerline is valid? [True, True] Translation: X:102.92, Y:4.22, Z:0.71 [[ 9.98907193e-01 -4.42277336e-02 -1.51105269e-02 1.02915196e+02] [ 4.42281408e-02 9.99021410e-01 -3.07387677e-04 4.22468386e+00] [ 1.51093350e-02 -3.61258751e-04 9.99885782e-01 7.09553347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43439141799999 meters Centerline goodness [0,1] 0.99880772424365 Centerline is valid? [True, True] Translation: X:102.95, Y:4.23, Z:0.71 [[ 9.99140245e-01 -3.90647911e-02 -1.38820811e-02 1.02946096e+02] [ 3.90646460e-02 9.99236646e-01 -2.81717606e-04 4.23464831e+00] [ 1.38824894e-02 -2.60823188e-04 9.99903600e-01 7.11556228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46439141799999 meters Centerline goodness [0,1] 0.9988290398126464 Centerline is valid? [True, True] Translation: X:102.98, Y:4.24, Z:0.71 [[ 9.99222299e-01 -3.69252443e-02 -1.38319939e-02 1.02978018e+02] [ 3.69249061e-02 9.99318004e-01 -2.79924139e-04 4.23768600e+00] [ 1.38328968e-02 -2.31038632e-04 9.99904294e-01 7.11473449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49439141799999 meters Centerline goodness [0,1] 0.998830459097965 Centerline is valid? [True, True] Translation: X:103.01, Y:4.24, Z:0.71 [[ 9.99303473e-01 -3.48678370e-02 -1.32966951e-02 1.03009041e+02] [ 3.48673550e-02 9.99391913e-01 -2.68144593e-04 4.24012457e+00] [ 1.32979592e-02 -1.95662765e-04 9.99911559e-01 7.11051801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.524391418 meters Centerline goodness [0,1] 0.9988505257780238 Centerline is valid? [True, True] Translation: X:103.04, Y:4.24, Z:0.71 [[ 9.99363581e-01 -3.31414185e-02 -1.31938853e-02 1.03040657e+02] [ 3.31408026e-02 9.99450658e-01 -2.65376911e-04 4.24305042e+00] [ 1.31954323e-02 -1.72047928e-04 9.99912922e-01 7.10977988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.554391418 meters Centerline goodness [0,1] 0.9988917778440817 Centerline is valid? [True, True] Translation: X:103.07, Y:4.25, Z:0.71 [[ 9.99417527e-01 -3.13600574e-02 -1.34593176e-02 1.03071330e+02] [ 3.13592609e-02 9.99508141e-01 -2.70269878e-04 4.24513110e+00] [ 1.34611732e-02 -1.51961800e-04 9.99909383e-01 7.09946538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.584391418 meters Centerline goodness [0,1] 0.9989551347662914 Centerline is valid? [True, True] Translation: X:103.10, Y:4.25, Z:0.71 [[ 9.99451352e-01 -2.96354304e-02 -1.47897027e-02 1.03102631e+02] [ 2.96342882e-02 9.99560764e-01 -2.96428371e-04 4.24976861e+00] [ 1.47919913e-02 -1.42016575e-04 9.99890582e-01 7.09766380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.614391418 meters Centerline goodness [0,1] 0.9988263662164181 Centerline is valid? [True, True] Translation: X:103.13, Y:4.25, Z:0.71 [[ 9.99450134e-01 -2.93030844e-02 -1.55164204e-02 1.03133696e+02] [ 2.93017994e-02 9.99570562e-01 -3.10200865e-04 4.25186790e+00] [ 1.55188469e-02 -1.44628741e-04 9.99879565e-01 7.09398674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.644391418 meters Centerline goodness [0,1] 0.9988884138520735 Centerline is valid? [True, True] Translation: X:103.17, Y:4.25, Z:0.71 [[ 9.99437391e-01 -2.94666571e-02 -1.60192745e-02 1.03165142e+02] [ 2.94653185e-02 9.99565752e-01 -3.19629177e-04 4.25333392e+00] [ 1.60217366e-02 -1.52563674e-04 9.99871632e-01 7.09533746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.674391418 meters Centerline goodness [0,1] 0.9989541758265212 Centerline is valid? [True, True] Translation: X:103.20, Y:4.25, Z:0.71 [[ 9.99390010e-01 -3.08781879e-02 -1.63139671e-02 1.03196864e+02] [ 3.08769979e-02 9.99523139e-01 -3.24877890e-04 4.25371382e+00] [ 1.63162192e-02 -1.79046609e-04 9.99866866e-01 7.09933913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.704391418 meters Centerline goodness [0,1] 0.9990363819353734 Centerline is valid? [True, True] Translation: X:103.23, Y:4.25, Z:0.71 [[ 9.99347519e-01 -3.23361685e-02 -1.60906253e-02 1.03228306e+02] [ 3.23352099e-02 9.99477029e-01 -3.19806276e-04 4.25371651e+00] [ 1.60925517e-02 -2.00696138e-04 9.99870486e-01 7.10724417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73439141799999 meters Centerline goodness [0,1] 0.9987620592504055 Centerline is valid? [True, True] Translation: X:103.26, Y:4.25, Z:0.71 [[ 9.99223278e-01 -3.62153107e-02 -1.55335565e-02 1.03258541e+02] [ 3.62148970e-02 9.99343978e-01 -3.08014342e-04 4.25018582e+00] [ 1.55345210e-02 -2.54771047e-04 9.99879300e-01 7.10345254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76439141799999 meters Centerline goodness [0,1] 0.998783922171019 Centerline is valid? [True, True] Translation: X:103.29, Y:4.25, Z:0.71 [[ 9.99141139e-01 -3.83678736e-02 -1.56489688e-02 1.03290201e+02] [ 3.83677294e-02 9.99263640e-01 -3.09550725e-04 4.24940667e+00] [ 1.56493223e-02 -2.91130537e-04 9.99877499e-01 7.10333600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79439141799999 meters Centerline goodness [0,1] 0.9989961983682885 Centerline is valid? [True, True] Translation: X:103.32, Y:4.25, Z:0.71 [[ 9.99064456e-01 -4.02549245e-02 -1.58035934e-02 1.03321683e+02] [ 4.02550231e-02 9.99189389e-01 -3.11993693e-04 4.24962083e+00] [ 1.58033421e-02 -3.24472209e-04 9.99875067e-01 7.11128365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82439141799999 meters Centerline goodness [0,1] 0.9989759344598055 Centerline is valid? [True, True] Translation: X:103.35, Y:4.25, Z:0.71 [[ 9.98945645e-01 -4.31522325e-02 -1.56679150e-02 1.03352376e+02] [ 4.31527062e-02 9.99068441e-01 -3.07997620e-04 4.24755644e+00] [ 1.56666102e-02 -3.68440052e-04 9.99877203e-01 7.10787537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85439141799999 meters Centerline goodness [0,1] 0.9989104193817164 Centerline is valid? [True, True] Translation: X:103.38, Y:4.25, Z:0.71 [[ 9.98921210e-01 -4.35775349e-02 -1.60441164e-02 1.03384690e+02] [ 4.35781153e-02 9.99049973e-01 -3.13594704e-04 4.24905377e+00] [ 1.60425398e-02 -3.85915955e-04 9.99871236e-01 7.11091058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88439141799999 meters Centerline goodness [0,1] 0.9989104193817164 Centerline is valid? [True, True] Translation: X:103.42, Y:4.25, Z:0.71 [[ 9.98924718e-01 -4.34970568e-02 -1.60441416e-02 1.03416388e+02] [ 4.34976476e-02 9.99053481e-01 -3.12302920e-04 4.24959471e+00] [ 1.60425398e-02 -3.85915312e-04 9.99871236e-01 7.11359375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.914391418 meters Centerline goodness [0,1] 0.998741225917945 Centerline is valid? [True, True] Translation: X:103.45, Y:4.25, Z:0.71 [[ 9.98923709e-01 -4.33715152e-02 -1.64418638e-02 1.03447948e+02] [ 4.33721470e-02 9.99058935e-01 -3.18322464e-04 4.24884535e+00] [ 1.64401971e-02 -3.95139077e-04 9.99864773e-01 7.10732384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.944391418 meters Centerline goodness [0,1] 0.9991451164778798 Centerline is valid? [True, True] Translation: X:103.48, Y:4.25, Z:0.71 [[ 9.98996796e-01 -4.10722962e-02 -1.78456477e-02 1.03480546e+02] [ 4.10727118e-02 9.99156101e-01 -3.43380156e-04 4.25385490e+00] [ 1.78446912e-02 -3.89933467e-04 9.99840695e-01 7.11274779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.974391418 meters Centerline goodness [0,1] 0.9990802532511978 Centerline is valid? [True, True] Translation: X:103.51, Y:4.26, Z:0.71 [[ 9.99068563e-01 -3.90130959e-02 -1.84386937e-02 1.03511778e+02] [ 3.90132127e-02 9.99238632e-01 -3.53505224e-04 4.25777775e+00] [ 1.84384464e-02 -3.66176722e-04 9.99829930e-01 7.12326273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.004391418 meters Centerline goodness [0,1] 0.999207114539805 Centerline is valid? [True, True] Translation: X:103.54, Y:4.26, Z:0.71 [[ 9.99265005e-01 -3.38486558e-02 -1.79921988e-02 1.03542476e+02] [ 3.38479432e-02 9.99426935e-01 -3.44217589e-04 4.26343903e+00] [ 1.79935394e-02 -2.65034331e-04 9.99838068e-01 7.13339581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.034391418 meters Centerline goodness [0,1] 0.9992278820375335 Centerline is valid? [True, True] Translation: X:103.57, Y:4.27, Z:0.71 [[ 9.99361580e-01 -3.06520111e-02 -1.83544854e-02 1.03572666e+02] [ 3.06507370e-02 9.99530094e-01 -3.50795534e-04 4.26765655e+00] [ 1.83566131e-02 -2.12006926e-04 9.99831481e-01 7.14251356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.064391418 meters Centerline goodness [0,1] 0.999080823411214 Centerline is valid? [True, True] Translation: X:103.60, Y:4.27, Z:0.71 [[ 9.99453836e-01 -2.74788960e-02 -1.83559256e-02 1.03602658e+02] [ 2.74770865e-02 9.99622372e-01 -3.50823059e-04 4.26974700e+00] [ 1.83586341e-02 -1.53735903e-04 9.99831454e-01 7.12672176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09439141799999 meters Centerline goodness [0,1] 0.9993994122820188 Centerline is valid? [True, True] Translation: X:103.63, Y:4.27, Z:0.71 [[ 9.99520016e-01 -2.45834793e-02 -1.88517838e-02 1.03632730e+02] [ 2.45810520e-02 9.99697775e-01 -3.60500886e-04 4.27404251e+00] [ 1.88549487e-02 -1.03068827e-04 9.99822224e-01 7.13495995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12439141799999 meters Centerline goodness [0,1] 0.9992906734303463 Centerline is valid? [True, True] Translation: X:103.66, Y:4.28, Z:0.71 [[ 9.99608132e-01 -1.96161870e-02 -1.99696536e-02 1.03661387e+02] [ 1.96124055e-02 9.99807584e-01 -3.85204605e-04 4.28009074e+00] [ 1.99733674e-02 -6.59928866e-06 9.99800512e-01 7.12996328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15439141799999 meters Centerline goodness [0,1] 0.9991400623454799 Centerline is valid? [True, True] Translation: X:103.69, Y:4.28, Z:0.71 [[ 9.99644639e-01 -1.78451633e-02 -1.98026972e-02 1.03688762e+02] [ 1.78409800e-02 9.99840762e-01 -3.87909061e-04 4.28304213e+00] [ 1.98064661e-02 3.44716890e-05 9.99803832e-01 7.13563808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18439141799999 meters Centerline goodness [0,1] 0.9996346992715474 Centerline is valid? [True, True] Translation: X:103.72, Y:4.29, Z:0.71 [[ 9.99678925e-01 -1.61790394e-02 -1.95009285e-02 1.03715243e+02] [ 1.61745840e-02 9.99869108e-01 -3.86187564e-04 4.28604096e+00] [ 1.95046241e-02 7.06441636e-05 9.99809764e-01 7.13827698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21439141799999 meters Centerline goodness [0,1] 0.9993334193437406 Centerline is valid? [True, True] Translation: X:103.74, Y:4.29, Z:0.71 [[ 9.99704332e-01 -1.38551571e-02 -1.99820524e-02 1.03742731e+02] [ 1.38499686e-02 9.99904005e-01 -3.98032976e-04 4.29101232e+00] [ 1.99856490e-02 1.21164492e-04 9.99800260e-01 7.13834452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24439141799999 meters Centerline goodness [0,1] 0.9995903759917213 Centerline is valid? [True, True] Translation: X:103.77, Y:4.29, Z:0.71 [[ 9.99707214e-01 -1.32071851e-02 -2.02745522e-02 1.03771023e+02] [ 1.32016292e-02 9.99912772e-01 -4.07859249e-04 4.29274020e+00] [ 2.02781704e-02 1.40082714e-04 9.99794367e-01 7.14493789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.274391418 meters Centerline goodness [0,1] 0.9995903141643487 Centerline is valid? [True, True] Translation: X:103.80, Y:4.29, Z:0.72 [[ 9.99703313e-01 -1.33885473e-02 -2.03477977e-02 1.03798812e+02] [ 1.33828659e-02 9.99910359e-01 -4.15363498e-04 4.29358472e+00] [ 2.03515348e-02 1.42928416e-04 9.99792876e-01 7.15598572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.304391418 meters Centerline goodness [0,1] 0.9996550460297954 Centerline is valid? [True, True] Translation: X:103.83, Y:4.29, Z:0.72 [[ 9.99683696e-01 -1.42710642e-02 -2.07085653e-02 1.03826685e+02] [ 1.42652315e-02 9.99898154e-01 -4.29358976e-04 4.29291801e+00] [ 2.07125836e-02 1.33810690e-04 9.99785462e-01 7.15954340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.334391418 meters Centerline goodness [0,1] 0.9997631199259212 Centerline is valid? [True, True] Translation: X:103.85, Y:4.29, Z:0.72 [[ 9.99659742e-01 -1.59115177e-02 -2.06693766e-02 1.03854274e+02] [ 1.59059200e-02 9.99873398e-01 -4.35202137e-04 4.29210628e+00] [ 2.06736845e-02 1.06288604e-04 9.99786271e-01 7.16474680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.364391418 meters Centerline goodness [0,1] 0.9997415464139565 Centerline is valid? [True, True] Translation: X:103.88, Y:4.29, Z:0.72 [[ 9.99587804e-01 -1.97279951e-02 -2.08573555e-02 1.03882632e+02] [ 1.97229850e-02 9.99805384e-01 -4.45910689e-04 4.28961286e+00] [ 2.08620933e-02 3.43575758e-05 9.99782362e-01 7.16609313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.394391418 meters Centerline goodness [0,1] 0.9997637710726941 Centerline is valid? [True, True] Translation: X:103.91, Y:4.29, Z:0.72 [[ 9.99476061e-01 -2.43774882e-02 -2.12918416e-02 1.03910948e+02] [ 2.43731749e-02 9.99702823e-01 -4.62095492e-04 4.28554877e+00] [ 2.12967789e-02 -5.70963968e-05 9.99773196e-01 7.16124967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.424391418 meters Centerline goodness [0,1] 0.9997637710726941 Centerline is valid? [True, True] Translation: X:103.94, Y:4.29, Z:0.72 [[ 9.99468171e-01 -2.46989481e-02 -2.12916915e-02 1.03938321e+02] [ 2.46945620e-02 9.99694933e-01 -4.68937822e-04 4.28628452e+00] [ 2.12967784e-02 -5.71005704e-05 9.99773196e-01 7.16357754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.454391418 meters Centerline goodness [0,1] 0.9998495561907628 Centerline is valid? [True, True] Translation: X:103.97, Y:4.28, Z:0.72 [[ 9.99346159e-01 -2.95272130e-02 -2.08661842e-02 1.03967326e+02] [ 2.95239231e-02 9.99563965e-01 -4.65779289e-04 4.28147738e+00] [ 2.08708390e-02 -1.50576873e-04 9.99782169e-01 7.16502298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48439141799999 meters Centerline goodness [0,1] 0.9996782151667918 Centerline is valid? [True, True] Translation: X:104.00, Y:4.28, Z:0.72 [[ 9.99284539e-01 -3.16813193e-02 -2.06568364e-02 1.03996271e+02] [ 3.16784904e-02 9.99498003e-01 -4.64240641e-04 4.27937607e+00] [ 2.06611745e-02 -1.90468900e-04 9.99786517e-01 7.16412147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51439141799999 meters Centerline goodness [0,1] 0.9996361145596986 Centerline is valid? [True, True] Translation: X:104.03, Y:4.28, Z:0.72 [[ 9.99225632e-01 -3.36057075e-02 -2.04644383e-02 1.04026269e+02] [ 3.36033193e-02 9.99435143e-01 -4.60662569e-04 4.27750259e+00] [ 2.04683597e-02 -2.27367206e-04 9.99790475e-01 7.16338385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54439141799999 meters Centerline goodness [0,1] 0.9995933219178083 Centerline is valid? [True, True] Translation: X:104.06, Y:4.28, Z:0.72 [[ 9.99120919e-01 -3.70174886e-02 -1.96747334e-02 1.04056499e+02] [ 3.70159392e-02 9.99314577e-01 -4.43047025e-04 4.27527129e+00] [ 1.96776484e-02 -2.85621184e-04 9.99806336e-01 7.18093406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57439141799999 meters Centerline goodness [0,1] 0.9997436226124856 Centerline is valid? [True, True] Translation: X:104.09, Y:4.27, Z:0.72 [[ 9.99060396e-01 -3.87687679e-02 -1.93728447e-02 1.04088183e+02] [ 3.87676034e-02 9.99248159e-01 -4.35804477e-04 4.27496685e+00] [ 1.93751750e-02 -3.15643764e-04 9.99812234e-01 7.19349457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60439141799999 meters Centerline goodness [0,1] 0.9996806608192115 Centerline is valid? [True, True] Translation: X:104.12, Y:4.27, Z:0.72 [[ 9.99005148e-01 -4.04421286e-02 -1.87922641e-02 1.04118399e+02] [ 4.04413389e-02 9.99181825e-01 -4.22201070e-04 4.27313332e+00] [ 1.87939635e-02 -3.38203280e-04 9.99823321e-01 7.19665881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63439141799999 meters Centerline goodness [0,1] 0.9994881856180159 Centerline is valid? [True, True] Translation: X:104.15, Y:4.27, Z:0.72 [[ 9.98941683e-01 -4.22494162e-02 -1.81796883e-02 1.04149468e+02] [ 4.22489863e-02 9.99107030e-01 -4.07884185e-04 4.27233913e+00] [ 1.81806873e-02 -3.60620889e-04 9.99834653e-01 7.20644336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.664391418 meters Centerline goodness [0,1] 0.9995734880150132 Centerline is valid? [True, True] Translation: X:104.18, Y:4.27, Z:0.72 [[ 9.98798287e-01 -4.61757137e-02 -1.64251281e-02 1.04181271e+02] [ 4.61759036e-02 9.98933256e-01 -3.67887117e-04 4.26837036e+00] [ 1.64245942e-02 -3.91000110e-04 9.99865031e-01 7.21224973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.694391418 meters Centerline goodness [0,1] 0.9995743412931511 Centerline is valid? [True, True] Translation: X:104.21, Y:4.27, Z:0.72 [[ 9.98731028e-01 -4.78790683e-02 -1.56182284e-02 1.04212542e+02] [ 4.78794672e-02 9.98853060e-01 -3.48593438e-04 4.26615598e+00] [ 1.56170056e-02 -3.99641373e-04 9.99877967e-01 7.21361723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.724391418 meters Centerline goodness [0,1] 0.9994888287789397 Centerline is valid? [True, True] Translation: X:104.24, Y:4.26, Z:0.72 [[ 9.98524840e-01 -5.19275090e-02 -1.58643439e-02 1.04244827e+02] [ 5.19284576e-02 9.98650745e-01 -3.52411444e-04 4.26375700e+00] [ 1.58612387e-02 -4.71919329e-04 9.99874091e-01 7.20611084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.754391418 meters Centerline goodness [0,1] 0.9991051454138703 Centerline is valid? [True, True] Translation: X:104.28, Y:4.26, Z:0.72 [[ 9.98409163e-01 -5.39652726e-02 -1.63368458e-02 1.04275782e+02] [ 5.39665704e-02 9.98542677e-01 -3.61720223e-04 4.26229115e+00] [ 1.63325580e-02 -5.20498752e-04 9.99866479e-01 7.19888854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.784391418 meters Centerline goodness [0,1] 0.9991479209270621 Centerline is valid? [True, True] Translation: X:104.31, Y:4.26, Z:0.72 [[ 9.98274386e-01 -5.63043671e-02 -1.66753742e-02 1.04306504e+02] [ 5.63060731e-02 9.98413487e-01 -3.67544105e-04 4.26011390e+00] [ 1.66696128e-02 -5.72014972e-04 9.99860889e-01 7.18925098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.814391418 meters Centerline goodness [0,1] 0.9992970946579194 Centerline is valid? [True, True] Translation: X:104.34, Y:4.26, Z:0.72 [[ 9.97944630e-01 -6.18320653e-02 -1.68318382e-02 1.04337546e+02] [ 6.18346112e-02 9.98086341e-01 -3.69631235e-04 4.25726642e+00] [ 1.68224828e-02 -6.71918664e-04 9.99858266e-01 7.18104487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84439141799999 meters Centerline goodness [0,1] 0.9989778317255478 Centerline is valid? [True, True] Translation: X:104.37, Y:4.25, Z:0.72 [[ 9.97780819e-01 -6.44776828e-02 -1.66152124e-02 1.04368799e+02] [ 6.44805406e-02 9.97918898e-01 -3.64219855e-04 4.25429735e+00] [ 1.66041185e-02 -7.07946295e-04 9.99861891e-01 7.18030326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87439141799999 meters Centerline goodness [0,1] 0.9991056598952345 Centerline is valid? [True, True] Translation: X:104.40, Y:4.25, Z:0.72 [[ 9.97611591e-01 -6.70981744e-02 -1.63996547e-02 1.04400941e+02] [ 6.71013302e-02 9.97746101e-01 -3.58371404e-04 4.25238164e+00] [ 1.63867376e-02 -7.42923176e-04 9.99865452e-01 7.18396982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90439141799999 meters Centerline goodness [0,1] 0.998980826804255 Centerline is valid? [True, True] Translation: X:104.43, Y:4.25, Z:0.72 [[ 9.97448425e-01 -6.95821203e-02 -1.59677276e-02 1.04432524e+02] [ 6.95854469e-02 9.97575934e-01 -3.47844694e-04 4.25069054e+00] [ 1.59532245e-02 -7.64164315e-04 9.99872447e-01 7.18691536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93439141799999 meters Centerline goodness [0,1] 0.9990842100779487 Centerline is valid? [True, True] Translation: X:104.46, Y:4.25, Z:0.72 [[ 9.97166329e-01 -7.36685145e-02 -1.52401487e-02 1.04462892e+02] [ 7.36720324e-02 9.97282468e-01 -3.31217701e-04 4.24818582e+00] [ 1.52231334e-02 -7.92493591e-04 9.99883807e-01 7.20119924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96439141799999 meters Centerline goodness [0,1] 0.9994049642978579 Centerline is valid? [True, True] Translation: X:104.50, Y:4.25, Z:0.72 [[ 9.97064665e-01 -7.49085195e-02 -1.58356488e-02 1.04495350e+02] [ 7.49124890e-02 9.97190053e-01 -3.43198194e-04 4.24864551e+00] [ 1.58168599e-02 -8.44097072e-04 9.99874549e-01 7.20205580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99439141799999 meters Centerline goodness [0,1] 0.9992331941722757 Centerline is valid? [True, True] Translation: X:104.53, Y:4.25, Z:0.72 [[ 9.96999936e-01 -7.58393963e-02 -1.54762195e-02 1.04527576e+02] [ 7.58433178e-02 9.97119692e-01 -3.34219863e-04 4.25199901e+00] [ 1.54569903e-02 -8.40550654e-04 9.99880180e-01 7.20136156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.024391418 meters Centerline goodness [0,1] 0.998976327575176 Centerline is valid? [True, True] Translation: X:104.56, Y:4.25, Z:0.72 [[ 9.97029642e-01 -7.54330886e-02 -1.55480447e-02 1.04559956e+02] [ 7.54370164e-02 9.97150513e-01 -3.34543508e-04 4.25390597e+00] [ 1.55289764e-02 -8.39348308e-04 9.99879066e-01 7.20231596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.054391418 meters Centerline goodness [0,1] 0.9991680887372013 Centerline is valid? [True, True] Translation: X:104.59, Y:4.25, Z:0.72 [[ 9.97143476e-01 -7.40059056e-02 -1.51001666e-02 1.04591358e+02] [ 7.40094628e-02 9.97257487e-01 -3.23868584e-04 4.25481778e+00] [ 1.50827223e-02 -7.94611769e-04 9.99885934e-01 7.19979938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.084391418 meters Centerline goodness [0,1] 0.9989758689112206 Centerline is valid? [True, True] Translation: X:104.62, Y:4.26, Z:0.72 [[ 9.97329357e-01 -7.14596958e-02 -1.50885570e-02 1.04623196e+02] [ 7.14629723e-02 9.97443201e-01 -3.22596963e-04 4.26089934e+00] [ 1.50730313e-02 -7.56537707e-04 9.99886109e-01 7.20921094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.114391418 meters Centerline goodness [0,1] 0.9990158954281925 Centerline is valid? [True, True] Translation: X:104.65, Y:4.27, Z:0.72 [[ 9.97466174e-01 -6.95207161e-02 -1.51030516e-02 1.04654465e+02] [ 6.95237911e-02 9.97580242e-01 -3.21978375e-04 4.26530025e+00] [ 1.50888901e-02 -7.28858870e-04 9.99885891e-01 7.21736249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.144391418 meters Centerline goodness [0,1] 0.9989954689236556 Centerline is valid? [True, True] Translation: X:104.69, Y:4.27, Z:0.72 [[ 9.97607651e-01 -6.74680163e-02 -1.50678754e-02 1.04685410e+02] [ 6.74708522e-02 9.97721194e-01 -3.20647577e-04 4.27092197e+00] [ 1.50551721e-02 -6.96761915e-04 9.99886422e-01 7.22586720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.174391418 meters Centerline goodness [0,1] 0.999229072531426 Centerline is valid? [True, True] Translation: X:104.72, Y:4.27, Z:0.72 [[ 9.97766434e-01 -6.50918851e-02 -1.50062970e-02 1.04716325e+02] [ 6.50944382e-02 9.97879057e-01 -3.18758358e-04 4.27391211e+00] [ 1.49952180e-02 -6.58780080e-04 9.99887348e-01 7.23220028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.204391418 meters Centerline goodness [0,1] 0.9989747970952584 Centerline is valid? [True, True] Translation: X:104.75, Y:4.28, Z:0.72 [[ 9.98139497e-01 -5.93630389e-02 -1.39130680e-02 1.04746587e+02] [ 5.93646819e-02 9.98236318e-01 -2.95234543e-04 4.28420581e+00] [ 1.39060558e-02 -5.31259595e-04 9.99903165e-01 7.22622209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23439141799999 meters Centerline goodness [0,1] 0.9991184312376366 Centerline is valid? [True, True] Translation: X:104.78, Y:4.29, Z:0.72 [[ 9.98289847e-01 -5.68956156e-02 -1.34264695e-02 1.04776786e+02] [ 5.68969240e-02 9.98380017e-01 -2.84814218e-04 4.28673375e+00] [ 1.34209235e-02 -4.79597672e-04 9.99909820e-01 7.24907596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26439141799999 meters Centerline goodness [0,1] 0.9990320707233659 Centerline is valid? [True, True] Translation: X:104.81, Y:4.29, Z:0.73 [[ 9.98463494e-01 -5.37542758e-02 -1.34583801e-02 1.04808516e+02] [ 5.37553128e-02 9.98554097e-01 -2.84946418e-04 4.29471706e+00] [ 1.34542376e-02 -4.38950833e-04 9.99909391e-01 7.25554060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29439141799999 meters Centerline goodness [0,1] 0.998924638678596 Centerline is valid? [True, True] Translation: X:104.84, Y:4.30, Z:0.73 [[ 9.98643653e-01 -5.04117513e-02 -1.30195763e-02 1.04840019e+02] [ 5.04124484e-02 9.98728446e-01 -2.74851588e-04 4.30015876e+00] [ 1.30168770e-02 -3.81869926e-04 9.99915204e-01 7.25878459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32439141799999 meters Centerline goodness [0,1] 0.9991794783209536 Centerline is valid? [True, True] Translation: X:104.87, Y:4.30, Z:0.73 [[ 9.98832498e-01 -4.65880737e-02 -1.27746488e-02 1.04870130e+02] [ 4.65884426e-02 9.98914133e-01 -2.68870419e-04 4.30388223e+00] [ 1.27733034e-02 -3.26594481e-04 9.99918365e-01 7.25831694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35439141799999 meters Centerline goodness [0,1] 0.9992206948803983 Centerline is valid? [True, True] Translation: X:104.90, Y:4.32, Z:0.73 [[ 9.99165146e-01 -3.89289553e-02 -1.23914213e-02 1.04901786e+02] [ 3.89287278e-02 9.99241956e-01 -2.59650715e-04 4.31652637e+00] [ 1.23921360e-02 -2.22948321e-04 9.99923190e-01 7.26516650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38439141799999 meters Centerline goodness [0,1] 0.9990223767108407 Centerline is valid? [True, True] Translation: X:104.93, Y:4.32, Z:0.73 [[ 9.99309915e-01 -3.50003984e-02 -1.24365059e-02 1.04934429e+02] [ 3.49998757e-02 9.99387283e-01 -2.59742743e-04 4.32200342e+00] [ 1.24379770e-02 -1.75712663e-04 9.99922630e-01 7.26895225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.414391418 meters Centerline goodness [0,1] 0.9993030448229299 Centerline is valid? [True, True] Translation: X:104.97, Y:4.33, Z:0.73 [[ 9.99548559e-01 -2.75222219e-02 -1.20501026e-02 1.04966384e+02] [ 2.75212001e-02 9.99621189e-01 -2.50637338e-04 4.33237575e+00] [ 1.20524360e-02 -8.11090947e-05 9.99927363e-01 7.27311661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.444391418 meters Centerline goodness [0,1] 0.9993230110720447 Centerline is valid? [True, True] Translation: X:105.00, Y:4.34, Z:0.73 [[ 9.99631603e-01 -2.43013647e-02 -1.20872404e-02 1.04997854e+02] [ 2.43001104e-02 9.99704677e-01 -2.50644298e-04 4.33752785e+00] [ 1.20897617e-02 -4.31693144e-05 9.99926915e-01 7.27895248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.474391418 meters Centerline goodness [0,1] 0.9992569605314917 Centerline is valid? [True, True] Translation: X:105.03, Y:4.34, Z:0.73 [[ 9.99702892e-01 -2.11560363e-02 -1.21057492e-02 1.05030187e+02] [ 2.11545548e-02 9.99776186e-01 -2.50430136e-04 4.34246630e+00] [ 1.21083379e-02 -5.73600459e-06 9.99926691e-01 7.28841372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.504391418 meters Centerline goodness [0,1] 0.9993435304930086 Centerline is valid? [True, True] Translation: X:105.06, Y:4.35, Z:0.73 [[ 9.99758526e-01 -1.84942496e-02 -1.18681348e-02 1.05061510e+02] [ 1.84926474e-02 9.99828966e-01 -2.44729537e-04 4.34639614e+00] [ 1.18706310e-02 2.51972085e-05 9.99929541e-01 7.29358769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.534391418 meters Centerline goodness [0,1] 0.9994753983693633 Centerline is valid? [True, True] Translation: X:105.09, Y:4.35, Z:0.73 [[ 9.99842744e-01 -1.34459775e-02 -1.15626101e-02 1.05091474e+02] [ 1.34441236e-02 9.99909595e-01 -2.38045377e-04 4.35210967e+00] [ 1.15647655e-02 8.25587835e-05 9.99933122e-01 7.29181226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.564391418 meters Centerline goodness [0,1] 0.9995390390060803 Centerline is valid? [True, True] Translation: X:105.12, Y:4.35, Z:0.73 [[ 9.99871635e-01 -1.15005842e-02 -1.11556857e-02 1.05121240e+02] [ 1.14987381e-02 9.99933861e-01 -2.29614284e-04 4.35389721e+00] [ 1.11575886e-02 1.01308501e-04 9.99937747e-01 7.29064407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59439141799999 meters Centerline goodness [0,1] 0.9995394130806685 Centerline is valid? [True, True] Translation: X:105.15, Y:4.36, Z:0.73 [[ 9.99893158e-01 -9.70290496e-03 -1.09328223e-02 1.05150586e+02] [ 9.70101982e-03 9.99952919e-01 -2.25449403e-04 4.35579094e+00] [ 1.09344951e-02 1.19365790e-04 9.99940209e-01 7.29025748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62439141799999 meters Centerline goodness [0,1] 0.9996715136650315 Centerline is valid? [True, True] Translation: X:105.18, Y:4.36, Z:0.73 [[ 9.99918846e-01 -7.22420070e-03 -1.04934628e-02 1.05179069e+02] [ 7.22231844e-03 9.99973895e-01 -2.17258375e-04 4.35806850e+00] [ 1.04947584e-02 1.41453613e-04 9.99944919e-01 7.29021411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65439141799999 meters Centerline goodness [0,1] 0.9995621141130622 Centerline is valid? [True, True] Translation: X:105.21, Y:4.36, Z:0.73 [[ 9.99928953e-01 -5.74458249e-03 -1.04445143e-02 1.05207157e+02] [ 5.74261151e-03 9.99983487e-01 -2.18689843e-04 4.35998304e+00] [ 1.04455981e-02 1.58695518e-04 9.99945431e-01 7.29108929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68439141799999 meters Centerline goodness [0,1] 0.9996726963276528 Centerline is valid? [True, True] Translation: X:105.23, Y:4.36, Z:0.73 [[ 9.99936423e-01 -4.20468690e-03 -1.04628547e-02 1.05234640e+02] [ 4.20261593e-03 9.99991145e-01 -2.19914473e-04 4.36177397e+00] [ 1.04636867e-02 1.75929131e-04 9.99945239e-01 7.29317286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71439141799999 meters Centerline goodness [0,1] 0.9996066175667111 Centerline is valid? [True, True] Translation: X:105.26, Y:4.36, Z:0.73 [[ 9.99929165e-01 -4.79300169e-03 -1.08946296e-02 1.05261720e+02] [ 4.79077641e-03 9.99988498e-01 -2.30343944e-04 4.36111936e+00] [ 1.08956083e-02 1.78133893e-04 9.99940625e-01 7.29496065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74439141799999 meters Centerline goodness [0,1] 0.9993433149461518 Centerline is valid? [True, True] Translation: X:105.29, Y:4.36, Z:0.73 [[ 9.99928112e-01 -5.72437863e-03 -1.05357356e-02 1.05289955e+02] [ 5.72232374e-03 9.99983602e-01 -2.25175504e-04 4.35794693e+00] [ 1.05368519e-02 1.64870426e-04 9.99944472e-01 7.29757116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.774391418 meters Centerline goodness [0,1] 0.9993433149461518 Centerline is valid? [True, True] Translation: X:105.32, Y:4.36, Z:0.73 [[ 9.99926231e-01 -6.04414591e-03 -1.05356627e-02 1.05317316e+02] [ 6.04207328e-03 9.99981720e-01 -2.28543768e-04 4.35867451e+00] [ 1.05368515e-02 1.64869662e-04 9.99944472e-01 7.29989916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.804391418 meters Centerline goodness [0,1] 0.9994985282895454 Centerline is valid? [True, True] Translation: X:105.35, Y:4.36, Z:0.73 [[ 9.99919984e-01 -6.99850672e-03 -1.05378728e-02 1.05345255e+02] [ 6.99645549e-03 9.99975498e-01 -2.31505976e-04 4.35975167e+00] [ 1.05392348e-02 1.57759694e-04 9.99944448e-01 7.29665545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.834391418 meters Centerline goodness [0,1] 0.9994538026261169 Centerline is valid? [True, True] Translation: X:105.37, Y:4.36, Z:0.73 [[ 9.99909044e-01 -8.14606563e-03 -1.07491980e-02 1.05373196e+02] [ 8.14398618e-03 9.99966809e-01 -2.37209534e-04 4.35796596e+00] [ 1.07507736e-02 1.49646639e-04 9.99942198e-01 7.29312071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.864391418 meters Centerline goodness [0,1] 0.9994546723671582 Centerline is valid? [True, True] Translation: X:105.40, Y:4.35, Z:0.73 [[ 9.99875577e-01 -1.13006124e-02 -1.10057630e-02 1.05401958e+02] [ 1.12986073e-02 9.99936139e-01 -2.44346457e-04 4.35055646e+00] [ 1.10078215e-02 1.19966260e-04 9.99939405e-01 7.28356244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.894391418 meters Centerline goodness [0,1] 0.9996953276316076 Centerline is valid? [True, True] Translation: X:105.43, Y:4.35, Z:0.73 [[ 9.99856882e-01 -1.24793371e-02 -1.14228662e-02 1.05430407e+02] [ 1.24772176e-02 9.99922124e-01 -2.56792804e-04 4.34813577e+00] [ 1.14251813e-02 1.14230464e-04 9.99934724e-01 7.28063440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.924391418 meters Centerline goodness [0,1] 0.9992835743128826 Centerline is valid? [True, True] Translation: X:105.46, Y:4.35, Z:0.73 [[ 9.99845164e-01 -1.32260560e-02 -1.16069007e-02 1.05459825e+02] [ 1.32238896e-02 9.99912526e-01 -2.63375301e-04 4.34575700e+00] [ 1.16093688e-02 1.09846147e-04 9.99932603e-01 7.27514385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.954391418 meters Centerline goodness [0,1] 0.9995447647951442 Centerline is valid? [True, True] Translation: X:105.49, Y:4.34, Z:0.73 [[ 9.99838767e-01 -1.35066925e-02 -1.18325190e-02 1.05488211e+02] [ 1.35044540e-02 9.99908775e-01 -2.69062908e-04 4.34373807e+00] [ 1.18350738e-02 1.09227817e-04 9.99929957e-01 7.27447654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98439141799999 meters Centerline goodness [0,1] 0.9991991862000303 Centerline is valid? [True, True] Translation: X:105.52, Y:4.34, Z:0.73 [[ 9.99844072e-01 -1.32442693e-02 -1.16799214e-02 1.05516777e+02] [ 1.32420607e-02 9.99912285e-01 -2.66406998e-04 4.34021669e+00] [ 1.16824253e-02 1.11699229e-04 9.99931752e-01 7.27685086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01439141799999 meters Centerline goodness [0,1] 0.9993742312754893 Centerline is valid? [True, True] Translation: X:105.55, Y:4.34, Z:0.73 [[ 9.99853753e-01 -1.27142002e-02 -1.14377446e-02 1.05546227e+02] [ 1.27120395e-02 9.99919165e-01 -2.61590555e-04 4.33934038e+00] [ 1.14401460e-02 1.16155236e-04 9.99934553e-01 7.28767907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04439141799999 meters Centerline goodness [0,1] 0.9993535318708787 Centerline is valid? [True, True] Translation: X:105.57, Y:4.34, Z:0.73 [[ 9.99865076e-01 -1.19860831e-02 -1.12322147e-02 1.05574462e+02] [ 1.19839481e-02 9.99928157e-01 -2.57364085e-04 4.33884993e+00] [ 1.12344926e-02 1.22723082e-04 9.99936884e-01 7.29760300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07439141799999 meters Centerline goodness [0,1] 0.9994827140270713 Centerline is valid? [True, True] Translation: X:105.60, Y:4.34, Z:0.73 [[ 9.99877467e-01 -1.14381059e-02 -1.06873709e-02 1.05603504e+02] [ 1.14361307e-02 9.99934575e-01 -2.45918873e-04 4.33783406e+00] [ 1.06894845e-02 1.23666570e-04 9.99942858e-01 7.30463517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10439141799999 meters Centerline goodness [0,1] 0.9992706992706992 Centerline is valid? [True, True] Translation: X:105.63, Y:4.33, Z:0.73 [[ 9.99898080e-01 -9.97545005e-03 -1.02136835e-02 1.05633124e+02] [ 9.97354736e-03 9.99950235e-01 -2.37207249e-04 4.33357437e+00] [ 1.02155414e-02 1.35316417e-04 9.99947811e-01 7.30696939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13439141799999 meters Centerline goodness [0,1] 0.9993349780113697 Centerline is valid? [True, True] Translation: X:105.66, Y:4.33, Z:0.73 [[ 9.99896553e-01 -9.80457567e-03 -1.05239947e-02 1.05661895e+02] [ 9.80253651e-03 9.99951924e-01 -2.45329082e-04 4.33059192e+00] [ 1.05258941e-02 1.42141861e-04 9.99944591e-01 7.30477536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.164391418 meters Centerline goodness [0,1] 0.9992067235538785 Centerline is valid? [True, True] Translation: X:105.69, Y:4.33, Z:0.73 [[ 9.99890496e-01 -9.76840260e-03 -1.11163994e-02 1.05689789e+02] [ 9.76609407e-03 9.99952276e-01 -2.61934858e-04 4.32899236e+00] [ 1.11184276e-02 1.53342372e-04 9.99938177e-01 7.29898329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.194391418 meters Centerline goodness [0,1] 0.9991650431394378 Centerline is valid? [True, True] Translation: X:105.72, Y:4.32, Z:0.73 [[ 9.99867790e-01 -1.07050735e-02 -1.22394071e-02 1.05718547e+02] [ 1.07023208e-02 9.99942686e-01 -2.90383013e-04 4.32361367e+00] [ 1.22418142e-02 1.59354560e-04 9.99925053e-01 7.28307100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.224391418 meters Centerline goodness [0,1] 0.9991662390969728 Centerline is valid? [True, True] Translation: X:105.75, Y:4.32, Z:0.73 [[ 9.99840582e-01 -1.21840758e-02 -1.30521922e-02 1.05746288e+02] [ 1.21810192e-02 9.99925759e-01 -3.13657295e-04 4.32104871e+00] [ 1.30550448e-02 1.54618289e-04 9.99914767e-01 7.27740222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.254391418 meters Centerline goodness [0,1] 0.9991456642460487 Centerline is valid? [True, True] Translation: X:105.77, Y:4.32, Z:0.73 [[ 9.99816843e-01 -1.34354042e-02 -1.36297778e-02 1.05774407e+02] [ 1.34321263e-02 9.99909730e-01 -3.32013721e-04 4.31847698e+00] [ 1.36330082e-02 1.48876014e-04 9.99907055e-01 7.27290170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.284391418 meters Centerline goodness [0,1] 0.998976 Centerline is valid? [True, True] Translation: X:105.80, Y:4.31, Z:0.73 [[ 9.99761779e-01 -1.59717319e-02 -1.48757684e-02 1.05803647e+02] [ 1.59680372e-02 9.99872435e-01 -3.67114307e-04 4.31240280e+00] [ 1.48797343e-02 1.29490028e-04 9.99889282e-01 7.27117703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.314391418 meters Centerline goodness [0,1] 0.9992764263976676 Centerline is valid? [True, True] Translation: X:105.83, Y:4.31, Z:0.73 [[ 9.99741957e-01 -1.69254143e-02 -1.51508724e-02 1.05830990e+02] [ 1.69216395e-02 9.99856748e-01 -3.77315771e-04 4.31065394e+00] [ 1.51550883e-02 1.20840805e-04 9.99885148e-01 7.27171673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34439141799999 meters Centerline goodness [0,1] 0.9991506349004119 Centerline is valid? [True, True] Translation: X:105.86, Y:4.31, Z:0.73 [[ 9.99715947e-01 -1.80513369e-02 -1.55619437e-02 1.05858632e+02] [ 1.80474354e-02 9.99837055e-01 -3.91113734e-04 4.30845753e+00] [ 1.55664681e-02 1.10149464e-04 9.99878829e-01 7.27983266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37439141799999 meters Centerline goodness [0,1] 0.9989617324236132 Centerline is valid? [True, True] Translation: X:105.89, Y:4.31, Z:0.73 [[ 9.99704156e-01 -1.90369691e-02 -1.51391693e-02 1.05886930e+02] [ 1.90333218e-02 9.99818776e-01 -3.84978379e-04 4.30699889e+00] [ 1.51437546e-02 9.67158046e-05 9.99885322e-01 7.28583299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40439141799999 meters Centerline goodness [0,1] 0.9992803471266801 Centerline is valid? [True, True] Translation: X:105.91, Y:4.30, Z:0.73 [[ 9.99690206e-01 -1.97373817e-02 -1.51633410e-02 1.05914674e+02] [ 1.97337575e-02 9.99805195e-01 -3.88617743e-04 4.30442563e+00] [ 1.51680574e-02 8.92676595e-05 9.99884954e-01 7.29272902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43439141799999 meters Centerline goodness [0,1] 0.9991960054163845 Centerline is valid? [True, True] Translation: X:105.94, Y:4.30, Z:0.73 [[ 9.99688021e-01 -2.02063926e-02 -1.46820704e-02 1.05943749e+02] [ 2.02030086e-02 9.99795827e-01 -3.78786264e-04 4.30294099e+00] [ 1.46867266e-02 8.20460961e-05 9.99892141e-01 7.30214683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46439141799999 meters Centerline goodness [0,1] 0.9991547271882 Centerline is valid? [True, True] Translation: X:105.97, Y:4.30, Z:0.73 [[ 9.99688057e-01 -2.04770844e-02 -1.42995657e-02 1.05972364e+02] [ 2.04738462e-02 9.99790319e-01 -3.72826410e-04 4.30107135e+00] [ 1.43042017e-02 7.99430011e-05 9.99897686e-01 7.30760846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49439141799999 meters Centerline goodness [0,1] 0.999113475177305 Centerline is valid? [True, True] Translation: X:106.00, Y:4.30, Z:0.73 [[ 9.99679659e-01 -2.10388206e-02 -1.40694074e-02 1.06001043e+02] [ 2.10357020e-02 9.99778657e-01 -3.69621682e-04 4.29657119e+00] [ 1.40740697e-02 7.35434143e-05 9.99900953e-01 7.30514767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.524391418 meters Centerline goodness [0,1] 0.9991763463569165 Centerline is valid? [True, True] Translation: X:106.03, Y:4.29, Z:0.73 [[ 9.99677101e-01 -2.13099669e-02 -1.38411920e-02 1.06031095e+02] [ 2.13069629e-02 9.99772914e-01 -3.64476022e-04 4.29487623e+00] [ 1.38458159e-02 6.94445680e-05 9.99904140e-01 7.30901662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.554391418 meters Centerline goodness [0,1] 0.9993472722295917 Centerline is valid? [True, True] Translation: X:106.06, Y:4.29, Z:0.73 [[ 9.99663004e-01 -2.21562088e-02 -1.35270254e-02 1.06059729e+02] [ 2.21534085e-02 9.99754519e-01 -3.56839361e-04 4.29175253e+00] [ 1.35316110e-02 5.70493881e-05 9.99908442e-01 7.31305301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.584391418 meters Centerline goodness [0,1] 0.9992645204673447 Centerline is valid? [True, True] Translation: X:106.09, Y:4.29, Z:0.73 [[ 9.99641525e-01 -2.31836664e-02 -1.33917696e-02 1.06089470e+02] [ 2.31810048e-02 9.99731222e-01 -3.53964059e-04 4.28810862e+00] [ 1.33963763e-02 4.34024977e-05 9.99910264e-01 7.32300363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.614391418 meters Centerline goodness [0,1] 0.9994106503893917 Centerline is valid? [True, True] Translation: X:106.12, Y:4.29, Z:0.73 [[ 9.99624437e-01 -2.37685686e-02 -1.36396500e-02 1.06119129e+02] [ 2.37658547e-02 9.99717487e-01 -3.61048012e-04 4.28611041e+00] [ 1.36443782e-02 3.67544743e-05 9.99906910e-01 7.32739215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.644391418 meters Centerline goodness [0,1] 0.9994106503893917 Centerline is valid? [True, True] Translation: X:106.15, Y:4.29, Z:0.73 [[ 9.99623525e-01 -2.38068824e-02 -1.36396362e-02 1.06148271e+02] [ 2.38041649e-02 9.99716575e-01 -3.61569799e-04 4.28692248e+00] [ 1.36443782e-02 3.67535268e-05 9.99906910e-01 7.32986224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.674391418 meters Centerline goodness [0,1] 0.999370184535931 Centerline is valid? [True, True] Translation: X:106.18, Y:4.28, Z:0.73 [[ 9.99591473e-01 -2.51343216e-02 -1.36071079e-02 1.06178071e+02] [ 2.51317329e-02 9.99684083e-01 -3.61233510e-04 4.28167338e+00] [ 1.36118885e-02 1.91157347e-05 9.99907354e-01 7.33639843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.704391418 meters Centerline goodness [0,1] 0.9992656777794096 Centerline is valid? [True, True] Translation: X:106.21, Y:4.28, Z:0.73 [[ 9.99571560e-01 -2.58430748e-02 -1.37416460e-02 1.06207284e+02] [ 2.58404956e-02 9.99666012e-01 -3.65243693e-04 4.27958363e+00] [ 1.37464955e-02 9.99626420e-06 9.99905512e-01 7.33584988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73439141799999 meters Centerline goodness [0,1] 0.9989703070166221 Centerline is valid? [True, True] Translation: X:106.24, Y:4.28, Z:0.73 [[ 9.99548534e-01 -2.65394927e-02 -1.40848402e-02 1.06238336e+02] [ 2.65368498e-02 9.99647766e-01 -3.74534109e-04 4.27731100e+00] [ 1.40898190e-02 5.97729232e-07 9.99900734e-01 7.33278242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76439141799999 meters Centerline goodness [0,1] 0.9993504588693793 Centerline is valid? [True, True] Translation: X:106.27, Y:4.27, Z:0.73 [[ 9.99488844e-01 -2.81643799e-02 -1.51267333e-02 1.06268060e+02] [ 2.81615156e-02 9.99603305e-01 -4.02368508e-04 4.27192699e+00] [ 1.51320651e-02 -2.38289015e-05 9.99885503e-01 7.32006934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79439141799999 meters Centerline goodness [0,1] 0.9989512982927137 Centerline is valid? [True, True] Translation: X:106.30, Y:4.27, Z:0.73 [[ 9.99459507e-01 -2.89229249e-02 -1.56255673e-02 1.06297665e+02] [ 2.89199544e-02 9.99581644e-01 -4.16082289e-04 4.26986104e+00] [ 1.56310645e-02 -3.60332924e-05 9.99877827e-01 7.31339060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82439141799999 meters Centerline goodness [0,1] 0.9991592576244824 Centerline is valid? [True, True] Translation: X:106.33, Y:4.27, Z:0.73 [[ 9.99426035e-01 -2.98106468e-02 -1.60911575e-02 1.06326836e+02] [ 2.98075992e-02 9.99555563e-01 -4.29248659e-04 4.26798224e+00] [ 1.60968022e-02 -5.06364886e-05 9.99870437e-01 7.30721325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85439141799999 meters Centerline goodness [0,1] 0.9992654774396642 Centerline is valid? [True, True] Translation: X:106.36, Y:4.26, Z:0.73 [[ 9.99355601e-01 -3.17101440e-02 -1.68181528e-02 1.06356413e+02] [ 3.17070700e-02 9.99497103e-01 -4.49459823e-04 4.26428860e+00] [ 1.68239474e-02 -8.40841564e-05 9.99858464e-01 7.30698283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88439141799999 meters Centerline goodness [0,1] 0.9990788426914542 Centerline is valid? [True, True] Translation: X:106.38, Y:4.26, Z:0.73 [[ 9.99339674e-01 -3.24062370e-02 -1.64332755e-02 1.06384972e+02] [ 3.24033837e-02 9.99474776e-01 -4.39933639e-04 4.26315660e+00] [ 1.64389009e-02 -9.28505931e-05 9.99864868e-01 7.31160447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.914391418 meters Centerline goodness [0,1] 0.999120382005529 Centerline is valid? [True, True] Translation: X:106.41, Y:4.26, Z:0.73 [[ 9.99313718e-01 -3.32039894e-02 -1.64191611e-02 1.06414501e+02] [ 3.32012360e-02 9.99448590e-01 -4.40327020e-04 4.26238468e+00] [ 1.64247281e-02 -1.05111613e-04 9.99865100e-01 7.31863730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.944391418 meters Centerline goodness [0,1] 0.9991410914423379 Centerline is valid? [True, True] Translation: X:106.44, Y:4.26, Z:0.73 [[ 9.99330608e-01 -3.30138381e-02 -1.57614425e-02 1.06444059e+02] [ 3.30112679e-02 9.99454890e-01 -4.23282777e-04 4.26128548e+00] [ 1.57668249e-02 -9.73057653e-05 9.99875691e-01 7.33963606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.974391418 meters Centerline goodness [0,1] 0.9993922246672954 Centerline is valid? [True, True] Translation: X:106.47, Y:4.26, Z:0.73 [[ 9.99345252e-01 -3.25137388e-02 -1.58720959e-02 1.06473321e+02] [ 3.25110616e-02 9.99471285e-01 -4.26742025e-04 4.26025804e+00] [ 1.58775791e-02 -8.95560710e-05 9.99873939e-01 7.33549107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.004391418 meters Centerline goodness [0,1] 0.9993502001802671 Centerline is valid? [True, True] Translation: X:106.50, Y:4.26, Z:0.73 [[ 9.99358232e-01 -3.22391242e-02 -1.56128876e-02 1.06503034e+02] [ 3.22364954e-02 9.99480181e-01 -4.20073140e-04 4.25980241e+00] [ 1.56183145e-02 -8.35012280e-05 9.99878023e-01 7.33740114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.034391418 meters Centerline goodness [0,1] 0.9992231786689062 Centerline is valid? [True, True] Translation: X:106.53, Y:4.26, Z:0.73 [[ 9.99410184e-01 -3.05166829e-02 -1.57485277e-02 1.06532380e+02] [ 3.05137874e-02 9.99534256e-01 -4.24166808e-04 4.25927012e+00] [ 1.57541371e-02 -5.66305997e-05 9.99875894e-01 7.34165102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.064391418 meters Centerline goodness [0,1] 0.999222149809742 Centerline is valid? [True, True] Translation: X:106.56, Y:4.26, Z:0.73 [[ 9.99438301e-01 -2.96830874e-02 -1.55562715e-02 1.06561525e+02] [ 2.96801498e-02 9.99559359e-01 -4.19722137e-04 4.25950568e+00] [ 1.55618754e-02 -4.22260887e-05 9.99878906e-01 7.34261073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09439141799999 meters Centerline goodness [0,1] 0.9991807583237055 Centerline is valid? [True, True] Translation: X:106.59, Y:4.26, Z:0.74 [[ 9.99479133e-01 -2.84449674e-02 -1.52429427e-02 1.06590256e+02] [ 2.84419898e-02 9.99595360e-01 -4.12134516e-04 4.25865572e+00] [ 1.52484980e-02 -2.16197726e-05 9.99883735e-01 7.35113323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12439141799999 meters Centerline goodness [0,1] 0.9994549151973836 Centerline is valid? [True, True] Translation: X:106.62, Y:4.26, Z:0.74 [[ 9.99493728e-01 -2.79352995e-02 -1.52284740e-02 1.06620118e+02] [ 2.79322571e-02 9.99609733e-01 -4.12485020e-04 4.25807981e+00] [ 1.52340538e-02 -1.30894606e-05 9.99883955e-01 7.35966416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15439141799999 meters Centerline goodness [0,1] 0.9993078423558529 Centerline is valid? [True, True] Translation: X:106.65, Y:4.26, Z:0.74 [[ 9.99495850e-01 -2.78996323e-02 -1.51543968e-02 1.06648774e+02] [ 2.78966047e-02 9.99610729e-01 -4.11180269e-04 4.25688058e+00] [ 1.51599694e-02 -1.17832438e-05 9.99885081e-01 7.36170959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18439141799999 meters Centerline goodness [0,1] 0.9993487121307618 Centerline is valid? [True, True] Translation: X:106.68, Y:4.26, Z:0.74 [[ 9.99492313e-01 -2.80541717e-02 -1.51023185e-02 1.06677684e+02] [ 2.80511697e-02 9.99606404e-01 -4.10616419e-04 4.25554070e+00] [ 1.51078938e-02 -1.32297451e-05 9.99885869e-01 7.36597253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21439141799999 meters Centerline goodness [0,1] 0.9993300954613967 Centerline is valid? [True, True] Translation: X:106.71, Y:4.25, Z:0.74 [[ 9.99455663e-01 -2.91472692e-02 -1.54536294e-02 1.06705703e+02] [ 2.91442196e-02 9.99575128e-01 -4.22557690e-04 4.25199570e+00] [ 1.54593800e-02 -2.80562936e-05 9.99880496e-01 7.35436412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24439141799999 meters Centerline goodness [0,1] 0.9995386970287895 Centerline is valid? [True, True] Translation: X:106.73, Y:4.25, Z:0.74 [[ 9.99416308e-01 -2.99408547e-02 -1.64495719e-02 1.06734697e+02] [ 2.99374286e-02 9.99551671e-01 -4.54543071e-04 4.25119193e+00] [ 1.64558065e-02 -3.81801267e-05 9.99864593e-01 7.35729730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.274391418 meters Centerline goodness [0,1] 0.9993947994490588 Centerline is valid? [True, True] Translation: X:106.76, Y:4.25, Z:0.74 [[ 9.99386919e-01 -3.05422484e-02 -1.71159885e-02 1.06763644e+02] [ 3.05385413e-02 9.99533476e-01 -4.77972251e-04 4.25034700e+00] [ 1.71226018e-02 -4.50181058e-05 9.99853396e-01 7.35219193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.304391418 meters Centerline goodness [0,1] 0.9992899062258516 Centerline is valid? [True, True] Translation: X:106.79, Y:4.25, Z:0.73 [[ 9.99358988e-01 -3.11795520e-02 -1.75911709e-02 1.06791684e+02] [ 3.11756746e-02 9.99513798e-01 -4.94667063e-04 4.24707077e+00] [ 1.75980415e-02 -5.40666443e-05 9.99845141e-01 7.33906804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.334391418 meters Centerline goodness [0,1] 0.9993529129354791 Centerline is valid? [True, True] Translation: X:106.82, Y:4.25, Z:0.73 [[ 9.99337339e-01 -3.18347070e-02 -1.76474856e-02 1.06819760e+02] [ 3.18308415e-02 9.99493145e-01 -4.99953228e-04 4.24573158e+00] [ 1.76544568e-02 -6.21123894e-05 9.99844146e-01 7.33750098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.364391418 meters Centerline goodness [0,1] 0.9994771624560816 Centerline is valid? [True, True] Translation: X:106.85, Y:4.24, Z:0.74 [[ 9.99312061e-01 -3.24814631e-02 -1.78986010e-02 1.06847968e+02] [ 3.24774841e-02 9.99472336e-01 -5.13014861e-04 4.24491341e+00] [ 1.79058200e-02 -6.86395903e-05 9.99839676e-01 7.35930700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.394391418 meters Centerline goodness [0,1] 0.9995197527770817 Centerline is valid? [True, True] Translation: X:106.88, Y:4.24, Z:0.74 [[ 9.99306746e-01 -3.26803595e-02 -1.78331606e-02 1.06876018e+02] [ 3.26763708e-02 9.99465852e-01 -5.15087295e-04 4.24348288e+00] [ 1.78404683e-02 -6.79927598e-05 9.99840844e-01 7.35567548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.424391418 meters Centerline goodness [0,1] 0.9996657474722153 Centerline is valid? [True, True] Translation: X:106.90, Y:4.24, Z:0.74 [[ 9.99261398e-01 -3.35787148e-02 -1.86849636e-02 1.06904319e+02] [ 3.35744549e-02 9.99436072e-01 -5.41720843e-04 4.24064433e+00] [ 1.86926169e-02 -8.60167397e-05 9.99825274e-01 7.35619665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.454391418 meters Centerline goodness [0,1] 0.9996029341079601 Centerline is valid? [True, True] Translation: X:106.93, Y:4.24, Z:0.74 [[ 9.99239954e-01 -3.39971560e-02 -1.90710987e-02 1.06931745e+02] [ 3.39927561e-02 9.99421925e-01 -5.54924460e-04 4.24005894e+00] [ 1.90789400e-02 -9.37765135e-05 9.99817976e-01 7.35685908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48439141799999 meters Centerline goodness [0,1] 0.999518153059728 Centerline is valid? [True, True] Translation: X:106.96, Y:4.24, Z:0.74 [[ 9.99209179e-01 -3.49534697e-02 -1.89544452e-02 1.06960024e+02] [ 3.49492099e-02 9.99388935e-01 -5.56045670e-04 4.24008125e+00] [ 1.89622986e-02 -1.06836946e-04 9.99820194e-01 7.37186562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51439141799999 meters Centerline goodness [0,1] 0.9996022441802043 Centerline is valid? [True, True] Translation: X:106.99, Y:4.24, Z:0.74 [[ 9.99174118e-01 -3.58424706e-02 -1.91415632e-02 1.06988253e+02] [ 3.58382107e-02 9.99357445e-01 -5.65645635e-04 4.23714354e+00] [ 1.91495378e-02 -1.20820896e-04 9.99816623e-01 7.36715372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54439141799999 meters Centerline goodness [0,1] 0.9994343061870142 Centerline is valid? [True, True] Translation: X:107.02, Y:4.24, Z:0.74 [[ 9.99128203e-01 -3.68678498e-02 -1.95855910e-02 1.07016196e+02] [ 3.68635344e-02 9.99320140e-01 -5.81447559e-04 4.23543807e+00] [ 1.95937123e-02 -1.41053454e-04 9.99808015e-01 7.35904857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57439141799999 meters Centerline goodness [0,1] 0.999456214836969 Centerline is valid? [True, True] Translation: X:107.04, Y:4.23, Z:0.74 [[ 9.99101942e-01 -3.77472431e-02 -1.92472229e-02 1.07044540e+02] [ 3.77431429e-02 9.99287308e-01 -5.76373463e-04 4.23494567e+00] [ 1.92552621e-02 -1.50594840e-04 9.99814589e-01 7.37718209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60439141799999 meters Centerline goodness [0,1] 0.9994986002590566 Centerline is valid? [True, True] Translation: X:107.07, Y:4.23, Z:0.74 [[ 9.99045725e-01 -3.96678864e-02 -1.82783674e-02 1.07072303e+02] [ 3.96644413e-02 9.99212904e-01 -5.51115865e-04 4.23018811e+00] [ 1.82858422e-02 -1.74411282e-04 9.99832785e-01 7.38369247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63439141799999 meters Centerline goodness [0,1] 0.9995826551479488 Centerline is valid? [True, True] Translation: X:107.10, Y:4.23, Z:0.74 [[ 9.99009732e-01 -4.07331733e-02 -1.78987211e-02 1.07100237e+02] [ 4.07299997e-02 9.99170042e-01 -5.41960242e-04 4.22715885e+00] [ 1.79059417e-02 -1.87591350e-04 9.99839658e-01 7.37990419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.664391418 meters Centerline goodness [0,1] 0.9996028262051089 Centerline is valid? [True, True] Translation: X:107.13, Y:4.23, Z:0.74 [[ 9.98964038e-01 -4.19849492e-02 -1.75531902e-02 1.07129426e+02] [ 4.19820221e-02 9.99118223e-01 -5.35372450e-04 4.22694189e+00] [ 1.75601898e-02 -2.02100594e-04 9.99845788e-01 7.39527261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.694391418 meters Centerline goodness [0,1] 0.9996028262051089 Centerline is valid? [True, True] Translation: X:107.16, Y:4.23, Z:0.74 [[ 9.98951898e-01 -4.22728859e-02 -1.75530348e-02 1.07157677e+02] [ 4.22699143e-02 9.99106082e-01 -5.40432388e-04 4.22797589e+00] [ 1.75601894e-02 -2.02099318e-04 9.99845788e-01 7.39767126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.724391418 meters Centerline goodness [0,1] 0.9996429996429996 Centerline is valid? [True, True] Translation: X:107.19, Y:4.23, Z:0.74 [[ 9.98855001e-01 -4.45419004e-02 -1.74558397e-02 1.07186849e+02] [ 4.45392188e-02 9.99007489e-01 -5.42548234e-04 4.22589244e+00] [ 1.74626807e-02 -2.35542445e-04 9.99847488e-01 7.41529939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.754391418 meters Centerline goodness [0,1] 0.9997490169831842 Centerline is valid? [True, True] Translation: X:107.22, Y:4.22, Z:0.74 [[ 9.98819571e-01 -4.52976791e-02 -1.75380936e-02 1.07215187e+02] [ 4.52950341e-02 9.98973503e-01 -5.48214466e-04 4.22402778e+00] [ 1.75449236e-02 -2.46821211e-04 9.99846046e-01 7.41392996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.784391418 meters Centerline goodness [0,1] 0.9997492425033957 Centerline is valid? [True, True] Translation: X:107.24, Y:4.22, Z:0.74 [[ 9.98769067e-01 -4.64785196e-02 -1.73233654e-02 1.07243618e+02] [ 4.64760642e-02 9.98919255e-01 -5.44525881e-04 4.22340774e+00] [ 1.73299520e-02 -2.61266237e-04 9.99849791e-01 7.41871287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.814391418 meters Centerline goodness [0,1] 0.9996445522403663 Centerline is valid? [True, True] Translation: X:107.27, Y:4.22, Z:0.74 [[ 9.98723926e-01 -4.69718578e-02 -1.85516645e-02 1.07271104e+02] [ 4.69690609e-02 9.98896172e-01 -5.86688365e-04 4.22205774e+00] [ 1.85587445e-02 -2.85414555e-04 9.99827731e-01 7.39840413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84439141799999 meters Centerline goodness [0,1] 0.9994558734277881 Centerline is valid? [True, True] Translation: X:107.30, Y:4.22, Z:0.74 [[ 9.98637713e-01 -4.85364587e-02 -1.91554186e-02 1.07300116e+02] [ 4.85336870e-02 9.98821360e-01 -6.09829274e-04 4.22177324e+00] [ 1.91624402e-02 -3.20684580e-04 9.99816332e-01 7.40270107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87439141799999 meters Centerline goodness [0,1] 0.9997481531229013 Centerline is valid? [True, True] Translation: X:107.33, Y:4.22, Z:0.74 [[ 9.98588994e-01 -4.98373282e-02 -1.83374148e-02 1.07328633e+02] [ 4.98349070e-02 9.98757295e-01 -5.89259351e-04 4.22300748e+00] [ 1.83439939e-02 -3.25415459e-04 9.99831682e-01 7.42718001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90439141799999 meters Centerline goodness [0,1] 0.9995811693751047 Centerline is valid? [True, True] Translation: X:107.36, Y:4.22, Z:0.74 [[ 9.98562260e-01 -5.03156706e-02 -1.84863919e-02 1.07356529e+02] [ 5.03132225e-02 9.98733309e-01 -5.97789622e-04 4.22233119e+00] [ 1.84930535e-02 -3.33179794e-04 9.99828933e-01 7.42036066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93439141799999 meters Centerline goodness [0,1] 0.9997488751700324 Centerline is valid? [True, True] Translation: X:107.39, Y:4.22, Z:0.74 [[ 9.98546200e-01 -5.03516300e-02 -1.92405855e-02 1.07385246e+02] [ 5.03489021e-02 9.98731493e-01 -6.26471561e-04 4.22343140e+00] [ 1.92477225e-02 -3.43181559e-04 9.99814687e-01 7.42037839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96439141799999 meters Centerline goodness [0,1] 0.9996233206378438 Centerline is valid? [True, True] Translation: X:107.41, Y:4.22, Z:0.74 [[ 9.98588855e-01 -4.95830731e-02 -1.90214979e-02 1.07412676e+02] [ 4.95801965e-02 9.98769951e-01 -6.23076365e-04 4.22426869e+00] [ 1.90289945e-02 -3.20892486e-04 9.99818881e-01 7.41895705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99439141799999 meters Centerline goodness [0,1] 0.9997693630226024 Centerline is valid? [True, True] Translation: X:107.44, Y:4.23, Z:0.74 [[ 9.98646666e-01 -4.85453679e-02 -1.86596575e-02 1.07441478e+02] [ 4.85423437e-02 9.98820936e-01 -6.15233613e-04 4.22727571e+00] [ 1.86675233e-02 -2.91382512e-04 9.99825704e-01 7.43089835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.024391418 meters Centerline goodness [0,1] 0.9996018858040859 Centerline is valid? [True, True] Translation: X:107.47, Y:4.23, Z:0.74 [[ 9.98839219e-01 -4.46726454e-02 -1.80158272e-02 1.07469833e+02] [ 4.46690991e-02 9.99001658e-01 -5.99405363e-04 4.23167871e+00] [ 1.80246183e-02 -2.06041187e-04 9.99837522e-01 7.44300627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.054391418 meters Centerline goodness [0,1] 0.9997064558740276 Centerline is valid? [True, True] Translation: X:107.50, Y:4.23, Z:0.75 [[ 9.98933364e-01 -4.25975588e-02 -1.78208349e-02 1.07498076e+02] [ 4.25936618e-02 9.99092299e-01 -5.98347273e-04 4.23479381e+00] [ 1.78301471e-02 -1.61345562e-04 9.99841017e-01 7.45207594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.084391418 meters Centerline goodness [0,1] 0.9997691161345843 Centerline is valid? [True, True] Translation: X:107.53, Y:4.24, Z:0.75 [[ 9.99038968e-01 -4.00830534e-02 -1.77338548e-02 1.07526427e+02] [ 4.00787007e-02 9.99196345e-01 -6.00924258e-04 4.23869486e+00] [ 1.77436898e-02 -1.10403108e-04 9.99842562e-01 7.46310953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.114391418 meters Centerline goodness [0,1] 0.9996225623820507 Centerline is valid? [True, True] Translation: X:107.55, Y:4.24, Z:0.75 [[ 9.99241407e-01 -3.48388213e-02 -1.74030797e-02 1.07553602e+02] [ 3.48337714e-02 9.99392944e-01 -5.93309989e-04 4.24471471e+00] [ 1.74131852e-02 -1.33549913e-05 9.99848379e-01 7.46546524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.144391418 meters Centerline goodness [0,1] 0.9997276289048587 Centerline is valid? [True, True] Translation: X:107.58, Y:4.25, Z:0.75 [[ 9.99313726e-01 -3.27108082e-02 -1.73804758e-02 1.07581407e+02] [ 3.27053780e-02 9.99464858e-01 -5.96653264e-04 4.24807721e+00] [ 1.73906918e-02 2.78087659e-05 9.99848770e-01 7.47513352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.174391418 meters Centerline goodness [0,1] 0.9998325904534706 Centerline is valid? [True, True] Translation: X:107.61, Y:4.25, Z:0.75 [[ 9.99372401e-01 -3.09251775e-02 -1.72753660e-02 1.07608997e+02] [ 3.09194403e-02 9.99521700e-01 -5.99157450e-04 4.25108448e+00] [ 1.72856322e-02 6.46367718e-05 9.99850590e-01 7.47577238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.204391418 meters Centerline goodness [0,1] 0.999811320754717 Centerline is valid? [True, True] Translation: X:107.64, Y:4.25, Z:0.75 [[ 9.99433487e-01 -2.90791975e-02 -1.69442053e-02 1.07636420e+02] [ 2.90733123e-02 9.99577106e-01 -5.93608999e-04 4.25385288e+00] [ 1.69543013e-02 1.00648540e-04 9.99856260e-01 7.47754583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23439141799999 meters Centerline goodness [0,1] 0.999663398830311 Centerline is valid? [True, True] Translation: X:107.66, Y:4.25, Z:0.75 [[ 9.99426515e-01 -2.95352317e-02 -1.65623423e-02 1.07664781e+02] [ 2.95295743e-02 9.99563735e-01 -5.86084106e-04 4.25441667e+00] [ 1.65724269e-02 9.66690773e-05 9.99862663e-01 7.48284407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26439141799999 meters Centerline goodness [0,1] 0.9996637101181218 Centerline is valid? [True, True] Translation: X:107.69, Y:4.25, Z:0.75 [[ 9.99329828e-01 -3.23309580e-02 -1.71640326e-02 1.07692570e+02] [ 3.23251863e-02 9.99477216e-01 -6.13670666e-04 4.25225684e+00] [ 1.71749001e-02 5.84288495e-05 9.99852499e-01 7.47597865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29439141799999 meters Centerline goodness [0,1] 0.9997271143390919 Centerline is valid? [True, True] Translation: X:107.72, Y:4.25, Z:0.75 [[ 9.99237548e-01 -3.48804116e-02 -1.75408068e-02 1.07719846e+02] [ 3.48746970e-02 9.99391493e-01 -6.31663710e-04 4.25107875e+00] [ 1.75521658e-02 1.94517717e-05 9.99845949e-01 7.46645553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32439141799999 meters Centerline goodness [0,1] 0.9998532833099285 Centerline is valid? [True, True] Translation: X:107.75, Y:4.25, Z:0.75 [[ 9.99136508e-01 -3.75279543e-02 -1.78295143e-02 1.07747933e+02] [ 3.75223884e-02 9.99295578e-01 -6.46717977e-04 4.24981218e+00] [ 1.78412248e-02 -2.28464189e-05 9.99840832e-01 7.47889652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35439141799999 meters Centerline goodness [0,1] 0.9996640561026309 Centerline is valid? [True, True] Translation: X:107.78, Y:4.25, Z:0.75 [[ 9.98906089e-01 -4.32153400e-02 -1.78622476e-02 1.07776995e+02] [ 4.32105570e-02 9.99065774e-01 -6.53810704e-04 4.24690657e+00] [ 1.78738149e-02 -1.18742177e-04 9.99840244e-01 7.48683356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38439141799999 meters Centerline goodness [0,1] 0.9994531956508024 Centerline is valid? [True, True] Translation: X:107.81, Y:4.25, Z:0.75 [[ 9.98786765e-01 -4.56020134e-02 -1.85864308e-02 1.07805988e+02] [ 4.55971388e-02 9.98959674e-01 -6.86182802e-04 4.24644142e+00] [ 1.85983862e-02 -1.62137764e-04 9.99827022e-01 7.47114361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.414391418 meters Centerline goodness [0,1] 0.9994761106454317 Centerline is valid? [True, True] Translation: X:107.83, Y:4.24, Z:0.75 [[ 9.98573222e-01 -5.05096104e-02 -1.73291617e-02 1.07834254e+02] [ 5.05060523e-02 9.98723548e-01 -6.43189789e-04 4.24220394e+00] [ 1.73395291e-02 -2.32955446e-04 9.99849632e-01 7.48849010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.444391418 meters Centerline goodness [0,1] 0.9996018190581973 Centerline is valid? [True, True] Translation: X:107.86, Y:4.24, Z:0.75 [[ 9.98360599e-01 -5.47597499e-02 -1.66578817e-02 1.07862841e+02] [ 5.47569967e-02 9.98499517e-01 -6.21673014e-04 4.24099896e+00] [ 1.66669295e-02 -2.91481733e-04 9.99861055e-01 7.49744090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.474391418 meters Centerline goodness [0,1] 0.9996018190581973 Centerline is valid? [True, True] Translation: X:107.89, Y:4.24, Z:0.75 [[ 9.98358205e-01 -5.48034013e-02 -1.66577713e-02 1.07891981e+02] [ 5.48006051e-02 9.98497122e-01 -6.24618627e-04 4.24213783e+00] [ 1.66669680e-02 -2.89262818e-04 9.99861055e-01 7.49991502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.504391418 meters Centerline goodness [0,1] 0.9994117647058823 Centerline is valid? [True, True] Translation: X:107.92, Y:4.24, Z:0.75 [[ 9.98235731e-01 -5.70780895e-02 -1.63559708e-02 1.07920912e+02] [ 5.70756534e-02 9.98369666e-01 -6.16078173e-04 4.24122649e+00] [ 1.63644696e-02 -3.18536473e-04 9.99866042e-01 7.49649441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.534391418 meters Centerline goodness [0,1] 0.9994971294472614 Centerline is valid? [True, True] Translation: X:107.95, Y:4.24, Z:0.75 [[ 9.98108037e-01 -5.93963240e-02 -1.58878189e-02 1.07950039e+02] [ 5.93942683e-02 9.98234421e-01 -6.01627491e-04 4.23993923e+00] [ 1.58955021e-02 -3.43156142e-04 9.99873600e-01 7.50126199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.564391418 meters Centerline goodness [0,1] 0.9994972031927597 Centerline is valid? [True, True] Translation: X:107.98, Y:4.24, Z:0.75 [[ 9.97823198e-01 -6.40357396e-02 -1.57572356e-02 1.07979733e+02] [ 6.40342785e-02 9.97947521e-01 -5.97759253e-04 4.23858353e+00] [ 1.57631721e-02 -4.12545161e-04 9.99875668e-01 7.50535929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59439141799999 meters Centerline goodness [0,1] 0.999456885026738 Centerline is valid? [True, True] Translation: X:108.01, Y:4.24, Z:0.75 [[ 9.97672747e-01 -6.63465969e-02 -1.57232211e-02 1.08009137e+02] [ 6.63454180e-02 9.97796537e-01 -5.97152949e-04 4.23845025e+00] [ 1.57281947e-02 -4.47400456e-04 9.99876204e-01 7.50851660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62439141799999 meters Centerline goodness [0,1] 0.9994563853809484 Centerline is valid? [True, True] Translation: X:108.04, Y:4.24, Z:0.75 [[ 9.97521023e-01 -6.86209127e-02 -1.55877634e-02 1.08038826e+02] [ 6.86200250e-02 9.97642692e-01 -5.92426461e-04 4.23734532e+00] [ 1.55916711e-02 -4.78674867e-04 9.99878328e-01 7.51100173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65439141799999 meters Centerline goodness [0,1] 0.9994376288767157 Centerline is valid? [True, True] Translation: X:108.07, Y:4.24, Z:0.75 [[ 9.97213223e-01 -7.31239370e-02 -1.47877684e-02 1.08069115e+02] [ 7.31236293e-02 9.97322725e-01 -5.62228113e-04 4.23544499e+00] [ 1.47892898e-02 -5.20673985e-04 9.99890497e-01 7.51986835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68439141799999 meters Centerline goodness [0,1] 0.9995205836373111 Centerline is valid? [True, True] Translation: X:108.10, Y:4.24, Z:0.75 [[ 9.97028351e-01 -7.55951711e-02 -1.48269298e-02 1.08099106e+02] [ 7.55951297e-02 9.97138435e-01 -5.64047178e-04 4.23545226e+00] [ 1.48271408e-02 -5.58472653e-04 9.99889916e-01 7.52327447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71439141799999 meters Centerline goodness [0,1] 0.999311337882677 Centerline is valid? [True, True] Translation: X:108.13, Y:4.23, Z:0.75 [[ 9.96857598e-01 -7.78225901e-02 -1.47842633e-02 1.08128466e+02] [ 7.78227889e-02 9.96967049e-01 -5.62736588e-04 4.23483695e+00] [ 1.47832170e-02 -5.89584359e-04 9.99890548e-01 7.52333076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74439141799999 meters Centerline goodness [0,1] 0.9994775230412338 Centerline is valid? [True, True] Translation: X:108.16, Y:4.23, Z:0.75 [[ 9.96573834e-01 -8.14536665e-02 -1.43489925e-02 1.08158146e+02] [ 8.14542251e-02 9.96676934e-01 -5.46463912e-04 4.23412585e+00] [ 1.43458213e-02 -6.24194426e-04 9.99896899e-01 7.51972675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.774391418 meters Centerline goodness [0,1] 0.9994349454827031 Centerline is valid? [True, True] Translation: X:108.19, Y:4.24, Z:0.75 [[ 9.96476902e-01 -8.26761480e-02 -1.40867853e-02 1.08187806e+02] [ 8.26768041e-02 9.96576268e-01 -5.36772458e-04 4.24372116e+00] [ 1.40829343e-02 -6.29769036e-04 9.99900632e-01 7.52930185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.804391418 meters Centerline goodness [0,1] 0.999412960982871 Centerline is valid? [True, True] Translation: X:108.22, Y:4.25, Z:0.75 [[ 9.96432471e-01 -8.32232682e-02 -1.40077624e-02 1.08218578e+02] [ 8.32239699e-02 9.96530725e-01 -5.33831127e-04 4.24623667e+00] [ 1.40035928e-02 -6.33854924e-04 9.99901744e-01 7.53028190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.834391418 meters Centerline goodness [0,1] 0.9993082341103472 Centerline is valid? [True, True] Translation: X:108.25, Y:4.25, Z:0.75 [[ 9.96494637e-01 -8.22793389e-02 -1.51178015e-02 1.08249127e+02] [ 8.22800527e-02 9.96609082e-01 -5.75815508e-04 4.25058118e+00] [ 1.51139160e-02 -6.70096437e-04 9.99885554e-01 7.50899669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.864391418 meters Centerline goodness [0,1] 0.9994344246842205 Centerline is valid? [True, True] Translation: X:108.28, Y:4.26, Z:0.75 [[ 9.96584559e-01 -8.13347143e-02 -1.42787029e-02 1.08279815e+02] [ 8.13352566e-02 9.96686651e-01 -5.43694695e-04 4.25500934e+00] [ 1.42756138e-02 -6.19524227e-04 9.99897906e-01 7.52937647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.894391418 meters Centerline goodness [0,1] 0.9993708977289408 Centerline is valid? [True, True] Translation: X:108.31, Y:4.26, Z:0.75 [[ 9.96717834e-01 -7.97494666e-02 -1.39133924e-02 1.08311485e+02] [ 7.97498318e-02 9.96814769e-01 -5.29459152e-04 4.25983874e+00] [ 1.39112991e-02 -5.81869323e-04 9.99903064e-01 7.53474796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.924391418 meters Centerline goodness [0,1] 0.9995387937359804 Centerline is valid? [True, True] Translation: X:108.34, Y:4.27, Z:0.75 [[ 9.97073755e-01 -7.52388838e-02 -1.35291117e-02 1.08340608e+02] [ 7.52388197e-02 9.97165410e-01 -5.14443846e-04 4.26982684e+00] [ 1.35294684e-02 -5.04975938e-04 9.99908345e-01 7.54699194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.954391418 meters Centerline goodness [0,1] 0.9993069847536645 Centerline is valid? [True, True] Translation: X:108.37, Y:4.28, Z:0.76 [[ 9.97248170e-01 -7.29037268e-02 -1.34585887e-02 1.08371800e+02] [ 7.29034514e-02 9.97338872e-01 -5.11733013e-04 4.27653201e+00] [ 1.34600809e-02 -4.70852755e-04 9.99909298e-01 7.55223757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98439141799999 meters Centerline goodness [0,1] 0.9993083790920904 Centerline is valid? [True, True] Translation: X:108.40, Y:4.28, Z:0.76 [[ 9.97443001e-01 -7.01810413e-02 -1.34937415e-02 1.08402605e+02] [ 7.01805225e-02 9.97534176e-01 -5.12544579e-04 4.28335149e+00] [ 1.34964393e-02 -4.35763830e-04 9.99908824e-01 7.55879051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01439141799999 meters Centerline goodness [0,1] 0.9993702506402452 Centerline is valid? [True, True] Translation: X:108.43, Y:4.29, Z:0.76 [[ 9.97596917e-01 -6.79217789e-02 -1.36756580e-02 1.08433513e+02] [ 6.79210413e-02 9.97690565e-01 -5.18923659e-04 4.28965924e+00] [ 1.36793212e-02 -4.11188290e-04 9.99906349e-01 7.56072174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04439141799999 meters Centerline goodness [0,1] 0.9992442055760833 Centerline is valid? [True, True] Translation: X:108.46, Y:4.30, Z:0.76 [[ 9.97740072e-01 -6.57441616e-02 -1.38728122e-02 1.08463709e+02] [ 6.57431981e-02 9.97836437e-01 -5.25973723e-04 4.29519362e+00] [ 1.38773772e-02 -3.87257980e-04 9.99903630e-01 7.56100041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07439141799999 meters Centerline goodness [0,1] 0.9992650455671749 Centerline is valid? [True, True] Translation: X:108.49, Y:4.30, Z:0.76 [[ 9.97933130e-01 -6.27756972e-02 -1.37360527e-02 1.08493400e+02] [ 6.27744752e-02 9.98027602e-01 -5.20530194e-04 4.30342345e+00] [ 1.37416363e-02 -3.42819171e-04 9.99905520e-01 7.55316872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10439141799999 meters Centerline goodness [0,1] 0.9992225584131786 Centerline is valid? [True, True] Translation: X:108.52, Y:4.31, Z:0.76 [[ 9.98017070e-01 -6.15816970e-02 -1.30239063e-02 1.08524816e+02] [ 6.15805037e-02 9.98101998e-01 -4.93013976e-04 4.31362305e+00] [ 1.30295476e-02 -3.09982349e-04 9.99915064e-01 7.55873853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13439141799999 meters Centerline goodness [0,1] 0.998992950654582 Centerline is valid? [True, True] Translation: X:108.56, Y:4.31, Z:0.76 [[ 9.97997935e-01 -6.19808196e-02 -1.25896941e-02 1.08555743e+02] [ 6.19797480e-02 9.98077294e-01 -4.75644112e-04 4.31464474e+00] [ 1.25949686e-02 -3.05614226e-04 9.99920634e-01 7.56516838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.164391418 meters Centerline goodness [0,1] 0.9988925802879292 Centerline is valid? [True, True] Translation: X:108.59, Y:4.32, Z:0.76 [[ 9.97952518e-01 -6.27068745e-02 -1.25944510e-02 1.08586393e+02] [ 6.27058684e-02 9.98031938e-01 -4.75140510e-04 4.31576214e+00] [ 1.25994589e-02 -3.15578318e-04 9.99920574e-01 7.56702536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.194391418 meters Centerline goodness [0,1] 0.9989324960753532 Centerline is valid? [True, True] Translation: X:108.62, Y:4.32, Z:0.76 [[ 9.97781723e-01 -6.53233165e-02 -1.28256357e-02 1.08618619e+02] [ 6.53224979e-02 9.97864088e-01 -4.83174371e-04 4.32275087e+00] [ 1.28298038e-02 -3.55700005e-04 9.99917631e-01 7.57461264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.224391418 meters Centerline goodness [0,1] 0.9990978516280631 Centerline is valid? [True, True] Translation: X:108.65, Y:4.32, Z:0.76 [[ 9.97676803e-01 -6.68714498e-02 -1.30079036e-02 1.08651167e+02] [ 6.68707531e-02 9.97761526e-01 -4.88981297e-04 4.32467121e+00] [ 1.30114847e-02 -3.82003015e-04 9.99915274e-01 7.57632225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.254391418 meters Centerline goodness [0,1] 0.9990557723781947 Centerline is valid? [True, True] Translation: X:108.68, Y:4.33, Z:0.76 [[ 9.97536798e-01 -6.88489075e-02 -1.34225160e-02 1.08683260e+02] [ 6.88483593e-02 9.97627009e-01 -5.03463578e-04 4.32568021e+00] [ 1.34253274e-02 -4.21894758e-04 9.99909787e-01 7.57769027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.284391418 meters Centerline goodness [0,1] 0.9988016650548711 Centerline is valid? [True, True] Translation: X:108.71, Y:4.33, Z:0.76 [[ 9.97237801e-01 -7.30571664e-02 -1.33946903e-02 1.08713955e+02] [ 7.30570100e-02 9.97327640e-01 -5.01642308e-04 4.32859124e+00] [ 1.33955434e-02 -4.78319347e-04 9.99910161e-01 7.58308156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.314391418 meters Centerline goodness [0,1] 0.9988457018132975 Centerline is valid? [True, True] Translation: X:108.75, Y:4.33, Z:0.76 [[ 9.97122504e-01 -7.46807153e-02 -1.30193566e-02 1.08745478e+02] [ 7.46807116e-02 9.97207378e-01 -4.87139171e-04 4.32763233e+00] [ 1.30193784e-02 -4.86557387e-04 9.99915126e-01 7.58446903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34439141799999 meters Centerline goodness [0,1] 0.998762012673633 Centerline is valid? [True, True] Translation: X:108.78, Y:4.32, Z:0.76 [[ 9.97003339e-01 -7.63062555e-02 -1.27160250e-02 1.08776569e+02] [ 7.63063935e-02 9.97084304e-01 -4.75036300e-04 4.32393965e+00] [ 1.27151972e-02 -4.96701229e-04 9.99919035e-01 7.58424592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37439141799999 meters Centerline goodness [0,1] 0.9988239000315027 Centerline is valid? [True, True] Translation: X:108.81, Y:4.33, Z:0.76 [[ 9.96827649e-01 -7.85961582e-02 -1.25412237e-02 1.08808597e+02] [ 7.85964834e-02 9.96906402e-01 -4.67698673e-04 4.33326375e+00] [ 1.25391855e-02 -5.19481110e-04 9.99921246e-01 7.59285957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40439141799999 meters Centerline goodness [0,1] 0.9985094680270395 Centerline is valid? [True, True] Translation: X:108.84, Y:4.34, Z:0.76 [[ 9.96772291e-01 -7.93891102e-02 -1.19318616e-02 1.08840714e+02] [ 7.93894721e-02 9.96843576e-01 -4.44058569e-04 4.33713963e+00] [ 1.19294530e-02 -5.04638914e-04 9.99928714e-01 7.59847967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43439141799999 meters Centerline goodness [0,1] 0.9982773109243698 Centerline is valid? [True, True] Translation: X:108.87, Y:4.34, Z:0.76 [[ 9.96676660e-01 -8.06741727e-02 -1.12833235e-02 1.08873091e+02] [ 8.06745884e-02 9.96740405e-01 -4.19047612e-04 4.34063970e+00] [ 1.12803508e-02 -4.92622506e-04 9.99936253e-01 7.60160803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46439141799999 meters Centerline goodness [0,1] 0.9985702872040705 Centerline is valid? [True, True] Translation: X:108.91, Y:4.34, Z:0.76 [[ 9.96616686e-01 -8.13814264e-02 -1.14997813e-02 1.08905397e+02] [ 8.13819161e-02 9.96682899e-01 -4.26144408e-04 4.34390901e+00] [ 1.14963156e-02 -5.11171612e-04 9.99933785e-01 7.60937886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49439141799999 meters Centerline goodness [0,1] 0.9986108480141441 Centerline is valid? [True, True] Translation: X:108.94, Y:4.35, Z:0.76 [[ 9.96600506e-01 -8.16042313e-02 -1.13217296e-02 1.08937096e+02] [ 8.16047305e-02 9.96664684e-01 -4.18639032e-04 4.34702009e+00] [ 1.13181307e-02 -5.06690819e-04 9.99935820e-01 7.61789941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.524391418 meters Centerline goodness [0,1] 0.9985715486093606 Centerline is valid? [True, True] Translation: X:108.97, Y:4.35, Z:0.76 [[ 9.96577796e-01 -8.18518333e-02 -1.15314310e-02 1.08968383e+02] [ 8.18523779e-02 9.96644373e-01 -4.25510710e-04 4.34921984e+00] [ 1.15275647e-02 -5.19820524e-04 9.99933420e-01 7.62260852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.554391418 meters Centerline goodness [0,1] 0.9983591038182392 Centerline is valid? [True, True] Translation: X:109.00, Y:4.35, Z:0.76 [[ 9.96526088e-01 -8.23667256e-02 -1.23076260e-02 1.09000820e+02] [ 8.23673956e-02 9.96601930e-01 -4.53303176e-04 4.35477474e+00] [ 1.23031409e-02 -5.62018660e-04 9.99924156e-01 7.62908271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.584391418 meters Centerline goodness [0,1] 0.9983591038182392 Centerline is valid? [True, True] Translation: X:109.03, Y:4.36, Z:0.76 [[ 9.96532620e-01 -8.22876610e-02 -1.23076619e-02 1.09032523e+02] [ 8.22883370e-02 9.96608461e-01 -4.52327385e-04 4.35586068e+00] [ 1.23031409e-02 -5.62018035e-04 9.99924156e-01 7.63176784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.614391418 meters Centerline goodness [0,1] 0.9983793567940731 Centerline is valid? [True, True] Translation: X:109.06, Y:4.36, Z:0.76 [[ 9.96528544e-01 -8.23293441e-02 -1.23587846e-02 1.09064731e+02] [ 8.23300412e-02 9.96605017e-01 -4.53221792e-04 4.35871358e+00] [ 1.23541402e-02 -5.65850793e-04 9.99923525e-01 7.63300668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.644391418 meters Centerline goodness [0,1] 0.9986103800400042 Centerline is valid? [True, True] Translation: X:109.10, Y:4.36, Z:0.76 [[ 9.96513609e-01 -8.25118998e-02 -1.23455452e-02 1.09096963e+02] [ 8.25126216e-02 9.96589917e-01 -4.51745901e-04 4.36395677e+00] [ 1.23407203e-02 -5.68492361e-04 9.99923689e-01 7.63568608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.674391418 meters Centerline goodness [0,1] 0.9986737679725491 Centerline is valid? [True, True] Translation: X:109.13, Y:4.36, Z:0.76 [[ 9.96494390e-01 -8.26339966e-02 -1.30595760e-02 1.09128462e+02] [ 8.26348281e-02 9.96579780e-01 -4.76856338e-04 4.36109824e+00] [ 1.30543140e-02 -6.03991154e-04 9.99914606e-01 7.62884098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.704391418 meters Centerline goodness [0,1] 0.9987573976959204 Centerline is valid? [True, True] Translation: X:109.16, Y:4.36, Z:0.76 [[ 9.96455124e-01 -8.30003947e-02 -1.37156725e-02 1.09159249e+02] [ 8.30013580e-02 9.96549309e-01 -4.99968566e-04 4.36456642e+00] [ 1.37098415e-02 -6.40223204e-04 9.99905811e-01 7.62382448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73439141799999 meters Centerline goodness [0,1] 0.998335931246577 Centerline is valid? [True, True] Translation: X:109.19, Y:4.37, Z:0.76 [[ 9.96444791e-01 -8.30195195e-02 -1.43365639e-02 1.09191523e+02] [ 8.30205880e-02 9.96547696e-01 -5.21625967e-04 4.37220074e+00] [ 1.43303749e-02 -6.70458491e-04 9.99897090e-01 7.62964162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76439141799999 meters Centerline goodness [0,1] 0.9986275627626106 Centerline is valid? [True, True] Translation: X:109.22, Y:4.38, Z:0.76 [[ 9.96449831e-01 -8.29330883e-02 -1.44857546e-02 1.09224684e+02] [ 8.29341906e-02 9.96554887e-01 -5.25637035e-04 4.37650801e+00] [ 1.44794423e-02 -6.77593398e-04 9.99894938e-01 7.63472862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79439141799999 meters Centerline goodness [0,1] 0.9985650981219667 Centerline is valid? [True, True] Translation: X:109.26, Y:4.38, Z:0.76 [[ 9.96529789e-01 -8.18372542e-02 -1.52001012e-02 1.09256294e+02] [ 8.18383654e-02 9.96645463e-01 -5.49937756e-04 4.38079839e+00] [ 1.51941173e-02 -6.95922079e-04 9.99884321e-01 7.63150832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82439141799999 meters Centerline goodness [0,1] 0.9990470139771284 Centerline is valid? [True, True] Translation: X:109.29, Y:4.39, Z:0.76 [[ 9.96594291e-01 -8.08785409e-02 -1.60773502e-02 1.09288593e+02] [ 8.08796813e-02 9.96723703e-01 -5.80332875e-04 4.38691425e+00] [ 1.60716125e-02 -7.21974530e-04 9.99870583e-01 7.63725774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85439141799999 meters Centerline goodness [0,1] 0.9987297016916139 Centerline is valid? [True, True] Translation: X:109.32, Y:4.38, Z:0.76 [[ 9.96661968e-01 -7.99327708e-02 -1.66034289e-02 1.09319652e+02] [ 7.99338763e-02 9.96799989e-01 -5.98105099e-04 4.38495317e+00] [ 1.65981059e-02 -7.31067827e-04 9.99861975e-01 7.62871026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88439141799999 meters Centerline goodness [0,1] 0.9991726595812385 Centerline is valid? [True, True] Translation: X:109.35, Y:4.40, Z:0.77 [[ 9.96914398e-01 -7.65555910e-02 -1.73471857e-02 1.09351082e+02] [ 7.65563062e-02 9.97065064e-01 -6.23813748e-04 4.39817837e+00] [ 1.73440292e-02 -7.06147551e-04 9.99849332e-01 7.65084593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.914391418 meters Centerline goodness [0,1] 0.9987484620932502 Centerline is valid? [True, True] Translation: X:109.38, Y:4.40, Z:0.77 [[ 9.97074455e-01 -7.44263271e-02 -1.74141400e-02 1.09382157e+02] [ 7.44267577e-02 9.97226287e-01 -6.24258116e-04 4.40176755e+00] [ 1.74122994e-02 -6.73646159e-04 9.99848167e-01 7.65557699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.944391418 meters Centerline goodness [0,1] 0.9988298868181431 Centerline is valid? [True, True] Translation: X:109.41, Y:4.41, Z:0.77 [[ 9.97482914e-01 -6.88907529e-02 -1.67898889e-02 1.09411235e+02] [ 6.88903891e-02 9.97624054e-01 -6.00727281e-04 4.41062254e+00] [ 1.67913816e-02 -5.57446780e-04 9.99858859e-01 7.66741675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.974391418 meters Centerline goodness [0,1] 0.9991076171252523 Centerline is valid? [True, True] Translation: X:109.44, Y:4.42, Z:0.77 [[ 9.97710816e-01 -6.55049065e-02 -1.67998453e-02 1.09441168e+02] [ 6.55040625e-02 9.97852122e-01 -6.01089599e-04 4.41516614e+00] [ 1.68031356e-02 -5.00744523e-04 9.99858692e-01 7.67225971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.004391418 meters Centerline goodness [0,1] 0.9989554243322177 Centerline is valid? [True, True] Translation: X:109.47, Y:4.42, Z:0.77 [[ 9.97931367e-01 -6.20293282e-02 -1.68923043e-02 1.09472745e+02] [ 6.20279882e-02 9.98074228e-01 -6.03753874e-04 4.42027312e+00] [ 1.68972240e-02 -4.45290721e-04 9.99857133e-01 7.67022811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.034391418 meters Centerline goodness [0,1] 0.9989962198065053 Centerline is valid? [True, True] Translation: X:109.50, Y:4.43, Z:0.77 [[ 9.98330264e-01 -5.50490855e-02 -1.75009179e-02 1.09503402e+02] [ 5.50465901e-02 9.98483592e-01 -6.24640248e-04 4.43232178e+00] [ 1.75087652e-02 -3.39768590e-04 9.99846652e-01 7.67612349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.064391418 meters Centerline goodness [0,1] 0.9988449939041345 Centerline is valid? [True, True] Translation: X:109.53, Y:4.44, Z:0.77 [[ 9.98500695e-01 -5.19135583e-02 -1.73593061e-02 1.09534991e+02] [ 5.19106478e-02 9.98651542e-01 -6.18521801e-04 4.43814209e+00] [ 1.73680074e-02 -2.83538375e-04 9.99849125e-01 7.68467230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09439141799999 meters Centerline goodness [0,1] 0.9989067524115756 Centerline is valid? [True, True] Translation: X:109.57, Y:4.44, Z:0.77 [[ 9.98660973e-01 -4.89453131e-02 -1.67516222e-02 1.09566658e+02] [ 4.89422076e-02 9.98801435e-01 -5.95536871e-04 4.44328729e+00] [ 1.67606930e-02 -2.25121938e-04 9.99859504e-01 7.69801711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12439141799999 meters Centerline goodness [0,1] 0.9989707080670756 Centerline is valid? [True, True] Translation: X:109.60, Y:4.45, Z:0.77 [[ 9.98802680e-01 -4.62170084e-02 -1.60372974e-02 1.09597581e+02] [ 4.62138373e-02 9.98931408e-01 -5.68465302e-04 4.44758546e+00] [ 1.60464328e-02 -1.73360385e-04 9.99871233e-01 7.70732124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15439141799999 meters Centerline goodness [0,1] 0.9990111992433525 Centerline is valid? [True, True] Translation: X:109.63, Y:4.45, Z:0.77 [[ 9.98989108e-01 -4.22979089e-02 -1.52200064e-02 1.09630087e+02] [ 4.22946252e-02 9.99105037e-01 -5.37713368e-04 4.45446909e+00] [ 1.52291292e-02 -1.06554666e-04 9.99884024e-01 7.71958629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18439141799999 meters Centerline goodness [0,1] 0.9989271997768575 Centerline is valid? [True, True] Translation: X:109.66, Y:4.46, Z:0.77 [[ 9.99041289e-01 -4.09335788e-02 -1.55224235e-02 1.09661680e+02] [ 4.09300191e-02 9.99161866e-01 -5.47073763e-04 4.45638390e+00] [ 1.55318073e-02 -8.87838115e-05 9.99879370e-01 7.71242988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21439141799999 meters Centerline goodness [0,1] 0.9988829935772131 Centerline is valid? [True, True] Translation: X:109.69, Y:4.46, Z:0.77 [[ 9.99072335e-01 -4.00552168e-02 -1.58129193e-02 1.09694203e+02] [ 4.00514302e-02 9.99197465e-01 -5.56203395e-04 4.45833559e+00] [ 1.58225077e-02 -7.76426082e-05 9.99874813e-01 7.71163427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24439141799999 meters Centerline goodness [0,1] 0.9990119850509043 Centerline is valid? [True, True] Translation: X:109.73, Y:4.46, Z:0.77 [[ 9.99083469e-01 -3.97410643e-02 -1.59018799e-02 1.09725152e+02] [ 3.97372128e-02 9.99210009e-01 -5.58224974e-04 4.45954052e+00] [ 1.59115020e-02 -7.41830440e-05 9.99873401e-01 7.70695874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.274391418 meters Centerline goodness [0,1] 0.999119831694646 Centerline is valid? [True, True] Translation: X:109.76, Y:4.46, Z:0.77 [[ 9.99027932e-01 -4.08259291e-02 -1.66263009e-02 1.09756214e+02] [ 4.08218854e-02 9.99166270e-01 -5.82661825e-04 4.46014707e+00] [ 1.66362268e-02 -9.66215139e-05 9.99861604e-01 7.70314770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.304391418 meters Centerline goodness [0,1] 0.9992269701524586 Centerline is valid? [True, True] Translation: X:109.79, Y:4.46, Z:0.77 [[ 9.98996094e-01 -4.14943709e-02 -1.68825882e-02 1.09788689e+02] [ 4.14903168e-02 9.99138732e-01 -5.90473192e-04 4.46103856e+00] [ 1.68925491e-02 -1.10583522e-04 9.99857305e-01 7.70713576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.334391418 meters Centerline goodness [0,1] 0.9989505921658492 Centerline is valid? [True, True] Translation: X:109.82, Y:4.46, Z:0.77 [[ 9.98931867e-01 -4.27781763e-02 -1.74686307e-02 1.09820385e+02] [ 4.27740536e-02 9.99084585e-01 -6.09737841e-04 4.46074332e+00] [ 1.74787231e-02 -1.38117586e-04 9.99847226e-01 7.70130069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.364391418 meters Centerline goodness [0,1] 0.999206672527284 Centerline is valid? [True, True] Translation: X:109.85, Y:4.46, Z:0.77 [[ 9.98780629e-01 -4.56974164e-02 -1.86815882e-02 1.09851580e+02] [ 4.56932330e-02 9.98955307e-01 -6.50938428e-04 4.45791514e+00] [ 1.86918179e-02 -2.03477472e-04 9.99825272e-01 7.69125234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.394391418 meters Centerline goodness [0,1] 0.9989701559784591 Centerline is valid? [True, True] Translation: X:109.88, Y:4.46, Z:0.77 [[ 9.98703818e-01 -4.72857125e-02 -1.88346580e-02 1.09884272e+02] [ 4.72817675e-02 9.98881377e-01 -6.54952380e-04 4.45744827e+00] [ 1.88445590e-02 -2.36432477e-04 9.99822398e-01 7.69303015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.424391418 meters Centerline goodness [0,1] 0.9988460552183948 Centerline is valid? [True, True] Translation: X:109.92, Y:4.46, Z:0.77 [[ 9.98560863e-01 -5.01712305e-02 -1.89486494e-02 1.09916352e+02] [ 5.01677855e-02 9.98740587e-01 -6.57407413e-04 4.45551464e+00] [ 1.89577682e-02 -2.94150466e-04 9.99820242e-01 7.69453033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.454391418 meters Centerline goodness [0,1] 0.9988905009814799 Centerline is valid? [True, True] Translation: X:109.95, Y:4.45, Z:0.77 [[ 9.98479314e-01 -5.16286402e-02 -1.93272570e-02 1.09948067e+02] [ 5.16253675e-02 9.98666298e-01 -6.68560440e-04 4.45421906e+00] [ 1.93359970e-02 -3.30232974e-04 9.99812988e-01 7.69354967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48439141799999 meters Centerline goodness [0,1] 0.9988890313207709 Centerline is valid? [True, True] Translation: X:109.98, Y:4.45, Z:0.77 [[ 9.98396196e-01 -5.31067676e-02 -1.96139341e-02 1.09979868e+02] [ 5.31037196e-02 9.98588773e-01 -6.76573033e-04 4.45398237e+00] [ 1.96221850e-02 -3.66084915e-04 9.99807399e-01 7.69811080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51439141799999 meters Centerline goodness [0,1] 0.9991449154535155 Centerline is valid? [True, True] Translation: X:110.01, Y:4.45, Z:0.77 [[ 9.98230719e-01 -5.59640178e-02 -2.00863129e-02 1.10012122e+02] [ 5.59614321e-02 9.98432692e-01 -6.91233782e-04 4.45260206e+00] [ 2.00935157e-02 -4.34048041e-04 9.99798011e-01 7.70258070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54439141799999 meters Centerline goodness [0,1] 0.9989521854417929 Centerline is valid? [True, True] Translation: X:110.04, Y:4.45, Z:0.77 [[ 9.98146623e-01 -5.73677465e-02 -2.03042064e-02 1.10044539e+02] [ 5.73654285e-02 9.98353005e-01 -6.97064328e-04 4.45188856e+00] [ 2.03107545e-02 -4.68987097e-04 9.99793605e-01 7.69986416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57439141799999 meters Centerline goodness [0,1] 0.998933674557475 Centerline is valid? [True, True] Translation: X:110.08, Y:4.45, Z:0.77 [[ 9.98072239e-01 -5.87324675e-02 -2.00574987e-02 1.10076244e+02] [ 5.87305226e-02 9.98273637e-01 -6.86516093e-04 4.44869516e+00] [ 2.00631929e-02 -4.92794725e-04 9.99798592e-01 7.69150726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60439141799999 meters Centerline goodness [0,1] 0.9989758689112206 Centerline is valid? [True, True] Translation: X:110.11, Y:4.45, Z:0.77 [[ 9.98003988e-01 -5.98872032e-02 -2.00390142e-02 1.10108568e+02] [ 5.98855327e-02 9.98205017e-01 -6.83973003e-04 4.44819823e+00] [ 2.00440057e-02 -5.17439256e-04 9.99798965e-01 7.69836701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63439141799999 meters Centerline goodness [0,1] 0.9988045682570178 Centerline is valid? [True, True] Translation: X:110.14, Y:4.45, Z:0.77 [[ 9.97887082e-01 -6.18336343e-02 -1.99492913e-02 1.10140400e+02] [ 6.18323991e-02 9.98086315e-01 -6.79320702e-04 4.44975173e+00] [ 1.99531195e-02 -5.55627189e-04 9.99800762e-01 7.71918160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.664391418 meters Centerline goodness [0,1] 0.9986987221878533 Centerline is valid? [True, True] Translation: X:110.17, Y:4.45, Z:0.77 [[ 9.97720884e-01 -6.46791319e-02 -1.92262397e-02 1.10171924e+02] [ 6.46785377e-02 9.97905937e-01 -6.53377958e-04 4.44777175e+00] [ 1.92282387e-02 -5.91636238e-04 9.99814945e-01 7.72746631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.694391418 meters Centerline goodness [0,1] 0.9988929575065997 Centerline is valid? [True, True] Translation: X:110.20, Y:4.45, Z:0.77 [[ 9.97630618e-01 -6.59408282e-02 -1.96203264e-02 1.10203643e+02] [ 6.59404896e-02 9.97823336e-01 -6.64914437e-04 4.44745928e+00] [ 1.96214645e-02 -6.30434926e-04 9.99807282e-01 7.72897439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.724391418 meters Centerline goodness [0,1] 0.9988073941562313 Centerline is valid? [True, True] Translation: X:110.24, Y:4.45, Z:0.77 [[ 9.97504039e-01 -6.78486132e-02 -1.95514315e-02 1.10235759e+02] [ 6.78486799e-02 9.97695404e-01 -6.60687342e-04 4.44638035e+00] [ 1.95512001e-02 -6.67500525e-04 9.99808634e-01 7.72979207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.754391418 meters Centerline goodness [0,1] 0.9987658524129713 Centerline is valid? [True, True] Translation: X:110.27, Y:4.44, Z:0.77 [[ 9.97370508e-01 -6.97821044e-02 -1.95582974e-02 1.10266638e+02] [ 6.97825856e-02 9.97562007e-01 -6.58707508e-04 4.44479759e+00] [ 1.95565804e-02 -7.07853121e-04 9.99808501e-01 7.72742167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.784391418 meters Centerline goodness [0,1] 0.9987025969330242 Centerline is valid? [True, True] Translation: X:110.30, Y:4.44, Z:0.77 [[ 9.97201040e-01 -7.20836498e-02 -1.98502813e-02 1.10298083e+02] [ 7.20846377e-02 9.97398296e-01 -6.66682266e-04 4.44192785e+00] [ 1.98466936e-02 -7.66084088e-04 9.99802741e-01 7.72003880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.814391418 meters Centerline goodness [0,1] 0.9986164914222468 Centerline is valid? [True, True] Translation: X:110.33, Y:4.44, Z:0.77 [[ 9.96820619e-01 -7.71069450e-02 -2.00791457e-02 1.10328673e+02] [ 7.71089876e-02 9.97022442e-01 -6.73629026e-04 4.44193052e+00] [ 2.00713003e-02 -8.76795291e-04 9.99798167e-01 7.72802924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84439141799999 meters Centerline goodness [0,1] 0.9988504278962831 Centerline is valid? [True, True] Translation: X:110.36, Y:4.44, Z:0.77 [[ 9.96613540e-01 -7.96626567e-02 -2.03792279e-02 1.10360045e+02] [ 7.96653122e-02 9.96821434e-01 -6.82798615e-04 4.43784771e+00] [ 2.03688448e-02 -9.43031212e-04 9.99792089e-01 7.72259775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87439141799999 meters Centerline goodness [0,1] 0.9986795024706083 Centerline is valid? [True, True] Translation: X:110.39, Y:4.44, Z:0.77 [[ 9.96220736e-01 -8.44371299e-02 -2.03621520e-02 1.10390969e+02] [ 8.44407907e-02 9.96428266e-01 -6.81474378e-04 4.43852199e+00] [ 2.03469656e-02 -1.04049731e-03 9.99792438e-01 7.72934559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90439141799999 meters Centerline goodness [0,1] 0.9987641167696569 Centerline is valid? [True, True] Translation: X:110.42, Y:4.44, Z:0.77 [[ 9.96030778e-01 -8.66134356e-02 -2.05134409e-02 1.10423394e+02] [ 8.66176346e-02 9.96241394e-01 -6.85394313e-04 4.43791534e+00] [ 2.04957033e-02 -1.09415190e-03 9.99789342e-01 7.73257059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93439141799999 meters Centerline goodness [0,1] 0.9988073941562313 Centerline is valid? [True, True] Translation: X:110.45, Y:4.44, Z:0.77 [[ 9.95866427e-01 -8.84179278e-02 -2.07925275e-02 1.10454067e+02] [ 8.84226586e-02 9.96082804e-01 -6.93531324e-04 4.43640798e+00] [ 2.07723997e-02 -1.14786600e-03 9.99783571e-01 7.73051700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96439141799999 meters Centerline goodness [0,1] 0.9985509717013297 Centerline is valid? [True, True] Translation: X:110.49, Y:4.44, Z:0.77 [[ 9.95619449e-01 -9.12339786e-02 -2.04517656e-02 1.10485137e+02] [ 9.12391675e-02 9.95828776e-01 -6.81191473e-04 4.43598992e+00] [ 2.04286045e-02 -1.18779459e-03 9.99790609e-01 7.73873364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99439141799999 meters Centerline goodness [0,1] 0.9984275058968529 Centerline is valid? [True, True] Translation: X:110.52, Y:4.43, Z:0.77 [[ 9.95545779e-01 -9.20421091e-02 -2.04169615e-02 1.10516386e+02] [ 9.20474873e-02 9.95754387e-01 -6.78189513e-04 4.43431094e+00] [ 2.03927009e-02 -1.20416129e-03 9.99791322e-01 7.73822075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.024391418 meters Centerline goodness [0,1] 0.9986138064873856 Centerline is valid? [True, True] Translation: X:110.55, Y:4.44, Z:0.78 [[ 9.95477298e-01 -9.28049839e-02 -2.03023380e-02 1.10548218e+02] [ 9.28104989e-02 9.95683564e-01 -6.72455816e-04 4.43866972e+00] [ 2.02771115e-02 -1.21485562e-03 9.99793660e-01 7.75022997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.054391418 meters Centerline goodness [0,1] 0.998533038523684 Centerline is valid? [True, True] Translation: X:110.58, Y:4.44, Z:0.78 [[ 9.95436286e-01 -9.31947570e-02 -2.05265269e-02 1.10579665e+02] [ 9.32005255e-02 9.95647128e-01 -6.77525360e-04 4.43874209e+00] [ 2.05003194e-02 -1.23864977e-03 9.99789079e-01 7.75027462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.084391418 meters Centerline goodness [0,1] 0.9987629305748107 Centerline is valid? [True, True] Translation: X:110.61, Y:4.44, Z:0.78 [[ 9.95452226e-01 -9.29111500e-02 -2.10329231e-02 1.10611259e+02] [ 9.29171900e-02 9.95673600e-01 -6.92032878e-04 4.44456212e+00] [ 2.10062238e-02 -1.26543444e-03 9.99778544e-01 7.75254819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.114391418 meters Centerline goodness [0,1] 0.9986941816157897 Centerline is valid? [True, True] Translation: X:110.64, Y:4.45, Z:0.78 [[ 9.95527660e-01 -9.21569672e-02 -2.07791362e-02 1.10643566e+02] [ 9.21627328e-02 9.95743725e-01 -6.82035517e-04 4.44647656e+00] [ 2.07535488e-02 -1.23607676e-03 9.99783858e-01 7.75074866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.144391418 meters Centerline goodness [0,1] 0.9987189341532154 Centerline is valid? [True, True] Translation: X:110.67, Y:4.45, Z:0.78 [[ 9.95809530e-01 -8.91054450e-02 -2.05815398e-02 1.10674540e+02] [ 8.91104751e-02 9.96021520e-01 -6.74413611e-04 4.44883233e+00] [ 2.05597504e-02 -1.16244329e-03 9.99787950e-01 7.75034829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.174391418 meters Centerline goodness [0,1] 0.9988849815593104 Centerline is valid? [True, True] Translation: X:110.71, Y:4.46, Z:0.78 [[ 9.96021637e-01 -8.68553208e-02 -1.99261798e-02 1.10705650e+02] [ 8.68596018e-02 9.96220349e-01 -6.52169034e-04 4.45581955e+00] [ 1.99075101e-02 -1.08120557e-03 9.99801241e-01 7.76946064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20439141799999 meters Centerline goodness [0,1] 0.9990566442262339 Centerline is valid? [True, True] Translation: X:110.74, Y:4.46, Z:0.78 [[ 9.96300000e-01 -8.37463377e-02 -1.93096101e-02 1.10736655e+02] [ 8.37497897e-02 9.96486615e-01 -6.31241679e-04 4.46104817e+00] [ 1.92946322e-02 -9.88269704e-04 9.99813353e-01 7.78650553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23439141799999 meters Centerline goodness [0,1] 0.9992483140758559 Centerline is valid? [True, True] Translation: X:110.77, Y:4.47, Z:0.78 [[ 9.96907364e-01 -7.65607138e-02 -1.77246734e-02 1.10765518e+02] [ 7.65624906e-02 9.97064616e-01 -5.79309466e-04 4.47196090e+00] [ 1.77169970e-02 -7.79527265e-04 9.99842738e-01 7.81793585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26439141799999 meters Centerline goodness [0,1] 0.9990340445627441 Centerline is valid? [True, True] Translation: X:110.80, Y:4.48, Z:0.78 [[ 9.97207045e-01 -7.27032260e-02 -1.70982653e-02 1.10797084e+02] [ 7.27043193e-02 9.97353383e-01 -5.58477062e-04 4.48154870e+00] [ 1.70936158e-02 -6.86200476e-04 9.99853658e-01 7.83408917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29439141799999 meters Centerline goodness [0,1] 0.9989680082559339 Centerline is valid? [True, True] Translation: X:110.83, Y:4.49, Z:0.78 [[ 9.97506415e-01 -6.83215585e-02 -1.76951112e-02 1.10827224e+02] [ 6.83220698e-02 9.97663151e-01 -5.76341389e-04 4.48588185e+00] [ 1.76931369e-02 -6.34062389e-04 9.99843263e-01 7.82307286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32439141799999 meters Centerline goodness [0,1] 0.9991170833602515 Centerline is valid? [True, True] Translation: X:110.86, Y:4.49, Z:0.78 [[ 9.97715968e-01 -6.55612298e-02 -1.62656779e-02 1.10858471e+02] [ 6.55613154e-02 9.97848403e-01 -5.28544631e-04 4.49071164e+00] [ 1.62653327e-02 -5.39061820e-04 9.99867565e-01 7.84102681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35439141799999 meters Centerline goodness [0,1] 0.999010135353231 Centerline is valid? [True, True] Translation: X:110.89, Y:4.49, Z:0.78 [[ 9.98105261e-01 -5.91790871e-02 -1.68440831e-02 1.10888153e+02] [ 5.91782766e-02 9.98247280e-01 -5.46990427e-04 4.49452036e+00] [ 1.68469305e-02 -4.50849783e-04 9.99857979e-01 7.82149991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38439141799999 meters Centerline goodness [0,1] 0.9994398362598298 Centerline is valid? [True, True] Translation: X:110.92, Y:4.50, Z:0.78 [[ 9.98287439e-01 -5.59982088e-02 -1.69230773e-02 1.10920664e+02] [ 5.59969470e-02 9.98430789e-01 -5.48777320e-04 4.49875361e+00] [ 1.69272519e-02 -3.99803156e-04 9.99856644e-01 7.81609601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.414391418 meters Centerline goodness [0,1] 0.9995026274246913 Centerline is valid? [True, True] Translation: X:110.95, Y:4.51, Z:0.78 [[ 9.98448163e-01 -5.29477688e-02 -1.72568962e-02 1.10952887e+02] [ 5.29460274e-02 9.98597219e-01 -5.58092013e-04 4.50657151e+00] [ 1.72622383e-02 -3.56458154e-04 9.99850933e-01 7.82851816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.444391418 meters Centerline goodness [0,1] 0.9992846148843461 Centerline is valid? [True, True] Translation: X:110.98, Y:4.51, Z:0.78 [[ 9.98750252e-01 -4.64259534e-02 -1.85085018e-02 1.10982734e+02] [ 4.64228662e-02 9.98921699e-01 -5.96641394e-04 4.51336549e+00] [ 1.85162437e-02 -2.63321958e-04 9.99828525e-01 7.82056197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.474391418 meters Centerline goodness [0,1] 0.9994146722164412 Centerline is valid? [True, True] Translation: X:111.01, Y:4.52, Z:0.78 [[ 9.98893045e-01 -4.31393454e-02 -1.87531741e-02 1.11014652e+02] [ 4.31356314e-02 9.99069044e-01 -6.02694654e-04 4.51780532e+00] [ 1.87617156e-02 -2.06902507e-04 9.99823962e-01 7.82472122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.504391418 meters Centerline goodness [0,1] 0.9994146722164412 Centerline is valid? [True, True] Translation: X:111.05, Y:4.52, Z:0.78 [[ 9.98896468e-01 -4.30599923e-02 -1.87532219e-02 1.11046338e+02] [ 4.30562922e-02 9.99072467e-01 -6.01204204e-04 4.51874515e+00] [ 1.87617155e-02 -2.06903447e-04 9.99823962e-01 7.82740386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.534391418 meters Centerline goodness [0,1] 0.9995008355578705 Centerline is valid? [True, True] Translation: X:111.08, Y:4.52, Z:0.78 [[ 9.99030648e-01 -3.97409369e-02 -1.89320363e-02 1.11078418e+02] [ 3.97365985e-02 9.99210006e-01 -6.05428475e-04 4.52245424e+00] [ 1.89411404e-02 -1.47453122e-04 9.99820590e-01 7.82877685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.564391418 meters Centerline goodness [0,1] 0.999543983843999 Centerline is valid? [True, True] Translation: X:111.11, Y:4.53, Z:0.78 [[ 9.99258073e-01 -3.35689284e-02 -1.88793472e-02 1.11109797e+02] [ 3.35635367e-02 9.99436404e-01 -6.02461280e-04 4.52801476e+00] [ 1.88889308e-02 -3.16433636e-05 9.99821588e-01 7.82905566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59439141799999 meters Centerline goodness [0,1] 0.9996954403063001 Centerline is valid? [True, True] Translation: X:111.14, Y:4.53, Z:0.78 [[ 9.99343504e-01 -3.08401340e-02 -1.90117466e-02 1.11139603e+02] [ 3.08341860e-02 9.99524330e-01 -6.05979920e-04 4.53096125e+00] [ 1.90213918e-02 1.93703661e-05 9.99819077e-01 7.83133735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62439141799999 meters Centerline goodness [0,1] 0.9996092986911506 Centerline is valid? [True, True] Translation: X:111.17, Y:4.53, Z:0.78 [[ 9.99418269e-01 -2.87667891e-02 -1.83192715e-02 1.11170410e+02] [ 2.87609211e-02 9.99586149e-01 -5.83750252e-04 4.53361542e+00] [ 1.83284826e-02 5.65315448e-05 9.99832018e-01 7.83774460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65439141799999 meters Centerline goodness [0,1] 0.9996743024644447 Centerline is valid? [True, True] Translation: X:111.20, Y:4.54, Z:0.78 [[ 9.99520620e-01 -2.57105777e-02 -1.72480741e-02 1.11199361e+02] [ 2.57049180e-02 9.99669423e-01 -5.49783582e-04 4.53685479e+00] [ 1.72565076e-02 1.06159695e-04 9.99851090e-01 7.84681997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68439141799999 meters Centerline goodness [0,1] 0.9997614917606245 Centerline is valid? [True, True] Translation: X:111.23, Y:4.54, Z:0.78 [[ 9.99561132e-01 -2.45516675e-02 -1.65758570e-02 1.11229779e+02] [ 2.45462786e-02 9.99698555e-01 -5.28511673e-04 4.53822557e+00] [ 1.65838361e-02 1.21404123e-04 9.99862471e-01 7.84856091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71439141799999 meters Centerline goodness [0,1] 0.9999350016249594 Centerline is valid? [True, True] Translation: X:111.26, Y:4.54, Z:0.79 [[ 9.99579720e-01 -2.38567268e-02 -1.64693862e-02 1.11260129e+02] [ 2.38513207e-02 9.99715379e-01 -5.24624442e-04 4.53917440e+00] [ 1.64772145e-02 1.31587343e-04 9.99864233e-01 7.85139624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74439141799999 meters Centerline goodness [0,1] 0.9999783037903278 Centerline is valid? [True, True] Translation: X:111.29, Y:4.54, Z:0.79 [[ 9.99590908e-01 -2.33787015e-02 -1.64758052e-02 1.11290656e+02] [ 2.33732348e-02 9.99726671e-01 -5.24307935e-04 4.53854705e+00] [ 1.64835595e-02 1.39000582e-04 9.99864127e-01 7.86126241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.774391418 meters Centerline goodness [0,1] 0.999696733385322 Centerline is valid? [True, True] Translation: X:111.32, Y:4.54, Z:0.79 [[ 9.99570610e-01 -2.39204497e-02 -1.69236042e-02 1.11320879e+02] [ 2.39147594e-02 9.99713856e-01 -5.38558198e-04 4.53657619e+00] [ 1.69316441e-02 1.33603025e-04 9.99856641e-01 7.85788331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.804391418 meters Centerline goodness [0,1] 0.9994802494802495 Centerline is valid? [True, True] Translation: X:111.35, Y:4.54, Z:0.79 [[ 9.99534127e-01 -2.52166834e-02 -1.71944028e-02 1.11350942e+02] [ 2.52110013e-02 9.99682002e-01 -5.47175797e-04 4.53591294e+00] [ 1.72027330e-02 1.13432772e-04 9.99852016e-01 7.86143549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.834391418 meters Centerline goodness [0,1] 0.9998271354177921 Centerline is valid? [True, True] Translation: X:111.38, Y:4.53, Z:0.79 [[ 9.99435076e-01 -2.85241763e-02 -1.77735774e-02 1.11380165e+02] [ 2.85186283e-02 9.99593101e-01 -5.65583397e-04 4.53204280e+00] [ 1.77824781e-02 5.83858391e-05 9.99841878e-01 7.86384432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.864391418 meters Centerline goodness [0,1] 0.9997410109207062 Centerline is valid? [True, True] Translation: X:111.41, Y:4.53, Z:0.78 [[ 9.99361806e-01 -3.09833620e-02 -1.77767438e-02 1.11410837e+02] [ 3.09782047e-02 9.99519900e-01 -5.65478036e-04 4.52947122e+00] [ 1.77857296e-02 1.44255425e-05 9.99841821e-01 7.84832592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.894391418 meters Centerline goodness [0,1] 0.999633533811895 Centerline is valid? [True, True] Translation: X:111.44, Y:4.53, Z:0.78 [[ 9.99274506e-01 -3.34726876e-02 -1.81670510e-02 1.11441480e+02] [ 3.34677188e-02 9.99439632e-01 -5.77547987e-04 4.52578173e+00] [ 1.81762029e-02 -3.08807767e-05 9.99834799e-01 7.84371147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.924391418 meters Centerline goodness [0,1] 0.9993542832544124 Centerline is valid? [True, True] Translation: X:111.47, Y:4.52, Z:0.78 [[ 9.99184420e-01 -3.60653685e-02 -1.81599475e-02 1.11472205e+02] [ 3.60608345e-02 9.99349430e-01 -5.77170398e-04 4.52195187e+00] [ 1.81689490e-02 -7.81631929e-05 9.99834928e-01 7.83884788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95439141799999 meters Centerline goodness [0,1] 0.9993551992434337 Centerline is valid? [True, True] Translation: X:111.50, Y:4.51, Z:0.78 [[ 9.99030343e-01 -4.04156685e-02 -1.74627273e-02 1.11502865e+02] [ 4.04121432e-02 9.99182942e-01 -5.54851717e-04 4.51397310e+00] [ 1.74708839e-02 -1.51392534e-04 9.99847361e-01 7.83658569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98439141799999 meters Centerline goodness [0,1] 0.9992708869445874 Centerline is valid? [True, True] Translation: X:111.53, Y:4.51, Z:0.78 [[ 9.98977910e-01 -4.17929907e-02 -1.72186186e-02 1.11534294e+02] [ 4.17897756e-02 9.99126276e-01 -5.46641316e-04 4.51167328e+00] [ 1.72264201e-02 -1.73479610e-04 9.99851599e-01 7.84306414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01439141799999 meters Centerline goodness [0,1] 0.9989702664435577 Centerline is valid? [True, True] Translation: X:111.57, Y:4.51, Z:0.79 [[ 9.98968340e-01 -4.21448492e-02 -1.69135554e-02 1.11566387e+02] [ 4.21418137e-02 9.99111495e-01 -5.35997593e-04 4.51245686e+00] [ 1.69211171e-02 -1.77323275e-04 9.99856812e-01 7.86472412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04439141799999 meters Centerline goodness [0,1] 0.9993344640288542 Centerline is valid? [True, True] Translation: X:111.60, Y:4.51, Z:0.79 [[ 9.99053108e-01 -4.02723776e-02 -1.64628016e-02 1.11599053e+02] [ 4.02692689e-02 9.99188728e-01 -5.20418882e-04 4.51167444e+00] [ 1.64704043e-02 -1.43018884e-04 9.99864343e-01 7.87062723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07439141799999 meters Centerline goodness [0,1] 0.9992294685473342 Centerline is valid? [True, True] Translation: X:111.63, Y:4.51, Z:0.79 [[ 9.99127777e-01 -3.83229143e-02 -1.65843045e-02 1.11631371e+02] [ 3.83195131e-02 9.99265401e-01 -5.22926118e-04 4.51229614e+00] [ 1.65921617e-02 -1.13032462e-04 9.99862334e-01 7.87007052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10439141799999 meters Centerline goodness [0,1] 0.9989502099580084 Centerline is valid? [True, True] Translation: X:111.66, Y:4.51, Z:0.79 [[ 9.99204436e-01 -3.62578762e-02 -1.66090594e-02 1.11662389e+02] [ 3.62541962e-02 9.99342464e-01 -5.22708739e-04 4.51316312e+00] [ 1.66170907e-02 -7.98552085e-05 9.99861923e-01 7.87019442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13439141799999 meters Centerline goodness [0,1] 0.9991654540785757 Centerline is valid? [True, True] Translation: X:111.69, Y:4.51, Z:0.79 [[ 9.99284223e-01 -3.39523572e-02 -1.66816938e-02 1.11693170e+02] [ 3.39483319e-02 9.99423452e-01 -5.24498317e-04 4.51403238e+00] [ 1.66898839e-02 -4.21927842e-05 9.99860713e-01 7.87133981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.164391418 meters Centerline goodness [0,1] 0.9993158884898239 Centerline is valid? [True, True] Translation: X:111.72, Y:4.51, Z:0.79 [[ 9.99413729e-01 -2.99615667e-02 -1.65681290e-02 1.11723181e+02] [ 2.99570593e-02 9.99551051e-01 -5.20222852e-04 4.51437941e+00] [ 1.65762774e-02 2.35854378e-05 9.99862604e-01 7.86897991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.194391418 meters Centerline goodness [0,1] 0.9994221879815101 Centerline is valid? [True, True] Translation: X:111.75, Y:4.51, Z:0.79 [[ 9.99449806e-01 -2.86436372e-02 -1.67220724e-02 1.11752509e+02] [ 2.86388708e-02 9.99589686e-01 -5.24478390e-04 4.51433130e+00] [ 1.67302341e-02 4.52885534e-05 9.99860039e-01 7.86901621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.224391418 meters Centerline goodness [0,1] 0.9993582201304952 Centerline is valid? [True, True] Translation: X:111.78, Y:4.51, Z:0.79 [[ 9.99467871e-01 -2.79160921e-02 -1.68720380e-02 1.11782584e+02] [ 2.79111364e-02 9.99610268e-01 -5.29173006e-04 4.51379756e+00] [ 1.68802348e-02 5.79736662e-05 9.99857517e-01 7.86793523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.254391418 meters Centerline goodness [0,1] 0.9994447054803297 Centerline is valid? [True, True] Translation: X:111.81, Y:4.51, Z:0.79 [[ 9.99454121e-01 -2.79946054e-02 -1.75431712e-02 1.11811740e+02] [ 2.79892567e-02 9.99608072e-01 -5.50393263e-04 4.51042629e+00] [ 1.75517036e-02 5.90724931e-05 9.99845955e-01 7.85509032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.284391418 meters Centerline goodness [0,1] 0.999423520368947 Centerline is valid? [True, True] Translation: X:111.84, Y:4.51, Z:0.78 [[ 9.99431667e-01 -2.87416537e-02 -1.76141965e-02 1.11841785e+02] [ 2.87363687e-02 9.99586872e-01 -5.53123223e-04 4.50845418e+00] [ 1.76228172e-02 4.66408201e-05 9.99844705e-01 7.84935044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.314391418 meters Centerline goodness [0,1] 0.9992137195316318 Centerline is valid? [True, True] Translation: X:111.87, Y:4.50, Z:0.78 [[ 9.99345447e-01 -3.16894543e-02 -1.74486466e-02 1.11871616e+02] [ 3.16847062e-02 9.99497763e-01 -5.48571898e-04 4.50241859e+00] [ 1.74572672e-02 -4.64241217e-06 9.99847610e-01 7.84194527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34439141799999 meters Centerline goodness [0,1] 0.9989782233859122 Centerline is valid? [True, True] Translation: X:111.90, Y:4.50, Z:0.79 [[ 9.99276668e-01 -3.37518140e-02 -1.75201441e-02 1.11902621e+02] [ 3.37473383e-02 9.99430244e-01 -5.51135887e-04 4.49993837e+00] [ 1.75287637e-02 -4.05209948e-05 9.99846359e-01 7.85331235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37439141799999 meters Centerline goodness [0,1] 0.9992765495669936 Centerline is valid? [True, True] Translation: X:111.93, Y:4.50, Z:0.79 [[ 9.99200672e-01 -3.57908345e-02 -1.78054401e-02 1.11934034e+02] [ 3.57865422e-02 9.99359300e-01 -5.59735526e-04 4.49739729e+00] [ 1.78140656e-02 -7.79070200e-05 9.99841314e-01 7.85780240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40439141799999 meters Centerline goodness [0,1] 0.9990024408362517 Centerline is valid? [True, True] Translation: X:111.96, Y:4.49, Z:0.79 [[ 9.99112972e-01 -3.83479557e-02 -1.73983819e-02 1.11964106e+02] [ 3.83442607e-02 9.99264439e-01 -5.46034263e-04 4.49445771e+00] [ 1.74065236e-02 -1.21578176e-04 9.99848488e-01 7.85789929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43439141799999 meters Centerline goodness [0,1] 0.9990475182559001 Centerline is valid? [True, True] Translation: X:112.00, Y:4.49, Z:0.79 [[ 9.98874862e-01 -4.42610464e-02 -1.70284819e-02 1.11995557e+02] [ 4.42583806e-02 9.99019975e-01 -5.33553664e-04 4.48731035e+00] [ 1.70354092e-02 -2.20699689e-04 9.99854863e-01 7.86941673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46439141799999 meters Centerline goodness [0,1] 0.9990063635018287 Centerline is valid? [True, True] Translation: X:112.03, Y:4.48, Z:0.79 [[ 9.98733660e-01 -4.73957157e-02 -1.68737191e-02 1.12026411e+02] [ 4.73935538e-02 9.98876155e-01 -5.28204993e-04 4.48354965e+00] [ 1.68797903e-02 -2.72169407e-04 9.99857489e-01 7.87618963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49439141799999 meters Centerline goodness [0,1] 0.9991768331293005 Centerline is valid? [True, True] Translation: X:112.06, Y:4.47, Z:0.79 [[ 9.98412910e-01 -5.41814640e-02 -1.53632933e-02 1.12058289e+02] [ 5.41804810e-02 9.98531043e-01 -4.80500815e-04 4.47484939e+00] [ 1.53667595e-02 -3.52652406e-04 9.99881862e-01 7.89228004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.524391418 meters Centerline goodness [0,1] 0.9992199030149694 Centerline is valid? [True, True] Translation: X:112.09, Y:4.47, Z:0.79 [[ 9.98232348e-01 -5.76154397e-02 -1.45822228e-02 1.12090063e+02] [ 5.76149345e-02 9.98338776e-01 -4.55089658e-04 4.47115336e+00] [ 1.45842186e-02 -3.85868594e-04 9.99893570e-01 7.90193652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.554391418 meters Centerline goodness [0,1] 0.999133064089823 Centerline is valid? [True, True] Translation: X:112.12, Y:4.47, Z:0.79 [[ 9.98083711e-01 -6.03319012e-02 -1.37465777e-02 1.12122509e+02] [ 6.03317275e-02 9.98178291e-01 -4.27704166e-04 4.47021107e+00] [ 1.37473396e-02 -4.02470219e-04 9.99905420e-01 7.91421968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.584391418 meters Centerline goodness [0,1] 0.9991547093256694 Centerline is valid? [True, True] Translation: X:112.15, Y:4.47, Z:0.79 [[ 9.97940322e-01 -6.27578792e-02 -1.32876945e-02 1.12154419e+02] [ 6.27579447e-02 9.98028692e-01 -4.12455451e-04 4.46732926e+00] [ 1.32873852e-02 -4.22302470e-04 9.99911630e-01 7.91482740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.614391418 meters Centerline goodness [0,1] 0.9986921762608898 Centerline is valid? [True, True] Translation: X:112.19, Y:4.46, Z:0.79 [[ 9.97681048e-01 -6.67343379e-02 -1.33811504e-02 1.12185276e+02] [ 6.67347698e-02 9.97770664e-01 -4.14731823e-04 4.46232325e+00] [ 1.33789962e-02 -4.79217914e-04 9.99910382e-01 7.90681887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.644391418 meters Centerline goodness [0,1] 0.9985235805281364 Centerline is valid? [True, True] Translation: X:112.22, Y:4.46, Z:0.79 [[ 9.97588180e-01 -6.80545311e-02 -1.36529757e-02 1.12217650e+02] [ 6.80551124e-02 9.97681474e-01 -4.22558140e-04 4.46035998e+00] [ 1.36500779e-02 -5.07615788e-04 9.99906704e-01 7.90418386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.674391418 meters Centerline goodness [0,1] 0.9988620079237966 Centerline is valid? [True, True] Translation: X:112.25, Y:4.46, Z:0.79 [[ 9.97473656e-01 -6.96339810e-02 -1.40504264e-02 1.12250211e+02] [ 6.96347694e-02 9.97572459e-01 -4.33698128e-04 4.45823548e+00] [ 1.40465185e-02 -5.45795743e-04 9.99901194e-01 7.90728469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70439141799999 meters Centerline goodness [0,1] 0.9988856884553119 Centerline is valid? [True, True] Translation: X:112.28, Y:4.46, Z:0.79 [[ 9.97460140e-01 -6.98018346e-02 -1.41764627e-02 1.12280997e+02] [ 6.98026688e-02 9.97560723e-01 -4.36552960e-04 4.45713931e+00] [ 1.41723545e-02 -5.54110752e-04 9.99899414e-01 7.90952543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73439141799999 meters Centerline goodness [0,1] 0.998779101587168 Centerline is valid? [True, True] Translation: X:112.31, Y:4.46, Z:0.79 [[ 9.97453157e-01 -6.99146303e-02 -1.41118709e-02 1.12312690e+02] [ 6.99154820e-02 9.97552824e-01 -4.33585354e-04 4.46076876e+00] [ 1.41076507e-02 -5.54157179e-04 9.99900329e-01 7.91830286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76439141799999 meters Centerline goodness [0,1] 0.9989038092628117 Centerline is valid? [True, True] Translation: X:112.34, Y:4.46, Z:0.79 [[ 9.97495043e-01 -6.93368744e-02 -1.40013317e-02 1.12344090e+02] [ 6.93376770e-02 9.97593155e-01 -4.28689759e-04 4.45771799e+00] [ 1.39973567e-02 -5.43203908e-04 9.99901885e-01 7.92110563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79439141799999 meters Centerline goodness [0,1] 0.9991149323555443 Centerline is valid? [True, True] Translation: X:112.38, Y:4.46, Z:0.79 [[ 9.97525013e-01 -6.87936747e-02 -1.45354231e-02 1.12375719e+02] [ 6.87945076e-02 9.97630753e-01 -4.43283327e-04 4.46106367e+00] [ 1.45314802e-02 -5.57771069e-04 9.99894257e-01 7.92481577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82439141799999 meters Centerline goodness [0,1] 0.998882917061861 Centerline is valid? [True, True] Translation: X:112.41, Y:4.46, Z:0.79 [[ 9.97563987e-01 -6.81557125e-02 -1.48624017e-02 1.12407512e+02] [ 6.81565308e-02 9.97674538e-01 -4.52036276e-04 4.46266635e+00] [ 1.48586486e-02 -5.62034628e-04 9.99889446e-01 7.92072083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85439141799999 meters Centerline goodness [0,1] 0.9989872135713381 Centerline is valid? [True, True] Translation: X:112.44, Y:4.46, Z:0.79 [[ 9.97574667e-01 -6.79165160e-02 -1.52358659e-02 1.12439148e+02] [ 6.79173651e-02 9.97690843e-01 -4.62279464e-04 4.46303229e+00] [ 1.52320803e-02 -5.73621584e-04 9.99883821e-01 7.91251536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88439141799999 meters Centerline goodness [0,1] 0.9988398827226898 Centerline is valid? [True, True] Translation: X:112.47, Y:4.46, Z:0.79 [[ 9.97613199e-01 -6.72391240e-02 -1.57100670e-02 1.12471189e+02] [ 6.72399605e-02 9.97736720e-01 -4.75553370e-04 4.46398527e+00] [ 1.57064865e-02 -5.81925964e-04 9.99876476e-01 7.90371305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.914391418 meters Centerline goodness [0,1] 0.9989050095811661 Centerline is valid? [True, True] Translation: X:112.50, Y:4.46, Z:0.79 [[ 9.97654755e-01 -6.65616190e-02 -1.59543231e-02 1.12502215e+02] [ 6.65624228e-02 9.97782147e-01 -4.81214053e-04 4.46467739e+00] [ 1.59509691e-02 -5.81872912e-04 9.99872606e-01 7.90326266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.944391418 meters Centerline goodness [0,1] 0.9991787917710724 Centerline is valid? [True, True] Translation: X:112.53, Y:4.47, Z:0.79 [[ 9.97752793e-01 -6.48415321e-02 -1.68801730e-02 1.12534264e+02] [ 6.48422187e-02 9.97895400e-01 -5.07210894e-04 4.46881124e+00] [ 1.68775354e-02 -5.88476785e-04 9.99857391e-01 7.90533484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.974391418 meters Centerline goodness [0,1] 0.99881995954147 Centerline is valid? [True, True] Translation: X:112.57, Y:4.47, Z:0.79 [[ 9.97831685e-01 -6.35946404e-02 -1.69602661e-02 1.12566774e+02] [ 6.35951774e-02 9.97975649e-01 -5.08217893e-04 4.47240460e+00] [ 1.69582525e-02 -5.71475217e-04 9.99856035e-01 7.91156366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.004391418 meters Centerline goodness [0,1] 0.99898796095216 Centerline is valid? [True, True] Translation: X:112.60, Y:4.47, Z:0.79 [[ 9.97929155e-01 -6.20071330e-02 -1.71031302e-02 1.12598945e+02] [ 6.20074705e-02 9.98075554e-01 -5.11076951e-04 4.47498655e+00] [ 1.71019065e-02 -5.50503248e-04 9.99853600e-01 7.92063270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.034391418 meters Centerline goodness [0,1] 0.9991999157806085 Centerline is valid? [True, True] Translation: X:112.63, Y:4.48, Z:0.79 [[ 9.98033535e-01 -6.03127511e-02 -1.70714672e-02 1.12630810e+02] [ 6.03128638e-02 9.98179393e-01 -5.08723855e-04 4.47797931e+00] [ 1.70710693e-02 -5.21905609e-04 9.99854142e-01 7.93176823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.064391418 meters Centerline goodness [0,1] 0.9988403230227507 Centerline is valid? [True, True] Translation: X:112.66, Y:4.48, Z:0.79 [[ 9.98252144e-01 -5.70165498e-02 -1.55489553e-02 1.12661435e+02] [ 5.70162579e-02 9.98373143e-01 -4.62427468e-04 4.47899915e+00] [ 1.55500254e-02 -4.24924036e-04 9.99879001e-01 7.94178257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09439141799999 meters Centerline goodness [0,1] 0.9989695707946923 Centerline is valid? [True, True] Translation: X:112.69, Y:4.48, Z:0.80 [[ 9.98335933e-01 -5.57197846e-02 -1.48549732e-02 1.12692620e+02] [ 5.57193833e-02 9.98446371e-01 -4.41209603e-04 4.48180776e+00] [ 1.48564781e-02 -3.87234543e-04 9.99889561e-01 7.95694839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12439141799999 meters Centerline goodness [0,1] 0.9988863908557981 Centerline is valid? [True, True] Translation: X:112.73, Y:4.49, Z:0.80 [[ 9.98400942e-01 -5.46586750e-02 -1.44217869e-02 1.12725016e+02] [ 5.46581977e-02 9.98505032e-01 -4.27544382e-04 4.48535915e+00] [ 1.44235958e-02 -3.61408167e-04 9.99895909e-01 7.96942517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15439141799999 meters Centerline goodness [0,1] 0.9989253655864132 Centerline is valid? [True, True] Translation: X:112.76, Y:4.49, Z:0.80 [[ 9.98446904e-01 -5.39755967e-02 -1.37990905e-02 1.12756981e+02] [ 5.39751095e-02 9.98542198e-01 -4.07993418e-04 4.48756203e+00] [ 1.38009959e-02 -3.37447658e-04 9.99904705e-01 7.97700674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18439141799999 meters Centerline goodness [0,1] 0.9987779697442164 Centerline is valid? [True, True] Translation: X:112.79, Y:4.49, Z:0.80 [[ 9.98463192e-01 -5.36235771e-02 -1.39916513e-02 1.12787841e+02] [ 5.36230563e-02 9.98561164e-01 -4.12647816e-04 4.48869725e+00] [ 1.39936472e-02 -3.38261449e-04 9.99902027e-01 7.97634417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21439141799999 meters Centerline goodness [0,1] 0.9990094627916289 Centerline is valid? [True, True] Translation: X:112.82, Y:4.49, Z:0.80 [[ 9.98484476e-01 -5.31463149e-02 -1.42905913e-02 1.12819870e+02] [ 5.31457371e-02 9.98586678e-01 -4.20458107e-04 4.49049187e+00] [ 1.42927399e-02 -3.39663114e-04 9.99897796e-01 7.97433715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24439141799999 meters Centerline goodness [0,1] 0.9990737037115008 Centerline is valid? [True, True] Translation: X:112.85, Y:4.49, Z:0.80 [[ 9.98517577e-01 -5.24234483e-02 -1.46434760e-02 1.12851956e+02] [ 5.24227819e-02 9.98624888e-01 -4.29616895e-04 4.49187562e+00] [ 1.46458616e-02 -3.38671728e-04 9.99892686e-01 7.97291127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.274391418 meters Centerline goodness [0,1] 0.9987557467628326 Centerline is valid? [True, True] Translation: X:112.88, Y:4.49, Z:0.80 [[ 9.98624073e-01 -5.00775506e-02 -1.55627758e-02 1.12883068e+02] [ 5.00765315e-02 9.98745280e-01 -4.55410459e-04 4.49360738e+00] [ 1.55660547e-02 -3.24545987e-04 9.99878789e-01 7.96478199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.304391418 meters Centerline goodness [0,1] 0.9991366603495473 Centerline is valid? [True, True] Translation: X:112.92, Y:4.50, Z:0.80 [[ 9.98694528e-01 -4.85451091e-02 -1.58937645e-02 1.12915165e+02] [ 4.85438703e-02 9.98820944e-01 -4.63961168e-04 4.49577494e+00] [ 1.58975479e-02 -3.08189363e-04 9.99873579e-01 7.96752851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.334391418 meters Centerline goodness [0,1] 0.9991142977646562 Centerline is valid? [True, True] Translation: X:112.95, Y:4.50, Z:0.80 [[ 9.98843594e-01 -4.54473859e-02 -1.56847180e-02 1.12946226e+02] [ 4.54458130e-02 9.98966701e-01 -4.56881318e-04 4.49991179e+00] [ 1.56892751e-02 -2.56451785e-04 9.99876883e-01 7.98303524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.364391418 meters Centerline goodness [0,1] 0.9992434431741762 Centerline is valid? [True, True] Translation: X:112.98, Y:4.50, Z:0.80 [[ 9.98917535e-01 -4.39593758e-02 -1.52095912e-02 1.12977613e+02] [ 4.39577357e-02 9.99033294e-01 -4.42289267e-04 4.50112517e+00] [ 1.52143307e-02 -2.26768685e-04 9.99884230e-01 7.99046624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.394391418 meters Centerline goodness [0,1] 0.9992434431741762 Centerline is valid? [True, True] Translation: X:113.01, Y:4.50, Z:0.80 [[ 9.98919281e-01 -4.39196665e-02 -1.52096140e-02 1.13008450e+02] [ 4.39180338e-02 9.99035040e-01 -4.41502541e-04 4.50198214e+00] [ 1.52143280e-02 -2.26950942e-04 9.99884230e-01 7.99307768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.424391418 meters Centerline goodness [0,1] 0.9988412270352267 Centerline is valid? [True, True] Translation: X:113.04, Y:4.50, Z:0.80 [[ 9.98980083e-01 -4.27618926e-02 -1.44987931e-02 1.13039553e+02] [ 4.27602952e-02 9.99085272e-01 -4.20300041e-04 4.50394381e+00] [ 1.45035035e-02 -2.00101305e-04 9.99894799e-01 8.00296362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45439141799999 meters Centerline goodness [0,1] 0.998800934009298 Centerline is valid? [True, True] Translation: X:113.07, Y:4.50, Z:0.80 [[ 9.99051374e-01 -4.11594878e-02 -1.42214012e-02 1.13071069e+02] [ 4.11577985e-02 9.99152574e-01 -4.11563967e-04 4.50415887e+00] [ 1.42262894e-02 -1.74148019e-04 9.99898786e-01 8.00178525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48439141799999 meters Centerline goodness [0,1] 0.9990943936649678 Centerline is valid? [True, True] Translation: X:113.10, Y:4.50, Z:0.80 [[ 9.99031089e-01 -4.11014630e-02 -1.57338457e-02 1.13102870e+02] [ 4.10994066e-02 9.99154959e-01 -4.54156463e-04 4.50418225e+00] [ 1.57392164e-02 -1.92935295e-04 9.99876112e-01 7.98763268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51439141799999 meters Centerline goodness [0,1] 0.9990316197212749 Centerline is valid? [True, True] Translation: X:113.13, Y:4.50, Z:0.80 [[ 9.98998397e-01 -4.16382449e-02 -1.63847428e-02 1.13134197e+02] [ 4.16361163e-02 9.99132730e-01 -4.71163003e-04 4.50362202e+00] [ 1.63901512e-02 -2.11505970e-04 9.99865650e-01 7.97511507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54439141799999 meters Centerline goodness [0,1] 0.9990316197212749 Centerline is valid? [True, True] Translation: X:113.17, Y:4.50, Z:0.80 [[ 9.99000051e-01 -4.15985124e-02 -1.63847840e-02 1.13165033e+02] [ 4.15964020e-02 9.99134385e-01 -4.69724765e-04 4.50446757e+00] [ 1.63901410e-02 -2.12292999e-04 9.99865650e-01 7.97772490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57439141799999 meters Centerline goodness [0,1] 0.9989900477623246 Centerline is valid? [True, True] Translation: X:113.20, Y:4.50, Z:0.80 [[ 9.98865248e-01 -4.41018885e-02 -1.79788902e-02 1.13196136e+02] [ 4.40997663e-02 9.99026999e-01 -5.14678233e-04 4.50249057e+00] [ 1.79840950e-02 -2.78770657e-04 9.99838234e-01 7.96431219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60439141799999 meters Centerline goodness [0,1] 0.9990746971736204 Centerline is valid? [True, True] Translation: X:113.23, Y:4.50, Z:0.80 [[ 9.98760724e-01 -4.62614797e-02 -1.83546142e-02 1.13227231e+02] [ 4.62596460e-02 9.98929312e-01 -5.24692443e-04 4.50148789e+00] [ 1.83592352e-02 -3.25035754e-04 9.99831402e-01 7.96446260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63439141799999 meters Centerline goodness [0,1] 0.9992852938703439 Centerline is valid? [True, True] Translation: X:113.26, Y:4.50, Z:0.80 [[ 9.98647732e-01 -4.86487370e-02 -1.83305285e-02 1.13258911e+02] [ 4.86473236e-02 9.98815881e-01 -5.23268000e-04 4.49943156e+00] [ 1.83342793e-02 -3.69170749e-04 9.99831845e-01 7.96598106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.664391418 meters Centerline goodness [0,1] 0.9990942028985508 Centerline is valid? [True, True] Translation: X:113.29, Y:4.49, Z:0.80 [[ 9.98351601e-01 -5.42221781e-02 -1.88158625e-02 1.13289407e+02] [ 5.42216882e-02 9.98528778e-01 -5.36569393e-04 4.49473717e+00] [ 1.88172742e-02 -4.84542917e-04 9.99822822e-01 7.96543885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.694391418 meters Centerline goodness [0,1] 0.9991360782165283 Centerline is valid? [True, True] Translation: X:113.32, Y:4.49, Z:0.80 [[ 9.98190214e-01 -5.69235618e-02 -1.93908615e-02 1.13320409e+02] [ 5.69235584e-02 9.98378387e-01 -5.52573478e-04 4.49431785e+00] [ 1.93908715e-02 -5.52223401e-04 9.99811827e-01 7.97139960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.724391418 meters Centerline goodness [0,1] 0.9990312934338542 Centerline is valid? [True, True] Translation: X:113.35, Y:4.49, Z:0.80 [[ 9.98016700e-01 -5.98364638e-02 -1.95516005e-02 1.13350462e+02] [ 5.98370220e-02 9.98208005e-01 -5.56982004e-04 4.49191658e+00] [ 1.95498919e-02 -6.14032206e-04 9.99808694e-01 7.96683123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.754391418 meters Centerline goodness [0,1] 0.9990732940185342 Centerline is valid? [True, True] Translation: X:113.38, Y:4.49, Z:0.80 [[ 9.97748559e-01 -6.41365469e-02 -1.96039698e-02 1.13381205e+02] [ 6.41379460e-02 9.97940886e-01 -5.58010881e-04 4.48998942e+00] [ 1.95993919e-02 -7.00603806e-04 9.99807668e-01 7.97146202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.784391418 meters Centerline goodness [0,1] 0.9990322919953718 Centerline is valid? [True, True] Translation: X:113.41, Y:4.49, Z:0.80 [[ 9.97615852e-01 -6.63138619e-02 -1.91071852e-02 1.13411006e+02] [ 6.63155962e-02 9.97798550e-01 -5.43527343e-04 4.48913217e+00] [ 1.91011651e-02 -7.24872887e-04 9.99817293e-01 7.97905407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.814391418 meters Centerline goodness [0,1] 0.9988851258966323 Centerline is valid? [True, True] Translation: X:113.44, Y:4.49, Z:0.80 [[ 9.97431440e-01 -6.91662926e-02 -1.86157425e-02 1.13442426e+02] [ 6.91684419e-02 9.97604855e-01 -5.29156189e-04 4.48690342e+00] [ 1.86077549e-02 -7.59824884e-04 9.99826572e-01 7.97538061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84439141799999 meters Centerline goodness [0,1] 0.9988229359340844 Centerline is valid? [True, True] Translation: X:113.47, Y:4.49, Z:0.80 [[ 9.97314628e-01 -7.10494272e-02 -1.77626616e-02 1.13473280e+02] [ 7.10516939e-02 9.97472507e-01 -5.04236940e-04 4.48585665e+00] [ 1.77535924e-02 -7.59184320e-04 9.99842104e-01 7.97827204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87439141799999 meters Centerline goodness [0,1] 0.9988681855337344 Centerline is valid? [True, True] Translation: X:113.50, Y:4.49, Z:0.80 [[ 9.97307206e-01 -7.12082258e-02 -1.75420896e-02 1.13504922e+02] [ 7.12104793e-02 9.97461188e-01 -4.96931460e-04 4.49080454e+00] [ 1.75329391e-02 -7.53587284e-04 9.99846002e-01 7.99262158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90439141799999 meters Centerline goodness [0,1] 0.9988681855337344 Centerline is valid? [True, True] Translation: X:113.54, Y:4.49, Z:0.80 [[ 9.97312858e-01 -7.11290098e-02 -1.75421290e-02 1.13536631e+02] [ 7.11312756e-02 9.97466840e-01 -4.95538311e-04 4.49162202e+00] [ 1.75329391e-02 -7.53587283e-04 9.99846002e-01 7.99530648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93439141799999 meters Centerline goodness [0,1] 0.9987398399596749 Centerline is valid? [True, True] Translation: X:113.57, Y:4.49, Z:0.80 [[ 9.97313598e-01 -7.11740409e-02 -1.73159871e-02 1.13568582e+02] [ 7.11762790e-02 9.97463633e-01 -4.87787107e-04 4.49334302e+00] [ 1.73067852e-02 -7.46010816e-04 9.99849948e-01 7.99825795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96439141799999 meters Centerline goodness [0,1] 0.9987386743467385 Centerline is valid? [True, True] Translation: X:113.60, Y:4.49, Z:0.80 [[ 9.97322681e-01 -7.09596315e-02 -1.76691758e-02 1.13599999e+02] [ 7.09619499e-02 9.97478900e-01 -4.96512634e-04 4.49172012e+00] [ 1.76598624e-02 -7.58655858e-04 9.99843765e-01 7.99546041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99439141799999 meters Centerline goodness [0,1] 0.9986281999873372 Centerline is valid? [True, True] Translation: X:113.63, Y:4.50, Z:0.80 [[ 9.97410300e-01 -6.98271943e-02 -1.72294985e-02 1.13631563e+02] [ 6.98292508e-02 9.97558842e-01 -4.82949896e-04 4.50269685e+00] [ 1.72211616e-02 -7.21423773e-04 9.99851445e-01 8.02109970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.024391418 meters Centerline goodness [0,1] 0.9988813609405011 Centerline is valid? [True, True] Translation: X:113.66, Y:4.50, Z:0.80 [[ 9.97484142e-01 -6.87750424e-02 -1.71866182e-02 1.13662924e+02] [ 6.87769540e-02 9.97631946e-01 -4.80517355e-04 4.49713478e+00] [ 1.71789669e-02 -7.02734804e-04 9.99852184e-01 8.00750965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.054391418 meters Centerline goodness [0,1] 0.9988205063397784 Centerline is valid? [True, True] Translation: X:113.69, Y:4.50, Z:0.80 [[ 9.97562192e-01 -6.76628378e-02 -1.70708083e-02 1.13694588e+02] [ 6.76645815e-02 9.97708012e-01 -4.76088831e-04 4.50410061e+00] [ 1.70638957e-02 -6.80160880e-04 9.99854170e-01 8.02056226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.084391418 meters Centerline goodness [0,1] 0.998901841527285 Centerline is valid? [True, True] Translation: X:113.73, Y:4.51, Z:0.80 [[ 9.97629596e-01 -6.66437038e-02 -1.71407569e-02 1.13726591e+02] [ 6.66453349e-02 9.97776614e-01 -4.76673688e-04 4.50893945e+00] [ 1.71344137e-02 -6.66807708e-04 9.99852973e-01 8.02932123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.114391418 meters Centerline goodness [0,1] 0.9987525372124493 Centerline is valid? [True, True] Translation: X:113.76, Y:4.52, Z:0.80 [[ 9.97755961e-01 -6.43466148e-02 -1.85082655e-02 1.13758181e+02] [ 6.43481512e-02 9.97927378e-01 -5.13129999e-04 4.51704617e+00] [ 1.85029230e-02 -6.78994149e-04 9.99828576e-01 8.03298386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.144391418 meters Centerline goodness [0,1] 0.9987302124777787 Centerline is valid? [True, True] Translation: X:113.79, Y:4.52, Z:0.80 [[ 9.97817929e-01 -6.31270817e-02 -1.93481560e-02 1.13788990e+02] [ 6.31285592e-02 9.98005260e-01 -5.35003480e-04 4.51896855e+00] [ 1.93433347e-02 -6.87585147e-04 9.99812664e-01 8.02332549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.174391418 meters Centerline goodness [0,1] 0.9991310429603882 Centerline is valid? [True, True] Translation: X:113.82, Y:4.53, Z:0.80 [[ 9.97961031e-01 -6.02848449e-02 -2.09646759e-02 1.13819866e+02] [ 6.02859760e-02 9.98180979e-01 -5.78622668e-04 4.52568069e+00] [ 2.09614229e-02 -6.86433073e-04 9.99780050e-01 8.01352513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20439141799999 meters Centerline goodness [0,1] 0.9987937018538898 Centerline is valid? [True, True] Translation: X:113.85, Y:4.53, Z:0.80 [[ 9.98018116e-01 -5.91287730e-02 -2.15320400e-02 1.13852302e+02] [ 5.91297282e-02 9.98250131e-01 -5.92861535e-04 4.52818880e+00] [ 2.15294169e-02 -6.81497120e-04 9.99767983e-01 8.00849506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23439141799999 meters Centerline goodness [0,1] 0.9990033715727645 Centerline is valid? [True, True] Translation: X:113.88, Y:4.53, Z:0.80 [[ 9.98085066e-01 -5.78969929e-02 -2.17747328e-02 1.13884820e+02] [ 5.78977155e-02 9.98322341e-01 -5.97769196e-04 4.53049074e+00] [ 2.17728113e-02 -6.64082780e-04 9.99762724e-01 8.00913968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26439141799999 meters Centerline goodness [0,1] 0.9988543788187373 Centerline is valid? [True, True] Translation: X:113.92, Y:4.54, Z:0.80 [[ 9.98217866e-01 -5.57047644e-02 -2.14025856e-02 1.13916423e+02] [ 5.57049902e-02 9.98447100e-01 -5.86097930e-04 4.53587886e+00] [ 2.14019980e-02 -6.07177396e-04 9.99770767e-01 8.02492322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29439141799999 meters Centerline goodness [0,1] 0.9989814755872429 Centerline is valid? [True, True] Translation: X:113.95, Y:4.54, Z:0.80 [[ 9.98288356e-01 -5.45632602e-02 -2.10525402e-02 1.13947171e+02] [ 5.45632461e-02 9.98510151e-01 -5.75509394e-04 4.53861101e+00] [ 2.10525768e-02 -5.74170607e-04 9.99778205e-01 8.03668480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32439141799999 meters Centerline goodness [0,1] 0.9990007228813199 Centerline is valid? [True, True] Translation: X:113.98, Y:4.55, Z:0.81 [[ 9.98430189e-01 -5.22594368e-02 -2.01521505e-02 1.13978578e+02] [ 5.22589706e-02 9.98633415e-01 -5.50113102e-04 4.54521338e+00] [ 2.01533595e-02 -5.03881112e-04 9.99796773e-01 8.06320542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35439141799999 meters Centerline goodness [0,1] 0.9990012325215691 Centerline is valid? [True, True] Translation: X:114.01, Y:4.55, Z:0.81 [[ 9.98496518e-01 -5.11163057e-02 -1.97946395e-02 1.14010502e+02] [ 5.11156555e-02 9.98692595e-01 -5.39133068e-04 4.54770349e+00] [ 1.97963184e-02 -4.73493482e-04 9.99803922e-01 8.07003538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38439141799999 meters Centerline goodness [0,1] 0.998637950114923 Centerline is valid? [True, True] Translation: X:114.04, Y:4.55, Z:0.81 [[ 9.98544589e-01 -5.02144696e-02 -1.96776851e-02 1.14042830e+02] [ 5.02136825e-02 9.98738354e-01 -5.34403551e-04 4.54980556e+00] [ 1.96796936e-02 -4.54463255e-04 9.99806233e-01 8.07424538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.414391418 meters Centerline goodness [0,1] 0.9989373233300036 Centerline is valid? [True, True] Translation: X:114.07, Y:4.55, Z:0.81 [[ 9.98608554e-01 -4.90674592e-02 -1.93220232e-02 1.14073992e+02] [ 4.90665105e-02 9.98795376e-01 -5.23456781e-04 4.55219982e+00] [ 1.93244321e-02 -4.25335833e-04 9.99813175e-01 8.07862072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.444391418 meters Centerline goodness [0,1] 0.9989373233300036 Centerline is valid? [True, True] Translation: X:114.10, Y:4.55, Z:0.81 [[ 9.98610431e-01 -4.90292326e-02 -1.93220478e-02 1.14104836e+02] [ 4.90282943e-02 9.98797253e-01 -5.22546765e-04 4.55299431e+00] [ 1.93244283e-02 -4.25506396e-04 9.99813175e-01 8.08123258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.474391418 meters Centerline goodness [0,1] 0.9988702491846609 Centerline is valid? [True, True] Translation: X:114.14, Y:4.56, Z:0.81 [[ 9.98597349e-01 -4.90321724e-02 -1.99795011e-02 1.14135667e+02] [ 4.90311898e-02 9.98797102e-01 -5.39332365e-04 4.55506448e+00] [ 1.99819124e-02 -4.41042838e-04 9.99800244e-01 8.08476778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.504391418 meters Centerline goodness [0,1] 0.9988955908588905 Centerline is valid? [True, True] Translation: X:114.17, Y:4.56, Z:0.81 [[ 9.98554890e-01 -4.96045130e-02 -2.06766553e-02 1.14166910e+02] [ 4.96036032e-02 9.98768828e-01 -5.57188240e-04 4.55604595e+00] [ 2.06788379e-02 -4.69253565e-04 9.99786060e-01 8.08427883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.534391418 meters Centerline goodness [0,1] 0.9989567587131938 Centerline is valid? [True, True] Translation: X:114.20, Y:4.56, Z:0.81 [[ 9.98469319e-01 -5.10036363e-02 -2.13926936e-02 1.14197580e+02] [ 5.10029957e-02 9.98698334e-01 -5.75910206e-04 4.55616607e+00] [ 2.13942210e-02 -5.16062787e-04 9.99770984e-01 8.08027261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.564391418 meters Centerline goodness [0,1] 0.9994891116929562 Centerline is valid? [True, True] Translation: X:114.23, Y:4.56, Z:0.81 [[ 9.98458664e-01 -5.11219261e-02 -2.16065899e-02 1.14228858e+02] [ 5.11213142e-02 9.98692282e-01 -5.81020208e-04 4.55668404e+00] [ 2.16080375e-02 -5.24432612e-04 9.99766382e-01 8.08058748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59439141799999 meters Centerline goodness [0,1] 0.9991054694155733 Centerline is valid? [True, True] Translation: X:114.26, Y:4.56, Z:0.81 [[ 9.98473433e-01 -5.06558521e-02 -2.20179114e-02 1.14258710e+02] [ 5.06551162e-02 9.98716030e-01 -5.91510998e-04 4.55736611e+00] [ 2.20196046e-02 -5.24711843e-04 9.99757401e-01 8.07370981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62439141799999 meters Centerline goodness [0,1] 0.9989786147462496 Centerline is valid? [True, True] Translation: X:114.29, Y:4.56, Z:0.81 [[ 9.98520849e-01 -4.96357212e-02 -2.21902864e-02 1.14289788e+02] [ 4.96347365e-02 9.98767259e-01 -5.95487552e-04 4.55942891e+00] [ 2.21924889e-02 -5.06802279e-04 9.99753588e-01 8.07635877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65439141799999 meters Centerline goodness [0,1] 0.999191712930466 Centerline is valid? [True, True] Translation: X:114.32, Y:4.57, Z:0.81 [[ 9.98585939e-01 -4.81103524e-02 -2.26167157e-02 1.14320718e+02] [ 4.81089584e-02 9.98841910e-01 -6.06050537e-04 4.56629657e+00] [ 2.26196808e-02 -4.82873092e-04 9.99744026e-01 8.10480668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68439141799999 meters Centerline goodness [0,1] 0.9993612400459907 Centerline is valid? [True, True] Translation: X:114.35, Y:4.57, Z:0.81 [[ 9.98672331e-01 -4.65116717e-02 -2.21413472e-02 1.14351593e+02] [ 4.65099623e-02 9.98917650e-01 -5.92435517e-04 4.56520098e+00] [ 2.21449377e-02 -4.38144264e-04 9.99754675e-01 8.08317287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71439141799999 meters Centerline goodness [0,1] 0.9989349011588275 Centerline is valid? [True, True] Translation: X:114.38, Y:4.57, Z:0.81 [[ 9.98755149e-01 -4.46784605e-02 -2.21808010e-02 1.14382330e+02] [ 4.46763114e-02 9.99001339e-01 -5.92667363e-04 4.56814559e+00] [ 2.21851294e-02 -3.99026795e-04 9.99753800e-01 8.08423730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74439141799999 meters Centerline goodness [0,1] 0.9991686916485484 Centerline is valid? [True, True] Translation: X:114.41, Y:4.58, Z:0.81 [[ 9.98920773e-01 -4.10100707e-02 -2.18051283e-02 1.14413737e+02] [ 4.10071380e-02 9.99158684e-01 -5.81803556e-04 4.57562890e+00] [ 2.18106431e-02 -3.12990246e-04 9.99762071e-01 8.10873581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.774391418 meters Centerline goodness [0,1] 0.999189056531296 Centerline is valid? [True, True] Translation: X:114.44, Y:4.58, Z:0.81 [[ 9.98969880e-01 -3.98630119e-02 -2.16822459e-02 1.14443762e+02] [ 3.98598493e-02 9.99205113e-01 -5.78189878e-04 4.57792641e+00] [ 2.16880593e-02 -2.86656779e-04 9.99764745e-01 8.11642796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.804391418 meters Centerline goodness [0,1] 0.9994874861194157 Centerline is valid? [True, True] Translation: X:114.47, Y:4.58, Z:0.81 [[ 9.99006998e-01 -3.90669768e-02 -2.14193438e-02 1.14473100e+02] [ 3.90637019e-02 9.99236559e-01 -5.71441568e-04 4.57856325e+00] [ 2.14253159e-02 -2.65844735e-04 9.99770416e-01 8.11629941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.834391418 meters Centerline goodness [0,1] 0.9995093019286567 Centerline is valid? [True, True] Translation: X:114.50, Y:4.58, Z:0.81 [[ 9.98994813e-01 -3.94229678e-02 -2.13352806e-02 1.14504077e+02] [ 3.94197961e-02 9.99222576e-01 -5.69369659e-04 4.57889988e+00] [ 2.13411402e-02 -2.72235073e-04 9.99772215e-01 8.12245041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.864391418 meters Centerline goodness [0,1] 0.9992982456140351 Centerline is valid? [True, True] Translation: X:114.53, Y:4.58, Z:0.81 [[ 9.98961269e-01 -4.01501524e-02 -2.15487492e-02 1.14533984e+02] [ 4.01471145e-02 9.99193615e-01 -5.73742987e-04 4.57797220e+00] [ 2.15544085e-02 -2.91973081e-04 9.99767634e-01 8.11671036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.894391418 meters Centerline goodness [0,1] 0.9992745428553139 Centerline is valid? [True, True] Translation: X:114.57, Y:4.58, Z:0.81 [[ 9.98834706e-01 -4.30146844e-02 -2.18853369e-02 1.14565181e+02] [ 4.30122692e-02 9.99074375e-01 -5.81286852e-04 4.57733103e+00] [ 2.18900832e-02 -3.60728522e-04 9.99760318e-01 8.13111832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.924391418 meters Centerline goodness [0,1] 0.9994037478705281 Centerline is valid? [True, True] Translation: X:114.60, Y:4.58, Z:0.81 [[ 9.98757546e-01 -4.47622596e-02 -2.19021435e-02 1.14595805e+02] [ 4.47602683e-02 9.98997588e-01 -5.81387180e-04 4.57660790e+00] [ 2.19062127e-02 -3.99680987e-04 9.99759950e-01 8.13610745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95439141799999 meters Centerline goodness [0,1] 0.9993205079203296 Centerline is valid? [True, True] Translation: X:114.63, Y:4.57, Z:0.81 [[ 9.98664999e-01 -4.69124370e-02 -2.16204529e-02 1.14625694e+02] [ 4.69110290e-02 9.98898908e-01 -5.72577010e-04 4.57435844e+00] [ 2.16235077e-02 -4.42425073e-04 9.99766087e-01 8.13372736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98439141799999 meters Centerline goodness [0,1] 0.9994462547654037 Centerline is valid? [True, True] Translation: X:114.66, Y:4.57, Z:0.81 [[ 9.98552597e-01 -4.94137435e-02 -2.12365843e-02 1.14656958e+02] [ 4.94129792e-02 9.98778275e-01 -5.61053596e-04 4.57342643e+00] [ 2.12383628e-02 -4.89121374e-04 9.99774321e-01 8.14112504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01439141799999 meters Centerline goodness [0,1] 0.9989780058338834 Centerline is valid? [True, True] Translation: X:114.69, Y:4.57, Z:0.81 [[ 9.98280208e-01 -5.45245734e-02 -2.15336197e-02 1.14687930e+02] [ 5.45249884e-02 9.98512245e-01 -5.68292322e-04 4.56945045e+00] [ 2.15325688e-02 -6.06805385e-04 9.99767963e-01 8.13235918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04439141799999 meters Centerline goodness [0,1] 0.9989843634286197 Centerline is valid? [True, True] Translation: X:114.72, Y:4.57, Z:0.81 [[ 9.98155789e-01 -5.66352408e-02 -2.18510799e-02 1.14718908e+02] [ 5.66361947e-02 9.98394717e-01 -5.75693778e-04 4.56666742e+00] [ 2.18486072e-02 -6.62929937e-04 9.99761071e-01 8.12451623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07439141799999 meters Centerline goodness [0,1] 0.9987460948292352 Centerline is valid? [True, True] Translation: X:114.75, Y:4.57, Z:0.81 [[ 9.98020771e-01 -5.90526557e-02 -2.16176891e-02 1.14750520e+02] [ 5.90541837e-02 9.98254617e-01 -5.68251789e-04 4.56710796e+00] [ 2.16135148e-02 -7.09487896e-04 9.99766149e-01 8.13016222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10439141799999 meters Centerline goodness [0,1] 0.9990870875971296 Centerline is valid? [True, True] Translation: X:114.78, Y:4.57, Z:0.81 [[ 9.97936010e-01 -6.05214110e-02 -2.14681020e-02 1.14782112e+02] [ 6.05232990e-02 9.98166626e-01 -5.62376105e-04 4.56587621e+00] [ 2.14627788e-02 -7.38104990e-04 9.99769376e-01 8.13451828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13439141799999 meters Centerline goodness [0,1] 0.9989793314621077 Centerline is valid? [True, True] Translation: X:114.81, Y:4.57, Z:0.81 [[ 9.97760170e-01 -6.36836263e-02 -2.04704215e-02 1.14813920e+02] [ 6.36860401e-02 9.97969840e-01 -5.34632272e-04 4.56501766e+00] [ 2.04629106e-02 -7.70245300e-04 9.99790316e-01 8.14475662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.164391418 meters Centerline goodness [0,1] 0.9988727241790029 Centerline is valid? [True, True] Translation: X:114.85, Y:4.57, Z:0.82 [[ 9.97731333e-01 -6.42911104e-02 -1.99709615e-02 1.14846308e+02] [ 6.42935573e-02 9.97930893e-01 -5.20183310e-04 4.56548771e+00] [ 1.99630826e-02 -7.65000971e-04 9.99800425e-01 8.15200385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.194391418 meters Centerline goodness [0,1] 0.9989800038249856 Centerline is valid? [True, True] Translation: X:114.88, Y:4.57, Z:0.82 [[ 9.97713657e-01 -6.45566911e-02 -1.99972913e-02 1.14878650e+02] [ 6.45592294e-02 9.97913742e-01 -5.19284716e-04 4.56627693e+00] [ 1.99890951e-02 -7.72912264e-04 9.99799899e-01 8.15683856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.224391418 meters Centerline goodness [0,1] 0.9988735627298039 Centerline is valid? [True, True] Translation: X:114.91, Y:4.57, Z:0.82 [[ 9.97801499e-01 -6.34632228e-02 -1.90942084e-02 1.14910195e+02] [ 6.34653651e-02 9.97983919e-01 -4.94360467e-04 4.56868998e+00] [ 1.90870866e-02 -7.18547290e-04 9.99817567e-01 8.16494333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.254391418 meters Centerline goodness [0,1] 0.9988742087599304 Centerline is valid? [True, True] Translation: X:114.94, Y:4.57, Z:0.82 [[ 9.97900034e-01 -6.20152429e-02 -1.86984272e-02 1.14941612e+02] [ 6.20170667e-02 9.98074972e-01 -4.82867363e-04 4.57123678e+00] [ 1.86923774e-02 -6.77768250e-04 9.99825053e-01 8.17183802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.284391418 meters Centerline goodness [0,1] 0.999043387683085 Centerline is valid? [True, True] Translation: X:114.97, Y:4.57, Z:0.82 [[ 9.98023776e-01 -6.00889202e-02 -1.83810853e-02 1.14973606e+02] [ 6.00903792e-02 9.98192828e-01 -4.73424029e-04 4.57466657e+00] [ 1.83763150e-02 -6.32037947e-04 9.99830941e-01 8.18114050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.314391418 meters Centerline goodness [0,1] 0.999043387683085 Centerline is valid? [True, True] Translation: X:115.01, Y:4.58, Z:0.82 [[ 9.98028394e-01 -6.00121625e-02 -1.83811216e-02 1.15005310e+02] [ 6.00136345e-02 9.98197446e-01 -4.72009923e-04 4.57540066e+00] [ 1.83763150e-02 -6.32038610e-04 9.99830941e-01 8.18382454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34439141799999 meters Centerline goodness [0,1] 0.9992331451698796 Centerline is valid? [True, True] Translation: X:115.04, Y:4.58, Z:0.82 [[ 9.98321375e-01 -5.51864135e-02 -1.75753282e-02 1.15036858e+02] [ 5.51870325e-02 9.98475933e-01 -4.50154975e-04 4.58325176e+00] [ 1.75733847e-02 -5.20530877e-04 9.99845441e-01 8.19985040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37439141799999 meters Centerline goodness [0,1] 0.9991889007470651 Centerline is valid? [True, True] Translation: X:115.07, Y:4.59, Z:0.82 [[ 9.98491661e-01 -5.22142005e-02 -1.69729447e-02 1.15067523e+02] [ 5.22143625e-02 9.98635806e-01 -4.33907964e-04 4.58550599e+00] [ 1.69724464e-02 -4.52978003e-04 9.99855855e-01 8.20155780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40439141799999 meters Centerline goodness [0,1] 0.9990165266286105 Centerline is valid? [True, True] Translation: X:115.10, Y:4.59, Z:0.82 [[ 9.98793568e-01 -4.60815590e-02 -1.69675687e-02 1.15098645e+02] [ 4.60808476e-02 9.98937620e-01 -4.33100564e-04 4.59406811e+00] [ 1.69695006e-02 -3.49301888e-04 9.99855947e-01 8.20363131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43439141799999 meters Centerline goodness [0,1] 0.9992943591498097 Centerline is valid? [True, True] Translation: X:115.13, Y:4.60, Z:0.82 [[ 9.98924085e-01 -4.30982047e-02 -1.71236016e-02 1.15131007e+02] [ 4.30970595e-02 9.99070795e-01 -4.36060356e-04 4.59790968e+00] [ 1.71264837e-02 -3.02385687e-04 9.99853285e-01 8.20038707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46439141799999 meters Centerline goodness [0,1] 0.9993789750947598 Centerline is valid? [True, True] Translation: X:115.16, Y:4.60, Z:0.82 [[ 9.99030335e-01 -4.04920604e-02 -1.72853252e-02 1.15162776e+02] [ 4.04905272e-02 9.99179826e-01 -4.38806292e-04 4.60213622e+00] [ 1.72889164e-02 -2.61511132e-04 9.99850501e-01 8.19891888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49439141799999 meters Centerline goodness [0,1] 0.9992717302831684 Centerline is valid? [True, True] Translation: X:115.19, Y:4.61, Z:0.82 [[ 9.99117799e-01 -3.81825268e-02 -1.74848077e-02 1.15194318e+02] [ 3.81806256e-02 9.99270756e-01 -4.42661618e-04 4.60549220e+00] [ 1.74889589e-02 -2.25309794e-04 9.99847031e-01 8.19734721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.524391418 meters Centerline goodness [0,1] 0.999205991544883 Centerline is valid? [True, True] Translation: X:115.22, Y:4.61, Z:0.82 [[ 9.99211878e-01 -3.52625753e-02 -1.82256232e-02 1.15224485e+02] [ 3.52600459e-02 9.99378065e-01 -4.60209672e-04 4.61062879e+00] [ 1.82305163e-02 -1.82789341e-04 9.99833794e-01 8.19039857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.554391418 meters Centerline goodness [0,1] 0.9993573677784204 Centerline is valid? [True, True] Translation: X:115.25, Y:4.61, Z:0.82 [[ 9.99226837e-01 -3.45807304e-02 -1.87056437e-02 1.15254885e+02] [ 3.45779616e-02 9.99401892e-01 -4.71523978e-04 4.61258355e+00] [ 1.87107614e-02 -1.75643617e-04 9.99824923e-01 8.18942476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.584391418 meters Centerline goodness [0,1] 0.9993990900506481 Centerline is valid? [True, True] Translation: X:115.29, Y:4.61, Z:0.82 [[ 9.99231534e-01 -3.45891882e-02 -1.84371686e-02 1.15285122e+02] [ 3.45865061e-02 9.99401600e-01 -4.64410440e-04 4.61461872e+00] [ 1.84421994e-02 -1.73623688e-04 9.99829913e-01 8.19481196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.614391418 meters Centerline goodness [0,1] 0.9991210204737914 Centerline is valid? [True, True] Translation: X:115.32, Y:4.62, Z:0.82 [[ 9.99220116e-01 -3.50686780e-02 -1.81479513e-02 1.15315956e+02] [ 3.50661684e-02 9.99384889e-01 -4.56579479e-04 4.61688682e+00] [ 1.81527999e-02 -1.80155715e-04 9.99835208e-01 8.21099696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.644391418 meters Centerline goodness [0,1] 0.9989481592787378 Centerline is valid? [True, True] Translation: X:115.35, Y:4.62, Z:0.82 [[ 9.99208350e-01 -3.57095791e-02 -1.75356375e-02 1.15347044e+02] [ 3.57073469e-02 9.99362192e-01 -4.40477535e-04 4.61836623e+00] [ 1.75401824e-02 -1.86022260e-04 9.99846142e-01 8.21843477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.674391418 meters Centerline goodness [0,1] 0.9990345833690895 Centerline is valid? [True, True] Translation: X:115.38, Y:4.62, Z:0.82 [[ 9.99204223e-01 -3.60449556e-02 -1.70786984e-02 1.15378286e+02] [ 3.60429128e-02 9.99350152e-01 -4.27501978e-04 4.61923915e+00] [ 1.70830091e-02 -1.88404255e-04 9.99854057e-01 8.22458364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70439141799999 meters Centerline goodness [0,1] 0.9990133836650652 Centerline is valid? [True, True] Translation: X:115.41, Y:4.62, Z:0.82 [[ 9.99194859e-01 -3.64254369e-02 -1.68172630e-02 1.15410516e+02] [ 3.64235402e-02 9.99336355e-01 -4.19166451e-04 4.62033550e+00] [ 1.68213706e-02 -1.93715291e-04 9.99858492e-01 8.23259087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73439141799999 meters Centerline goodness [0,1] 0.9990111142163081 Centerline is valid? [True, True] Translation: X:115.44, Y:4.62, Z:0.82 [[ 9.99171548e-01 -3.73950071e-02 -1.60570914e-02 1.15442270e+02] [ 3.73934237e-02 9.99300542e-01 -3.98939943e-04 4.62203576e+00] [ 1.60607785e-02 -2.01820180e-04 9.99870997e-01 8.24499516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76439141799999 meters Centerline goodness [0,1] 0.9992049507929004 Centerline is valid? [True, True] Translation: X:115.47, Y:4.62, Z:0.82 [[ 9.99162549e-01 -3.78873477e-02 -1.54514942e-02 1.15473317e+02] [ 3.78859575e-02 9.99281996e-01 -3.82776919e-04 4.62186064e+00] [ 1.54549023e-02 -2.02938289e-04 9.99880545e-01 8.24439604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79439141799999 meters Centerline goodness [0,1] 0.9991233696814197 Centerline is valid? [True, True] Translation: X:115.50, Y:4.62, Z:0.82 [[ 9.99091488e-01 -3.97444744e-02 -1.53810271e-02 1.15504408e+02] [ 3.97433316e-02 9.99209849e-01 -3.80080769e-04 4.61864609e+00] [ 1.53839798e-02 -2.31557797e-04 9.99881633e-01 8.23767837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82439141799999 meters Centerline goodness [0,1] 0.9989514903815291 Centerline is valid? [True, True] Translation: X:115.54, Y:4.62, Z:0.82 [[ 9.99048328e-01 -4.11065840e-02 -1.45837922e-02 1.15536091e+02] [ 4.11057142e-02 9.99154738e-01 -3.59518923e-04 4.61834404e+00] [ 1.45862437e-02 -2.40300415e-04 9.99893586e-01 8.24546143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85439141799999 meters Centerline goodness [0,1] 0.9989706859948964 Centerline is valid? [True, True] Translation: X:115.57, Y:4.62, Z:0.83 [[ 9.98972312e-01 -4.30177795e-02 -1.42755137e-02 1.15568619e+02] [ 4.30171550e-02 9.99074272e-01 -3.50945681e-04 4.61777619e+00] [ 1.42773954e-02 -2.63506968e-04 9.99898038e-01 8.25565253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88439141799999 meters Centerline goodness [0,1] 0.9988656793082784 Centerline is valid? [True, True] Translation: X:115.60, Y:4.61, Z:0.83 [[ 9.98830974e-01 -4.63257221e-02 -1.38062613e-02 1.15599342e+02] [ 4.63254736e-02 9.98926342e-01 -3.37980447e-04 4.61414525e+00] [ 1.38070953e-02 -3.01996254e-04 9.99904632e-01 8.26444769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.914391418 meters Centerline goodness [0,1] 0.9992288413341045 Centerline is valid? [True, True] Translation: X:115.63, Y:4.61, Z:0.83 [[ 9.98756099e-01 -4.77716475e-02 -1.42872044e-02 1.15631857e+02] [ 4.77715536e-02 9.98858227e-01 -3.48041682e-04 4.61272983e+00] [ 1.42875182e-02 -3.34913200e-04 9.99897872e-01 8.26695355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.944391418 meters Centerline goodness [0,1] 0.9991016811395816 Centerline is valid? [True, True] Translation: X:115.66, Y:4.61, Z:0.83 [[ 9.98706515e-01 -4.87252213e-02 -1.45309950e-02 1.15663629e+02] [ 4.87252404e-02 9.98812158e-01 -3.52926221e-04 4.61152427e+00] [ 1.45309308e-02 -3.55556507e-04 9.99894357e-01 8.26403099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.974391418 meters Centerline goodness [0,1] 0.9991015081826934 Centerline is valid? [True, True] Translation: X:115.70, Y:4.61, Z:0.83 [[ 9.98669675e-01 -4.94592633e-02 -1.45829322e-02 1.15695940e+02] [ 4.94593756e-02 9.98776074e-01 -3.53174710e-04 4.61213260e+00] [ 1.45825515e-02 -3.68557846e-04 9.99893601e-01 8.26506820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.004391418 meters Centerline goodness [0,1] 0.9988881524086467 Centerline is valid? [True, True] Translation: X:115.73, Y:4.61, Z:0.83 [[ 9.98677139e-01 -4.90744222e-02 -1.53516540e-02 1.15726786e+02] [ 4.90745190e-02 9.98795051e-01 -3.70635247e-04 4.61045719e+00] [ 1.53513448e-02 -3.83230090e-04 9.99882088e-01 8.25696758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.034391418 meters Centerline goodness [0,1] 0.9989085539409763 Centerline is valid? [True, True] Translation: X:115.76, Y:4.61, Z:0.83 [[ 9.98722946e-01 -4.81586486e-02 -1.52715760e-02 1.15759350e+02] [ 4.81586536e-02 9.98839631e-01 -3.67638403e-04 4.61094350e+00] [ 1.52715603e-02 -3.68289630e-04 9.99883315e-01 8.25579114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.064391418 meters Centerline goodness [0,1] 0.9989110707803993 Centerline is valid? [True, True] Translation: X:115.79, Y:4.61, Z:0.83 [[ 9.98788443e-01 -4.66715873e-02 -1.56015856e-02 1.15790328e+02] [ 4.66714370e-02 9.98910225e-01 -3.73927330e-04 4.61124038e+00] [ 1.56020351e-02 -3.54674123e-04 9.99878218e-01 8.25448257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09439141799999 meters Centerline goodness [0,1] 0.9989071740807406 Centerline is valid? [True, True] Translation: X:115.82, Y:4.61, Z:0.83 [[ 9.98956037e-01 -4.28675049e-02 -1.57864872e-02 1.15822711e+02] [ 4.28669037e-02 9.99080721e-01 -3.76616047e-04 4.61445320e+00] [ 1.57881196e-02 -3.00494954e-04 9.99875315e-01 8.25922639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12439141799999 meters Centerline goodness [0,1] 0.999166559815361 Centerline is valid? [True, True] Translation: X:115.85, Y:4.62, Z:0.83 [[ 9.99051017e-01 -4.04196385e-02 -1.62270729e-02 1.15854590e+02] [ 4.04187022e-02 9.99182756e-01 -3.85786648e-04 4.61710134e+00] [ 1.62294047e-02 -2.70456683e-04 9.99868258e-01 8.26526130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15439141799999 meters Centerline goodness [0,1] 0.9989300006419997 Centerline is valid? [True, True] Translation: X:115.89, Y:4.62, Z:0.83 [[ 9.99258406e-01 -3.52936165e-02 -1.53947468e-02 1.15885398e+02] [ 3.52921800e-02 9.99376970e-01 -3.65055550e-04 4.62019946e+00] [ 1.53980396e-02 -1.78529349e-04 9.99881427e-01 8.27343993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18439141799999 meters Centerline goodness [0,1] 0.9990585214507328 Centerline is valid? [True, True] Translation: X:115.92, Y:4.62, Z:0.83 [[ 9.99329030e-01 -3.31944718e-02 -1.54795742e-02 1.15916340e+02] [ 3.31927774e-02 9.99448901e-01 -3.66438991e-04 4.62226687e+00] [ 1.54832071e-02 -1.47616937e-04 9.99880117e-01 8.28056448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21439141799999 meters Centerline goodness [0,1] 0.9989088575096278 Centerline is valid? [True, True] Translation: X:115.95, Y:4.62, Z:0.83 [[ 9.99421041e-01 -3.06903317e-02 -1.46862845e-02 1.15947033e+02] [ 3.06885427e-02 9.99528935e-01 -3.47212776e-04 4.62377862e+00] [ 1.46900224e-02 -1.03688917e-04 9.99892090e-01 8.27615527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24439141799999 meters Centerline goodness [0,1] 0.9992088100074842 Centerline is valid? [True, True] Translation: X:115.98, Y:4.63, Z:0.83 [[ 9.99479256e-01 -2.87699462e-02 -1.46118818e-02 1.15978015e+02] [ 2.87679762e-02 9.99586057e-01 -3.45039661e-04 4.62521735e+00] [ 1.46157601e-02 -7.54942844e-05 9.99893181e-01 8.29480803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.274391418 meters Centerline goodness [0,1] 0.9992080479452055 Centerline is valid? [True, True] Translation: X:116.01, Y:4.63, Z:0.83 [[ 9.99483277e-01 -2.84167022e-02 -1.50223380e-02 1.16009196e+02] [ 2.84145893e-02 9.99596161e-01 -3.54117611e-04 4.62527326e+00] [ 1.50263343e-02 -7.29189349e-05 9.99887096e-01 8.29968228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.304391418 meters Centerline goodness [0,1] 0.9992733024130634 Centerline is valid? [True, True] Translation: X:116.04, Y:4.62, Z:0.83 [[ 9.99484850e-01 -2.86751744e-02 -1.44142261e-02 1.16040781e+02] [ 2.86732642e-02 9.99588780e-01 -3.39213048e-04 4.62479183e+00] [ 1.44180257e-02 -7.42646099e-05 9.99896052e-01 8.30181252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.334391418 meters Centerline goodness [0,1] 0.9990181639666176 Centerline is valid? [True, True] Translation: X:116.07, Y:4.62, Z:0.83 [[ 9.99431479e-01 -3.06621220e-02 -1.40197029e-02 1.16070723e+02] [ 3.06605150e-02 9.99529802e-01 -3.29595631e-04 4.62108318e+00] [ 1.40232169e-02 -1.00443061e-04 9.99901665e-01 8.30326705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.364391418 meters Centerline goodness [0,1] 0.9992541925035692 Centerline is valid? [True, True] Translation: X:116.10, Y:4.62, Z:0.83 [[ 9.99386810e-01 -3.21689450e-02 -1.38261517e-02 1.16102396e+02] [ 3.21675293e-02 9.99482438e-01 -3.24828162e-04 4.61915676e+00] [ 1.38294452e-02 -1.20124160e-04 9.99904361e-01 8.30751202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.394391418 meters Centerline goodness [0,1] 0.9991911623847939 Centerline is valid? [True, True] Translation: X:116.13, Y:4.62, Z:0.83 [[ 9.99331169e-01 -3.39052397e-02 -1.36984845e-02 1.16134335e+02] [ 3.39040235e-02 9.99425042e-01 -3.21064044e-04 4.61680116e+00] [ 1.37014942e-02 -1.43584433e-04 9.99906120e-01 8.30968543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.424391418 meters Centerline goodness [0,1] 0.9994472201552036 Centerline is valid? [True, True] Translation: X:116.17, Y:4.61, Z:0.83 [[ 9.99269773e-01 -3.56996834e-02 -1.36181238e-02 1.16166537e+02] [ 3.56986632e-02 9.99362549e-01 -3.18070323e-04 4.61478352e+00] [ 1.36207979e-02 -1.68310754e-04 9.99907218e-01 8.31618711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45439141799999 meters Centerline goodness [0,1] 0.9988996339166685 Centerline is valid? [True, True] Translation: X:116.20, Y:4.61, Z:0.83 [[ 9.99117511e-01 -3.98265694e-02 -1.33433306e-02 1.16197741e+02] [ 3.98259711e-02 9.99206583e-01 -3.10664120e-04 4.60857607e+00] [ 1.33451165e-02 -2.21021138e-04 9.99910926e-01 8.31366427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48439141799999 meters Centerline goodness [0,1] 0.9988996572008972 Centerline is valid? [True, True] Translation: X:116.23, Y:4.61, Z:0.83 [[ 9.99037142e-01 -4.17812648e-02 -1.33833939e-02 1.16229793e+02] [ 4.17808505e-02 9.99126751e-01 -3.10673462e-04 4.60599435e+00] [ 1.33846872e-02 -2.48795250e-04 9.99910390e-01 8.31758456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51439141799999 meters Centerline goodness [0,1] 0.9990065525258931 Centerline is valid? [True, True] Translation: X:116.26, Y:4.60, Z:0.83 [[ 9.98956249e-01 -4.36311665e-02 -1.35179161e-02 1.16260921e+02] [ 4.36309267e-02 9.99047669e-01 -3.12794865e-04 4.60117269e+00] [ 1.35186901e-02 -2.77330820e-04 9.99908580e-01 8.31061349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54439141799999 meters Centerline goodness [0,1] 0.9991370601111298 Centerline is valid? [True, True] Translation: X:116.29, Y:4.60, Z:0.83 [[ 9.98833719e-01 -4.63698666e-02 -1.34549964e-02 1.16291713e+02] [ 4.63698867e-02 9.98924290e-01 -3.10640000e-04 4.59519745e+00] [ 1.34549271e-02 -3.13628952e-04 9.99909429e-01 8.30510645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57439141799999 meters Centerline goodness [0,1] 0.9990086479645645 Centerline is valid? [True, True] Translation: X:116.32, Y:4.60, Z:0.83 [[ 9.98792037e-01 -4.72140565e-02 -1.36124667e-02 1.16323695e+02] [ 4.72141655e-02 9.98884740e-01 -3.13534744e-04 4.59641631e+00] [ 1.36120885e-02 -3.29545251e-04 9.99907297e-01 8.30969602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60439141799999 meters Centerline goodness [0,1] 0.9988616720772376 Centerline is valid? [True, True] Translation: X:116.36, Y:4.59, Z:0.83 [[ 9.98769599e-01 -4.74899758e-02 -1.42825044e-02 1.16355020e+02] [ 4.74901393e-02 9.98871653e-01 -3.27896885e-04 4.59332447e+00] [ 1.42819606e-02 -3.50784684e-04 9.99897946e-01 8.29933304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63439141799999 meters Centerline goodness [0,1] 0.9989884088514226 Centerline is valid? [True, True] Translation: X:116.39, Y:4.59, Z:0.83 [[ 9.98791787e-01 -4.68837333e-02 -1.47269123e-02 1.16386613e+02] [ 4.68838546e-02 9.98900291e-01 -3.37200825e-04 4.59228624e+00] [ 1.47265262e-02 -3.53660999e-04 9.99891496e-01 8.29560385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.664391418 meters Centerline goodness [0,1] 0.9989231873653984 Centerline is valid? [True, True] Translation: X:116.42, Y:4.59, Z:0.83 [[ 9.98907449e-01 -4.43997849e-02 -1.45797063e-02 1.16418730e+02] [ 4.43996539e-02 9.99013794e-01 -3.32833862e-04 4.59454132e+00] [ 1.45801055e-02 -3.14863690e-04 9.99893655e-01 8.30115459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.694391418 meters Centerline goodness [0,1] 0.9989448360275187 Centerline is valid? [True, True] Translation: X:116.45, Y:4.60, Z:0.83 [[ 9.98985233e-01 -4.27727064e-02 -1.41067487e-02 1.16451072e+02] [ 4.27724374e-02 9.99084789e-01 -3.20913654e-04 4.59531020e+00] [ 1.41075644e-02 -2.82792025e-04 9.99900443e-01 8.30856774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.724391418 meters Centerline goodness [0,1] 0.9989661138540743 Centerline is valid? [True, True] Translation: X:116.48, Y:4.60, Z:0.83 [[ 9.99072007e-01 -4.08506783e-02 -1.36508629e-02 1.16483493e+02] [ 4.08502619e-02 9.99165232e-01 -3.09458080e-04 4.59677114e+00] [ 1.36521091e-02 -2.48470418e-04 9.99906775e-01 8.31769230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.754391418 meters Centerline goodness [0,1] 0.9989659611285796 Centerline is valid? [True, True] Translation: X:116.51, Y:4.60, Z:0.83 [[ 9.99156887e-01 -3.87964536e-02 -1.34294507e-02 1.16514787e+02] [ 3.87958782e-02 9.99247110e-01 -3.03456555e-04 4.59739975e+00] [ 1.34311128e-02 -2.17806625e-04 9.99909775e-01 8.32308264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.784391418 meters Centerline goodness [0,1] 0.9989021429325451 Centerline is valid? [True, True] Translation: X:116.55, Y:4.60, Z:0.83 [[ 9.99236277e-01 -3.67516192e-02 -1.32733001e-02 1.16547387e+02] [ 3.67508886e-02 9.99324413e-01 -2.99034528e-04 4.59872163e+00] [ 1.32753228e-02 -1.88999425e-04 9.99911861e-01 8.32474317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.814391418 meters Centerline goodness [0,1] 0.9991549236262227 Centerline is valid? [True, True] Translation: X:116.58, Y:4.60, Z:0.83 [[ 9.99322659e-01 -3.42394348e-02 -1.34864844e-02 1.16578755e+02] [ 3.42384638e-02 9.99413646e-01 -3.02945903e-04 4.60010758e+00] [ 1.34889493e-02 -1.59015804e-04 9.99909007e-01 8.32579471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84439141799999 meters Centerline goodness [0,1] 0.9990500316656111 Centerline is valid? [True, True] Translation: X:116.61, Y:4.60, Z:0.83 [[ 9.99335752e-01 -3.37711126e-02 -1.36955221e-02 1.16609780e+02] [ 3.37700749e-02 9.99429581e-01 -3.07084224e-04 4.60051565e+00] [ 1.36980805e-02 -1.55618565e-04 9.99906165e-01 8.32465369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87439141799999 meters Centerline goodness [0,1] 0.9991554410709007 Centerline is valid? [True, True] Translation: X:116.64, Y:4.60, Z:0.83 [[ 9.99338181e-01 -3.35680710e-02 -1.40137530e-02 1.16641412e+02] [ 3.35669742e-02 9.99436421e-01 -3.13538544e-04 4.60021964e+00] [ 1.40163800e-02 -1.57068246e-04 9.99901753e-01 8.32571171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90439141799999 meters Centerline goodness [0,1] 0.9990714752991326 Centerline is valid? [True, True] Translation: X:116.67, Y:4.60, Z:0.83 [[ 9.99267475e-01 -3.52201359e-02 -1.49685082e-02 1.16672828e+02] [ 3.52190818e-02 9.99379560e-01 -3.34099690e-04 4.59769498e+00] [ 1.49709882e-02 -1.93322162e-04 9.99887910e-01 8.31613896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93439141799999 meters Centerline goodness [0,1] 0.9989038323706733 Centerline is valid? [True, True] Translation: X:116.70, Y:4.60, Z:0.83 [[ 9.99221473e-01 -3.65737530e-02 -1.47922074e-02 1.16703847e+02] [ 3.65728804e-02 9.99330934e-01 -3.29584814e-04 4.59574127e+00] [ 1.47943646e-02 -2.11665408e-04 9.99890535e-01 8.31621881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96439141799999 meters Centerline goodness [0,1] 0.999199072610391 Centerline is valid? [True, True] Translation: X:116.74, Y:4.59, Z:0.83 [[ 9.99163709e-01 -3.82268928e-02 -1.45116222e-02 1.16735409e+02] [ 3.82262356e-02 9.99269058e-01 -3.22767602e-04 4.59396236e+00] [ 1.45133534e-02 -2.32227013e-04 9.99894649e-01 8.31963762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99439141799999 meters Centerline goodness [0,1] 0.9988615280823073 Centerline is valid? [True, True] Translation: X:116.77, Y:4.59, Z:0.83 [[ 9.99094103e-01 -4.00684696e-02 -1.43349392e-02 1.16766557e+02] [ 4.00680259e-02 9.99196904e-01 -3.18269440e-04 4.59254281e+00] [ 1.43361795e-02 -2.56391596e-04 9.99897199e-01 8.32365378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.024391418 meters Centerline goodness [0,1] 0.9988633971795412 Centerline is valid? [True, True] Translation: X:116.80, Y:4.59, Z:0.83 [[ 9.99024006e-01 -4.19353729e-02 -1.38729773e-02 1.16798211e+02] [ 4.19351464e-02 9.99120288e-01 -3.07353261e-04 4.58988841e+00] [ 1.38736620e-02 -2.74712047e-04 9.99903718e-01 8.32404938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.054391418 meters Centerline goodness [0,1] 0.9993068537461405 Centerline is valid? [True, True] Translation: X:116.83, Y:4.58, Z:0.83 [[ 9.98885870e-01 -4.54179233e-02 -1.28152609e-02 1.16829909e+02] [ 4.54180258e-02 9.98968029e-01 -2.83187079e-04 4.58441653e+00] [ 1.28148977e-02 -2.99172278e-04 9.99917841e-01 8.33399926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.084391418 meters Centerline goodness [0,1] 0.9991595932431296 Centerline is valid? [True, True] Translation: X:116.86, Y:4.58, Z:0.83 [[ 9.98816971e-01 -4.70762885e-02 -1.21853155e-02 1.16861256e+02] [ 4.70765129e-02 9.98891250e-01 -2.68572723e-04 4.58199128e+00] [ 1.21844484e-02 -3.05387169e-04 9.99925720e-01 8.34001986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.114391418 meters Centerline goodness [0,1] 0.9992862840589445 Centerline is valid? [True, True] Translation: X:116.89, Y:4.58, Z:0.84 [[ 9.98753926e-01 -4.85335854e-02 -1.16226435e-02 1.16893438e+02] [ 4.85338966e-02 9.98821503e-01 -2.55450738e-04 4.58256267e+00] [ 1.16213442e-02 -3.08959752e-04 9.99932422e-01 8.35218071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.144391418 meters Centerline goodness [0,1] 0.9990551181102362 Centerline is valid? [True, True] Translation: X:116.93, Y:4.58, Z:0.84 [[ 9.98640391e-01 -5.10339362e-02 -1.06257730e-02 1.16925633e+02] [ 5.10343461e-02 9.98696872e-01 -2.32746320e-04 4.57949330e+00] [ 1.06238042e-02 -3.09849503e-04 9.99943518e-01 8.35059800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.174391418 meters Centerline goodness [0,1] 0.9990555940313542 Centerline is valid? [True, True] Translation: X:116.96, Y:4.58, Z:0.84 [[ 9.98565042e-01 -5.24869828e-02 -1.06288974e-02 1.16958117e+02] [ 5.24874843e-02 9.98621555e-01 -2.31957699e-04 4.57794160e+00] [ 1.06264208e-02 -3.26259235e-04 9.99943485e-01 8.35331196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20439141799999 meters Centerline goodness [0,1] 0.9990555940313542 Centerline is valid? [True, True] Translation: X:116.99, Y:4.58, Z:0.84 [[ 9.98569263e-01 -5.24066151e-02 -1.06289160e-02 1.16989816e+02] [ 5.24071211e-02 9.98625776e-01 -2.31102300e-04 4.57855371e+00] [ 1.06264208e-02 -3.26259234e-04 9.99943485e-01 8.35599555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23439141799999 meters Centerline goodness [0,1] 0.9990765614506381 Centerline is valid? [True, True] Translation: X:117.02, Y:4.58, Z:0.84 [[ 9.98542969e-01 -5.29832457e-02 -1.02330036e-02 1.17022209e+02] [ 5.29837532e-02 9.98595350e-01 -2.21696268e-04 4.57721238e+00] [ 1.02303760e-02 -3.20809689e-04 9.99947617e-01 8.35418279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26439141799999 meters Centerline goodness [0,1] 0.9989490941191307 Centerline is valid? [True, True] Translation: X:117.05, Y:4.57, Z:0.83 [[ 9.98490881e-01 -5.39200983e-02 -1.04203556e-02 1.17053799e+02] [ 5.39206838e-02 9.98545196e-01 -2.24948005e-04 4.57462982e+00] [ 1.04173253e-02 -3.37264170e-04 9.99945681e-01 8.34631613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29439141799999 meters Centerline goodness [0,1] 0.9988015894708071 Centerline is valid? [True, True] Translation: X:117.09, Y:4.58, Z:0.83 [[ 9.98486685e-01 -5.40258528e-02 -1.02736363e-02 1.17085739e+02] [ 5.40264342e-02 9.98539481e-01 -2.21134751e-04 4.57644552e+00] [ 1.02705784e-02 -3.34247830e-04 9.99947200e-01 8.34786310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32439141799999 meters Centerline goodness [0,1] 0.9989707828351783 Centerline is valid? [True, True] Translation: X:117.12, Y:4.58, Z:0.84 [[ 9.98499258e-01 -5.37914764e-02 -1.02815117e-02 1.17117975e+02] [ 5.37920549e-02 9.98552135e-01 -2.20462920e-04 4.57681328e+00] [ 1.02784845e-02 -3.32931581e-04 9.99947120e-01 8.35229422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35439141799999 meters Centerline goodness [0,1] 0.9988459440177935 Centerline is valid? [True, True] Translation: X:117.15, Y:4.58, Z:0.84 [[ 9.98537085e-01 -5.30262377e-02 -1.05786944e-02 1.17148728e+02] [ 5.30268161e-02 9.98593063e-01 -2.25994123e-04 4.57550527e+00] [ 1.05757944e-02 -3.35290969e-04 9.99944019e-01 8.35228741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38439141799999 meters Centerline goodness [0,1] 0.9990130197396052 Centerline is valid? [True, True] Translation: X:117.18, Y:4.58, Z:0.84 [[ 9.98577032e-01 -5.22818124e-02 -1.05130241e-02 1.17181402e+02] [ 5.22823500e-02 9.98632318e-01 -2.23876969e-04 4.57596313e+00] [ 1.05103504e-02 -3.26087209e-04 9.99944712e-01 8.35566063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.414391418 meters Centerline goodness [0,1] 0.9990772392676636 Centerline is valid? [True, True] Translation: X:117.21, Y:4.58, Z:0.84 [[ 9.98613707e-01 -5.15759673e-02 -1.05158520e-02 1.17213724e+02] [ 5.15764765e-02 9.98669023e-01 -2.22937899e-04 4.57604705e+00] [ 1.05133539e-02 -3.19741753e-04 9.99944682e-01 8.35898703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.444391418 meters Centerline goodness [0,1] 0.9990131648014782 Centerline is valid? [True, True] Translation: X:117.24, Y:4.58, Z:0.84 [[ 9.98648430e-01 -5.09208824e-02 -1.04104448e-02 1.17244673e+02] [ 5.09213540e-02 9.98702642e-01 -2.19928026e-04 4.57658687e+00] [ 1.04081377e-02 -3.10483169e-04 9.99945786e-01 8.36170435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.474391418 meters Centerline goodness [0,1] 0.9990135169171355 Centerline is valid? [True, True] Translation: X:117.28, Y:4.58, Z:0.84 [[ 9.98755218e-01 -4.87847447e-02 -1.03952983e-02 1.17276801e+02] [ 4.87851061e-02 9.98809274e-01 -2.18960571e-04 4.57862726e+00] [ 1.03936023e-02 -2.88447716e-04 9.99945943e-01 8.36083444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.504391418 meters Centerline goodness [0,1] 0.9992850534107158 Centerline is valid? [True, True] Translation: X:117.31, Y:4.58, Z:0.84 [[ 9.98814800e-01 -4.75512011e-02 -1.03864704e-02 1.17309317e+02] [ 4.75515036e-02 9.98868764e-01 -2.17968126e-04 4.58152111e+00] [ 1.03850854e-02 -2.76182491e-04 9.99946035e-01 8.36675622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.534391418 meters Centerline goodness [0,1] 0.9989495136248083 Centerline is valid? [True, True] Translation: X:117.34, Y:4.58, Z:0.84 [[ 9.98909254e-01 -4.53475731e-02 -1.11310098e-02 1.17341285e+02] [ 4.53477941e-02 9.98971233e-01 -2.32658756e-04 4.58478329e+00] [ 1.11301091e-02 -2.72361758e-04 9.99938021e-01 8.35949266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.564391418 meters Centerline goodness [0,1] 0.9988869287634409 Centerline is valid? [True, True] Translation: X:117.37, Y:4.58, Z:0.84 [[ 9.98963739e-01 -4.41147014e-02 -1.11955884e-02 1.17372581e+02] [ 4.41148572e-02 9.99026439e-01 -2.33157591e-04 4.58478898e+00] [ 1.11949745e-02 -2.60975806e-04 9.99937300e-01 8.35856342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59439141799999 meters Centerline goodness [0,1] 0.9989703070166221 Centerline is valid? [True, True] Translation: X:117.40, Y:4.59, Z:0.84 [[ 9.98999825e-01 -4.33269622e-02 -1.10510023e-02 1.17403926e+02] [ 4.33270750e-02 9.99060915e-01 -2.29319302e-04 4.58546100e+00] [ 1.10505602e-02 -2.49717664e-04 9.99938910e-01 8.36052846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62439141799999 meters Centerline goodness [0,1] 0.9988042543372003 Centerline is valid? [True, True] Translation: X:117.44, Y:4.59, Z:0.84 [[ 9.99072222e-01 -4.17385239e-02 -1.06108684e-02 1.17435783e+02] [ 4.17385509e-02 9.99128543e-01 -2.18996949e-04 4.58775692e+00] [ 1.06107621e-02 -2.24088501e-04 9.99943679e-01 8.37095835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65439141799999 meters Centerline goodness [0,1] 0.9990324141267537 Centerline is valid? [True, True] Translation: X:117.47, Y:4.59, Z:0.84 [[ 9.99110464e-01 -4.09450061e-02 -1.00889166e-02 1.17468072e+02] [ 4.09449977e-02 9.99161380e-01 -2.07471355e-04 4.58984050e+00] [ 1.00889507e-02 -2.05803864e-04 9.99949084e-01 8.38090380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68439141799999 meters Centerline goodness [0,1] 0.9989274222381123 Centerline is valid? [True, True] Translation: X:117.50, Y:4.59, Z:0.84 [[ 9.99136947e-01 -4.03629464e-02 -9.80784343e-03 1.17499858e+02] [ 4.03629179e-02 9.99185065e-01 -2.00930645e-04 4.59169552e+00] [ 9.80796083e-03 -1.95115948e-04 9.99951882e-01 8.38979187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71439141799999 meters Centerline goodness [0,1] 0.9990114628246924 Centerline is valid? [True, True] Translation: X:117.53, Y:4.59, Z:0.84 [[ 9.99157771e-01 -3.98976075e-02 -9.58803126e-03 1.17530784e+02] [ 3.98975659e-02 9.99203756e-01 -1.95691072e-04 4.59219086e+00] [ 9.58820445e-03 -1.87012854e-04 9.99954015e-01 8.39989141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74439141799999 meters Centerline goodness [0,1] 0.9989906636386576 Centerline is valid? [True, True] Translation: X:117.56, Y:4.59, Z:0.84 [[ 9.99195924e-01 -3.90283062e-02 -9.18134075e-03 1.17562242e+02] [ 3.90282367e-02 9.99238091e-01 -1.86808597e-04 4.59289291e+00] [ 9.18163622e-03 -1.71673151e-04 9.99957833e-01 8.40488842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.774391418 meters Centerline goodness [0,1] 0.9988644249574159 Centerline is valid? [True, True] Translation: X:117.59, Y:4.60, Z:0.84 [[ 9.99213785e-01 -3.84798834e-02 -9.54521745e-03 1.17594747e+02] [ 3.84797951e-02 9.99259360e-01 -1.92964687e-04 4.59545733e+00] [ 9.54557314e-03 -1.74485037e-04 9.99954425e-01 8.39578189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.804391418 meters Centerline goodness [0,1] 0.999369469724038 Centerline is valid? [True, True] Translation: X:117.63, Y:4.60, Z:0.84 [[ 9.99203370e-01 -3.86376713e-02 -9.98775014e-03 1.17626139e+02] [ 3.86375907e-02 9.99253269e-01 -2.01095534e-04 4.59537540e+00] [ 9.98806184e-03 -1.84967267e-04 9.99950101e-01 8.39861158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.834391418 meters Centerline goodness [0,1] 0.998844392150271 Centerline is valid? [True, True] Translation: X:117.66, Y:4.60, Z:0.84 [[ 9.99200362e-01 -3.86561371e-02 -1.02146849e-02 1.17658025e+02] [ 3.86560606e-02 9.99252554e-01 -2.04998232e-04 4.59620693e+00] [ 1.02149745e-02 -1.90025172e-04 9.99947808e-01 8.39064013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.864391418 meters Centerline goodness [0,1] 0.9990097758301029 Centerline is valid? [True, True] Translation: X:117.69, Y:4.60, Z:0.84 [[ 9.99193944e-01 -3.88009872e-02 -1.02930232e-02 1.17689996e+02] [ 3.88009258e-02 9.99246939e-01 -2.05734749e-04 4.59745172e+00] [ 1.02932546e-02 -1.93809914e-04 9.99947004e-01 8.39172895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.894391418 meters Centerline goodness [0,1] 0.9986970410221924 Centerline is valid? [True, True] Translation: X:117.72, Y:4.60, Z:0.84 [[ 9.99188181e-01 -3.89363663e-02 -1.03411119e-02 1.17721645e+02] [ 3.89363200e-02 9.99241673e-01 -2.05885261e-04 4.59642043e+00] [ 1.03412864e-02 -1.96926722e-04 9.99946508e-01 8.39406458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.924391418 meters Centerline goodness [0,1] 0.9990099844125205 Centerline is valid? [True, True] Translation: X:117.75, Y:4.60, Z:0.84 [[ 9.99183553e-01 -3.91496649e-02 -9.97649059e-03 1.17753728e+02] [ 3.91496386e-02 9.99233339e-01 -1.98007613e-04 4.59727510e+00] [ 9.97659394e-03 -1.92730050e-04 9.99950214e-01 8.40422469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95439141799999 meters Centerline goodness [0,1] 0.9991588156123823 Centerline is valid? [True, True] Translation: X:117.79, Y:4.60, Z:0.84 [[ 9.99202604e-01 -3.86954161e-02 -9.83977173e-03 1.17785587e+02] [ 3.86953760e-02 9.99251035e-01 -1.94520817e-04 4.59816880e+00] [ 9.83992914e-03 -1.86387960e-04 9.99951569e-01 8.41164138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98439141799999 meters Centerline goodness [0,1] 0.9993686071473671 Centerline is valid? [True, True] Translation: X:117.82, Y:4.60, Z:0.84 [[ 9.99252834e-01 -3.74128103e-02 -9.69821841e-03 1.17818192e+02] [ 3.74127185e-02 9.99299881e-01 -1.90953073e-04 4.59965751e+00] [ 9.69857259e-03 -1.72026315e-04 9.99952953e-01 8.41291817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01439141799999 meters Centerline goodness [0,1] 0.9991573625447651 Centerline is valid? [True, True] Translation: X:117.85, Y:4.60, Z:0.84 [[ 9.99290050e-01 -3.64045104e-02 -9.70093678e-03 1.17850742e+02] [ 3.64043787e-02 9.99337123e-01 -1.90218278e-04 4.60123778e+00] [ 9.70143105e-03 -1.63073344e-04 9.99952927e-01 8.42539090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04439141799999 meters Centerline goodness [0,1] 0.9990741325253035 Centerline is valid? [True, True] Translation: X:117.88, Y:4.60, Z:0.84 [[ 9.99432939e-01 -3.21992346e-02 -9.84930352e-03 1.17882355e+02] [ 3.21989021e-02 9.99481462e-01 -1.92371534e-04 4.60484773e+00] [ 9.85039050e-03 -1.24874312e-04 9.99951476e-01 8.42854988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07439141799999 meters Centerline goodness [0,1] 0.9991188687953678 Centerline is valid? [True, True] Translation: X:117.91, Y:4.61, Z:0.84 [[ 9.99500763e-01 -2.98902563e-02 -1.02370424e-02 1.17913733e+02] [ 2.98897803e-02 9.99553181e-01 -1.99519558e-04 4.60752650e+00] [ 1.02384320e-02 -1.06562998e-04 9.99947580e-01 8.43119380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10439141799999 meters Centerline goodness [0,1] 0.9990969422043011 Centerline is valid? [True, True] Translation: X:117.94, Y:4.61, Z:0.84 [[ 9.99566121e-01 -2.76192830e-02 -1.02345369e-02 1.17943604e+02] [ 2.76186921e-02 9.99618511e-01 -1.99096537e-04 4.60951228e+00] [ 1.02361314e-02 -8.36543689e-05 9.99947606e-01 8.43170174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13439141799999 meters Centerline goodness [0,1] 0.9991801038535119 Centerline is valid? [True, True] Translation: X:117.97, Y:4.61, Z:0.84 [[ 9.99613042e-01 -2.57476999e-02 -1.05271702e-02 1.17974445e+02] [ 2.57469736e-02 9.99668471e-01 -2.04533871e-04 4.61133723e+00] [ 1.05289464e-02 -6.65880480e-05 9.99944567e-01 8.42965512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.164391418 meters Centerline goodness [0,1] 0.9990955746256099 Centerline is valid? [True, True] Translation: X:118.00, Y:4.61, Z:0.84 [[ 9.99658412e-01 -2.35467257e-02 -1.13407095e-02 1.18004935e+02] [ 2.35457460e-02 9.99722736e-01 -2.19916260e-04 4.61191036e+00] [ 1.13427434e-02 -4.71843260e-05 9.99935668e-01 8.41663031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.194391418 meters Centerline goodness [0,1] 0.9992022002477379 Centerline is valid? [True, True] Translation: X:118.04, Y:4.61, Z:0.84 [[ 9.99652024e-01 -2.35295609e-02 -1.19243500e-02 1.18035665e+02] [ 2.35284787e-02 9.99723140e-01 -2.31056663e-04 4.61186691e+00] [ 1.19264853e-02 -4.95855543e-05 9.99928876e-01 8.41393115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.224391418 meters Centerline goodness [0,1] 0.9990974539806478 Centerline is valid? [True, True] Translation: X:118.07, Y:4.61, Z:0.84 [[ 9.99609146e-01 -2.48966586e-02 -1.27166206e-02 1.18065643e+02] [ 2.48955382e-02 9.99690028e-01 -2.46417294e-04 4.61012332e+00] [ 1.27188137e-02 -7.02661332e-05 9.99919110e-01 8.40581298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.254391418 meters Centerline goodness [0,1] 0.9992651998656366 Centerline is valid? [True, True] Translation: X:118.10, Y:4.61, Z:0.84 [[ 9.99574530e-01 -2.61143352e-02 -1.29923052e-02 1.18096634e+02] [ 2.61132684e-02 9.99658959e-01 -2.51777519e-04 4.60960696e+00] [ 1.29944493e-02 -8.76011586e-05 9.99915565e-01 8.40694459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.284391418 meters Centerline goodness [0,1] 0.9992024514125005 Centerline is valid? [True, True] Translation: X:118.13, Y:4.61, Z:0.84 [[ 9.99539549e-01 -2.74002648e-02 -1.30351354e-02 1.18126803e+02] [ 2.73993002e-02 9.99624537e-01 -2.52607524e-04 4.60944382e+00] [ 1.30371627e-02 -1.04662378e-04 9.99915007e-01 8.41569450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.314391418 meters Centerline goodness [0,1] 0.9992854741089442 Centerline is valid? [True, True] Translation: X:118.16, Y:4.61, Z:0.84 [[ 9.99502586e-01 -2.87462762e-02 -1.29703970e-02 1.18156712e+02] [ 2.87454403e-02 9.99586733e-01 -2.50905838e-04 4.60757222e+00] [ 1.29722493e-02 -1.22058738e-04 9.99915849e-01 8.41941907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34439141799999 meters Centerline goodness [0,1] 0.9994138457995771 Centerline is valid? [True, True] Translation: X:118.19, Y:4.60, Z:0.84 [[ 9.99411475e-01 -3.17361185e-02 -1.30200467e-02 1.18186837e+02] [ 3.17355408e-02 9.99496269e-01 -2.51022231e-04 4.60485137e+00] [ 1.30214546e-02 -1.62323725e-04 9.99915204e-01 8.42939732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37439141799999 meters Centerline goodness [0,1] 0.9993070284118352 Centerline is valid? [True, True] Translation: X:118.22, Y:4.60, Z:0.84 [[ 9.99363672e-01 -3.32156669e-02 -1.29988680e-02 1.18218288e+02] [ 3.32152186e-02 9.99448191e-01 -2.50430427e-04 4.60340893e+00] [ 1.30000133e-02 -1.81489173e-04 9.99915480e-01 8.42895885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40439141799999 meters Centerline goodness [0,1] 0.9990136825316881 Centerline is valid? [True, True] Translation: X:118.25, Y:4.60, Z:0.84 [[ 9.99316254e-01 -3.46531396e-02 -1.28912184e-02 1.18249487e+02] [ 3.46528250e-02 9.99399380e-01 -2.47836764e-04 4.60212171e+00] [ 1.28920640e-02 -1.99049829e-04 9.99916874e-01 8.43181702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43439141799999 meters Centerline goodness [0,1] 0.9989281661132361 Centerline is valid? [True, True] Translation: X:118.28, Y:4.60, Z:0.84 [[ 9.99228064e-01 -3.72895136e-02 -1.23599403e-02 1.18280388e+02] [ 3.72894311e-02 9.99304479e-01 -2.37214525e-04 4.59875425e+00] [ 1.23601894e-02 -2.23863733e-04 9.99923585e-01 8.43453174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46439141799999 meters Centerline goodness [0,1] 0.9990347085239434 Centerline is valid? [True, True] Translation: X:118.31, Y:4.60, Z:0.84 [[ 9.99175854e-01 -3.87558599e-02 -1.20663488e-02 1.18311649e+02] [ 3.87558927e-02 9.99248681e-01 -2.31196235e-04 4.59623563e+00] [ 1.20662433e-02 -2.36636423e-04 9.99927172e-01 8.43638058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49439141799999 meters Centerline goodness [0,1] 0.9989302345093761 Centerline is valid? [True, True] Translation: X:118.34, Y:4.60, Z:0.84 [[ 9.99116037e-01 -4.02747998e-02 -1.20451327e-02 1.18343549e+02] [ 4.02749525e-02 9.99188608e-01 -2.29993361e-04 4.59513976e+00] [ 1.20446223e-02 -2.55327090e-04 9.99927428e-01 8.44172115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.524391418 meters Centerline goodness [0,1] 0.9987827911857293 Centerline is valid? [True, True] Translation: X:118.37, Y:4.59, Z:0.84 [[ 9.98981882e-01 -4.35541017e-02 -1.17575755e-02 1.18374762e+02] [ 4.35544834e-02 9.99051028e-01 -2.23707374e-04 4.59113093e+00] [ 1.17561612e-02 -2.88615513e-04 9.99930852e-01 8.44094200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.554391418 meters Centerline goodness [0,1] 0.9988035264483627 Centerline is valid? [True, True] Translation: X:118.41, Y:4.59, Z:0.84 [[ 9.98901368e-01 -4.52302357e-02 -1.22589565e-02 1.18406524e+02] [ 4.52307830e-02 9.98976537e-01 -2.32739731e-04 4.58926344e+00] [ 1.22569368e-02 -3.21998166e-04 9.99924829e-01 8.44144412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.584391418 meters Centerline goodness [0,1] 0.9989289089572614 Centerline is valid? [True, True] Translation: X:118.44, Y:4.59, Z:0.84 [[ 9.98824196e-01 -4.67954171e-02 -1.26654670e-02 1.18437590e+02] [ 4.67961337e-02 9.98904432e-01 -2.39937375e-04 4.58781905e+00] [ 1.26628191e-02 -3.53039631e-04 9.99919761e-01 8.44119720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.614391418 meters Centerline goodness [0,1] 0.999096980133563 Centerline is valid? [True, True] Translation: X:118.47, Y:4.59, Z:0.84 [[ 9.98718994e-01 -4.90837113e-02 -1.22946906e-02 1.18469723e+02] [ 4.90845677e-02 9.98794599e-01 -2.32264248e-04 4.58711899e+00] [ 1.22912710e-02 -3.71512859e-04 9.99924390e-01 8.44789783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.644391418 meters Centerline goodness [0,1] 0.999222982905624 Centerline is valid? [True, True] Translation: X:118.50, Y:4.58, Z:0.84 [[ 9.98686131e-01 -4.97177971e-02 -1.24158343e-02 1.18501185e+02] [ 4.97187314e-02 9.98763232e-01 -2.33595962e-04 4.58430262e+00] [ 1.24120927e-02 -3.84010483e-04 9.99922893e-01 8.44770903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.674391418 meters Centerline goodness [0,1] 0.9989309296719422 Centerline is valid? [True, True] Translation: X:118.53, Y:4.59, Z:0.85 [[ 9.98666249e-01 -5.01475354e-02 -1.22860467e-02 1.18533197e+02] [ 5.01484929e-02 9.98741746e-01 -2.30322252e-04 4.58553495e+00] [ 1.22821379e-02 -3.86111668e-04 9.99924497e-01 8.45271335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70439141799999 meters Centerline goodness [0,1] 0.9989525944236127 Centerline is valid? [True, True] Translation: X:118.56, Y:4.58, Z:0.85 [[ 9.98696118e-01 -4.96193775e-02 -1.19992401e-02 1.18564238e+02] [ 4.96202635e-02 9.98768131e-01 -2.24052892e-04 4.58327891e+00] [ 1.19955760e-02 -3.71644701e-04 9.99927981e-01 8.45403415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73439141799999 meters Centerline goodness [0,1] 0.9989505719382936 Centerline is valid? [True, True] Translation: X:118.60, Y:4.58, Z:0.85 [[ 9.98732338e-01 -4.89693952e-02 -1.16496802e-02 1.18595895e+02] [ 4.89701949e-02 9.98800217e-01 -2.16774880e-04 4.58356552e+00] [ 1.16463185e-02 -3.53987029e-04 9.99932117e-01 8.45832391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76439141799999 meters Centerline goodness [0,1] 0.9987395752368549 Centerline is valid? [True, True] Translation: X:118.63, Y:4.59, Z:0.85 [[ 9.98769840e-01 -4.81228832e-02 -1.19580268e-02 1.18628113e+02] [ 4.81236766e-02 9.98841360e-01 -2.21545580e-04 4.58819745e+00] [ 1.19548332e-02 -3.54191173e-04 9.99928476e-01 8.46143135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79439141799999 meters Centerline goodness [0,1] 0.9988456775872563 Centerline is valid? [True, True] Translation: X:118.66, Y:4.59, Z:0.85 [[ 9.98806565e-01 -4.72364759e-02 -1.24161573e-02 1.18660484e+02] [ 4.72372759e-02 9.98883671e-01 -2.28984260e-04 4.58977335e+00] [ 1.24131131e-02 -3.57794464e-04 9.99922890e-01 8.46267156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82439141799999 meters Centerline goodness [0,1] 0.9989926759144614 Centerline is valid? [True, True] Translation: X:118.69, Y:4.59, Z:0.85 [[ 9.98874924e-01 -4.54500227e-02 -1.35344703e-02 1.18691350e+02] [ 4.54508240e-02 9.98966546e-01 -2.48541031e-04 4.59149166e+00] [ 1.35317793e-02 -3.66891425e-04 9.99908374e-01 8.45767620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85439141799999 meters Centerline goodness [0,1] 0.999078437532726 Centerline is valid? [True, True] Translation: X:118.72, Y:4.59, Z:0.85 [[ 9.98923876e-01 -4.43235526e-02 -1.36569498e-02 1.18723038e+02] [ 4.43242733e-02 9.99017165e-01 -2.50057270e-04 4.59416700e+00] [ 1.36546107e-02 -3.55546195e-04 9.99906708e-01 8.45979015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88439141799999 meters Centerline goodness [0,1] 0.9988257988761218 Centerline is valid? [True, True] Translation: X:118.75, Y:4.60, Z:0.85 [[ 9.98976366e-01 -4.30889379e-02 -1.37682395e-02 1.18753713e+02] [ 4.30895594e-02 9.99071182e-01 -2.51642235e-04 4.59629055e+00] [ 1.37662943e-02 -3.41882728e-04 9.99905182e-01 8.45896598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.914391418 meters Centerline goodness [0,1] 0.9989096017949632 Centerline is valid? [True, True] Translation: X:118.79, Y:4.60, Z:0.85 [[ 9.98995481e-01 -4.25045808e-02 -1.41912065e-02 1.18785046e+02] [ 4.25051879e-02 9.99096213e-01 -2.58968853e-04 4.59762419e+00] [ 1.41893880e-02 -3.44491183e-04 9.99899266e-01 8.46606896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.944391418 meters Centerline goodness [0,1] 0.9990349312913039 Centerline is valid? [True, True] Translation: X:118.82, Y:4.60, Z:0.85 [[ 9.99012159e-01 -4.21821815e-02 -1.39774813e-02 1.18815777e+02] [ 4.21827489e-02 9.99109879e-01 -2.54354255e-04 4.59803600e+00] [ 1.39757689e-02 -3.35505591e-04 9.99902278e-01 8.46880245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.974391418 meters Centerline goodness [0,1] 0.9990144271095454 Centerline is valid? [True, True] Translation: X:118.85, Y:4.60, Z:0.85 [[ 9.99019164e-01 -4.19314064e-02 -1.42290874e-02 1.18846960e+02] [ 4.19319807e-02 9.99120434e-01 -2.58108384e-04 4.59984638e+00] [ 1.42273948e-02 -3.38798594e-04 9.99898728e-01 8.47049340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.004391418 meters Centerline goodness [0,1] 0.9990151911995809 Centerline is valid? [True, True] Translation: X:118.88, Y:4.60, Z:0.85 [[ 9.99017428e-01 -4.17790286e-02 -1.47881853e-02 1.18877347e+02] [ 4.17796393e-02 9.99126814e-01 -2.67777260e-04 4.60053045e+00] [ 1.47864600e-02 -3.50330898e-04 9.99890613e-01 8.46985808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.034391418 meters Centerline goodness [0,1] 0.9987008905185961 Centerline is valid? [True, True] Translation: X:118.91, Y:4.60, Z:0.85 [[ 9.98997432e-01 -4.22618301e-02 -1.47671467e-02 1.18908331e+02] [ 4.22624978e-02 9.99106506e-01 -2.66985737e-04 4.60140814e+00] [ 1.47652357e-02 -3.57378441e-04 9.99890924e-01 8.47424313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.064391418 meters Centerline goodness [0,1] 0.9988899826167089 Centerline is valid? [True, True] Translation: X:118.94, Y:4.60, Z:0.85 [[ 9.98987090e-01 -4.25386465e-02 -1.46716798e-02 1.18938832e+02] [ 4.25393419e-02 9.99094757e-01 -2.64813646e-04 4.60115650e+00] [ 1.46696632e-02 -3.59578192e-04 9.99892330e-01 8.47996685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09439141799999 meters Centerline goodness [0,1] 0.9987418218419728 Centerline is valid? [True, True] Translation: X:118.97, Y:4.60, Z:0.85 [[ 9.98957375e-01 -4.34167490e-02 -1.41119823e-02 1.18969954e+02] [ 4.34174854e-02 9.99056984e-01 -2.54324791e-04 4.60391293e+00] [ 1.41097164e-02 -3.58647158e-04 9.99900389e-01 8.49204836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12439141799999 meters Centerline goodness [0,1] 0.9987418218419728 Centerline is valid? [True, True] Translation: X:119.00, Y:4.60, Z:0.85 [[ 9.98960935e-01 -4.33347595e-02 -1.41119968e-02 1.19001649e+02] [ 4.33354992e-02 9.99060544e-01 -2.53516634e-04 4.60440689e+00] [ 1.41097253e-02 -3.58297212e-04 9.99900389e-01 8.49473238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15439141799999 meters Centerline goodness [0,1] 0.9988059076149576 Centerline is valid? [True, True] Translation: X:119.03, Y:4.61, Z:0.85 [[ 9.98926795e-01 -4.42636370e-02 -1.36377450e-02 1.19034012e+02] [ 4.42644293e-02 9.99019820e-01 -2.43894569e-04 4.60541596e+00] [ 1.36351732e-02 -3.60034180e-04 9.99906972e-01 8.50860726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18439141799999 meters Centerline goodness [0,1] 0.9989089840963451 Centerline is valid? [True, True] Translation: X:119.07, Y:4.61, Z:0.85 [[ 9.98900836e-01 -4.48303730e-02 -1.36878468e-02 1.19065831e+02] [ 4.48312399e-02 9.98994545e-01 -2.43651153e-04 4.60566777e+00] [ 1.36850073e-02 -3.70259805e-04 9.99906287e-01 8.51341950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21439141799999 meters Centerline goodness [0,1] 0.9988870456311292 Centerline is valid? [True, True] Translation: X:119.10, Y:4.61, Z:0.85 [[ 9.98821406e-01 -4.62403115e-02 -1.47523521e-02 1.19097132e+02] [ 4.62414890e-02 9.98930256e-01 -2.61458715e-04 4.60581921e+00] [ 1.47486608e-02 -4.21020167e-04 9.99891144e-01 8.51133543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24439141799999 meters Centerline goodness [0,1] 0.9987463696955767 Centerline is valid? [True, True] Translation: X:119.13, Y:4.61, Z:0.85 [[ 9.98799677e-01 -4.66354403e-02 -1.49780228e-02 1.19127550e+02] [ 4.66367084e-02 9.98911882e-01 -2.64798450e-04 4.60589452e+00] [ 1.49740740e-02 -4.34045076e-04 9.99887788e-01 8.50916702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.274391418 meters Centerline goodness [0,1] 0.9989305934158105 Centerline is valid? [True, True] Translation: X:119.16, Y:4.61, Z:0.85 [[ 9.98766545e-01 -4.72206688e-02 -1.53491465e-02 1.19158873e+02] [ 4.72220764e-02 9.98884379e-01 -2.70909854e-04 4.60644758e+00] [ 1.53448152e-02 -4.54242870e-04 9.99882158e-01 8.51115227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.304391418 meters Centerline goodness [0,1] 0.9987813845992226 Centerline is valid? [True, True] Translation: X:119.19, Y:4.61, Z:0.85 [[ 9.98770830e-01 -4.71408442e-02 -1.53156928e-02 1.19189913e+02] [ 4.71422458e-02 9.98888150e-01 -2.69705411e-04 4.60881860e+00] [ 1.53113782e-02 -4.52642257e-04 9.99882672e-01 8.51632635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.334391418 meters Centerline goodness [0,1] 0.9985089985089985 Centerline is valid? [True, True] Translation: X:119.22, Y:4.61, Z:0.85 [[ 9.98806256e-01 -4.64479436e-02 -1.51212428e-02 1.19221476e+02] [ 4.64492396e-02 9.98920616e-01 -2.65674438e-04 4.61054304e+00] [ 1.51172612e-02 -4.37012939e-04 9.99885632e-01 8.51967426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.364391418 meters Centerline goodness [0,1] 0.9986764427824114 Centerline is valid? [True, True] Translation: X:119.25, Y:4.61, Z:0.85 [[ 9.98850120e-01 -4.55269006e-02 -1.50246298e-02 1.19252327e+02] [ 4.55280851e-02 9.98963024e-01 -2.63374136e-04 4.61171616e+00] [ 1.50210402e-02 -4.20971335e-04 9.99887089e-01 8.52147612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.394391418 meters Centerline goodness [0,1] 0.9989289314516129 Centerline is valid? [True, True] Translation: X:119.28, Y:4.61, Z:0.85 [[ 9.98937583e-01 -4.36646536e-02 -1.47344265e-02 1.19283801e+02] [ 4.36655989e-02 9.99046170e-01 -2.57703883e-04 4.61406159e+00] [ 1.47316249e-02 -3.85957464e-04 9.99891409e-01 8.52942467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.424391418 meters Centerline goodness [0,1] 0.9990966006975083 Centerline is valid? [True, True] Translation: X:119.32, Y:4.62, Z:0.85 [[ 9.99124199e-01 -3.92218540e-02 -1.45767416e-02 1.19315270e+02] [ 3.92223150e-02 9.99230477e-01 -2.54360652e-04 4.61986633e+00] [ 1.45755010e-02 -3.17595669e-04 9.99893721e-01 8.53928771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45439141799999 meters Centerline goodness [0,1] 0.9988436875854094 Centerline is valid? [True, True] Translation: X:119.35, Y:4.63, Z:0.85 [[ 9.99310955e-01 -3.36454856e-02 -1.56714880e-02 1.19345517e+02] [ 3.36453388e-02 9.99433798e-01 -2.73090740e-04 4.62558610e+00] [ 1.56718030e-02 -2.54369954e-04 9.99877157e-01 8.53844566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48439141799999 meters Centerline goodness [0,1] 0.9991799142064093 Centerline is valid? [True, True] Translation: X:119.38, Y:4.63, Z:0.85 [[ 9.99399447e-01 -3.06225268e-02 -1.62174694e-02 1.19376426e+02] [ 3.06219706e-02 9.99530998e-01 -2.82677563e-04 4.62849677e+00] [ 1.62185197e-02 -2.14103072e-04 9.99868448e-01 8.54162865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51439141799999 meters Centerline goodness [0,1] 0.9990117746005046 Centerline is valid? [True, True] Translation: X:119.41, Y:4.63, Z:0.85 [[ 9.99464324e-01 -2.80216382e-02 -1.69071936e-02 1.19405733e+02] [ 2.80206574e-02 9.99607301e-01 -2.94951363e-04 4.63004937e+00] [ 1.69088192e-02 -1.78957315e-04 9.99857020e-01 8.53547739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54439141799999 meters Centerline goodness [0,1] 0.9993674489215004 Centerline is valid? [True, True] Translation: X:119.44, Y:4.63, Z:0.85 [[ 9.99521021e-01 -2.56722704e-02 -1.72818687e-02 1.19435319e+02] [ 2.56708854e-02 9.99670403e-01 -3.02010625e-04 4.63276330e+00] [ 1.72839259e-02 -1.41774900e-04 9.99850612e-01 8.54611609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57439141799999 meters Centerline goodness [0,1] 0.9993899488819236 Centerline is valid? [True, True] Translation: X:119.46, Y:4.63, Z:0.85 [[ 9.99565942e-01 -2.38572423e-02 -1.72846875e-02 1.19463117e+02] [ 2.38555648e-02 9.99715370e-01 -3.03261685e-04 4.63416608e+00] [ 1.72870028e-02 -1.09205931e-04 9.99850563e-01 8.54880763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60439141799999 meters Centerline goodness [0,1] 0.9992409227006284 Centerline is valid? [True, True] Translation: X:119.49, Y:4.64, Z:0.86 [[ 9.99592649e-01 -2.23975751e-02 -1.76885255e-02 1.19491959e+02] [ 2.23955296e-02 9.99749139e-01 -3.13744111e-04 4.63557979e+00] [ 1.76911153e-02 -8.25275896e-05 9.99843497e-01 8.55404920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63439141799999 meters Centerline goodness [0,1] 0.999241961634836 Centerline is valid? [True, True] Translation: X:119.52, Y:4.64, Z:0.86 [[ 9.99587515e-01 -2.24178945e-02 -1.79509933e-02 1.19519277e+02] [ 2.24157115e-02 9.99748684e-01 -3.22832682e-04 4.63559636e+00] [ 1.79537192e-02 -7.96847701e-05 9.99838816e-01 8.55059406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.664391418 meters Centerline goodness [0,1] 0.9993051900200021 Centerline is valid? [True, True] Translation: X:119.55, Y:4.64, Z:0.86 [[ 9.99569303e-01 -2.30776610e-02 -1.81281422e-02 1.19547686e+02] [ 2.30754556e-02 9.99733671e-01 -3.30852933e-04 4.63526276e+00] [ 1.81309495e-02 -8.76047033e-05 9.99835617e-01 8.55081088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.694391418 meters Centerline goodness [0,1] 0.9991379129081772 Centerline is valid? [True, True] Translation: X:119.58, Y:4.63, Z:0.86 [[ 9.99531167e-01 -2.42090780e-02 -1.87447560e-02 1.19576126e+02] [ 2.42068144e-02 9.99706912e-01 -3.47680542e-04 4.63470669e+00] [ 1.87476791e-02 -1.06233291e-04 9.99824241e-01 8.55264556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.724391418 meters Centerline goodness [0,1] 0.9990102345954597 Centerline is valid? [True, True] Translation: X:119.60, Y:4.63, Z:0.85 [[ 9.99474684e-01 -2.55632951e-02 -1.99216815e-02 1.19604998e+02] [ 2.55608929e-02 9.99673197e-01 -3.75250792e-04 4.63339834e+00] [ 1.99247637e-02 -1.34162300e-04 9.99801473e-01 8.54467909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.754391418 meters Centerline goodness [0,1] 0.9992016806722689 Centerline is valid? [True, True] Translation: X:119.63, Y:4.63, Z:0.85 [[ 9.99358686e-01 -2.96161063e-02 -2.01271823e-02 1.19633465e+02] [ 2.96143614e-02 9.99561325e-01 -3.84811233e-04 4.62933708e+00] [ 2.01297496e-02 -2.11489202e-04 9.99797354e-01 8.54947288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.784391418 meters Centerline goodness [0,1] 0.999053826745164 Centerline is valid? [True, True] Translation: X:119.66, Y:4.63, Z:0.85 [[ 9.99277424e-01 -3.21818027e-02 -2.02228158e-02 1.19662077e+02] [ 3.21804513e-02 9.99481998e-01 -3.92327690e-04 4.62723175e+00] [ 2.02249661e-02 -2.58735135e-04 9.99795421e-01 8.54925473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.814391418 meters Centerline goodness [0,1] 0.9992633750052616 Centerline is valid? [True, True] Translation: X:119.69, Y:4.62, Z:0.86 [[ 9.99168928e-01 -3.52093927e-02 -2.05365906e-02 1.19691099e+02] [ 3.52085188e-02 9.99379906e-01 -4.04232362e-04 4.62495161e+00] [ 2.05380888e-02 -3.19166520e-04 9.99789020e-01 8.55586783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84439141799999 meters Centerline goodness [0,1] 0.9989274447949527 Centerline is valid? [True, True] Translation: X:119.72, Y:4.62, Z:0.86 [[ 9.98948914e-01 -4.12377893e-02 -2.00127870e-02 1.19720500e+02] [ 4.12381075e-02 9.99149269e-01 -3.96960121e-04 4.61978581e+00] [ 2.00121312e-02 -4.28746580e-04 9.99799645e-01 8.56937370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87439141799999 meters Centerline goodness [0,1] 0.9989494694820884 Centerline is valid? [True, True] Translation: X:119.75, Y:4.62, Z:0.86 [[ 9.98817508e-01 -4.45518247e-02 -1.94607443e-02 1.19749064e+02] [ 4.45527268e-02 9.99006959e-01 -3.87411761e-04 4.61567484e+00] [ 1.94586789e-02 -4.80075575e-04 9.99810547e-01 8.56967029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90439141799999 meters Centerline goodness [0,1] 0.9990743857287109 Centerline is valid? [True, True] Translation: X:119.78, Y:4.61, Z:0.86 [[ 9.98656344e-01 -4.82169330e-02 -1.89903724e-02 1.19778997e+02] [ 4.82184372e-02 9.98836743e-01 -3.78933456e-04 4.61367242e+00] [ 1.89865527e-02 -5.37261779e-04 9.99819595e-01 8.58273358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93439141799999 meters Centerline goodness [0,1] 0.9990755331442378 Centerline is valid? [True, True] Translation: X:119.81, Y:4.61, Z:0.86 [[ 9.98255444e-01 -5.59957776e-02 -1.87227444e-02 1.19809693e+02] [ 5.59986026e-02 9.98430777e-01 -3.73760864e-04 4.60509079e+00] [ 1.87142932e-02 -6.75338703e-04 9.99824644e-01 8.58886124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96439141799999 meters Centerline goodness [0,1] 0.9987816661765324 Centerline is valid? [True, True] Translation: X:119.84, Y:4.60, Z:0.86 [[ 9.97985081e-01 -6.04333909e-02 -1.93283089e-02 1.19840452e+02] [ 6.04372366e-02 9.98171925e-01 -3.85631519e-04 4.60066856e+00] [ 1.93162803e-02 -7.83295073e-04 9.99813116e-01 8.58523377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99439141799999 meters Centerline goodness [0,1] 0.9990335931427131 Centerline is valid? [True, True] Translation: X:119.87, Y:4.60, Z:0.86 [[ 9.97721516e-01 -6.47247378e-02 -1.90390495e-02 1.19870792e+02] [ 6.47292534e-02 9.97902791e-01 -3.79623079e-04 4.59619569e+00] [ 1.90236917e-02 -8.53625349e-04 9.99818669e-01 8.58714287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.024391418 meters Centerline goodness [0,1] 0.998784627635053 Centerline is valid? [True, True] Translation: X:119.90, Y:4.59, Z:0.86 [[ 9.97112115e-01 -7.35805747e-02 -1.87970315e-02 1.19901810e+02] [ 7.35865448e-02 9.97288765e-01 -3.74796942e-04 4.58919707e+00] [ 1.87736461e-02 -1.00949403e-03 9.99823250e-01 8.58905137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.054391418 meters Centerline goodness [0,1] 0.9989124751646973 Centerline is valid? [True, True] Translation: X:119.93, Y:4.58, Z:0.86 [[ 9.96781337e-01 -7.78917232e-02 -1.89696044e-02 1.19932087e+02] [ 7.78985805e-02 9.96961217e-01 -3.78283078e-04 4.58238025e+00] [ 1.89414250e-02 -1.10063975e-03 9.99819989e-01 8.58562085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.084391418 meters Centerline goodness [0,1] 0.9985949165338478 Centerline is valid? [True, True] Translation: X:119.96, Y:4.57, Z:0.86 [[ 9.96171822e-01 -8.51383839e-02 -1.98281802e-02 1.19961175e+02] [ 8.51472973e-02 9.96368296e-01 -3.95810344e-04 4.57481522e+00] [ 1.97898688e-02 -1.29402084e-03 9.99803324e-01 8.58142049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.114391418 meters Centerline goodness [0,1] 0.9985134937085192 Centerline is valid? [True, True] Translation: X:119.99, Y:4.58, Z:0.86 [[ 9.95946927e-01 -8.76957530e-02 -1.99793443e-02 1.19991580e+02] [ 8.77053089e-02 9.96146385e-01 -3.99132728e-04 4.57635116e+00] [ 1.99373538e-02 -1.35477955e-03 9.99800313e-01 8.58916300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.144391418 meters Centerline goodness [0,1] 0.9984877444288085 Centerline is valid? [True, True] Translation: X:120.02, Y:4.58, Z:0.86 [[ 9.95790184e-01 -8.94307973e-02 -2.01008128e-02 1.20022528e+02] [ 8.94408264e-02 9.95992057e-01 -4.01317996e-04 4.58124377e+00] [ 2.00561401e-02 -1.39820479e-03 9.99797878e-01 8.59814853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.174391418 meters Centerline goodness [0,1] 0.9984905660377359 Centerline is valid? [True, True] Translation: X:120.05, Y:4.57, Z:0.86 [[ 9.95686142e-01 -9.05491180e-02 -2.02475850e-02 1.20053192e+02] [ 9.05595326e-02 9.95890962e-01 -4.03829063e-04 4.57483134e+00] [ 2.02009533e-02 -1.43152484e-03 9.99794915e-01 8.58849738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20439141799999 meters Centerline goodness [0,1] 0.9985498108448928 Centerline is valid? [True, True] Translation: X:120.08, Y:4.58, Z:0.86 [[ 9.95667555e-01 -9.07532820e-02 -2.02475119e-02 1.20084855e+02] [ 9.07637516e-02 9.95872371e-01 -4.03183360e-04 4.58004031e+00] [ 2.02005279e-02 -1.43630355e-03 9.99794917e-01 8.59609870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23439141799999 meters Centerline goodness [0,1] 0.9984906926043937 Centerline is valid? [True, True] Translation: X:120.12, Y:4.59, Z:0.86 [[ 9.95756429e-01 -8.98401938e-02 -1.99467738e-02 1.20116188e+02] [ 8.98501883e-02 9.95955213e-01 -3.96391827e-04 4.58555472e+00] [ 1.99017053e-02 -1.39751168e-03 9.99800965e-01 8.60213746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26439141799999 meters Centerline goodness [0,1] 0.9984053379214839 Centerline is valid? [True, True] Translation: X:120.15, Y:4.59, Z:0.86 [[ 9.95873593e-01 -8.85551932e-02 -1.98434988e-02 1.20146755e+02] [ 8.85648419e-02 9.96070336e-01 -3.93763948e-04 4.58649461e+00] [ 1.98003904e-02 -1.36529722e-03 9.99803021e-01 8.60159201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29439141799999 meters Centerline goodness [0,1] 0.998760113481139 Centerline is valid? [True, True] Translation: X:120.18, Y:4.59, Z:0.86 [[ 9.96059802e-01 -8.59907099e-02 -2.16902761e-02 1.20178394e+02] [ 8.60016559e-02 9.96294902e-01 -4.29385146e-04 4.59478717e+00] [ 2.16468346e-02 -1.43770638e-03 9.99764646e-01 8.59420573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32439141799999 meters Centerline goodness [0,1] 0.9986765817998488 Centerline is valid? [True, True] Translation: X:120.21, Y:4.60, Z:0.86 [[ 9.96385506e-01 -8.26650526e-02 -1.95553725e-02 1.20208332e+02] [ 8.26733206e-02 9.96576627e-01 -3.86638563e-04 4.59994892e+00] [ 1.95203887e-02 -1.23146652e-03 9.99808701e-01 8.60474506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35439141799999 meters Centerline goodness [0,1] 0.9984887601536427 Centerline is valid? [True, True] Translation: X:120.24, Y:4.60, Z:0.86 [[ 9.96581917e-01 -8.02199006e-02 -1.97294124e-02 1.20239444e+02] [ 8.02278483e-02 9.96776475e-01 -3.89613774e-04 4.59562764e+00] [ 1.96970689e-02 -1.19456627e-03 9.99805280e-01 8.58898595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38439141799999 meters Centerline goodness [0,1] 0.9987190525188467 Centerline is valid? [True, True] Translation: X:120.27, Y:4.61, Z:0.86 [[ 9.96812475e-01 -7.74106995e-02 -1.92995584e-02 1.20270663e+02] [ 7.74177950e-02 9.96998666e-01 -3.80336853e-04 4.60698958e+00] [ 1.92710761e-02 -1.11500474e-03 9.99813674e-01 8.60721175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.414391418 meters Centerline goodness [0,1] 0.9984861546224848 Centerline is valid? [True, True] Translation: X:120.30, Y:4.62, Z:0.86 [[ 9.97244254e-01 -7.18656579e-02 -1.84180530e-02 1.20300956e+02] [ 7.18711840e-02 9.97413857e-01 -3.62563576e-04 4.61594043e+00] [ 1.83964771e-02 -9.62162834e-04 9.99830308e-01 8.61590705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.444391418 meters Centerline goodness [0,1] 0.998656083322834 Centerline is valid? [True, True] Translation: X:120.33, Y:4.62, Z:0.86 [[ 9.97504013e-01 -6.83643957e-02 -1.76650545e-02 1.20331954e+02] [ 6.83689356e-02 9.97660046e-01 -3.47495183e-04 4.62183197e+00] [ 1.76474754e-02 -8.61113135e-04 9.99843900e-01 8.62201812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.474391418 meters Centerline goodness [0,1] 0.9985701669540351 Centerline is valid? [True, True] Translation: X:120.36, Y:4.63, Z:0.86 [[ 9.97970418e-01 -6.12820753e-02 -1.73075920e-02 1.20361341e+02] [ 6.12853701e-02 9.98120227e-01 -3.40453833e-04 4.62996174e+00] [ 1.72959214e-02 -7.20939328e-04 9.99850154e-01 8.62144569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.504391418 meters Centerline goodness [0,1] 0.9985915492957746 Centerline is valid? [True, True] Translation: X:120.39, Y:4.64, Z:0.86 [[ 9.98193523e-01 -5.76445645e-02 -1.69350235e-02 1.20392447e+02] [ 5.76471995e-02 9.98336962e-01 -3.32929785e-04 4.63625682e+00] [ 1.69260515e-02 -6.43928322e-04 9.99856537e-01 8.62495045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.534391418 meters Centerline goodness [0,1] 0.9986767485822307 Centerline is valid? [True, True] Translation: X:120.42, Y:4.64, Z:0.86 [[ 9.98427649e-01 -5.36418657e-02 -1.62720683e-02 1.20423039e+02] [ 5.36437780e-02 9.98560085e-01 -3.19248140e-04 4.64001287e+00] [ 1.62657629e-02 -5.54149047e-04 9.99867550e-01 8.62684275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.564391418 meters Centerline goodness [0,1] 0.998695944809019 Centerline is valid? [True, True] Translation: X:120.45, Y:4.65, Z:0.86 [[ 9.98822146e-01 -4.61912338e-02 -1.48556847e-02 1.20453563e+02] [ 4.61920105e-02 9.98932537e-01 -2.91021500e-04 4.64954797e+00] [ 1.48532695e-02 -3.95535225e-04 9.99889606e-01 8.63404934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59439141799999 meters Centerline goodness [0,1] 0.9989284588717302 Centerline is valid? [True, True] Translation: X:120.48, Y:4.66, Z:0.86 [[ 9.98983330e-01 -4.26446268e-02 -1.46199167e-02 1.20484929e+02] [ 4.26450055e-02 9.99090247e-01 -2.85987453e-04 4.65560285e+00] [ 1.46188121e-02 -3.37769733e-04 9.99893082e-01 8.64099082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62439141799999 meters Centerline goodness [0,1] 0.998778818823034 Centerline is valid? [True, True] Translation: X:120.52, Y:4.66, Z:0.86 [[ 9.99127883e-01 -3.91826400e-02 -1.44289524e-02 1.20516551e+02] [ 3.91826564e-02 9.99232025e-01 -2.81669264e-04 4.65962341e+00] [ 1.44289079e-02 -2.83941070e-04 9.99895858e-01 8.63831329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65439141799999 meters Centerline goodness [0,1] 0.9990097966922996 Centerline is valid? [True, True] Translation: X:120.55, Y:4.66, Z:0.86 [[ 9.99326007e-01 -3.40105719e-02 -1.38135099e-02 1.20547632e+02] [ 3.40101004e-02 9.99421453e-01 -2.69112606e-04 4.66480669e+00] [ 1.38146709e-02 -2.00867634e-04 9.99904553e-01 8.63151128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68439141799999 meters Centerline goodness [0,1] 0.9990316808756973 Centerline is valid? [True, True] Translation: X:120.58, Y:4.67, Z:0.86 [[ 9.99381474e-01 -3.23580808e-02 -1.37704201e-02 1.20578447e+02] [ 3.23574630e-02 9.99476324e-01 -2.67722473e-04 4.66680837e+00] [ 1.37718719e-02 -1.78018980e-04 9.99905147e-01 8.62901776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71439141799999 meters Centerline goodness [0,1] 0.9989474792127144 Centerline is valid? [True, True] Translation: X:120.61, Y:4.67, Z:0.86 [[ 9.99424739e-01 -3.12507211e-02 -1.31750837e-02 1.20609769e+02] [ 3.12500660e-02 9.99511565e-01 -2.55642010e-04 4.66869389e+00] [ 1.31766376e-02 -1.56227288e-04 9.99913172e-01 8.63195913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74439141799999 meters Centerline goodness [0,1] 0.9991806722689076 Centerline is valid? [True, True] Translation: X:120.64, Y:4.67, Z:0.86 [[ 9.99450500e-01 -3.05328364e-02 -1.29013205e-02 1.20641561e+02] [ 3.05321549e-02 9.99533754e-01 -2.49830715e-04 4.67043670e+00] [ 1.29029334e-02 -1.44211682e-04 9.99916743e-01 8.63633896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.774391418 meters Centerline goodness [0,1] 0.9989459704450113 Centerline is valid? [True, True] Translation: X:120.67, Y:4.67, Z:0.86 [[ 9.99468792e-01 -3.02699942e-02 -1.20773150e-02 1.20672942e+02] [ 3.02693832e-02 9.99541750e-01 -2.33421748e-04 4.67241197e+00] [ 1.20788462e-02 -1.32275123e-04 9.99927039e-01 8.64425644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.804391418 meters Centerline goodness [0,1] 0.9991766941101963 Centerline is valid? [True, True] Translation: X:120.70, Y:4.67, Z:0.86 [[ 9.99462392e-01 -3.07803555e-02 -1.12914813e-02 1.20703123e+02] [ 3.07798581e-02 9.99526164e-01 -2.17867602e-04 4.67240579e+00] [ 1.12928371e-02 -1.29799720e-04 9.99936225e-01 8.64901747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.834391418 meters Centerline goodness [0,1] 0.9990718474454711 Centerline is valid? [True, True] Translation: X:120.73, Y:4.67, Z:0.86 [[ 9.99443672e-01 -3.13908788e-02 -1.12676255e-02 1.20734000e+02] [ 3.13904260e-02 9.99507176e-01 -2.17082267e-04 4.67205442e+00] [ 1.12688869e-02 -1.36734066e-04 9.99936495e-01 8.64870045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.864391418 meters Centerline goodness [0,1] 0.9989883022447044 Centerline is valid? [True, True] Translation: X:120.77, Y:4.67, Z:0.87 [[ 9.99385548e-01 -3.34711491e-02 -1.04022936e-02 1.20766020e+02] [ 3.34708821e-02 9.99439673e-01 -1.99805044e-04 4.67225495e+00] [ 1.04031526e-02 -1.48491668e-04 9.99945875e-01 8.65349303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.894391418 meters Centerline goodness [0,1] 0.9989884514878192 Centerline is valid? [True, True] Translation: X:120.80, Y:4.67, Z:0.87 [[ 9.99362060e-01 -3.44043648e-02 -9.58185648e-03 1.20798392e+02] [ 3.44041881e-02 9.99407984e-01 -1.83319573e-04 4.67158349e+00] [ 9.58249086e-03 -1.46453366e-04 9.99954076e-01 8.65579300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.924391418 meters Centerline goodness [0,1] 0.9989033237725662 Centerline is valid? [True, True] Translation: X:120.83, Y:4.67, Z:0.87 [[ 9.99326364e-01 -3.55117655e-02 -9.25916314e-03 1.20829571e+02] [ 3.55116551e-02 9.99369247e-01 -1.76376854e-04 4.67023958e+00] [ 9.25958634e-03 -1.52550168e-04 9.99957117e-01 8.66032869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95439141799999 meters Centerline goodness [0,1] 0.9988185404755374 Centerline is valid? [True, True] Translation: X:120.86, Y:4.67, Z:0.87 [[ 9.99300230e-01 -3.64787441e-02 -8.26752985e-03 1.20860476e+02] [ 3.64786973e-02 9.99334419e-01 -1.56510909e-04 4.66919985e+00] [ 8.26773645e-03 -1.45187331e-04 9.99965811e-01 8.66650336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98439141799999 meters Centerline goodness [0,1] 0.9987330010980657 Centerline is valid? [True, True] Translation: X:120.89, Y:4.67, Z:0.87 [[ 9.99234549e-01 -3.84742716e-02 -7.07440021e-03 1.20892605e+02] [ 3.84742896e-02 9.99259581e-01 -1.33609573e-04 4.66893035e+00] [ 7.07430273e-03 -1.38675221e-04 9.99974967e-01 8.66971869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01439141799999 meters Centerline goodness [0,1] 0.9987330010980657 Centerline is valid? [True, True] Translation: X:120.92, Y:4.67, Z:0.87 [[ 9.99237687e-01 -3.83926855e-02 -7.07441108e-03 1.20924298e+02] [ 3.83927055e-02 9.99262719e-01 -1.33031555e-04 4.66944999e+00] [ 7.07430269e-03 -1.38675638e-04 9.99974967e-01 8.67240152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04439141799999 meters Centerline goodness [0,1] 0.9989893673018212 Centerline is valid? [True, True] Translation: X:120.96, Y:4.67, Z:0.87 [[ 9.99182489e-01 -3.97349862e-02 -7.44875861e-03 1.20955171e+02] [ 3.97350506e-02 9.99210241e-01 -1.39404783e-04 4.66769254e+00] [ 7.44841513e-03 -1.56685982e-04 9.99972248e-01 8.68352911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07439141799999 meters Centerline goodness [0,1] 0.9989015167518696 Centerline is valid? [True, True] Translation: X:120.99, Y:4.67, Z:0.87 [[ 9.99121328e-01 -4.12267030e-02 -7.54521044e-03 1.20986997e+02] [ 4.12268147e-02 9.99149804e-01 -1.40792826e-04 4.66536478e+00] [ 7.54459995e-03 -1.70395877e-04 9.99971525e-01 8.67797245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10439141799999 meters Centerline goodness [0,1] 0.9988195366681423 Centerline is valid? [True, True] Translation: X:121.02, Y:4.67, Z:0.87 [[ 9.99120463e-01 -4.11546833e-02 -8.03693765e-03 1.21018820e+02] [ 4.11548157e-02 9.99152771e-01 -1.48980921e-04 4.66596811e+00] [ 8.03625978e-03 -1.81908801e-04 9.99967692e-01 8.67341662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13439141799999 meters Centerline goodness [0,1] 0.9988802028311853 Centerline is valid? [True, True] Translation: X:121.05, Y:4.67, Z:0.87 [[ 9.99126274e-01 -4.10533711e-02 -7.82998386e-03 1.21050721e+02] [ 4.10534984e-02 9.99156939e-01 -1.44529405e-04 4.66610369e+00] [ 7.82931613e-03 -1.77045105e-04 9.99969335e-01 8.67348519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.164391418 meters Centerline goodness [0,1] 0.9986499029617754 Centerline is valid? [True, True] Translation: X:121.08, Y:4.66, Z:0.87 [[ 9.99171441e-01 -3.98194518e-02 -8.41679335e-03 1.21081519e+02] [ 3.98195614e-02 9.99206875e-01 -1.54617202e-04 4.66445299e+00] [ 8.41627455e-03 -1.80663927e-04 9.99964566e-01 8.67130655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.194391418 meters Centerline goodness [0,1] 0.9988820452244347 Centerline is valid? [True, True] Translation: X:121.11, Y:4.67, Z:0.87 [[ 9.99224646e-01 -3.84952676e-02 -8.25964881e-03 1.21113393e+02] [ 3.84953321e-02 9.99258769e-01 -1.51237764e-04 4.66703143e+00] [ 8.25934844e-03 -1.66837423e-04 9.99965877e-01 8.67148034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.224391418 meters Centerline goodness [0,1] 0.9989670292604773 Centerline is valid? [True, True] Translation: X:121.15, Y:4.67, Z:0.87 [[ 9.99296074e-01 -3.65939792e-02 -8.26059373e-03 1.21145543e+02] [ 3.65939843e-02 9.99330205e-01 -1.50583326e-04 4.66820929e+00] [ 8.26057126e-03 -1.51810711e-04 9.99965869e-01 8.66897293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.254391418 meters Centerline goodness [0,1] 0.9992197714141116 Centerline is valid? [True, True] Translation: X:121.18, Y:4.67, Z:0.87 [[ 9.99357818e-01 -3.47265239e-02 -8.83287477e-03 1.21177667e+02] [ 3.47264636e-02 9.99396842e-01 -1.60251646e-04 4.66970338e+00] [ 8.83311213e-03 -1.46585769e-04 9.99960977e-01 8.66778734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.284391418 meters Centerline goodness [0,1] 0.9990510533308028 Centerline is valid? [True, True] Translation: X:121.21, Y:4.67, Z:0.87 [[ 9.99481318e-01 -3.08209286e-02 -9.33628281e-03 1.21209970e+02] [ 3.08206983e-02 9.99524915e-01 -1.68584380e-04 4.67203090e+00] [ 9.33704321e-03 -1.19253817e-04 9.99956402e-01 8.65619913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.314391418 meters Centerline goodness [0,1] 0.999219968798752 Centerline is valid? [True, True] Translation: X:121.24, Y:4.67, Z:0.87 [[ 9.99539331e-01 -2.87530805e-02 -9.71522264e-03 1.21241411e+02] [ 2.87527412e-02 9.99586539e-01 -1.74622785e-04 4.67333054e+00] [ 9.71622672e-03 -1.04796941e-04 9.99952791e-01 8.65701141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34439141799999 meters Centerline goodness [0,1] 0.9988629903354178 Centerline is valid? [True, True] Translation: X:121.27, Y:4.68, Z:0.87 [[ 9.99610379e-01 -2.60956845e-02 -9.90479634e-03 1.21272239e+02] [ 2.60952072e-02 9.99659446e-01 -1.77441154e-04 4.67504663e+00] [ 9.90605368e-03 -8.10956938e-05 9.99950931e-01 8.65155905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37439141799999 meters Centerline goodness [0,1] 0.999156402901974 Centerline is valid? [True, True] Translation: X:121.30, Y:4.68, Z:0.87 [[ 9.99667170e-01 -2.39170625e-02 -9.67074698e-03 1.21303650e+02] [ 2.39165092e-02 9.99713944e-01 -1.72868160e-04 4.67787093e+00] [ 9.67211510e-03 -5.84798852e-05 9.99953222e-01 8.66433176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40439141799999 meters Centerline goodness [0,1] 0.9992188819456173 Centerline is valid? [True, True] Translation: X:121.33, Y:4.68, Z:0.87 [[ 9.99781259e-01 -1.83515502e-02 -1.00326700e-02 1.21334606e+02] [ 1.83506785e-02 9.99831596e-01 -1.78940990e-04 4.68129899e+00] [ 1.00342643e-02 -5.20445462e-06 9.99949655e-01 8.66085590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43439141799999 meters Centerline goodness [0,1] 0.9992413865767569 Centerline is valid? [True, True] Translation: X:121.36, Y:4.68, Z:0.87 [[ 9.99808554e-01 -1.64663925e-02 -1.05694916e-02 1.21363752e+02] [ 1.64653212e-02 9.99864420e-01 -1.88374519e-04 4.68273493e+00] [ 1.05711605e-02 1.43083811e-05 9.99944124e-01 8.66872203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46439141799999 meters Centerline goodness [0,1] 0.9991770242039292 Centerline is valid? [True, True] Translation: X:121.39, Y:4.68, Z:0.87 [[ 9.99862834e-01 -1.28053738e-02 -1.05040582e-02 1.21392780e+02] [ 1.28041114e-02 9.99918006e-01 -1.87421427e-04 4.68382299e+00] [ 1.05055969e-02 5.29005880e-05 9.99944813e-01 8.67035007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49439141799999 meters Centerline goodness [0,1] 0.9991346377086895 Centerline is valid? [True, True] Translation: X:121.42, Y:4.68, Z:0.87 [[ 9.99874520e-01 -1.21843629e-02 -1.01235443e-02 1.21421649e+02] [ 1.21831521e-02 9.99925766e-01 -1.81268751e-04 4.68332564e+00] [ 1.01250014e-02 5.79093246e-05 9.99948739e-01 8.67433394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.524391418 meters Centerline goodness [0,1] 0.9992626922266695 Centerline is valid? [True, True] Translation: X:121.45, Y:4.68, Z:0.87 [[ 9.99882855e-01 -1.17215438e-02 -9.84287647e-03 1.21450620e+02] [ 1.17203528e-02 9.99931298e-01 -1.78677019e-04 4.68272936e+00] [ 9.84429462e-03 6.32941034e-05 9.99951542e-01 8.67646725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.554391418 meters Centerline goodness [0,1] 0.9991782207425514 Centerline is valid? [True, True] Translation: X:121.48, Y:4.68, Z:0.87 [[ 9.99856969e-01 -1.35238165e-02 -1.01561340e-02 1.21479803e+02] [ 1.35226313e-02 9.99908548e-01 -1.85368396e-04 4.67953484e+00] [ 1.01577121e-02 4.80042272e-05 9.99948408e-01 8.67888091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.584391418 meters Centerline goodness [0,1] 0.9993471897571967 Centerline is valid? [True, True] Translation: X:121.51, Y:4.68, Z:0.87 [[ 9.99826597e-01 -1.53894664e-02 -1.04852605e-02 1.21508405e+02] [ 1.53882739e-02 9.99881575e-01 -1.94411511e-04 4.67743587e+00] [ 1.04870107e-02 3.30277390e-05 9.99945009e-01 8.67803885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.614391418 meters Centerline goodness [0,1] 0.9992426633007258 Centerline is valid? [True, True] Translation: X:121.54, Y:4.67, Z:0.87 [[ 9.99742467e-01 -1.98382406e-02 -1.10201449e-02 1.21537301e+02] [ 1.98371642e-02 9.99803203e-01 -2.06981356e-04 4.67038954e+00] [ 1.10220823e-02 -1.16803717e-05 9.99939255e-01 8.67209589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.644391418 meters Centerline goodness [0,1] 0.9990956316907481 Centerline is valid? [True, True] Translation: X:121.57, Y:4.67, Z:0.87 [[ 9.99689175e-01 -2.22867035e-02 -1.11738943e-02 1.21567228e+02] [ 2.22857429e-02 9.99751620e-01 -2.10489831e-04 4.66662437e+00] [ 1.11758101e-02 -3.85941304e-05 9.99937548e-01 8.67264123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.674391418 meters Centerline goodness [0,1] 0.9990756496712254 Centerline is valid? [True, True] Translation: X:121.60, Y:4.66, Z:0.87 [[ 9.99631754e-01 -2.47390966e-02 -1.11504793e-02 1.21596676e+02] [ 2.47382881e-02 9.99693940e-01 -2.10442857e-04 4.66214123e+00] [ 1.11522727e-02 -6.54784075e-05 9.99937809e-01 8.67168657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70439141799999 meters Centerline goodness [0,1] 0.9990132269577997 Centerline is valid? [True, True] Translation: X:121.63, Y:4.66, Z:0.87 [[ 9.99572514e-01 -2.71680233e-02 -1.08021853e-02 1.21627610e+02] [ 2.71674046e-02 9.99630877e-01 -2.04033729e-04 4.65865114e+00] [ 1.08037412e-02 -8.95208317e-05 9.99941634e-01 8.67796070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73439141799999 meters Centerline goodness [0,1] 0.999180878770058 Centerline is valid? [True, True] Translation: X:121.66, Y:4.65, Z:0.87 [[ 9.99433349e-01 -3.21830227e-02 -9.86074679e-03 1.21658355e+02] [ 3.21827515e-02 9.99481984e-01 -1.86223806e-04 4.65106749e+00] [ 9.86163201e-03 -1.31227681e-04 9.99951364e-01 8.69407479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76439141799999 meters Centerline goodness [0,1] 0.9990363263082918 Centerline is valid? [True, True] Translation: X:121.69, Y:4.65, Z:0.87 [[ 9.99345021e-01 -3.46460053e-02 -1.04490489e-02 1.21690078e+02] [ 3.46458380e-02 9.99399633e-01 -1.97075640e-04 4.64793042e+00] [ 1.04496035e-02 -1.65069496e-04 9.99945388e-01 8.69883743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79439141799999 meters Centerline goodness [0,1] 0.999014075643473 Centerline is valid? [True, True] Translation: X:121.72, Y:4.65, Z:0.87 [[ 9.99252305e-01 -3.72368854e-02 -1.04041094e-02 1.21721155e+02] [ 3.72368643e-02 9.99306448e-01 -1.95813744e-04 4.64507673e+00] [ 1.04041851e-02 -1.91749076e-04 9.99945857e-01 8.70254324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82439141799999 meters Centerline goodness [0,1] 0.9989143143477535 Centerline is valid? [True, True] Translation: X:121.75, Y:4.64, Z:0.87 [[ 9.99058471e-01 -4.19109316e-02 -1.12091866e-02 1.21751210e+02] [ 4.19112052e-02 9.99121317e-01 -2.10598753e-04 4.63602871e+00] [ 1.12081637e-02 -2.59390053e-04 9.99937153e-01 8.69758188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85439141799999 meters Centerline goodness [0,1] 0.999203521274366 Centerline is valid? [True, True] Translation: X:121.78, Y:4.63, Z:0.87 [[ 9.98967226e-01 -4.39570608e-02 -1.15003129e-02 1.21782760e+02] [ 4.39574856e-02 9.99033379e-01 -2.15949458e-04 4.63279921e+00] [ 1.14986890e-02 -2.89798409e-04 9.99933846e-01 8.69877532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88439141799999 meters Centerline goodness [0,1] 0.9990353967455124 Centerline is valid? [True, True] Translation: X:121.81, Y:4.63, Z:0.87 [[ 9.98794527e-01 -4.77410379e-02 -1.14142794e-02 1.21813837e+02] [ 4.77417077e-02 9.98859692e-01 -2.13945469e-04 4.62704469e+00] [ 1.14114776e-02 -3.31249627e-04 9.99934832e-01 8.70502421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.914391418 meters Centerline goodness [0,1] 0.9988872792928974 Centerline is valid? [True, True] Translation: X:121.85, Y:4.63, Z:0.87 [[ 9.98712817e-01 -4.94153680e-02 -1.14381385e-02 1.21845423e+02] [ 4.94161537e-02 9.98778253e-01 -2.14100288e-04 4.62690024e+00] [ 1.14347438e-02 -3.51404109e-04 9.99934559e-01 8.71220150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.944391418 meters Centerline goodness [0,1] 0.9991189981750677 Centerline is valid? [True, True] Translation: X:121.88, Y:4.62, Z:0.87 [[ 9.98655627e-01 -5.05677287e-02 -1.13948858e-02 1.21876788e+02] [ 5.05685914e-02 9.98720568e-01 -2.12580513e-04 4.62446416e+00] [ 1.13910565e-02 -3.63928598e-04 9.99935054e-01 8.71500891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.974391418 meters Centerline goodness [0,1] 0.9992040051111251 Centerline is valid? [True, True] Translation: X:121.91, Y:4.62, Z:0.87 [[ 9.98596411e-01 -5.16454718e-02 -1.17453815e-02 1.21909332e+02] [ 5.16464787e-02 9.98665406e-01 -2.17773273e-04 4.62423570e+00] [ 1.17409531e-02 -3.89139985e-04 9.99930997e-01 8.71932112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.004391418 meters Centerline goodness [0,1] 0.9991189427312775 Centerline is valid? [True, True] Translation: X:121.94, Y:4.62, Z:0.87 [[ 9.98473373e-01 -5.38266817e-02 -1.23939967e-02 1.21940574e+02] [ 5.38279820e-02 9.98550197e-01 -2.28893745e-04 4.62122447e+00] [ 1.23883485e-02 -4.38599523e-04 9.99923165e-01 8.71673678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.034391418 meters Centerline goodness [0,1] 0.9991200134093194 Centerline is valid? [True, True] Translation: X:121.97, Y:4.62, Z:0.87 [[ 9.98422250e-01 -5.46069204e-02 -1.30802992e-02 1.21972024e+02] [ 5.46084477e-02 9.98507816e-01 -2.40637797e-04 4.61917114e+00] [ 1.30739214e-02 -4.74036701e-04 9.99914420e-01 8.71335898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.064391418 meters Centerline goodness [0,1] 0.9993711878261963 Centerline is valid? [True, True] Translation: X:122.00, Y:4.62, Z:0.87 [[ 9.98365818e-01 -5.54720779e-02 -1.37310354e-02 1.22003449e+02] [ 5.54738604e-02 9.98460108e-01 -2.51314124e-04 4.61825571e+00] [ 1.37238320e-02 -5.10810109e-04 9.99905693e-01 8.70965199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09439141799999 meters Centerline goodness [0,1] 0.9988076311605724 Centerline is valid? [True, True] Translation: X:122.03, Y:4.62, Z:0.87 [[ 9.98272952e-01 -5.64494924e-02 -1.62655323e-02 1.22034387e+02] [ 5.64521327e-02 9.98405263e-01 -2.97140817e-04 4.61706323e+00] [ 1.62563665e-02 -6.21596346e-04 9.99867663e-01 8.68420856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12439141799999 meters Centerline goodness [0,1] 0.999036205162588 Centerline is valid? [True, True] Translation: X:122.06, Y:4.62, Z:0.87 [[ 9.98224067e-01 -5.74280305e-02 -1.58345502e-02 1.22064474e+02] [ 5.74306605e-02 9.98349456e-01 -2.88953856e-04 4.61627500e+00] [ 1.58250086e-02 -6.20947984e-04 9.99874584e-01 8.70290660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15439141799999 meters Centerline goodness [0,1] 0.9989972633645993 Centerline is valid? [True, True] Translation: X:122.10, Y:4.62, Z:0.87 [[ 9.98192903e-01 -5.79959514e-02 -1.57288898e-02 1.22096124e+02] [ 5.79986240e-02 9.98316622e-01 -2.86568664e-04 4.61633855e+00] [ 1.57190319e-02 -6.26203158e-04 9.99876252e-01 8.70399446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18439141799999 meters Centerline goodness [0,1] 0.9990578875745839 Centerline is valid? [True, True] Translation: X:122.13, Y:4.61, Z:0.87 [[ 9.98182524e-01 -5.80715811e-02 -1.61040479e-02 1.22126853e+02] [ 5.80744005e-02 9.98312215e-01 -2.92908633e-04 4.60966665e+00] [ 1.60938773e-02 -6.42856647e-04 9.99870279e-01 8.69413814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21439141799999 meters Centerline goodness [0,1] 0.9992029867024623 Centerline is valid? [True, True] Translation: X:122.16, Y:4.62, Z:0.87 [[ 9.98219319e-01 -5.74729733e-02 -1.59702369e-02 1.22158263e+02] [ 5.74756770e-02 9.98346865e-01 -2.90010494e-04 4.61949242e+00] [ 1.59605037e-02 -6.28406099e-04 9.99872426e-01 8.71808102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24439141799999 meters Centerline goodness [0,1] 0.999102221479873 Centerline is valid? [True, True] Translation: X:122.19, Y:4.62, Z:0.87 [[ 9.98286312e-01 -5.64750358e-02 -1.53300487e-02 1.22188563e+02] [ 5.64774166e-02 9.98403838e-01 -2.77925511e-04 4.62025121e+00] [ 1.53212753e-02 -5.88352314e-04 9.99882449e-01 8.72344257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.274391418 meters Centerline goodness [0,1] 0.9989742516223571 Centerline is valid? [True, True] Translation: X:122.22, Y:4.62, Z:0.87 [[ 9.98340428e-01 -5.55289074e-02 -1.52620640e-02 1.22219589e+02] [ 5.55311633e-02 9.98456916e-01 -2.76257949e-04 4.62360132e+00] [ 1.52538536e-02 -5.71720689e-04 9.99883490e-01 8.72999737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.304391418 meters Centerline goodness [0,1] 0.9989952904238618 Centerline is valid? [True, True] Translation: X:122.25, Y:4.63, Z:0.87 [[ 9.98420874e-01 -5.41167098e-02 -1.50711729e-02 1.22249484e+02] [ 5.41187559e-02 9.98534469e-01 -2.72342778e-04 4.62522880e+00] [ 1.50638240e-02 -5.43720414e-04 9.99886386e-01 8.73080869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.334391418 meters Centerline goodness [0,1] 0.9990158098628416 Centerline is valid? [True, True] Translation: X:122.28, Y:4.63, Z:0.87 [[ 9.98592215e-01 -5.05999704e-02 -1.59132441e-02 1.22279893e+02] [ 5.06018107e-02 9.98718866e-01 -2.87238638e-04 4.62965322e+00] [ 1.59073914e-02 -5.18404697e-04 9.99873335e-01 8.72306058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.364391418 meters Centerline goodness [0,1] 0.9989318029490617 Centerline is valid? [True, True] Translation: X:122.31, Y:4.63, Z:0.87 [[ 9.98679063e-01 -4.87075394e-02 -1.63617139e-02 1.22310562e+02] [ 4.87092339e-02 9.98812957e-01 -2.95163479e-04 4.63433751e+00] [ 1.63566686e-02 -5.02192966e-04 9.99866095e-01 8.72405410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.394391418 meters Centerline goodness [0,1] 0.9990780706533127 Centerline is valid? [True, True] Translation: X:122.34, Y:4.64, Z:0.87 [[ 9.98896921e-01 -4.41867428e-02 -1.58894011e-02 1.22340780e+02] [ 4.41877693e-02 9.99023202e-01 -2.86643009e-04 4.64465415e+00] [ 1.58865462e-02 -4.15790372e-04 9.99873714e-01 8.73983375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.424391418 meters Centerline goodness [0,1] 0.9990170037437517 Centerline is valid? [True, True] Translation: X:122.37, Y:4.65, Z:0.87 [[ 9.98987638e-01 -4.21387770e-02 -1.57487215e-02 1.22370865e+02] [ 4.21395311e-02 9.99111695e-01 -2.84105164e-04 4.64770248e+00] [ 1.57467037e-02 -3.79826191e-04 9.99875941e-01 8.74423260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45439141799999 meters Centerline goodness [0,1] 0.9990990424707189 Centerline is valid? [True, True] Translation: X:122.40, Y:4.65, Z:0.88 [[ 9.99066165e-01 -4.03428496e-02 -1.54677631e-02 1.22401425e+02] [ 4.03433619e-02 9.99185836e-01 -2.79036707e-04 4.65060608e+00] [ 1.54664270e-02 -3.45245433e-04 9.99880328e-01 8.75100868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48439141799999 meters Centerline goodness [0,1] 0.9993514915693904 Centerline is valid? [True, True] Translation: X:122.43, Y:4.65, Z:0.88 [[ 9.99194865e-01 -3.75396531e-02 -1.41561383e-02 1.22431137e+02] [ 3.75397993e-02 9.99295101e-01 -2.55489537e-04 4.65468758e+00] [ 1.41557506e-02 -2.76134757e-04 9.99899764e-01 8.76213662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51439141799999 meters Centerline goodness [0,1] 0.99903648778853 Centerline is valid? [True, True] Translation: X:122.46, Y:4.66, Z:0.88 [[ 9.99219820e-01 -3.68880006e-02 -1.41076806e-02 1.22461506e+02] [ 3.68880785e-02 9.99319371e-01 -2.54784683e-04 4.65648156e+00] [ 1.41074770e-02 -2.65819325e-04 9.99900449e-01 8.76310589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54439141799999 meters Centerline goodness [0,1] 0.9988270286121235 Centerline is valid? [True, True] Translation: X:122.49, Y:4.66, Z:0.88 [[ 9.99237860e-01 -3.63799811e-02 -1.41490651e-02 1.22492139e+02] [ 3.63800085e-02 9.99337996e-01 -2.55532087e-04 4.65782866e+00] [ 1.41489946e-02 -2.59405774e-04 9.99899864e-01 8.76280769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57439141799999 meters Centerline goodness [0,1] 0.9989944906466682 Centerline is valid? [True, True] Translation: X:122.52, Y:4.66, Z:0.88 [[ 9.99263209e-01 -3.57383942e-02 -1.39930585e-02 1.22521652e+02] [ 3.57383566e-02 9.99361149e-01 -2.52822103e-04 4.65981755e+00] [ 1.39931545e-02 -2.47453090e-04 9.99902060e-01 8.76244836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60439141799999 meters Centerline goodness [0,1] 0.9990594628487826 Centerline is valid? [True, True] Translation: X:122.55, Y:4.66, Z:0.88 [[ 9.99270809e-01 -3.54321510e-02 -1.42272257e-02 1.22552192e+02] [ 3.54320787e-02 9.99372054e-01 -2.57220461e-04 4.66053825e+00] [ 1.42274056e-02 -2.47067283e-04 9.99898755e-01 8.75858853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63439141799999 meters Centerline goodness [0,1] 0.9989306606839579 Centerline is valid? [True, True] Translation: X:122.58, Y:4.66, Z:0.88 [[ 9.99275161e-01 -3.50049212e-02 -1.49601900e-02 1.22582889e+02] [ 3.50047935e-02 9.99387108e-01 -2.70472055e-04 4.66129709e+00] [ 1.49604889e-02 -2.53402356e-04 9.99888054e-01 8.75207717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.664391418 meters Centerline goodness [0,1] 0.9992244649856421 Centerline is valid? [True, True] Translation: X:122.61, Y:4.66, Z:0.88 [[ 9.99308045e-01 -3.38332838e-02 -1.54512230e-02 1.22613333e+02] [ 3.38330076e-02 9.99427461e-01 -2.79349662e-04 4.66305429e+00] [ 1.54518278e-02 -2.43604979e-04 9.99880584e-01 8.75059042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.694391418 meters Centerline goodness [0,1] 0.9989306606839579 Centerline is valid? [True, True] Translation: X:122.64, Y:4.66, Z:0.88 [[ 9.99330325e-01 -3.32571444e-02 -1.52599072e-02 1.22643453e+02] [ 3.32568078e-02 9.99446801e-01 -2.75890778e-04 4.66488904e+00] [ 1.52606408e-02 -2.31789781e-04 9.99883523e-01 8.75735941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.724391418 meters Centerline goodness [0,1] 0.9991401367392307 Centerline is valid? [True, True] Translation: X:122.67, Y:4.67, Z:0.88 [[ 9.99365782e-01 -3.22041514e-02 -1.51962770e-02 1.22673335e+02] [ 3.22036939e-02 9.99481289e-01 -2.74870822e-04 4.66514922e+00] [ 1.51972465e-02 -2.14679760e-04 9.99884492e-01 8.75410200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.754391418 meters Centerline goodness [0,1] 0.9991611090138837 Centerline is valid? [True, True] Translation: X:122.70, Y:4.67, Z:0.88 [[ 9.99423568e-01 -3.08862785e-02 -1.40914840e-02 1.22702616e+02] [ 3.08857489e-02 9.99522889e-01 -2.55256256e-04 4.66758812e+00] [ 1.40926448e-02 -1.80116919e-04 9.99900678e-01 8.77441413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.784391418 meters Centerline goodness [0,1] 0.9990357202750293 Centerline is valid? [True, True] Translation: X:122.73, Y:4.67, Z:0.88 [[ 9.99443904e-01 -3.04916617e-02 -1.34959408e-02 1.22732013e+02] [ 3.04911344e-02 9.99535007e-01 -2.44876798e-04 4.66754368e+00] [ 1.34971320e-02 -1.66765921e-04 9.99908896e-01 8.77468937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.814391418 meters Centerline goodness [0,1] 0.9989928872663184 Centerline is valid? [True, True] Translation: X:122.76, Y:4.67, Z:0.88 [[ 9.99446273e-01 -3.03931821e-02 -1.35425882e-02 1.22762125e+02] [ 3.03926400e-02 9.99538007e-01 -2.45885045e-04 4.66815619e+00] [ 1.35438048e-02 -1.65846114e-04 9.99908265e-01 8.77895856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84439141799999 meters Centerline goodness [0,1] 0.9991830236504179 Centerline is valid? [True, True] Translation: X:122.79, Y:4.67, Z:0.88 [[ 9.99443129e-01 -3.07340003e-02 -1.29943463e-02 1.22792391e+02] [ 3.07335300e-02 9.99527586e-01 -2.35930930e-04 4.66816840e+00] [ 1.29954586e-02 -1.63562584e-04 9.99915542e-01 8.78297397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87439141799999 meters Centerline goodness [0,1] 0.9989313776846517 Centerline is valid? [True, True] Translation: X:122.82, Y:4.67, Z:0.88 [[ 9.99433717e-01 -3.11487930e-02 -1.27278820e-02 1.22822772e+02] [ 3.11483789e-02 9.99514745e-01 -2.30814697e-04 4.66704198e+00] [ 1.27288953e-02 -1.65768900e-04 9.99918971e-01 8.78296140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90439141799999 meters Centerline goodness [0,1] 0.9990990613476366 Centerline is valid? [True, True] Translation: X:122.85, Y:4.67, Z:0.88 [[ 9.99419939e-01 -3.17212873e-02 -1.23913132e-02 1.22853460e+02] [ 3.17209455e-02 9.99496739e-01 -2.24172812e-04 4.66665197e+00] [ 1.23921882e-02 -1.69021393e-04 9.99923200e-01 8.78775128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93439141799999 meters Centerline goodness [0,1] 0.9990990613476366 Centerline is valid? [True, True] Translation: X:122.88, Y:4.67, Z:0.88 [[ 9.99421186e-01 -3.16819817e-02 -1.23913160e-02 1.22884302e+02] [ 3.16816388e-02 9.99497986e-01 -2.24018510e-04 4.66717100e+00] [ 1.23921927e-02 -1.68688353e-04 9.99923200e-01 8.79036384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96439141799999 meters Centerline goodness [0,1] 0.9992473185724142 Centerline is valid? [True, True] Translation: X:122.92, Y:4.67, Z:0.88 [[ 9.99415371e-01 -3.18778363e-02 -1.23579988e-02 1.22915786e+02] [ 3.18775162e-02 9.99491758e-01 -2.22931744e-04 4.66699994e+00] [ 1.23588245e-02 -1.71140896e-04 9.99923612e-01 8.78970286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99439141799999 meters Centerline goodness [0,1] 0.9987433502282914 Centerline is valid? [True, True] Translation: X:122.95, Y:4.67, Z:0.88 [[ 9.99413522e-01 -3.18059683e-02 -1.26882888e-02 1.22946589e+02] [ 3.18056293e-02 9.99494047e-01 -2.28549848e-04 4.66708875e+00] [ 1.26891384e-02 -1.75143202e-04 9.99919474e-01 8.78978012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.024391418 meters Centerline goodness [0,1] 0.9990141376851114 Centerline is valid? [True, True] Translation: X:122.98, Y:4.67, Z:0.88 [[ 9.99439534e-01 -3.11548955e-02 -1.22470750e-02 1.22978381e+02] [ 3.11545327e-02 9.99514555e-01 -2.20449841e-04 4.66826482e+00] [ 1.22479978e-02 -1.61225613e-04 9.99924977e-01 8.79616855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.054391418 meters Centerline goodness [0,1] 0.9990168186762614 Centerline is valid? [True, True] Translation: X:123.01, Y:4.67, Z:0.88 [[ 9.99482974e-01 -2.95351140e-02 -1.27067764e-02 1.23007697e+02] [ 2.95345961e-02 9.99563733e-01 -2.28454676e-04 4.66825354e+00] [ 1.27079803e-02 -1.46952949e-04 9.99919240e-01 8.79640291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.084391418 meters Centerline goodness [0,1] 0.999161531044313 Centerline is valid? [True, True] Translation: X:123.04, Y:4.67, Z:0.88 [[ 9.99518621e-01 -2.83274155e-02 -1.26524034e-02 1.23038687e+02] [ 2.83268042e-02 9.99598690e-01 -2.27563059e-04 4.66860662e+00] [ 1.26537721e-02 -1.30948638e-04 9.99919929e-01 8.79770728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.114391418 meters Centerline goodness [0,1] 0.9990987025508814 Centerline is valid? [True, True] Translation: X:123.07, Y:4.67, Z:0.88 [[ 9.99551329e-01 -2.69399875e-02 -1.30911388e-02 1.23068665e+02] [ 2.69392151e-02 9.99637046e-01 -2.35371485e-04 4.66872339e+00] [ 1.30927282e-02 -1.17399124e-04 9.99914280e-01 8.79445470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.144391418 meters Centerline goodness [0,1] 0.9992457415826855 Centerline is valid? [True, True] Translation: X:123.10, Y:4.67, Z:0.88 [[ 9.99608151e-01 -2.44343302e-02 -1.36567662e-02 1.23098056e+02] [ 2.44332520e-02 9.99701433e-01 -2.45813071e-04 4.66954596e+00] [ 1.36586951e-02 -8.79624620e-05 9.99906712e-01 8.79115657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.174391418 meters Centerline goodness [0,1] 0.9992238793447025 Centerline is valid? [True, True] Translation: X:123.13, Y:4.67, Z:0.88 [[ 9.99618483e-01 -2.37687682e-02 -1.40689259e-02 1.23126787e+02] [ 2.37675349e-02 9.99717480e-01 -2.54878993e-04 4.67017769e+00] [ 1.40710093e-02 -7.96019359e-05 9.99900995e-01 8.79027526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20439141799999 meters Centerline goodness [0,1] 0.9992250010472958 Centerline is valid? [True, True] Translation: X:123.16, Y:4.67, Z:0.88 [[ 9.99626596e-01 -2.31450312e-02 -1.45250319e-02 1.23155961e+02] [ 2.31435942e-02 9.99732115e-01 -2.67034227e-04 4.67041097e+00] [ 1.45273214e-02 -6.92269286e-05 9.99894471e-01 8.78568012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23439141799999 meters Centerline goodness [0,1] 0.9994326539188905 Centerline is valid? [True, True] Translation: X:123.19, Y:4.67, Z:0.88 [[ 9.99635824e-01 -2.26824197e-02 -1.46194008e-02 1.23185113e+02] [ 2.26808586e-02 9.99742719e-01 -2.72593742e-04 4.67047614e+00] [ 1.46218226e-02 -5.90860922e-05 9.99893094e-01 8.78489990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26439141799999 meters Centerline goodness [0,1] 0.9993718329913313 Centerline is valid? [True, True] Translation: X:123.21, Y:4.67, Z:0.88 [[ 9.99639613e-01 -2.20895708e-02 -1.52543682e-02 1.23213683e+02] [ 2.20877389e-02 9.99755994e-01 -2.88580656e-04 4.66952848e+00] [ 1.52570206e-02 -4.84578458e-05 9.99883604e-01 8.78438751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29439141799999 meters Centerline goodness [0,1] 0.9993298429319372 Centerline is valid? [True, True] Translation: X:123.24, Y:4.67, Z:0.88 [[ 9.99640739e-01 -2.21511503e-02 -1.50903662e-02 1.23241571e+02] [ 2.21493205e-02 9.99754632e-01 -2.88393760e-04 4.66898794e+00] [ 1.50930518e-02 -4.59512063e-05 9.99886092e-01 8.78254178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32439141799999 meters Centerline goodness [0,1] 0.9993908586792136 Centerline is valid? [True, True] Translation: X:123.27, Y:4.67, Z:0.88 [[ 9.99627370e-01 -2.30012227e-02 -1.46991281e-02 1.23269273e+02] [ 2.29995374e-02 9.99735435e-01 -2.83716344e-04 4.66783822e+00] [ 1.47017651e-02 -5.44625233e-05 9.99891922e-01 8.80155782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35439141799999 meters Centerline goodness [0,1] 0.9994116163738758 Centerline is valid? [True, True] Translation: X:123.30, Y:4.67, Z:0.88 [[ 9.99603744e-01 -2.39838816e-02 -1.47352710e-02 1.23297589e+02] [ 2.39822400e-02 9.99712343e-01 -2.88124130e-04 4.66704986e+00] [ 1.47379427e-02 -6.53748473e-05 9.99891388e-01 8.80655699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38439141799999 meters Centerline goodness [0,1] 0.9995591569401293 Centerline is valid? [True, True] Translation: X:123.33, Y:4.67, Z:0.88 [[ 9.99568684e-01 -2.54717533e-02 -1.46162907e-02 1.23325752e+02] [ 2.54702690e-02 9.99675539e-01 -2.87720409e-04 4.66530392e+00] [ 1.46188770e-02 -8.46845454e-05 9.99893135e-01 8.81097570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.414391418 meters Centerline goodness [0,1] 0.9992869127516778 Centerline is valid? [True, True] Translation: X:123.35, Y:4.66, Z:0.88 [[ 9.99452933e-01 -3.00312391e-02 -1.38549652e-02 1.23354329e+02] [ 3.00303115e-02 9.99548951e-01 -2.75041492e-04 4.65948389e+00] [ 1.38569757e-02 -1.41177893e-04 9.99903978e-01 8.81582242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.444391418 meters Centerline goodness [0,1] 0.9993098111392299 Centerline is valid? [True, True] Translation: X:123.38, Y:4.66, Z:0.88 [[ 9.99371167e-01 -3.27112305e-02 -1.36837856e-02 1.23384489e+02] [ 3.27105420e-02 9.99464829e-01 -2.74188817e-04 4.65614581e+00] [ 1.36854315e-02 -1.73587644e-04 9.99906335e-01 8.81978491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.474391418 meters Centerline goodness [0,1] 0.9995589161940769 Centerline is valid? [True, True] Translation: X:123.41, Y:4.65, Z:0.88 [[ 9.99266627e-01 -3.59510877e-02 -1.31805373e-02 1.23414014e+02] [ 3.59507250e-02 9.99353529e-01 -2.64524381e-04 4.65234905e+00] [ 1.31815265e-02 -2.09519488e-04 9.99913098e-01 8.82829261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.504391418 meters Centerline goodness [0,1] 0.9993075518811507 Centerline is valid? [True, True] Translation: X:123.44, Y:4.65, Z:0.88 [[ 9.99146634e-01 -3.93226446e-02 -1.26385556e-02 1.23443259e+02] [ 3.93225777e-02 9.99226536e-01 -2.53889661e-04 4.64868934e+00] [ 1.26387638e-02 -2.43307585e-04 9.99920098e-01 8.83237990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.534391418 meters Centerline goodness [0,1] 0.999182424217014 Centerline is valid? [True, True] Translation: X:123.47, Y:4.64, Z:0.88 [[ 9.98847189e-01 -4.61523657e-02 -1.32004592e-02 1.23474460e+02] [ 4.61528875e-02 9.98934353e-01 -2.65256122e-04 4.64258934e+00] [ 1.31986343e-02 -3.44288976e-04 9.99912835e-01 8.83059874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.564391418 meters Centerline goodness [0,1] 0.9990139929091405 Centerline is valid? [True, True] Translation: X:123.51, Y:4.64, Z:0.88 [[ 9.98690196e-01 -4.93314871e-02 -1.35755972e-02 1.23505224e+02] [ 4.93323380e-02 9.98782382e-01 -2.72392452e-04 4.63852606e+00] [ 1.35725049e-02 -3.97680280e-04 9.99907810e-01 8.82388120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59439141799999 meters Centerline goodness [0,1] 0.9990776261451062 Centerline is valid? [True, True] Translation: X:123.54, Y:4.64, Z:0.88 [[ 9.98518719e-01 -5.25529523e-02 -1.40909697e-02 1.23535788e+02] [ 5.25541950e-02 9.98618034e-01 -2.82340862e-04 4.63614232e+00] [ 1.40863343e-02 -4.58616932e-04 9.99900677e-01 8.82239128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62439141799999 meters Centerline goodness [0,1] 0.9992645204673447 Centerline is valid? [True, True] Translation: X:123.57, Y:4.63, Z:0.88 [[ 9.98221976e-01 -5.77701829e-02 -1.46796508e-02 1.23565503e+02] [ 5.77720931e-02 9.98329754e-01 -2.94259018e-04 4.62931831e+00] [ 1.46721315e-02 -5.54338332e-04 9.99892205e-01 8.81769666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65439141799999 meters Centerline goodness [0,1] 0.9992449822780562 Centerline is valid? [True, True] Translation: X:123.60, Y:4.63, Z:0.88 [[ 9.98132238e-01 -5.92290771e-02 -1.49649974e-02 1.23596237e+02] [ 5.92312234e-02 9.98244245e-01 -3.00149461e-04 4.62829321e+00] [ 1.49565001e-02 -5.86806254e-04 9.99887973e-01 8.81903662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68439141799999 meters Centerline goodness [0,1] 0.9989499107424131 Centerline is valid? [True, True] Translation: X:123.63, Y:4.63, Z:0.88 [[ 9.98039590e-01 -6.10079050e-02 -1.39646998e-02 1.23626605e+02] [ 6.10099477e-02 9.98137119e-01 -2.80086724e-04 4.62926240e+00] [ 1.39557727e-02 -5.72447962e-04 9.99902450e-01 8.83607350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71439141799999 meters Centerline goodness [0,1] 0.9991822013462224 Centerline is valid? [True, True] Translation: X:123.66, Y:4.63, Z:0.88 [[ 9.98066374e-01 -6.06142944e-02 -1.37630169e-02 1.23657241e+02] [ 6.06162462e-02 9.98161107e-01 -2.75674795e-04 4.62656704e+00] [ 1.37544180e-02 -5.59120679e-04 9.99905247e-01 8.83984741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74439141799999 meters Centerline goodness [0,1] 0.9991820126683166 Centerline is valid? [True, True] Translation: X:123.69, Y:4.63, Z:0.89 [[ 9.98156151e-01 -5.92642413e-02 -1.31166746e-02 1.23687868e+02] [ 5.92659050e-02 9.98242197e-01 -2.62169481e-04 4.63138926e+00] [ 1.31091553e-02 -5.15685510e-04 9.99913938e-01 8.85187235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.774391418 meters Centerline goodness [0,1] 0.9992028195015524 Centerline is valid? [True, True] Translation: X:123.72, Y:4.63, Z:0.89 [[ 9.98241062e-01 -5.78601431e-02 -1.29223290e-02 1.23719647e+02] [ 5.78616439e-02 9.98324578e-01 -2.58011525e-04 4.63483902e+00] [ 1.29156072e-02 -4.90149498e-04 9.99916470e-01 8.85674466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.804391418 meters Centerline goodness [0,1] 0.9992657702070528 Centerline is valid? [True, True] Translation: X:123.75, Y:4.64, Z:0.89 [[ 9.98308038e-01 -5.66467135e-02 -1.31228960e-02 1.23750620e+02] [ 5.66481660e-02 9.98394169e-01 -2.61296453e-04 4.63719614e+00] [ 1.31166244e-02 -4.82533640e-04 9.99913857e-01 8.85954263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.834391418 meters Centerline goodness [0,1] 0.9991192937574703 Centerline is valid? [True, True] Translation: X:123.78, Y:4.64, Z:0.89 [[ 9.98437531e-01 -5.43156890e-02 -1.31264003e-02 1.23781588e+02] [ 5.43169469e-02 9.98523711e-01 -2.60920844e-04 4.64135890e+00] [ 1.31211941e-02 -4.52472828e-04 9.99913811e-01 8.85385683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.864391418 meters Centerline goodness [0,1] 0.9991192937574703 Centerline is valid? [True, True] Translation: X:123.81, Y:4.64, Z:0.89 [[ 9.98439781e-01 -5.42743114e-02 -1.31264077e-02 1.23812443e+02] [ 5.42755706e-02 9.98525961e-01 -2.60552521e-04 4.64193390e+00] [ 1.31212001e-02 -4.52297263e-04 9.99913811e-01 8.85647027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.894391418 meters Centerline goodness [0,1] 0.9992874955468471 Centerline is valid? [True, True] Translation: X:123.84, Y:4.64, Z:0.88 [[ 9.98500546e-01 -5.28572855e-02 -1.42396398e-02 1.23842445e+02] [ 5.28586305e-02 9.98601966e-01 -2.82150193e-04 4.64236168e+00] [ 1.42346460e-02 -4.70960738e-04 9.99898571e-01 8.84547783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.924391418 meters Centerline goodness [0,1] 0.9993282955499581 Centerline is valid? [True, True] Translation: X:123.87, Y:4.65, Z:0.88 [[ 9.98511366e-01 -5.24366322e-02 -1.50150511e-02 1.23873945e+02] [ 5.24380870e-02 9.98624133e-01 -2.97069658e-04 4.64502845e+00] [ 1.50099697e-02 -4.90733125e-04 9.99887224e-01 8.84278550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95439141799999 meters Centerline goodness [0,1] 0.9990748528174936 Centerline is valid? [True, True] Translation: X:123.90, Y:4.65, Z:0.88 [[ 9.98497558e-01 -5.25696218e-02 -1.54616027e-02 1.23904069e+02] [ 5.25711858e-02 9.98617132e-01 -3.05556510e-04 4.64772063e+00] [ 1.54562843e-02 -5.07737357e-04 9.99880416e-01 8.84300362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98439141799999 meters Centerline goodness [0,1] 0.9992457731872368 Centerline is valid? [True, True] Translation: X:123.93, Y:4.65, Z:0.88 [[ 9.98435123e-01 -5.36738222e-02 -1.56979386e-02 1.23934463e+02] [ 5.36755706e-02 9.98558379e-01 -3.10227048e-04 4.65043710e+00] [ 1.56919592e-02 -5.32854232e-04 9.99876732e-01 8.84982619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.014391418 meters Centerline goodness [0,1] 0.9993073920161188 Centerline is valid? [True, True] Translation: X:123.96, Y:4.65, Z:0.89 [[ 9.98336157e-01 -5.55264004e-02 -1.55478574e-02 1.23964808e+02] [ 5.55283462e-02 9.98457064e-01 -3.06855571e-04 4.65088179e+00] [ 1.55409066e-02 -5.57001794e-04 9.99879078e-01 8.85455659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.044391418 meters Centerline goodness [0,1] 0.9993702374204925 Centerline is valid? [True, True] Translation: X:124.00, Y:4.65, Z:0.89 [[ 9.98276868e-01 -5.65554584e-02 -1.56452705e-02 1.23995818e+02] [ 5.65575671e-02 9.98399292e-01 -3.07993823e-04 4.65314901e+00] [ 1.56376458e-02 -5.77395330e-04 9.99877558e-01 8.86293490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.074391418 meters Centerline goodness [0,1] 0.9992655390943048 Centerline is valid? [True, True] Translation: X:124.03, Y:4.65, Z:0.89 [[ 9.98231602e-01 -5.74458946e-02 -1.52852251e-02 1.24026161e+02] [ 5.74480190e-02 9.98348454e-01 -3.00424855e-04 4.65121385e+00] [ 1.52772390e-02 -5.78212319e-04 9.99883129e-01 8.86260496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.104391418 meters Centerline goodness [0,1] 0.998887582906557 Centerline is valid? [True, True] Translation: X:124.06, Y:4.66, Z:0.89 [[ 9.98180059e-01 -5.84327898e-02 -1.49056995e-02 1.24057675e+02] [ 5.84349261e-02 9.98291177e-01 -2.92537501e-04 4.65541283e+00] [ 1.48973221e-02 -5.79008349e-04 9.99888861e-01 8.86855238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.134391418 meters Centerline goodness [0,1] 0.9989936684976309 Centerline is valid? [True, True] Translation: X:124.09, Y:4.66, Z:0.89 [[ 9.98202787e-01 -5.81833902e-02 -1.43488031e-02 1.24088566e+02] [ 5.81853522e-02 9.98305758e-01 -2.81043737e-04 4.65730720e+00] [ 1.43408449e-02 -5.54351522e-04 9.99897011e-01 8.87145132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.164391418 meters Centerline goodness [0,1] 0.9990556336698075 Centerline is valid? [True, True] Translation: X:124.12, Y:4.66, Z:0.89 [[ 9.98251780e-01 -5.74807684e-02 -1.37602984e-02 1.24118966e+02] [ 5.74825158e-02 9.98346477e-01 -2.68809610e-04 4.65897805e+00] [ 1.37529968e-02 -5.22636900e-04 9.99905286e-01 8.87471448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.194391418 meters Centerline goodness [0,1] 0.9990573547278897 Centerline is valid? [True, True] Translation: X:124.15, Y:4.66, Z:0.89 [[ 9.98311683e-01 -5.65246723e-02 -1.33695821e-02 1.24150077e+02] [ 5.65262468e-02 9.98401080e-01 -2.60389048e-04 4.66233430e+00] [ 1.33629236e-02 -4.95782870e-04 9.99910589e-01 8.87833244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.224391418 meters Centerline goodness [0,1] 0.9989080218395632 Centerline is valid? [True, True] Translation: X:124.18, Y:4.67, Z:0.89 [[ 9.98452650e-01 -5.39933603e-02 -1.33050263e-02 1.24181001e+02] [ 5.39947022e-02 9.98541189e-01 -2.58599918e-04 4.66887205e+00] [ 1.32995795e-02 -4.60201162e-04 9.99911451e-01 8.87862067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.254391418 meters Centerline goodness [0,1] 0.9988290398126464 Centerline is valid? [True, True] Translation: X:124.21, Y:4.67, Z:0.89 [[ 9.98530898e-01 -5.24736259e-02 -1.35116713e-02 1.24211525e+02] [ 5.24748807e-02 9.98622210e-01 -2.61885608e-04 4.67177703e+00] [ 1.35067971e-02 -4.47522468e-04 9.99908679e-01 8.87678245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.284391418 meters Centerline goodness [0,1] 0.9990130819142011 Centerline is valid? [True, True] Translation: X:124.24, Y:4.68, Z:0.89 [[ 9.98672213e-01 -4.96943368e-02 -1.35751081e-02 1.24241921e+02] [ 4.96953616e-02 9.98764388e-01 -2.62037518e-04 4.67623605e+00] [ 1.35713564e-02 -4.12930319e-04 9.99907820e-01 8.87064356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.314391418 meters Centerline goodness [0,1] 0.9990343437736166 Centerline is valid? [True, True] Translation: X:124.27, Y:4.68, Z:0.89 [[ 9.98738362e-01 -4.83379828e-02 -1.36060443e-02 1.24273459e+02] [ 4.83388990e-02 9.98830958e-01 -2.61713171e-04 4.68159307e+00] [ 1.36027889e-02 -3.96318216e-04 9.99907399e-01 8.87484354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34439141800001 meters Centerline goodness [0,1] 0.9991174987392839 Centerline is valid? [True, True] Translation: X:124.30, Y:4.68, Z:0.89 [[ 9.98799525e-01 -4.70454946e-02 -1.36466183e-02 1.24304686e+02] [ 4.70463032e-02 9.98892675e-01 -2.61946090e-04 4.68434746e+00] [ 1.36438304e-02 -3.80391312e-04 9.99906846e-01 8.87434588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37439141800002 meters Centerline goodness [0,1] 0.9989485637380662 Centerline is valid? [True, True] Translation: X:124.34, Y:4.69, Z:0.89 [[ 9.98948296e-01 -4.35478168e-02 -1.43488695e-02 1.24336131e+02] [ 4.35483588e-02 9.99051282e-01 -2.74824862e-04 4.69099726e+00] [ 1.43472245e-02 -3.50333891e-04 9.99897012e-01 8.87012857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40439141800002 meters Centerline goodness [0,1] 0.9991390352995527 Centerline is valid? [True, True] Translation: X:124.37, Y:4.69, Z:0.89 [[ 9.99010168e-01 -4.24907871e-02 -1.31611872e-02 1.24367254e+02] [ 4.24911581e-02 9.99096811e-01 -2.51561015e-04 4.69397458e+00] [ 1.31599891e-02 -3.07922073e-04 9.99913356e-01 8.88652665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43439141800002 meters Centerline goodness [0,1] 0.9991386554621848 Centerline is valid? [True, True] Translation: X:124.40, Y:4.70, Z:0.89 [[ 9.99073581e-01 -4.08946031e-02 -1.34018902e-02 1.24398634e+02] [ 4.08948518e-02 9.99163423e-01 -2.55603865e-04 4.69793715e+00] [ 1.34011313e-02 -2.92701243e-04 9.99910158e-01 8.88746177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46439141800002 meters Centerline goodness [0,1] 0.9992847375617966 Centerline is valid? [True, True] Translation: X:124.43, Y:4.70, Z:0.89 [[ 9.99134899e-01 -3.90830880e-02 -1.42114616e-02 1.24429621e+02] [ 3.90831932e-02 9.99235924e-01 -2.70435719e-04 4.70095970e+00] [ 1.42111725e-02 -2.85227536e-04 9.99898976e-01 8.88401681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49439141800002 meters Centerline goodness [0,1] 0.9992216752913459 Centerline is valid? [True, True] Translation: X:124.46, Y:4.71, Z:0.89 [[ 9.99231134e-01 -3.62203929e-02 -1.50074502e-02 1.24461071e+02] [ 3.62201970e-02 9.99343793e-01 -2.84948216e-04 4.70586057e+00] [ 1.50079231e-02 -2.58843673e-04 9.99887341e-01 8.87473078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.524391418 meters Centerline goodness [0,1] 0.9990736647087307 Centerline is valid? [True, True] Translation: X:124.49, Y:4.71, Z:0.89 [[ 9.99266530e-01 -3.50445204e-02 -1.54364186e-02 1.24491349e+02] [ 3.50441783e-02 9.99385721e-01 -2.92737615e-04 4.70822752e+00] [ 1.54371952e-02 -2.48433704e-04 9.99880809e-01 8.87599382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.554391418 meters Centerline goodness [0,1] 0.9988860163524392 Centerline is valid? [True, True] Translation: X:124.52, Y:4.71, Z:0.89 [[ 9.99325337e-01 -3.35312083e-02 -1.49842722e-02 1.24520343e+02] [ 3.35307139e-02 9.99437647e-01 -2.84294735e-04 4.71193485e+00] [ 1.49853785e-02 -2.18330413e-04 9.99887689e-01 8.88241884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.584391418 meters Centerline goodness [0,1] 0.9992637778712663 Centerline is valid? [True, True] Translation: X:124.55, Y:4.71, Z:0.89 [[ 9.99339120e-01 -3.32382723e-02 -1.47152902e-02 1.24550459e+02] [ 3.32377613e-02 9.99447434e-01 -2.79359383e-04 4.71381816e+00] [ 1.47164445e-02 -2.09928544e-04 9.99891685e-01 8.88858079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.614391418 meters Centerline goodness [0,1] 0.9993059936908517 Centerline is valid? [True, True] Translation: X:124.58, Y:4.72, Z:0.89 [[ 9.99331931e-01 -3.35207729e-02 -1.45619405e-02 1.24580847e+02] [ 3.35203025e-02 9.99437999e-01 -2.76448147e-04 4.71534621e+00] [ 1.45630234e-02 -2.11857190e-04 9.99893931e-01 8.89332688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.644391418 meters Centerline goodness [0,1] 0.9989914483222323 Centerline is valid? [True, True] Translation: X:124.61, Y:4.72, Z:0.89 [[ 9.99322011e-01 -3.38430074e-02 -1.44971817e-02 1.24611372e+02] [ 3.38425750e-02 9.99427138e-01 -2.75218747e-04 4.71665213e+00] [ 1.44981911e-02 -2.15589808e-04 9.99894872e-01 8.89808117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.674391418 meters Centerline goodness [0,1] 0.998991236365929 Centerline is valid? [True, True] Translation: X:124.64, Y:4.72, Z:0.89 [[ 9.99263335e-01 -3.58759615e-02 -1.36272613e-02 1.24642195e+02] [ 3.58757699e-02 9.99356224e-01 -2.58600496e-04 4.71567645e+00] [ 1.36277659e-02 -2.30478495e-04 9.99907111e-01 8.90352223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.704391418 meters Centerline goodness [0,1] 0.9990759214533236 Centerline is valid? [True, True] Translation: X:124.67, Y:4.71, Z:0.89 [[ 9.99216646e-01 -3.73252199e-02 -1.31499809e-02 1.24672475e+02] [ 3.73251702e-02 9.99303142e-01 -2.49286294e-04 4.71465161e+00] [ 1.31501219e-02 -2.41734260e-04 9.99913504e-01 8.90911512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.734391418 meters Centerline goodness [0,1] 0.9988858992684773 Centerline is valid? [True, True] Translation: X:124.70, Y:4.71, Z:0.89 [[ 9.99099991e-01 -4.02306306e-02 -1.34426618e-02 1.24702341e+02] [ 4.02308504e-02 9.99190379e-01 -2.54174310e-04 4.71187708e+00] [ 1.34420039e-02 -2.86864163e-04 9.99909611e-01 8.91226694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.764391418 meters Centerline goodness [0,1] 0.9987162489214386 Centerline is valid? [True, True] Translation: X:124.73, Y:4.71, Z:0.89 [[ 9.99064699e-01 -4.06501374e-02 -1.47408463e-02 1.24733659e+02] [ 4.06504644e-02 9.99173390e-01 -2.77565222e-04 4.71173479e+00] [ 1.47399444e-02 -3.21916633e-04 9.99891309e-01 8.90187728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.794391418 meters Centerline goodness [0,1] 0.9986543879567722 Centerline is valid? [True, True] Translation: X:124.77, Y:4.71, Z:0.89 [[ 9.99023779e-01 -4.20245322e-02 -1.36171489e-02 1.24765402e+02] [ 4.20249457e-02 9.99116529e-01 -2.55902744e-04 4.71141610e+00] [ 1.36158728e-02 -3.16607017e-04 9.99907250e-01 8.91736599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.824391418 meters Centerline goodness [0,1] 0.9990746387936655 Centerline is valid? [True, True] Translation: X:124.80, Y:4.71, Z:0.89 [[ 9.98992226e-01 -4.27356320e-02 -1.37185399e-02 1.24796525e+02] [ 4.27361260e-02 9.99086361e-01 -2.57276325e-04 4.71132433e+00] [ 1.37170010e-02 -3.29260202e-04 9.99905863e-01 8.92286036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.854391418 meters Centerline goodness [0,1] 0.9990746387936655 Centerline is valid? [True, True] Translation: X:124.83, Y:4.71, Z:0.89 [[ 9.98993866e-01 -4.26972836e-02 -1.37185498e-02 1.24827373e+02] [ 4.26977812e-02 9.99088001e-01 -2.56749135e-04 4.71186189e+00] [ 1.37170010e-02 -3.29260826e-04 9.99905863e-01 8.92547269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.884391418 meters Centerline goodness [0,1] 0.9991381122556233 Centerline is valid? [True, True] Translation: X:124.86, Y:4.71, Z:0.89 [[ 9.98985752e-01 -4.27657766e-02 -1.40909806e-02 1.24857896e+02] [ 4.27663146e-02 9.99085068e-01 -2.63278297e-04 4.71115361e+00] [ 1.40893476e-02 -3.39608043e-04 9.99900683e-01 8.92542825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.914391418 meters Centerline goodness [0,1] 0.9988874194428701 Centerline is valid? [True, True] Translation: X:124.89, Y:4.71, Z:0.89 [[ 9.99024105e-01 -4.19565026e-02 -1.38017868e-02 1.24888979e+02] [ 4.19569466e-02 9.99119386e-01 -2.57515812e-04 4.71160431e+00] [ 1.38004372e-02 -3.21816327e-04 9.99904718e-01 8.92585941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.944391418 meters Centerline goodness [0,1] 0.9989496901585968 Centerline is valid? [True, True] Translation: X:124.92, Y:4.71, Z:0.89 [[ 9.99067709e-01 -4.08331269e-02 -1.40131453e-02 1.24919231e+02] [ 4.08334800e-02 9.99165932e-01 -2.61031458e-04 4.71186817e+00] [ 1.40121161e-02 -3.11417390e-04 9.99901777e-01 8.92568556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.974391418 meters Centerline goodness [0,1] 0.9991814976494291 Centerline is valid? [True, True] Translation: X:124.95, Y:4.71, Z:0.89 [[ 9.99190253e-01 -3.73893380e-02 -1.48618852e-02 1.24950071e+02] [ 3.73893605e-02 9.99300735e-01 -2.76437197e-04 4.71468021e+00] [ 1.48618286e-02 -2.79463030e-04 9.99889518e-01 8.92384221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.004391418 meters Centerline goodness [0,1] 0.9990327599983179 Centerline is valid? [True, True] Translation: X:124.98, Y:4.72, Z:0.89 [[ 9.99275905e-01 -3.49417546e-02 -1.50579019e-02 1.24980409e+02] [ 3.49415047e-02 9.99389320e-01 -2.79766004e-04 4.71751964e+00] [ 1.50584819e-02 -2.46582324e-04 9.99886584e-01 8.92293897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.034391418 meters Centerline goodness [0,1] 0.9991174431066002 Centerline is valid? [True, True] Translation: X:125.01, Y:4.72, Z:0.89 [[ 9.99364633e-01 -3.22335286e-02 -1.52095671e-02 1.25011242e+02] [ 3.22329621e-02 9.99480343e-01 -2.82447212e-04 4.72291360e+00] [ 1.52107676e-02 -2.07981646e-04 9.99884288e-01 8.93645031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.064391418 meters Centerline goodness [0,1] 0.9990540853004856 Centerline is valid? [True, True] Translation: X:125.04, Y:4.73, Z:0.89 [[ 9.99527795e-01 -2.64643088e-02 -1.56149722e-02 1.25040481e+02] [ 2.64630082e-02 9.99649751e-01 -2.89943085e-04 4.72612820e+00] [ 1.56171762e-02 -1.23412964e-04 9.99878037e-01 8.92318825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09439141800001 meters Centerline goodness [0,1] 0.9991610034398859 Centerline is valid? [True, True] Translation: X:125.07, Y:4.73, Z:0.89 [[ 9.99599459e-01 -2.36913696e-02 -1.54803133e-02 1.25069804e+02] [ 2.36897518e-02 9.99719317e-01 -2.87893617e-04 4.72978085e+00] [ 1.54827888e-02 -7.89464761e-05 9.99880131e-01 8.93683785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12439141800002 meters Centerline goodness [0,1] 0.999200605856614 Centerline is valid? [True, True] Translation: X:125.10, Y:4.73, Z:0.89 [[ 9.99699482e-01 -1.91163791e-02 -1.53463444e-02 1.25098364e+02] [ 1.91142387e-02 9.99817265e-01 -2.86151562e-04 4.73324840e+00] [ 1.53490103e-02 -7.26812171e-06 9.99882197e-01 8.94149777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15439141800002 meters Centerline goodness [0,1] 0.9993053216571236 Centerline is valid? [True, True] Translation: X:125.13, Y:4.74, Z:0.89 [[ 9.99732080e-01 -1.73485043e-02 -1.53230953e-02 1.25125894e+02] [ 1.73461216e-02 9.99849503e-01 -2.88402230e-04 4.73535364e+00] [ 1.53257926e-02 2.25286872e-05 9.99882553e-01 8.94502394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18439141800002 meters Centerline goodness [0,1] 0.9993264150546235 Centerline is valid? [True, True] Translation: X:125.15, Y:4.74, Z:0.89 [[ 9.99742092e-01 -1.61287637e-02 -1.59879004e-02 1.25154148e+02] [ 1.61259308e-02 9.99869922e-01 -3.06106130e-04 4.73696034e+00] [ 1.59907579e-02 4.82074078e-05 9.99872138e-01 8.94740937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21439141800002 meters Centerline goodness [0,1] 0.9993891907830995 Centerline is valid? [True, True] Translation: X:125.18, Y:4.74, Z:0.89 [[ 9.99768463e-01 -1.42536277e-02 -1.61199902e-02 1.25182916e+02] [ 1.42504263e-02 9.99898408e-01 -3.13448761e-04 4.73790899e+00] [ 1.61228203e-02 8.36594546e-05 9.99870015e-01 8.94897375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24439141800002 meters Centerline goodness [0,1] 0.9991795001262308 Centerline is valid? [True, True] Translation: X:125.21, Y:4.74, Z:0.90 [[ 9.99775155e-01 -1.37686427e-02 -1.61264906e-02 1.25210762e+02] [ 1.37653260e-02 9.99905203e-01 -3.16651814e-04 4.73824340e+00] [ 1.61293218e-02 9.45942152e-05 9.99869910e-01 8.95061304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.274391418 meters Centerline goodness [0,1] 0.9995371733916776 Centerline is valid? [True, True] Translation: X:125.24, Y:4.74, Z:0.90 [[ 9.99780984e-01 -1.38785963e-02 -1.56642724e-02 1.25238596e+02] [ 1.38754319e-02 9.99903683e-01 -3.10684098e-04 4.73613779e+00] [ 1.56670755e-02 9.32675099e-05 9.99877259e-01 8.96051342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.304391418 meters Centerline goodness [0,1] 0.9993266985082164 Centerline is valid? [True, True] Translation: X:125.27, Y:4.73, Z:0.90 [[ 9.99774792e-01 -1.44865352e-02 -1.55082113e-02 1.25266236e+02] [ 1.44834301e-02 9.99895061e-01 -3.12526434e-04 4.73469440e+00] [ 1.55111113e-02 8.78439566e-05 9.99879692e-01 8.95804671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.334391418 meters Centerline goodness [0,1] 0.9991808099479079 Centerline is valid? [True, True] Translation: X:125.29, Y:4.73, Z:0.90 [[ 9.99749501e-01 -1.57645222e-02 -1.58876027e-02 1.25293617e+02] [ 1.57613643e-02 9.99875729e-01 -3.23966653e-04 4.73126295e+00] [ 1.58907355e-02 7.34752054e-05 9.99873732e-01 8.95183134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.364391418 meters Centerline goodness [0,1] 0.9993691780389848 Centerline is valid? [True, True] Translation: X:125.32, Y:4.73, Z:0.90 [[ 9.99722330e-01 -1.69675943e-02 -1.63512547e-02 1.25321554e+02] [ 1.69643499e-02 9.99856038e-01 -3.37115590e-04 4.73005391e+00] [ 1.63546208e-02 5.96335777e-05 9.99866252e-01 8.95174142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.394391418 meters Centerline goodness [0,1] 0.9995166747220879 Centerline is valid? [True, True] Translation: X:125.35, Y:4.73, Z:0.90 [[ 9.99692219e-01 -1.82167016e-02 -1.68409674e-02 1.25349465e+02] [ 1.82133459e-02 9.99834061e-01 -3.52623853e-04 4.72847915e+00] [ 1.68445965e-02 4.57849578e-05 9.99858119e-01 8.95244930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.424391418 meters Centerline goodness [0,1] 0.9994333564188126 Centerline is valid? [True, True] Translation: X:125.38, Y:4.73, Z:0.90 [[ 9.99657887e-01 -1.96493701e-02 -1.72630168e-02 1.25377384e+02] [ 1.96459604e-02 9.99806932e-01 -3.67100257e-04 4.72656477e+00] [ 1.72668971e-02 2.78261233e-05 9.99850916e-01 8.95514140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.454391418 meters Centerline goodness [0,1] 0.9994334515391233 Centerline is valid? [True, True] Translation: X:125.40, Y:4.72, Z:0.90 [[ 9.99627170e-01 -2.10615102e-02 -1.73762614e-02 1.25404464e+02] [ 2.10581847e-02 9.99778182e-01 -3.74350546e-04 4.72450421e+00] [ 1.73802915e-02 8.29845395e-06 9.99848951e-01 8.95379290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.484391418 meters Centerline goodness [0,1] 0.9992874806152815 Centerline is valid? [True, True] Translation: X:125.43, Y:4.72, Z:0.90 [[ 9.99598002e-01 -2.30920940e-02 -1.64495978e-02 1.25432477e+02] [ 2.30893297e-02 9.99733342e-01 -3.57971208e-04 4.71946188e+00] [ 1.64534777e-02 -2.19828839e-05 9.99864632e-01 8.95210183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.514391418 meters Centerline goodness [0,1] 0.9994563399130144 Centerline is valid? [True, True] Translation: X:125.46, Y:4.72, Z:0.90 [[ 9.99573685e-01 -2.43666010e-02 -1.60846526e-02 1.25459871e+02] [ 2.43640641e-02 9.99703090e-01 -3.53688145e-04 4.71682848e+00] [ 1.60884951e-02 -3.83501439e-05 9.99870571e-01 8.95166393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.544391418 meters Centerline goodness [0,1] 0.9992469564489813 Centerline is valid? [True, True] Translation: X:125.49, Y:4.71, Z:0.90 [[ 9.99548046e-01 -2.57378190e-02 -1.55328219e-02 1.25488067e+02] [ 2.57355499e-02 9.99668726e-01 -3.45985507e-04 4.71484799e+00] [ 1.55365812e-02 -5.39165747e-05 9.99879299e-01 8.96371894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.574391418 meters Centerline goodness [0,1] 0.9994153634142776 Centerline is valid? [True, True] Translation: X:125.52, Y:4.71, Z:0.90 [[ 9.99508228e-01 -2.79358771e-02 -1.42438882e-02 1.25515924e+02] [ 2.79341451e-02 9.99609714e-01 -3.20578843e-04 4.70937961e+00] [ 1.42472846e-02 -7.74696480e-05 9.99898499e-01 8.97821252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.604391418 meters Centerline goodness [0,1] 0.9994142136864788 Centerline is valid? [True, True] Translation: X:125.54, Y:4.71, Z:0.90 [[ 9.99457906e-01 -2.98172154e-02 -1.39580727e-02 1.25544424e+02] [ 2.98157014e-02 9.99555363e-01 -3.16595533e-04 4.70672163e+00] [ 1.39613064e-02 -9.97458198e-05 9.99902531e-01 8.98120352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.634391418 meters Centerline goodness [0,1] 0.9992686086847494 Centerline is valid? [True, True] Translation: X:125.57, Y:4.70, Z:0.90 [[ 9.99335876e-01 -3.36453008e-02 -1.39928521e-02 1.25574650e+02] [ 3.36441172e-02 9.99433825e-01 -3.20044940e-04 4.70039899e+00] [ 1.39956978e-02 -1.50944767e-04 9.99902044e-01 8.98936441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.664391418 meters Centerline goodness [0,1] 0.99920621657754 Centerline is valid? [True, True] Translation: X:125.60, Y:4.70, Z:0.90 [[ 9.99247922e-01 -3.59219528e-02 -1.46014889e-02 1.25604823e+02] [ 3.59208974e-02 9.99354580e-01 -3.34626333e-04 4.69663791e+00] [ 1.46040852e-02 -1.90123915e-04 9.99893337e-01 8.98249605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.694391418 meters Centerline goodness [0,1] 0.9992656469650238 Centerline is valid? [True, True] Translation: X:125.63, Y:4.69, Z:0.90 [[ 9.99139324e-01 -3.86808688e-02 -1.49800156e-02 1.25634728e+02] [ 3.86800600e-02 9.99251587e-01 -3.43828140e-04 4.69403083e+00] [ 1.49821040e-02 -2.35895687e-04 9.99887734e-01 8.98455159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.724391418 meters Centerline goodness [0,1] 0.9992871071226386 Centerline is valid? [True, True] Translation: X:125.66, Y:4.68, Z:0.90 [[ 9.98844813e-01 -4.51333917e-02 -1.64929443e-02 1.25663595e+02] [ 4.51332790e-02 9.98980902e-01 -3.79239801e-04 4.68047411e+00] [ 1.64932527e-02 -3.65578948e-04 9.99863910e-01 8.95572444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.754391418 meters Centerline goodness [0,1] 0.9992864488236899 Centerline is valid? [True, True] Translation: X:125.69, Y:4.68, Z:0.90 [[ 9.98688759e-01 -4.83740427e-02 -1.67545447e-02 1.25692259e+02] [ 4.83743499e-02 9.98829201e-01 -3.87176813e-04 4.67874509e+00] [ 1.67536578e-02 -4.23821079e-04 9.99859558e-01 8.96349833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.784391418 meters Centerline goodness [0,1] 0.9993498185784098 Centerline is valid? [True, True] Translation: X:125.72, Y:4.67, Z:0.90 [[ 9.98383812e-01 -5.43417800e-02 -1.66353296e-02 1.25722196e+02] [ 5.43428806e-02 9.98522259e-01 -3.86203537e-04 4.67467989e+00] [ 1.66317338e-02 -5.18432368e-04 9.99861549e-01 8.97872020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.814391418 meters Centerline goodness [0,1] 0.999412085835468 Centerline is valid? [True, True] Translation: X:125.75, Y:4.67, Z:0.90 [[ 9.98246963e-01 -5.68992368e-02 -1.62934901e-02 1.25750882e+02] [ 5.69006192e-02 9.98379775e-01 -3.79102798e-04 4.67024573e+00] [ 1.62886616e-02 -5.48671457e-04 9.99867180e-01 8.98481415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84439141800001 meters Centerline goodness [0,1] 0.9993709241124787 Centerline is valid? [True, True] Translation: X:125.78, Y:4.67, Z:0.90 [[ 9.98140997e-01 -5.88678386e-02 -1.57837762e-02 1.25780251e+02] [ 5.88693692e-02 9.98265627e-01 -3.68034831e-04 4.66805205e+00] [ 1.57780667e-02 -5.61830295e-04 9.99875361e-01 8.99347964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87439141800002 meters Centerline goodness [0,1] 0.9993302496912869 Centerline is valid? [True, True] Translation: X:125.81, Y:4.67, Z:0.90 [[ 9.98040930e-01 -6.06339850e-02 -1.54214551e-02 1.25809977e+02] [ 6.06356471e-02 9.98159901e-01 -3.60198752e-04 4.66506757e+00] [ 1.54149184e-02 -5.75596815e-04 9.99881017e-01 8.99933441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90439141800002 meters Centerline goodness [0,1] 0.9993712932497852 Centerline is valid? [True, True] Translation: X:125.84, Y:4.66, Z:0.90 [[ 9.97829368e-01 -6.39830388e-02 -1.55796017e-02 1.25838233e+02] [ 6.39851268e-02 9.97950786e-01 -3.64914814e-04 4.65573102e+00] [ 1.55710241e-02 -6.32740072e-04 9.99878564e-01 8.99150402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93439141800002 meters Centerline goodness [0,1] 0.9993113809941154 Centerline is valid? [True, True] Translation: X:125.87, Y:4.65, Z:0.90 [[ 9.97753190e-01 -6.50945081e-02 -1.58517400e-02 1.25866603e+02] [ 6.50967894e-02 9.97878885e-01 -3.72573758e-04 4.65249241e+00] [ 1.58423691e-02 -6.60160723e-04 9.99874284e-01 8.98731767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96439141800002 meters Centerline goodness [0,1] 0.9993082486112567 Centerline is valid? [True, True] Translation: X:125.90, Y:4.66, Z:0.90 [[ 9.97651640e-01 -6.66385554e-02 -1.58274747e-02 1.25896204e+02] [ 6.66410104e-02 9.97776947e-01 -3.72836509e-04 4.65643438e+00] [ 1.58171347e-02 -6.82797954e-04 9.99874668e-01 8.99706871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99439141800002 meters Centerline goodness [0,1] 0.9993118261631181 Centerline is valid? [True, True] Translation: X:125.93, Y:4.65, Z:0.90 [[ 9.97550269e-01 -6.81598196e-02 -1.57385064e-02 1.25925961e+02] [ 6.81624281e-02 9.97674168e-01 -3.71243249e-04 4.65393003e+00] [ 1.57272052e-02 -7.02441008e-04 9.99876073e-01 8.99491314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.024391418 meters Centerline goodness [0,1] 0.9992461364493027 Centerline is valid? [True, True] Translation: X:125.96, Y:4.65, Z:0.90 [[ 9.97510806e-01 -6.87424710e-02 -1.57055414e-02 1.25955811e+02] [ 6.87451329e-02 9.97634186e-01 -3.70956967e-04 4.65386878e+00] [ 1.56938855e-02 -7.09645945e-04 9.99876592e-01 8.99909203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.054391418 meters Centerline goodness [0,1] 0.9992056524102179 Centerline is valid? [True, True] Translation: X:125.99, Y:4.65, Z:0.90 [[ 9.97520695e-01 -6.87955928e-02 -1.48198956e-02 1.25985395e+02] [ 6.87979616e-02 9.97630552e-01 -3.50519112e-04 4.65189978e+00] [ 1.48088948e-02 -6.69928540e-04 9.99890118e-01 9.01017654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.084391418 meters Centerline goodness [0,1] 0.9991844928172636 Centerline is valid? [True, True] Translation: X:126.02, Y:4.66, Z:0.90 [[ 9.97529016e-01 -6.86961726e-02 -1.47206401e-02 1.26015632e+02] [ 6.86984963e-02 9.97637407e-01 -3.48351770e-04 4.65539374e+00] [ 1.47097916e-02 -6.63794839e-04 9.99891585e-01 9.01904951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.114391418 meters Centerline goodness [0,1] 0.999185038136036 Centerline is valid? [True, True] Translation: X:126.05, Y:4.65, Z:0.90 [[ 9.97543466e-01 -6.84924765e-02 -1.46906088e-02 1.26045385e+02] [ 6.84947668e-02 9.97651415e-01 -3.47773717e-04 4.65454684e+00] [ 1.46799265e-02 -6.59310422e-04 9.99892027e-01 9.01997252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.144391418 meters Centerline goodness [0,1] 0.9991829551882345 Centerline is valid? [True, True] Translation: X:126.08, Y:4.65, Z:0.90 [[ 9.97565299e-01 -6.81219712e-02 -1.49289015e-02 1.26075365e+02] [ 6.81242923e-02 9.97676779e-01 -3.53598199e-04 4.65482573e+00] [ 1.49183062e-02 -6.64283556e-04 9.99888495e-01 9.01880416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.174391418 meters Centerline goodness [0,1] 0.9993914339076239 Centerline is valid? [True, True] Translation: X:126.10, Y:4.66, Z:0.90 [[ 9.97609203e-01 -6.74297785e-02 -1.51361199e-02 1.26104884e+02] [ 6.74320855e-02 9.97723802e-01 -3.58469137e-04 4.65931876e+00] [ 1.51258386e-02 -6.63048021e-04 9.99885378e-01 9.02255445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.204391418 meters Centerline goodness [0,1] 0.9992456941708922 Centerline is valid? [True, True] Translation: X:126.13, Y:4.66, Z:0.90 [[ 9.97695424e-01 -6.60766431e-02 -1.54181357e-02 1.26134587e+02] [ 6.60788742e-02 9.97814336e-01 -3.65248880e-04 4.66023199e+00] [ 1.54085713e-02 -6.54405915e-04 9.99881067e-01 9.01706473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.234391418 meters Centerline goodness [0,1] 0.9993128006497157 Centerline is valid? [True, True] Translation: X:126.16, Y:4.66, Z:0.90 [[ 9.97768770e-01 -6.49443592e-02 -1.54826248e-02 1.26164650e+02] [ 6.49464700e-02 9.97888682e-01 -3.66958553e-04 4.66150581e+00] [ 1.54737680e-02 -6.39402045e-04 9.99880070e-01 9.01680722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.264391418 meters Centerline goodness [0,1] 0.9992456625597184 Centerline is valid? [True, True] Translation: X:126.19, Y:4.66, Z:0.90 [[ 9.97834529e-01 -6.39989524e-02 -1.51785024e-02 1.26194295e+02] [ 6.40008675e-02 9.97949778e-01 -3.60037352e-04 4.66361305e+00] [ 1.51704251e-02 -6.12179620e-04 9.99884735e-01 9.02015905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.294391418 meters Centerline goodness [0,1] 0.9993112947658402 Centerline is valid? [True, True] Translation: X:126.22, Y:4.67, Z:0.90 [[ 9.98001178e-01 -6.13833467e-02 -1.50244544e-02 1.26224479e+02] [ 6.13849218e-02 9.98114104e-01 -3.56741548e-04 4.66823974e+00] [ 1.50180179e-02 -5.66246477e-04 9.99887063e-01 9.02262010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.324391418 meters Centerline goodness [0,1] 0.999311337882677 Centerline is valid? [True, True] Translation: X:126.25, Y:4.67, Z:0.90 [[ 9.98096503e-01 -5.97554805e-02 -1.52529482e-02 1.26254799e+02] [ 5.97569140e-02 9.98212893e-01 -3.62166916e-04 4.67088084e+00] [ 1.52473310e-02 -5.49991579e-04 9.99883601e-01 9.02495636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.354391418 meters Centerline goodness [0,1] 0.9993952285618952 Centerline is valid? [True, True] Translation: X:126.28, Y:4.67, Z:0.90 [[ 9.98178731e-01 -5.82452984e-02 -1.57068893e-02 1.26284632e+02] [ 5.82466295e-02 9.98302154e-01 -3.73097353e-04 4.67383180e+00] [ 1.57019526e-02 -5.42455518e-04 9.99876570e-01 9.02467392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.384391418 meters Centerline goodness [0,1] 0.9993730538546739 Centerline is valid? [True, True] Translation: X:126.31, Y:4.68, Z:0.90 [[ 9.98388043e-01 -5.44289476e-02 -1.60874329e-02 1.26314433e+02] [ 5.44298435e-02 9.98517524e-01 -3.82480028e-04 4.68093471e+00] [ 1.60844016e-02 -4.93772966e-04 9.99870516e-01 9.02598036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.414391418 meters Centerline goodness [0,1] 0.9992259576159495 Centerline is valid? [True, True] Translation: X:126.34, Y:4.68, Z:0.90 [[ 9.98490118e-01 -5.26138341e-02 -1.57882208e-02 1.26343142e+02] [ 5.26144601e-02 9.98614829e-01 -3.76004011e-04 4.68389312e+00] [ 1.57861344e-02 -4.55252422e-04 9.99875288e-01 9.02861106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.444391418 meters Centerline goodness [0,1] 0.9993090886250864 Centerline is valid? [True, True] Translation: X:126.37, Y:4.69, Z:0.90 [[ 9.98596623e-01 -5.06252353e-02 -1.55521973e-02 1.26372829e+02] [ 5.06255890e-02 9.98717634e-01 -3.71205052e-04 4.68785031e+00] [ 1.55510461e-02 -4.16655040e-04 9.99878988e-01 9.03691657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.474391418 meters Centerline goodness [0,1] 0.9993512608559171 Centerline is valid? [True, True] Translation: X:126.40, Y:4.69, Z:0.90 [[ 9.98688656e-01 -4.89091688e-02 -1.51281785e-02 1.26402385e+02] [ 4.89092971e-02 9.98803159e-01 -3.61711468e-04 4.69230632e+00] [ 1.51277635e-02 -3.78671438e-04 9.99885497e-01 9.04474874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.504391418 meters Centerline goodness [0,1] 0.9994751868334872 Centerline is valid? [True, True] Translation: X:126.43, Y:4.70, Z:0.91 [[ 9.98854241e-01 -4.57080868e-02 -1.41765893e-02 1.26432498e+02] [ 4.57078724e-02 9.98954791e-01 -3.39296470e-04 4.70063218e+00] [ 1.41772804e-02 -3.09074017e-04 9.99899450e-01 9.06168736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.534391418 meters Centerline goodness [0,1] 0.9993699596774194 Centerline is valid? [True, True] Translation: X:126.46, Y:4.70, Z:0.91 [[ 9.98914832e-01 -4.45617760e-02 -1.35427730e-02 1.26461948e+02] [ 4.45614757e-02 9.99006591e-01 -3.24079665e-04 4.70203711e+00] [ 1.35437611e-02 -2.79757966e-04 9.99908240e-01 9.06486462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.564391418 meters Centerline goodness [0,1] 0.9992868379653906 Centerline is valid? [True, True] Translation: X:126.49, Y:4.70, Z:0.91 [[ 9.99015057e-01 -4.24629683e-02 -1.28768295e-02 1.26491336e+02] [ 4.24625223e-02 9.99098013e-01 -3.08160857e-04 4.70387434e+00] [ 1.28783002e-02 -2.38925325e-04 9.99917043e-01 9.06462940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59439141800001 meters Centerline goodness [0,1] 0.9992473657802308 Centerline is valid? [True, True] Translation: X:126.52, Y:4.71, Z:0.91 [[ 9.99061455e-01 -4.12825750e-02 -1.31133101e-02 1.26520474e+02] [ 4.12820071e-02 9.99147485e-01 -3.14098017e-04 4.70582568e+00] [ 1.31150976e-02 -2.27540538e-04 9.99913968e-01 9.06627115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62439141800002 meters Centerline goodness [0,1] 0.9993098688750862 Centerline is valid? [True, True] Translation: X:126.55, Y:4.71, Z:0.91 [[ 9.99108643e-01 -4.00971337e-02 -1.31961868e-02 1.26550982e+02] [ 4.00964530e-02 9.99195764e-01 -3.16261650e-04 4.70789670e+00] [ 1.31982552e-02 -2.13140536e-04 9.99912877e-01 9.06421137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65439141800002 meters Centerline goodness [0,1] 0.9993298429319372 Centerline is valid? [True, True] Translation: X:126.58, Y:4.71, Z:0.91 [[ 9.99200772e-01 -3.76491470e-02 -1.34297477e-02 1.26580151e+02] [ 3.76482216e-02 9.99291003e-01 -3.21805239e-04 4.71118175e+00] [ 1.34323417e-02 -1.84058074e-04 9.99909765e-01 9.06563437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68439141800002 meters Centerline goodness [0,1] 0.9992884796484253 Centerline is valid? [True, True] Translation: X:126.61, Y:4.71, Z:0.91 [[ 9.99256690e-01 -3.62331776e-02 -1.31614561e-02 1.26609918e+02] [ 3.62321647e-02 9.99343350e-01 -3.15476312e-04 4.71335613e+00] [ 1.31642443e-02 -1.61626228e-04 9.99913335e-01 9.06263962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71439141800002 meters Centerline goodness [0,1] 0.9993518712105374 Centerline is valid? [True, True] Translation: X:126.64, Y:4.72, Z:0.91 [[ 9.99295898e-01 -3.51453063e-02 -1.31345000e-02 1.26640585e+02] [ 3.51441991e-02 9.99382202e-01 -3.15172379e-04 4.71650490e+00] [ 1.31374623e-02 -1.46651016e-04 9.99913689e-01 9.07887649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74439141800002 meters Centerline goodness [0,1] 0.9991628997153859 Centerline is valid? [True, True] Translation: X:126.67, Y:4.72, Z:0.91 [[ 9.99347975e-01 -3.37832400e-02 -1.27404244e-02 1.26670874e+02] [ 3.37820875e-02 9.99429176e-01 -3.05716235e-04 4.71807593e+00] [ 1.27434799e-02 -1.24881233e-04 9.99918791e-01 9.07677202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.774391418 meters Centerline goodness [0,1] 0.9991628997153859 Centerline is valid? [True, True] Translation: X:126.70, Y:4.72, Z:0.91 [[ 9.99347975e-01 -3.37832400e-02 -1.27404244e-02 1.26700866e+02] [ 3.37820875e-02 9.99429176e-01 -3.05716235e-04 4.71879561e+00] [ 1.27434799e-02 -1.24881233e-04 9.99918791e-01 9.07931296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.804391418 meters Centerline goodness [0,1] 0.9993100275988961 Centerline is valid? [True, True] Translation: X:126.73, Y:4.72, Z:0.91 [[ 9.99408317e-01 -3.21061286e-02 -1.23374043e-02 1.26731558e+02] [ 3.21049201e-02 9.99484460e-01 -2.96045459e-04 4.72102116e+00] [ 1.23405488e-02 -1.00221085e-04 9.99923848e-01 9.09361883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.834391418 meters Centerline goodness [0,1] 0.999310445702823 Centerline is valid? [True, True] Translation: X:126.76, Y:4.72, Z:0.91 [[ 9.99424068e-01 -3.16880636e-02 -1.21407933e-02 1.26760980e+02] [ 3.16868625e-02 9.99497803e-01 -2.91325023e-04 4.72147043e+00] [ 1.21439278e-02 -9.35464096e-05 9.99926255e-01 9.09685239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.864391418 meters Centerline goodness [0,1] 0.9995612202256582 Centerline is valid? [True, True] Translation: X:126.79, Y:4.72, Z:0.91 [[ 9.99433032e-01 -3.15625593e-02 -1.17226336e-02 1.26790262e+02] [ 3.15614301e-02 9.99501774e-01 -2.81354700e-04 4.72111940e+00] [ 1.17256734e-02 -8.87879004e-05 9.99931248e-01 9.10084548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.894391418 meters Centerline goodness [0,1] 0.9993094211693802 Centerline is valid? [True, True] Translation: X:126.82, Y:4.72, Z:0.91 [[ 9.99391448e-01 -3.26306182e-02 -1.23278461e-02 1.26820628e+02] [ 3.26294483e-02 9.99467474e-01 -2.96070314e-04 4.71981151e+00] [ 1.23309421e-02 -1.06360677e-04 9.99923965e-01 9.08410058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.924391418 meters Centerline goodness [0,1] 0.9995817124691513 Centerline is valid? [True, True] Translation: X:126.85, Y:4.72, Z:0.91 [[ 9.99329293e-01 -3.45056198e-02 -1.22607982e-02 1.26849886e+02] [ 3.45046027e-02 9.99404496e-01 -2.94541605e-04 4.71798615e+00] [ 1.22636602e-02 -1.28709917e-04 9.99924790e-01 9.10165940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.954391418 meters Centerline goodness [0,1] 0.9993528183716075 Centerline is valid? [True, True] Translation: X:126.88, Y:4.71, Z:0.91 [[ 9.99150114e-01 -3.92887251e-02 -1.24677709e-02 1.26879970e+02] [ 3.92880423e-02 9.99227882e-01 -2.99782718e-04 4.71163913e+00] [ 1.24699224e-02 -1.90306373e-04 9.99922229e-01 9.09779541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.984391418 meters Centerline goodness [0,1] 0.999538280725319 Centerline is valid? [True, True] Translation: X:126.91, Y:4.71, Z:0.91 [[ 9.99011764e-01 -4.25519852e-02 -1.28383985e-02 1.26910462e+02] [ 4.25515282e-02 9.99094226e-01 -3.08877280e-04 4.70927490e+00] [ 1.28399132e-02 -2.37721440e-04 9.99917537e-01 9.10072687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.014391418 meters Centerline goodness [0,1] 0.9996234388401917 Centerline is valid? [True, True] Translation: X:126.94, Y:4.70, Z:0.91 [[ 9.98843582e-01 -4.62683787e-02 -1.30665710e-02 1.26940173e+02] [ 4.62682218e-02 9.98929003e-01 -3.14466908e-04 4.70458633e+00] [ 1.30671266e-02 -2.90463753e-04 9.99914579e-01 9.10169962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.044391418 meters Centerline goodness [0,1] 0.9992469722007238 Centerline is valid? [True, True] Translation: X:126.97, Y:4.70, Z:0.91 [[ 9.98469322e-01 -5.37583315e-02 -1.30020736e-02 1.26969877e+02] [ 5.37588068e-02 9.98553901e-01 -3.13193593e-04 4.69512910e+00] [ 1.30001081e-02 -3.86261770e-04 9.99915420e-01 9.08513601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.074391418 meters Centerline goodness [0,1] 0.999350036691477 Centerline is valid? [True, True] Translation: X:127.00, Y:4.69, Z:0.91 [[ 9.98216705e-01 -5.83246459e-02 -1.27139624e-02 1.26999717e+02] [ 5.83254726e-02 9.98297574e-01 -3.06073232e-04 4.68919040e+00] [ 1.27101694e-02 -4.36020454e-04 9.99919127e-01 9.10643932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.104391418 meters Centerline goodness [0,1] 0.9993290279292124 Centerline is valid? [True, True] Translation: X:127.03, Y:4.69, Z:0.91 [[ 9.97996275e-01 -6.20633068e-02 -1.23118047e-02 1.27029333e+02] [ 6.20643735e-02 9.98072105e-01 -2.95784138e-04 4.68764890e+00] [ 1.23064262e-02 -4.68932978e-04 9.99924163e-01 9.11482229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.134391418 meters Centerline goodness [0,1] 0.9994137844401642 Centerline is valid? [True, True] Translation: X:127.06, Y:4.69, Z:0.91 [[ 9.97766578e-01 -6.56738934e-02 -1.21981774e-02 1.27060625e+02] [ 6.56752097e-02 9.97841010e-01 -2.93071024e-04 4.68936502e+00] [ 1.21910888e-02 -5.08701387e-04 9.99925557e-01 9.12443502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.164391418 meters Centerline goodness [0,1] 0.9993097100782329 Centerline is valid? [True, True] Translation: X:127.09, Y:4.68, Z:0.91 [[ 9.97291821e-01 -7.23745967e-02 -1.30744397e-02 1.27090147e+02] [ 7.23766870e-02 9.97377319e-01 -3.13829985e-04 4.67545261e+00] [ 1.30628629e-02 -6.33304550e-04 9.99914477e-01 9.11547931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.194391418 meters Centerline goodness [0,1] 0.9992903212340062 Centerline is valid? [True, True] Translation: X:127.12, Y:4.67, Z:0.91 [[ 9.97093605e-01 -7.50325697e-02 -1.32082231e-02 1.27120069e+02] [ 7.50349324e-02 9.97180855e-01 -3.17285297e-04 4.67362554e+00] [ 1.31947939e-02 -6.74714984e-04 9.99912717e-01 9.11625915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.224391418 meters Centerline goodness [0,1] 0.9991403170343034 Centerline is valid? [True, True] Translation: X:127.15, Y:4.68, Z:0.91 [[ 9.96930408e-01 -7.71105683e-02 -1.35544000e-02 1.27150772e+02] [ 7.71132455e-02 9.97022287e-01 -3.25786205e-04 4.67680222e+00] [ 1.35391605e-02 -7.20437603e-04 9.99908082e-01 9.12122950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.254391418 meters Centerline goodness [0,1] 0.9991461179606798 Centerline is valid? [True, True] Translation: X:127.18, Y:4.67, Z:0.91 [[ 9.96727301e-01 -7.96486813e-02 -1.38121550e-02 1.27180551e+02] [ 7.96517043e-02 9.96822700e-01 -3.31981464e-04 4.66885073e+00] [ 1.37947116e-02 -7.69266698e-04 9.99904553e-01 9.11360306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.284391418 meters Centerline goodness [0,1] 0.9992448397382111 Centerline is valid? [True, True] Translation: X:127.21, Y:4.67, Z:0.91 [[ 9.96676070e-01 -8.02498941e-02 -1.40273145e-02 1.27210970e+02] [ 8.02530714e-02 9.96774463e-01 -3.37152922e-04 4.67183602e+00] [ 1.40091254e-02 -7.89702825e-04 9.99901556e-01 9.12144243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.314391418 meters Centerline goodness [0,1] 0.9991857357608152 Centerline is valid? [True, True] Translation: X:127.24, Y:4.67, Z:0.91 [[ 9.96652577e-01 -8.04928161e-02 -1.43019910e-02 1.27240723e+02] [ 8.04961422e-02 9.96754861e-01 -3.43878882e-04 4.67316116e+00] [ 1.42832589e-02 -8.08527330e-04 9.99897662e-01 9.12223961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34439141800001 meters Centerline goodness [0,1] 0.9991608098185252 Centerline is valid? [True, True] Translation: X:127.27, Y:4.67, Z:0.91 [[ 9.96655338e-01 -8.03937479e-02 -1.46623050e-02 1.27271496e+02] [ 8.03972303e-02 9.96762841e-01 -3.52726746e-04 4.67445049e+00] [ 1.46431978e-02 -8.27261716e-04 9.99892440e-01 9.12195900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37439141800002 meters Centerline goodness [0,1] 0.9992025183630641 Centerline is valid? [True, True] Translation: X:127.30, Y:4.68, Z:0.91 [[ 9.96768851e-01 -7.88170102e-02 -1.54833987e-02 1.27301523e+02] [ 7.88207040e-02 9.96888739e-01 -3.72479555e-04 4.67951186e+00] [ 1.54645835e-02 -8.49136366e-04 9.99880056e-01 9.11735128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40439141800002 meters Centerline goodness [0,1] 0.9992863290023299 Centerline is valid? [True, True] Translation: X:127.33, Y:4.68, Z:0.91 [[ 9.96833169e-01 -7.80691613e-02 -1.51274566e-02 1.27331642e+02] [ 7.80726013e-02 9.96947610e-01 -3.63916762e-04 4.68193288e+00] [ 1.51096924e-02 -8.18275591e-04 9.99885507e-01 9.12889217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43439141800002 meters Centerline goodness [0,1] 0.9993300113060593 Centerline is valid? [True, True] Translation: X:127.36, Y:4.69, Z:0.91 [[ 9.96981587e-01 -7.60045433e-02 -1.58437832e-02 1.27361984e+02] [ 7.60080570e-02 9.97107131e-01 -3.81149218e-04 4.68849512e+00] [ 1.58269182e-02 -8.24256421e-04 9.99874407e-01 9.12976323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46439141800002 meters Centerline goodness [0,1] 0.9991656933088603 Centerline is valid? [True, True] Translation: X:127.39, Y:4.69, Z:0.91 [[ 9.97050033e-01 -7.49948933e-02 -1.63400379e-02 1.27391667e+02] [ 7.49984967e-02 9.97183569e-01 -3.93004198e-04 4.68956603e+00] [ 1.63234906e-02 -8.33633429e-04 9.99866415e-01 9.12441048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49439141800002 meters Centerline goodness [0,1] 0.9993709504938039 Centerline is valid? [True, True] Translation: X:127.42, Y:4.69, Z:0.91 [[ 9.97141551e-01 -7.37274074e-02 -1.65225886e-02 1.27421904e+02] [ 7.37309198e-02 9.97278092e-01 -3.97304289e-04 4.69286904e+00] [ 1.65069079e-02 -8.22057040e-04 9.99863414e-01 9.12853084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.524391418 meters Centerline goodness [0,1] 0.9994327969413049 Centerline is valid? [True, True] Translation: X:127.45, Y:4.70, Z:0.91 [[ 9.97341334e-01 -7.08564894e-02 -1.70182828e-02 1.27451160e+02] [ 7.08597929e-02 9.97486201e-01 -4.09566608e-04 4.69638129e+00] [ 1.70045227e-02 -7.97434284e-04 9.99855095e-01 9.11815686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.554391418 meters Centerline goodness [0,1] 0.9992042718039996 Centerline is valid? [True, True] Translation: X:127.48, Y:4.70, Z:0.91 [[ 9.97438408e-01 -6.93688939e-02 -1.74521837e-02 1.27481851e+02] [ 6.93721348e-02 9.97590763e-01 -4.20357021e-04 4.70127302e+00] [ 1.74392970e-02 -7.91415004e-04 9.99847611e-01 9.12983095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.584391418 meters Centerline goodness [0,1] 0.9993306139525154 Centerline is valid? [True, True] Translation: X:127.51, Y:4.70, Z:0.91 [[ 9.97557807e-01 -6.75619440e-02 -1.77145374e-02 1.27510834e+02] [ 6.75649919e-02 9.97714784e-01 -4.27061202e-04 4.70015580e+00] [ 1.77029089e-02 -7.70864339e-04 9.99842994e-01 9.12445999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.614391418 meters Centerline goodness [0,1] 0.9991601226220972 Centerline is valid? [True, True] Translation: X:127.54, Y:4.71, Z:0.91 [[ 9.97843041e-01 -6.31027671e-02 -1.80915921e-02 1.27540335e+02] [ 6.31052005e-02 9.98006785e-01 -4.36916945e-04 4.71193129e+00] [ 1.80831023e-02 -7.05699013e-04 9.99836238e-01 9.13589763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.644391418 meters Centerline goodness [0,1] 0.9992885243157278 Centerline is valid? [True, True] Translation: X:127.57, Y:4.71, Z:0.91 [[ 9.97995309e-01 -6.07455176e-02 -1.77579904e-02 1.27569736e+02] [ 6.07474592e-02 9.98153075e-01 -4.30564609e-04 4.71318721e+00] [ 1.77513476e-02 -6.49051340e-04 9.99842222e-01 9.13745695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.674391418 meters Centerline goodness [0,1] 0.9992887326890089 Centerline is valid? [True, True] Translation: X:127.60, Y:4.72, Z:0.91 [[ 9.98151318e-01 -5.80677599e-02 -1.79466365e-02 1.27597928e+02] [ 5.80692781e-02 9.98312460e-01 -4.36948400e-04 4.71737664e+00] [ 1.79417235e-02 -6.06007607e-04 9.99838851e-01 9.14012496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.704391418 meters Centerline goodness [0,1] 0.9992061502465113 Centerline is valid? [True, True] Translation: X:127.63, Y:4.72, Z:0.92 [[ 9.98285971e-01 -5.57042986e-02 -1.79485935e-02 1.27626751e+02] [ 5.57054147e-02 9.98447152e-01 -4.38158675e-04 4.72468892e+00] [ 1.79451294e-02 -5.62426186e-04 9.99838815e-01 9.15300152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.734391418 meters Centerline goodness [0,1] 0.9993072902453872 Centerline is valid? [True, True] Translation: X:127.66, Y:4.73, Z:0.92 [[ 9.98557010e-01 -5.07499163e-02 -1.75596925e-02 1.27656176e+02] [ 5.07502027e-02 9.98711286e-01 -4.29591111e-04 4.73185693e+00] [ 1.75588648e-02 -4.62186739e-04 9.99845724e-01 9.16335936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.764391418 meters Centerline goodness [0,1] 0.9992652769905745 Centerline is valid? [True, True] Translation: X:127.69, Y:4.74, Z:0.92 [[ 9.98661344e-01 -4.86784033e-02 -1.74909499e-02 1.27685358e+02] [ 4.86783579e-02 9.98814414e-01 -4.28596708e-04 4.73733358e+00] [ 1.74910763e-02 -4.23407757e-04 9.99846930e-01 9.17350914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.794391418 meters Centerline goodness [0,1] 0.9995592587151342 Centerline is valid? [True, True] Translation: X:127.71, Y:4.74, Z:0.92 [[ 9.98753031e-01 -4.70237280e-02 -1.67675793e-02 1.27713705e+02] [ 4.70234257e-02 9.98893702e-01 -4.12508240e-04 4.73774169e+00] [ 1.67684270e-02 -3.76475163e-04 9.99859329e-01 9.17290605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.824391418 meters Centerline goodness [0,1] 0.9992029365495543 Centerline is valid? [True, True] Translation: X:127.74, Y:4.75, Z:0.92 [[ 9.98887267e-01 -4.43691517e-02 -1.59876923e-02 1.27743290e+02] [ 4.43685114e-02 9.99015155e-01 -3.94918236e-04 4.74566248e+00] [ 1.59894690e-02 -3.14871310e-04 9.99872111e-01 9.19182479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.854391418 meters Centerline goodness [0,1] 0.9993074356229932 Centerline is valid? [True, True] Translation: X:127.77, Y:4.75, Z:0.92 [[ 9.98933422e-01 -4.32732452e-02 -1.61073162e-02 1.27772233e+02] [ 4.32724418e-02 9.99063230e-01 -3.98560063e-04 4.74541122e+00] [ 1.61094744e-02 -2.98867937e-04 9.99870189e-01 9.18138128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.884391418 meters Centerline goodness [0,1] 0.9992464047225305 Centerline is valid? [True, True] Translation: X:127.80, Y:4.75, Z:0.92 [[ 9.98963202e-01 -4.23751265e-02 -1.66393981e-02 1.27801776e+02] [ 4.23741327e-02 9.99101728e-01 -4.12446641e-04 4.74815770e+00] [ 1.66419289e-02 -2.93061045e-04 9.99861471e-01 9.18299411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.914391418 meters Centerline goodness [0,1] 0.9992894461859979 Centerline is valid? [True, True] Translation: X:127.83, Y:4.75, Z:0.92 [[ 9.98996432e-01 -4.13878507e-02 -1.71223224e-02 1.27830454e+02] [ 4.13866375e-02 9.99143116e-01 -4.25347646e-04 4.75065666e+00] [ 1.71252548e-02 -2.83714569e-04 9.99853312e-01 9.17822881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.944391418 meters Centerline goodness [0,1] 0.9992044050834328 Centerline is valid? [True, True] Translation: X:127.86, Y:4.75, Z:0.92 [[ 9.98990247e-01 -4.13816564e-02 -1.74941200e-02 1.27859112e+02] [ 4.13803693e-02 9.99143371e-01 -4.35706915e-04 4.75065589e+00] [ 1.74971643e-02 -2.88646188e-04 9.99846871e-01 9.17333754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.974391418 meters Centerline goodness [0,1] 0.9992035379681834 Centerline is valid? [True, True] Translation: X:127.89, Y:4.75, Z:0.92 [[ 9.98957458e-01 -4.17464998e-02 -1.84723127e-02 1.27888280e+02] [ 4.17451090e-02 9.99128187e-01 -4.61049869e-04 4.75190235e+00] [ 1.84754555e-02 -3.10559501e-04 9.99829266e-01 9.17506474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.004391418 meters Centerline goodness [0,1] 0.9992434590732374 Centerline is valid? [True, True] Translation: X:127.92, Y:4.75, Z:0.92 [[ 9.98914398e-01 -4.28195596e-02 -1.83442192e-02 1.27916650e+02] [ 4.28183083e-02 9.99082769e-01 -4.61154035e-04 4.75241855e+00] [ 1.83471398e-02 -3.24815030e-04 9.99831624e-01 9.18048512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.034391418 meters Centerline goodness [0,1] 0.9991620930914575 Centerline is valid? [True, True] Translation: X:127.95, Y:4.75, Z:0.92 [[ 9.98821902e-01 -4.48269462e-02 -1.85836547e-02 1.27945635e+02] [ 4.48259459e-02 9.98994701e-01 -4.70580641e-04 4.75320683e+00] [ 1.85860673e-02 -3.63003650e-04 9.99827198e-01 9.19182127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.064391418 meters Centerline goodness [0,1] 0.9992233254266463 Centerline is valid? [True, True] Translation: X:127.98, Y:4.75, Z:0.92 [[ 9.98765185e-01 -4.61666989e-02 -1.83504946e-02 1.27975007e+02] [ 4.61659295e-02 9.98933676e-01 -4.65774218e-04 4.75378539e+00] [ 1.83524303e-02 -3.81968566e-04 9.99831507e-01 9.20253875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09439141800001 meters Centerline goodness [0,1] 0.9992456467531379 Centerline is valid? [True, True] Translation: X:128.00, Y:4.75, Z:0.92 [[ 9.98715099e-01 -4.73937510e-02 -1.79439155e-02 1.28004340e+02] [ 4.73932002e-02 9.98876207e-01 -4.56173528e-04 4.75351461e+00] [ 1.79453701e-02 -3.94832192e-04 9.99838891e-01 9.20767706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12439141800002 meters Centerline goodness [0,1] 0.999160034438588 Centerline is valid? [True, True] Translation: X:128.03, Y:4.75, Z:0.92 [[ 9.98660744e-01 -4.85344140e-02 -1.79200827e-02 1.28034844e+02] [ 4.85340421e-02 9.98821425e-01 -4.55910989e-04 4.75341117e+00] [ 1.79210899e-02 -4.14433642e-04 9.99839318e-01 9.20974135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15439141800002 meters Centerline goodness [0,1] 0.9993492863140219 Centerline is valid? [True, True] Translation: X:128.06, Y:4.75, Z:0.92 [[ 9.98581561e-01 -4.98027751e-02 -1.88295070e-02 1.28064274e+02] [ 4.98025860e-02 9.98758966e-01 -4.79257631e-04 4.75191219e+00] [ 1.88300073e-02 -4.59180306e-04 9.99822594e-01 9.20292176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18439141800002 meters Centerline goodness [0,1] 0.9992653232577666 Centerline is valid? [True, True] Translation: X:128.09, Y:4.75, Z:0.92 [[ 9.98571423e-01 -4.98343978e-02 -1.92781441e-02 1.28092523e+02] [ 4.98341855e-02 9.98757384e-01 -4.91708820e-04 4.74882618e+00] [ 1.92786928e-02 -4.69704235e-04 9.99814038e-01 9.18533984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21439141800002 meters Centerline goodness [0,1] 0.9993520202336907 Centerline is valid? [True, True] Translation: X:128.12, Y:4.75, Z:0.92 [[ 9.98587042e-01 -4.94753273e-02 -1.93935903e-02 1.28122085e+02] [ 4.94750235e-02 9.98775238e-01 -4.95751787e-04 4.75192014e+00] [ 1.93943653e-02 -4.64447025e-04 9.99811804e-01 9.19580628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24439141800002 meters Centerline goodness [0,1] 0.9992447446817438 Centerline is valid? [True, True] Translation: X:128.15, Y:4.76, Z:0.92 [[ 9.98677134e-01 -4.73573706e-02 -2.00315186e-02 1.28151921e+02] [ 4.73566046e-02 9.98877915e-01 -5.12864745e-04 4.75553012e+00] [ 2.00333295e-02 -4.36438413e-04 9.99799217e-01 9.20746265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.274391418 meters Centerline goodness [0,1] 0.9992672612318385 Centerline is valid? [True, True] Translation: X:128.18, Y:4.76, Z:0.92 [[ 9.98755649e-01 -4.56570685e-02 -2.00645398e-02 1.28180882e+02] [ 4.56559349e-02 9.98957091e-01 -5.14810610e-04 4.75732336e+00] [ 2.00671191e-02 -4.01895320e-04 9.99798554e-01 9.20946698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.304391418 meters Centerline goodness [0,1] 0.9993071011632302 Centerline is valid? [True, True] Translation: X:128.21, Y:4.76, Z:0.92 [[ 9.98917638e-01 -4.20382566e-02 -1.99082417e-02 1.28209602e+02] [ 4.20363475e-02 9.99115950e-01 -5.14546039e-04 4.76103094e+00] [ 1.99122724e-02 -3.22880651e-04 9.99801679e-01 9.21970249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.334391418 meters Centerline goodness [0,1] 0.9994132685134739 Centerline is valid? [True, True] Translation: X:128.24, Y:4.76, Z:0.92 [[ 9.98999820e-01 -4.02216907e-02 -1.95339607e-02 1.28238719e+02] [ 4.02193996e-02 9.99190742e-01 -5.10294739e-04 4.76147048e+00] [ 1.95386776e-02 -2.75859818e-04 9.99809064e-01 9.21347987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.364391418 meters Centerline goodness [0,1] 0.9993935972230935 Centerline is valid? [True, True] Translation: X:128.27, Y:4.76, Z:0.92 [[ 9.99046831e-01 -3.89280506e-02 -1.97493295e-02 1.28267835e+02] [ 3.89253410e-02 9.99241986e-01 -5.21735627e-04 4.76286087e+00] [ 1.97546693e-02 -2.47511059e-04 9.99804827e-01 9.21332542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.394391418 meters Centerline goodness [0,1] 0.9994568623354919 Centerline is valid? [True, True] Translation: X:128.30, Y:4.76, Z:0.92 [[ 9.99115450e-01 -3.70153030e-02 -1.99545956e-02 1.28295821e+02] [ 3.70120791e-02 9.99314677e-01 -5.30982829e-04 4.76431615e+00] [ 1.99605748e-02 -2.08047922e-04 9.99800746e-01 9.20691688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.424391418 meters Centerline goodness [0,1] 0.9994142259414226 Centerline is valid? [True, True] Translation: X:128.32, Y:4.77, Z:0.92 [[ 9.99106497e-01 -3.69198469e-02 -2.05701822e-02 1.28323603e+02] [ 3.69162940e-02 9.99318209e-01 -5.52551073e-04 4.76603168e+00] [ 2.05765577e-02 -2.07317525e-04 9.99788259e-01 9.21325206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.454391418 meters Centerline goodness [0,1] 0.9994770421504027 Centerline is valid? [True, True] Translation: X:128.35, Y:4.77, Z:0.92 [[ 9.99090643e-01 -3.72399411e-02 -2.07623003e-02 1.28351436e+02] [ 3.72363005e-02 9.99306330e-01 -5.62051626e-04 4.76641743e+00] [ 2.07688289e-02 -2.11570733e-04 9.99784282e-01 9.21137324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.484391418 meters Centerline goodness [0,1] 0.9994352882121643 Centerline is valid? [True, True] Translation: X:128.38, Y:4.77, Z:0.92 [[ 9.99015020e-01 -3.87599792e-02 -2.16021576e-02 1.28380357e+02] [ 3.87562867e-02 9.99248519e-01 -5.89722199e-04 4.76581058e+00] [ 2.16087816e-02 -2.48078077e-04 9.99766472e-01 9.20745970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.514391418 meters Centerline goodness [0,1] 0.9992259738086272 Centerline is valid? [True, True] Translation: X:128.41, Y:4.77, Z:0.92 [[ 9.98938207e-01 -4.03625413e-02 -2.22109062e-02 1.28407991e+02] [ 4.03589426e-02 9.99185059e-01 -6.10442941e-04 4.76518533e+00] [ 2.22174447e-02 -2.86613912e-04 9.99753121e-01 9.20216612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.544391418 meters Centerline goodness [0,1] 0.9994344009887509 Centerline is valid? [True, True] Translation: X:128.44, Y:4.76, Z:0.92 [[ 9.98848060e-01 -4.25678621e-02 -2.21478994e-02 1.28436999e+02] [ 4.25647130e-02 9.99093523e-01 -6.13797304e-04 4.76481089e+00] [ 2.21539509e-02 -3.29628735e-04 9.99754517e-01 9.21105710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.574391418 meters Centerline goodness [0,1] 0.9993725424579604 Centerline is valid? [True, True] Translation: X:128.47, Y:4.76, Z:0.92 [[ 9.98725140e-01 -4.51722346e-02 -2.25291742e-02 1.28465898e+02] [ 4.51694836e-02 9.98979139e-01 -6.31236741e-04 4.76330084e+00] [ 2.25346895e-02 -3.87199163e-04 9.99745987e-01 9.20893489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.604391418 meters Centerline goodness [0,1] 0.9992453304823596 Centerline is valid? [True, True] Translation: X:128.49, Y:4.76, Z:0.92 [[ 9.98445177e-01 -5.10426904e-02 -2.24025073e-02 1.28494284e+02] [ 5.10413630e-02 9.98696341e-01 -6.31421319e-04 4.75728186e+00] [ 2.24055315e-02 -5.13014935e-04 9.99748833e-01 9.20794268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.634391418 meters Centerline goodness [0,1] 0.9993720828013479 Centerline is valid? [True, True] Translation: X:128.52, Y:4.76, Z:0.92 [[ 9.98267015e-01 -5.45387799e-02 -2.21017809e-02 1.28523236e+02] [ 5.45382373e-02 9.98511485e-01 -6.27769527e-04 4.76022730e+00] [ 2.21031199e-02 -5.78710563e-04 9.99755529e-01 9.23917638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.664391418 meters Centerline goodness [0,1] 0.9993720828013479 Centerline is valid? [True, True] Translation: X:128.55, Y:4.76, Z:0.92 [[ 9.98251691e-01 -5.48186212e-02 -2.21015988e-02 1.28551499e+02] [ 5.48180062e-02 9.98496161e-01 -6.34139055e-04 4.76113927e+00] [ 2.21031241e-02 -5.78535194e-04 9.99755529e-01 9.24157612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.694391418 meters Centerline goodness [0,1] 0.9992447288366726 Centerline is valid? [True, True] Translation: X:128.58, Y:4.76, Z:0.93 [[ 9.98053692e-01 -5.84458549e-02 -2.17464997e-02 1.28580651e+02] [ 5.84459866e-02 9.98290373e-01 -6.30063156e-04 4.76044323e+00] [ 2.17461458e-02 -6.42158769e-04 9.99763318e-01 9.25085298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.724391418 meters Centerline goodness [0,1] 0.9993710691823899 Centerline is valid? [True, True] Translation: X:128.61, Y:4.76, Z:0.93 [[ 9.97856632e-01 -6.15866463e-02 -2.21184886e-02 1.28609367e+02] [ 6.15874807e-02 9.98101481e-01 -6.44112293e-04 4.75810554e+00] [ 2.21161650e-02 -7.19490271e-04 9.99755149e-01 9.25463075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.754391418 meters Centerline goodness [0,1] 0.9993504860878311 Centerline is valid? [True, True] Translation: X:128.64, Y:4.75, Z:0.93 [[ 9.97403272e-01 -6.86908082e-02 -2.16399367e-02 1.28639318e+02] [ 6.86932593e-02 9.97637629e-01 -6.30937727e-04 4.75301312e+00] [ 2.16321548e-02 -8.57218431e-04 9.99765630e-01 9.25586088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.784391418 meters Centerline goodness [0,1] 0.9992228686648044 Centerline is valid? [True, True] Translation: X:128.67, Y:4.75, Z:0.93 [[ 9.97134091e-01 -7.26453421e-02 -2.11248294e-02 1.28668725e+02] [ 7.26485349e-02 9.97357413e-01 -6.17267524e-04 4.75194364e+00] [ 2.11138468e-02 -9.19189413e-04 9.99776655e-01 9.26150220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.814391418 meters Centerline goodness [0,1] 0.9990982489252386 Centerline is valid? [True, True] Translation: X:128.70, Y:4.75, Z:0.93 [[ 9.96577312e-01 -8.02035131e-02 -2.00264183e-02 1.28698241e+02] [ 8.02078841e-02 9.96777985e-01 -5.86161630e-04 4.74779470e+00] [ 2.00089051e-02 -1.02212125e-03 9.99799279e-01 9.27235780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84439141800001 meters Centerline goodness [0,1] 0.9992647213293838 Centerline is valid? [True, True] Translation: X:128.73, Y:4.75, Z:0.93 [[ 9.96314606e-01 -8.34132306e-02 -1.99859834e-02 1.28728673e+02] [ 8.34182242e-02 9.96514454e-01 -5.85152840e-04 4.74706635e+00] [ 1.99651308e-02 -1.08419892e-03 9.99800089e-01 9.27693114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87439141800002 meters Centerline goodness [0,1] 0.9992653849382923 Centerline is valid? [True, True] Translation: X:128.76, Y:4.75, Z:0.93 [[ 9.96062644e-01 -8.64198137e-02 -1.97692988e-02 1.28757547e+02] [ 8.64252888e-02 9.96258167e-01 -5.78852906e-04 4.74502078e+00] [ 1.97453497e-02 -1.13199360e-03 9.99804401e-01 9.28070996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90439141800002 meters Centerline goodness [0,1] 0.9986798264914818 Centerline is valid? [True, True] Translation: X:128.79, Y:4.74, Z:0.93 [[ 9.95609732e-01 -9.15255071e-02 -1.96046797e-02 1.28786682e+02] [ 9.15318763e-02 9.95801981e-01 -5.74071872e-04 4.74332440e+00] [ 1.95749211e-02 -1.22290157e-03 9.99807645e-01 9.28663117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93439141800002 meters Centerline goodness [0,1] 0.9988883295578488 Centerline is valid? [True, True] Translation: X:128.82, Y:4.74, Z:0.93 [[ 9.95406778e-01 -9.37596052e-02 -1.93515343e-02 1.28817034e+02] [ 9.37662312e-02 9.95594080e-01 -5.66663866e-04 4.74419969e+00] [ 1.93194031e-02 -1.25045938e-03 9.99812581e-01 9.29037053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96439141800002 meters Centerline goodness [0,1] 0.9985111558463345 Centerline is valid? [True, True] Translation: X:128.85, Y:4.74, Z:0.93 [[ 9.95233091e-01 -9.55734155e-02 -1.94117931e-02 1.28847777e+02] [ 9.55804263e-02 9.95421548e-01 -5.68428404e-04 4.74456895e+00] [ 1.93772438e-02 -1.28966871e-03 9.99811412e-01 9.29220958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99439141800002 meters Centerline goodness [0,1] 0.9984449534536743 Centerline is valid? [True, True] Translation: X:128.88, Y:4.75, Z:0.93 [[ 9.95028720e-01 -9.76871991e-02 -1.93663806e-02 1.28878026e+02] [ 9.76945755e-02 9.95216282e-01 -5.67098606e-04 4.74916516e+00] [ 1.93291356e-02 -1.32771093e-03 9.99812293e-01 9.30112777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.024391418 meters Centerline goodness [0,1] 0.9981113069755729 Centerline is valid? [True, True] Translation: X:128.91, Y:4.75, Z:0.93 [[ 9.94963576e-01 -9.83725791e-02 -1.92436757e-02 1.28908748e+02] [ 9.83799899e-02 9.95148763e-01 -5.63505484e-04 4.75137770e+00] [ 1.92057536e-02 -1.33252519e-03 9.99814665e-01 9.30542750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.054391418 meters Centerline goodness [0,1] 0.9985310781886095 Centerline is valid? [True, True] Translation: X:128.94, Y:4.76, Z:0.93 [[ 9.94928322e-01 -9.87214879e-02 -1.92795617e-02 1.28939884e+02] [ 9.87289998e-02 9.95114198e-01 -5.64124154e-04 4.76089359e+00] [ 1.92410567e-02 -1.34218874e-03 9.99813973e-01 9.31677618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.084391418 meters Centerline goodness [0,1] 0.9971251101691359 Centerline is valid? [True, True] Translation: X:128.97, Y:4.76, Z:0.93 [[ 9.94966752e-01 -9.81939882e-02 -1.99775551e-02 1.28970351e+02] [ 9.82019599e-02 9.95166335e-01 -5.83969283e-04 4.76001000e+00] [ 1.99383325e-02 -1.38080504e-03 9.99800258e-01 9.30246244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.114391418 meters Centerline goodness [0,1] 0.9981731516284148 Centerline is valid? [True, True] Translation: X:129.00, Y:4.77, Z:0.93 [[ 9.95063679e-01 -9.72237559e-02 -1.98951427e-02 1.29001842e+02] [ 9.72314861e-02 9.95261624e-01 -5.80694278e-04 4.77446982e+00] [ 1.98573293e-02 -1.35660651e-03 9.99801903e-01 9.32060397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.144391418 meters Centerline goodness [0,1] 0.9962001795519553 Centerline is valid? [True, True] Translation: X:129.03, Y:4.77, Z:0.93 [[ 9.95200286e-01 -9.58232155e-02 -1.98570303e-02 1.29032567e+02] [ 9.58306533e-02 9.95397484e-01 -5.78836074e-04 4.76768695e+00] [ 1.98211040e-02 -1.32685436e-03 9.99802662e-01 9.30368080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.174391418 meters Centerline goodness [0,1] 0.9980469570330547 Centerline is valid? [True, True] Translation: X:129.06, Y:4.78, Z:0.93 [[ 9.95354579e-01 -9.42232889e-02 -1.97796085e-02 1.29063984e+02] [ 9.42303704e-02 9.95550253e-01 -5.75761827e-04 4.78110502e+00] [ 1.97458445e-02 -1.29075267e-03 9.99804199e-01 9.32002949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.204391418 meters Centerline goodness [0,1] 0.9985512723607962 Centerline is valid? [True, True] Translation: X:129.10, Y:4.79, Z:0.93 [[ 9.95550726e-01 -9.20520337e-02 -2.01289612e-02 1.29095411e+02] [ 9.20589498e-02 9.95753387e-01 -5.84730116e-04 4.78980558e+00] [ 2.00973069e-02 -1.27092254e-03 9.99797221e-01 9.32988379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.234391418 meters Centerline goodness [0,1] 0.9986159750036697 Centerline is valid? [True, True] Translation: X:129.12, Y:4.80, Z:0.93 [[ 9.95995497e-01 -8.70284926e-02 -2.04697457e-02 1.29124530e+02] [ 8.70345942e-02 9.96205113e-01 -5.94306900e-04 4.80090358e+00] [ 2.04437869e-02 -1.18964901e-03 9.99790296e-01 9.32947817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.264391418 meters Centerline goodness [0,1] 0.9986162941842426 Centerline is valid? [True, True] Translation: X:129.16, Y:4.81, Z:0.93 [[ 9.96245023e-01 -8.40691307e-02 -2.06938620e-02 1.29156144e+02] [ 8.40747427e-02 9.96459270e-01 -6.00209037e-04 4.81040301e+00] [ 2.06710497e-02 -1.14187586e-03 9.99785679e-01 9.34008837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.294391418 meters Centerline goodness [0,1] 0.998506709292054 Centerline is valid? [True, True] Translation: X:129.19, Y:4.82, Z:0.93 [[ 9.96748554e-01 -7.79077542e-02 -2.05597000e-02 1.29185304e+02] [ 7.79119919e-02 9.96960063e-01 -5.96030880e-04 4.81941672e+00] [ 2.05436352e-02 -1.00775426e-03 9.99788449e-01 9.34284455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.324391418 meters Centerline goodness [0,1] 0.9987380376485435 Centerline is valid? [True, True] Translation: X:129.22, Y:4.83, Z:0.94 [[ 9.97003970e-01 -7.47574318e-02 -1.98597806e-02 1.29216872e+02] [ 7.47607736e-02 9.97201332e-01 -5.75155824e-04 4.82679177e+00] [ 1.98471968e-02 -9.11299923e-04 9.99802610e-01 9.35649283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.354391418 meters Centerline goodness [0,1] 0.9984604028261099 Centerline is valid? [True, True] Translation: X:129.25, Y:4.84, Z:0.94 [[ 9.97254383e-01 -7.14345527e-02 -1.95141192e-02 1.29248226e+02] [ 7.14371679e-02 9.97444942e-01 -5.63927634e-04 4.83667538e+00] [ 1.95045434e-02 -8.31654104e-04 9.99809422e-01 9.37217136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.384391418 meters Centerline goodness [0,1] 0.9987761905766674 Centerline is valid? [True, True] Translation: X:129.28, Y:4.85, Z:0.94 [[ 9.97688901e-01 -6.51401539e-02 -1.93291761e-02 1.29278507e+02] [ 6.51415555e-02 9.97875877e-01 -5.57776074e-04 4.84795166e+00] [ 1.93244522e-02 -7.02645599e-04 9.99813018e-01 9.38322625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.414391418 meters Centerline goodness [0,1] 0.998752431700922 Centerline is valid? [True, True] Translation: X:129.31, Y:4.85, Z:0.94 [[ 9.97898637e-01 -6.18313873e-02 -1.93698136e-02 1.29309936e+02] [ 6.18321852e-02 9.98086404e-01 -5.58272716e-04 4.85444725e+00] [ 1.93672663e-02 -6.40578317e-04 9.99812232e-01 9.38766898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.444391418 meters Centerline goodness [0,1] 0.9986687797147386 Centerline is valid? [True, True] Translation: X:129.34, Y:4.87, Z:0.94 [[ 9.98245739e-01 -5.58974703e-02 -1.95170872e-02 1.29341032e+02] [ 5.58971628e-02 9.98436373e-01 -5.61711788e-04 4.86514328e+00] [ 1.95179681e-02 -5.30223403e-04 9.99809366e-01 9.39299163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.474391418 meters Centerline goodness [0,1] 0.9990470341585311 Centerline is valid? [True, True] Translation: X:129.37, Y:4.87, Z:0.94 [[ 9.98389231e-01 -5.32816153e-02 -1.94939037e-02 1.29371844e+02] [ 5.32808301e-02 9.98579411e-01 -5.60024429e-04 4.86950176e+00] [ 1.94960499e-02 -4.79529011e-04 9.99809819e-01 9.39451536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.504391418 meters Centerline goodness [0,1] 0.9987714987714987 Centerline is valid? [True, True] Translation: X:129.40, Y:4.87, Z:0.94 [[ 9.98506041e-01 -5.08745629e-02 -1.99365304e-02 1.29402514e+02] [ 5.08732817e-02 9.98704953e-01 -5.71756447e-04 4.87289217e+00] [ 1.99397995e-02 -4.43334463e-04 9.99801084e-01 9.39116499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.534391418 meters Centerline goodness [0,1] 0.9989165533650578 Centerline is valid? [True, True] Translation: X:129.43, Y:4.88, Z:0.94 [[ 9.98703035e-01 -4.67652682e-02 -2.01310049e-02 1.29433762e+02] [ 4.67631435e-02 9.98905839e-01 -5.76528134e-04 4.88142394e+00] [ 2.01359398e-02 -3.65608673e-04 9.99797185e-01 9.40090435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.564391418 meters Centerline goodness [0,1] 0.9988759040488664 Centerline is valid? [True, True] Translation: X:129.47, Y:4.88, Z:0.94 [[ 9.98783649e-01 -4.49454937e-02 -2.02762363e-02 1.29465239e+02] [ 4.49429798e-02 9.98989385e-01 -5.79878937e-04 4.88479991e+00] [ 2.02818078e-02 -3.32100877e-04 9.99794248e-01 9.40091334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59439141800001 meters Centerline goodness [0,1] 0.9988087894322605 Centerline is valid? [True, True] Translation: X:129.50, Y:4.89, Z:0.94 [[ 9.98821901e-01 -4.37986739e-02 -2.08922306e-02 1.29496557e+02] [ 4.37957717e-02 9.99040327e-01 -5.96658945e-04 4.88800439e+00] [ 2.08983137e-02 -3.19035337e-04 9.99781555e-01 9.40192236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62439141800002 meters Centerline goodness [0,1] 0.9989372781568152 Centerline is valid? [True, True] Translation: X:129.53, Y:4.89, Z:0.94 [[ 9.98851702e-01 -4.30859743e-02 -2.09493879e-02 1.29527331e+02] [ 4.30829167e-02 9.99071321e-01 -5.97468156e-04 4.89142674e+00] [ 2.09556751e-02 -3.05778649e-04 9.99780359e-01 9.39941724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65439141800002 meters Centerline goodness [0,1] 0.9989988497422571 Centerline is valid? [True, True] Translation: X:129.56, Y:4.89, Z:0.94 [[ 9.98832086e-01 -4.33237430e-02 -2.13896506e-02 1.29559087e+02] [ 4.33206280e-02 9.99061035e-01 -6.09188386e-04 4.89295900e+00] [ 2.13959588e-02 -3.18136191e-04 9.99771030e-01 9.40099720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68439141800002 meters Centerline goodness [0,1] 0.9991905248807089 Centerline is valid? [True, True] Translation: X:129.59, Y:4.90, Z:0.94 [[ 9.98802326e-01 -4.40439459e-02 -2.13083120e-02 1.29590512e+02] [ 4.40410362e-02 9.99029539e-01 -6.06033034e-04 4.89513668e+00] [ 2.13143252e-02 -3.33132934e-04 9.99772768e-01 9.41253708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71439141800002 meters Centerline goodness [0,1] 0.998933219543418 Centerline is valid? [True, True] Translation: X:129.62, Y:4.90, Z:0.94 [[ 9.98676682e-01 -4.69416397e-02 -2.10087552e-02 1.29622116e+02] [ 4.69394697e-02 9.98897557e-01 -5.96676213e-04 4.89563489e+00] [ 2.10136032e-02 -3.90253208e-04 9.99779114e-01 9.42211337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74439141800002 meters Centerline goodness [0,1] 0.9989140155870704 Centerline is valid? [True, True] Translation: X:129.65, Y:4.89, Z:0.94 [[ 9.98576488e-01 -4.89507403e-02 -2.11854151e-02 1.29652891e+02] [ 4.89489981e-02 9.98801098e-01 -6.01097943e-04 4.89498446e+00] [ 2.11894400e-02 -4.36762571e-04 9.99775383e-01 9.42027561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.774391418 meters Centerline goodness [0,1] 0.9987437185929648 Centerline is valid? [True, True] Translation: X:129.68, Y:4.89, Z:0.94 [[ 9.98443716e-01 -5.15379559e-02 -2.13069478e-02 1.29684628e+02] [ 5.15367968e-02 9.98670914e-01 -6.03870564e-04 4.89414298e+00] [ 2.13097513e-02 -4.95161069e-04 9.99772799e-01 9.41843595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.804391418 meters Centerline goodness [0,1] 0.998936645328683 Centerline is valid? [True, True] Translation: X:129.72, Y:4.89, Z:0.94 [[ 9.98279604e-01 -5.44061173e-02 -2.18587879e-02 1.29716123e+02] [ 5.44056035e-02 9.98518727e-01 -6.18638456e-04 4.89288994e+00] [ 2.18600667e-02 -5.71666391e-04 9.99760877e-01 9.41656254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.834391418 meters Centerline goodness [0,1] 0.9988089414467107 Centerline is valid? [True, True] Translation: X:129.75, Y:4.89, Z:0.94 [[ 9.97852281e-01 -6.14489182e-02 -2.26904290e-02 1.29746924e+02] [ 6.14501971e-02 9.98109945e-01 -6.41545418e-04 4.88860854e+00] [ 2.26869651e-02 -7.54163778e-04 9.99742333e-01 9.41892237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.864391418 meters Centerline goodness [0,1] 0.9991269165247019 Centerline is valid? [True, True] Translation: X:129.78, Y:4.89, Z:0.94 [[ 9.97637284e-01 -6.48758682e-02 -2.26046728e-02 1.29777893e+02] [ 6.48780318e-02 9.97892997e-01 -6.38413775e-04 4.88533643e+00] [ 2.25984623e-02 -8.29641294e-04 9.99744278e-01 9.42045255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.894391418 meters Centerline goodness [0,1] 0.9986608850911873 Centerline is valid? [True, True] Translation: X:129.81, Y:4.88, Z:0.94 [[ 9.97419753e-01 -6.81862190e-02 -2.24605309e-02 1.29809200e+02] [ 6.81892123e-02 9.97672206e-01 -6.33476196e-04 4.88369777e+00] [ 2.24514417e-02 -8.99724236e-04 9.99747530e-01 9.42516480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.924391418 meters Centerline goodness [0,1] 0.9990014871468026 Centerline is valid? [True, True] Translation: X:129.84, Y:4.88, Z:0.94 [[ 9.97023118e-01 -7.36328931e-02 -2.28713440e-02 1.29840006e+02] [ 7.36374478e-02 9.97284870e-01 -6.44141163e-04 4.88243959e+00] [ 2.28566753e-02 -1.04196377e-03 9.99738209e-01 9.43589918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.954391418 meters Centerline goodness [0,1] 0.9987653532579773 Centerline is valid? [True, True] Translation: X:129.87, Y:4.88, Z:0.94 [[ 9.96838383e-01 -7.59661563e-02 -2.32890754e-02 1.29871757e+02] [ 7.59715435e-02 9.97109771e-01 -6.54646145e-04 4.88233193e+00] [ 2.32714956e-02 -1.11673060e-03 9.99728558e-01 9.44027219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.984391418 meters Centerline goodness [0,1] 0.9987639323998891 Centerline is valid? [True, True] Translation: X:129.90, Y:4.88, Z:0.94 [[ 9.96697840e-01 -7.76900701e-02 -2.36150229e-02 1.29903864e+02] [ 7.76961336e-02 9.96976867e-01 -6.62039369e-04 4.88231483e+00] [ 2.35950654e-02 -1.17494276e-03 9.99720907e-01 9.44211777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.014391418 meters Centerline goodness [0,1] 0.9987004409978909 Centerline is valid? [True, True] Translation: X:129.94, Y:4.88, Z:0.94 [[ 9.96613281e-01 -7.84513636e-02 -2.46444943e-02 1.29936370e+02] [ 7.84582504e-02 9.96917162e-01 -6.88852350e-04 4.88233972e+00] [ 2.46225608e-02 -1.24704451e-03 9.99696041e-01 9.44224755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.044391418 meters Centerline goodness [0,1] 0.998871427963034 Centerline is valid? [True, True] Translation: X:129.97, Y:4.88, Z:0.94 [[ 9.96608209e-01 -7.87549222e-02 -2.38692069e-02 1.29968913e+02] [ 7.87615153e-02 9.96893265e-01 -6.65241261e-04 4.88399190e+00] [ 2.38474426e-02 -1.21699000e-03 9.99714869e-01 9.44825768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.074391418 meters Centerline goodness [0,1] 0.9988274671157823 Centerline is valid? [True, True] Translation: X:130.00, Y:4.88, Z:0.94 [[ 9.96637738e-01 -7.82381721e-02 -2.43312002e-02 1.29999662e+02] [ 7.82449104e-02 9.96933938e-01 -6.76431847e-04 4.88410173e+00] [ 2.43095220e-02 -1.22963507e-03 9.99703724e-01 9.44835822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.104391418 meters Centerline goodness [0,1] 0.9987658786731068 Centerline is valid? [True, True] Translation: X:130.03, Y:4.89, Z:0.95 [[ 9.96707667e-01 -7.73280122e-02 -2.43763262e-02 1.30031714e+02] [ 7.73345481e-02 9.97004970e-01 -6.75883561e-04 4.88585776e+00] [ 2.43555831e-02 -1.21147385e-03 9.99702625e-01 9.45168002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.134391418 meters Centerline goodness [0,1] 0.9987417896442891 Centerline is valid? [True, True] Translation: X:130.06, Y:4.89, Z:0.95 [[ 9.96835254e-01 -7.56712523e-02 -2.43585444e-02 1.30064215e+02] [ 7.56773463e-02 9.97132131e-01 -6.72879464e-04 4.89034209e+00] [ 2.43396050e-02 -1.17264003e-03 9.99703060e-01 9.46151960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.164391418 meters Centerline goodness [0,1] 0.9988924859430908 Centerline is valid? [True, True] Translation: X:130.10, Y:4.89, Z:0.95 [[ 9.96908980e-01 -7.47955849e-02 -2.40438290e-02 1.30096327e+02] [ 7.48013224e-02 9.97198237e-01 -6.61932202e-04 4.89382534e+00] [ 2.40259735e-02 -1.13862405e-03 9.99710686e-01 9.47292483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.194391418 meters Centerline goodness [0,1] 0.9987870017662956 Centerline is valid? [True, True] Translation: X:130.13, Y:4.90, Z:0.95 [[ 9.96974330e-01 -7.40041345e-02 -2.37817663e-02 1.30128532e+02] [ 7.40095693e-02 9.97257318e-01 -6.52761937e-04 4.89539981e+00] [ 2.37648476e-02 -1.10929139e-03 9.99716961e-01 9.47349461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.224391418 meters Centerline goodness [0,1] 0.9989365548631346 Centerline is valid? [True, True] Translation: X:130.16, Y:4.90, Z:0.95 [[ 9.97079045e-01 -7.24762978e-02 -2.40949113e-02 1.30160017e+02] [ 7.24814718e-02 9.97369541e-01 -6.59692395e-04 4.89761996e+00] [ 2.40793427e-02 -1.08866917e-03 9.99709458e-01 9.47119428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.254391418 meters Centerline goodness [0,1] 0.9988707065541634 Centerline is valid? [True, True] Translation: X:130.19, Y:4.90, Z:0.95 [[ 9.97127984e-01 -7.16081632e-02 -2.46587710e-02 1.30192095e+02] [ 7.16133636e-02 9.97432240e-01 -6.73261904e-04 4.90108549e+00] [ 2.46436642e-02 -1.09456925e-03 9.99695700e-01 9.47489708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.284391418 meters Centerline goodness [0,1] 0.9988072671508594 Centerline is valid? [True, True] Translation: X:130.22, Y:4.90, Z:0.95 [[ 9.97216255e-01 -7.03677103e-02 -2.46602165e-02 1.30223162e+02] [ 7.03725744e-02 9.97520551e-01 -6.71607703e-04 4.90272581e+00] [ 2.46463323e-02 -1.06566480e-03 9.99695665e-01 9.47215177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.314391418 meters Centerline goodness [0,1] 0.9988481228668942 Centerline is valid? [True, True] Translation: X:130.25, Y:4.91, Z:0.95 [[ 9.97353606e-01 -6.84303518e-02 -2.45575220e-02 1.30254332e+02] [ 6.84346180e-02 9.97655380e-01 -6.67640159e-04 4.90669176e+00] [ 2.45456308e-02 -1.01471132e-03 9.99698196e-01 9.47407025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34439141800001 meters Centerline goodness [0,1] 0.9989363512593601 Centerline is valid? [True, True] Translation: X:130.29, Y:4.91, Z:0.95 [[ 9.97442538e-01 -6.71958370e-02 -2.43537079e-02 1.30285641e+02] [ 6.71997305e-02 9.97739325e-01 -6.59418905e-04 4.90803769e+00] [ 2.43429623e-02 -9.78830140e-04 9.99703187e-01 9.47680334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37439141800002 meters Centerline goodness [0,1] 0.9989757377888739 Centerline is valid? [True, True] Translation: X:130.32, Y:4.91, Z:0.95 [[ 9.97516610e-01 -6.63276653e-02 -2.36908118e-02 1.30317441e+02] [ 6.63311532e-02 9.97797459e-01 -6.39438538e-04 4.91037341e+00] [ 2.36810443e-02 -9.33588303e-04 9.99719129e-01 9.48450167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40439141800002 meters Centerline goodness [0,1] 0.9988288902137807 Centerline is valid? [True, True] Translation: X:130.35, Y:4.91, Z:0.95 [[ 9.97634681e-01 -6.46177415e-02 -2.34433654e-02 1.30349584e+02] [ 6.46207241e-02 9.97909697e-01 -6.31115244e-04 4.91390226e+00] [ 2.34351429e-02 -8.85304789e-04 9.99724967e-01 9.49182474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43439141800002 meters Centerline goodness [0,1] 0.9988266416350216 Centerline is valid? [True, True] Translation: X:130.38, Y:4.91, Z:0.95 [[ 9.97688296e-01 -6.40229086e-02 -2.27844647e-02 1.30380897e+02] [ 6.40256050e-02 9.97948069e-01 -6.11872303e-04 4.91457215e+00] [ 2.27768864e-02 -8.48331301e-04 9.99740213e-01 9.49733936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46439141800002 meters Centerline goodness [0,1] 0.9987416017916178 Centerline is valid? [True, True] Translation: X:130.41, Y:4.92, Z:0.95 [[ 9.97746313e-01 -6.34304112e-02 -2.18832563e-02 1.30412936e+02] [ 6.34327897e-02 9.97985941e-01 -5.86134794e-04 4.91639964e+00] [ 2.18763608e-02 -8.03302162e-04 9.99760361e-01 9.50477780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49439141800002 meters Centerline goodness [0,1] 0.9989967768789089 Centerline is valid? [True, True] Translation: X:130.45, Y:4.92, Z:0.95 [[ 9.97820230e-01 -6.26576472e-02 -2.07076549e-02 1.30445107e+02] [ 6.26596443e-02 9.98034801e-01 -5.53016352e-04 4.92102670e+00] [ 2.07016109e-02 -7.45723388e-04 9.99785421e-01 9.52135011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.524391418 meters Centerline goodness [0,1] 0.9989125335835217 Centerline is valid? [True, True] Translation: X:130.48, Y:4.92, Z:0.95 [[ 9.97849064e-01 -6.23323351e-02 -2.02959393e-02 1.30476292e+02] [ 6.23342147e-02 9.98055186e-01 -5.40622730e-04 4.92177840e+00] [ 2.02901658e-02 -7.25671555e-04 9.99793870e-01 9.52436498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.554391418 meters Centerline goodness [0,1] 0.9989125335835217 Centerline is valid? [True, True] Translation: X:130.51, Y:4.92, Z:0.95 [[ 9.97854088e-01 -6.22518428e-02 -2.02959784e-02 1.30507999e+02] [ 6.22537356e-02 9.98060209e-01 -5.39153945e-04 4.92254440e+00] [ 2.02901718e-02 -7.25503503e-04 9.99793870e-01 9.52704971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.584391418 meters Centerline goodness [0,1] 0.9989329008024586 Centerline is valid? [True, True] Translation: X:130.54, Y:4.92, Z:0.95 [[ 9.97913269e-01 -6.15195845e-02 -1.96073311e-02 1.30540306e+02] [ 6.15212402e-02 9.98105639e-01 -5.19306151e-04 4.92367566e+00] [ 1.96021353e-02 -6.88044830e-04 9.99807623e-01 9.53074323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.614391418 meters Centerline goodness [0,1] 0.9989753660931563 Centerline is valid? [True, True] Translation: X:130.57, Y:4.93, Z:0.95 [[ 9.98039033e-01 -5.97035240e-02 -1.88036892e-02 1.30572238e+02] [ 5.97047528e-02 9.98215957e-01 -4.96527396e-04 4.92728988e+00] [ 1.87997870e-02 -6.27115893e-04 9.99823072e-01 9.53906409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.644391418 meters Centerline goodness [0,1] 0.9990187922612572 Centerline is valid? [True, True] Translation: X:130.60, Y:4.93, Z:0.95 [[ 9.98099268e-01 -5.88895261e-02 -1.81624501e-02 1.30603605e+02] [ 5.88905607e-02 9.98264330e-01 -4.78340347e-04 4.92702390e+00] [ 1.81590953e-02 -5.92165718e-04 9.99834935e-01 9.53724123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.674391418 meters Centerline goodness [0,1] 0.9988697191358683 Centerline is valid? [True, True] Translation: X:130.64, Y:4.93, Z:0.95 [[ 9.98171857e-01 -5.77896527e-02 -1.77002744e-02 1.30635494e+02] [ 5.77904841e-02 9.98328625e-01 -4.64945526e-04 4.92831605e+00] [ 1.76975596e-02 -5.58811886e-04 9.99843230e-01 9.53964692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.704391418 meters Centerline goodness [0,1] 0.9989542651044668 Centerline is valid? [True, True] Translation: X:130.67, Y:4.93, Z:0.95 [[ 9.98228773e-01 -5.70560293e-02 -1.68501400e-02 1.30667841e+02] [ 5.70567003e-02 9.98370842e-01 -4.41311362e-04 4.93094093e+00] [ 1.68478680e-02 -5.20883689e-04 9.99857929e-01 9.54692799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.734391418 meters Centerline goodness [0,1] 0.9989319890635681 Centerline is valid? [True, True] Translation: X:130.70, Y:4.93, Z:0.95 [[ 9.98314368e-01 -5.60118469e-02 -1.52018184e-02 1.30700594e+02] [ 5.60122915e-02 9.98430000e-01 -3.96856752e-04 4.93136809e+00] [ 1.52001802e-02 -4.55300883e-04 9.99884367e-01 9.54887585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.764391418 meters Centerline goodness [0,1] 0.9991908868306185 Centerline is valid? [True, True] Translation: X:130.73, Y:4.93, Z:0.96 [[ 9.98356893e-01 -5.53569213e-02 -1.48029100e-02 1.30732850e+02] [ 5.53572905e-02 9.98466535e-01 -3.85116879e-04 4.93193225e+00] [ 1.48015292e-02 -4.34964900e-04 9.99890357e-01 9.55060124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.794391418 meters Centerline goodness [0,1] 0.998867569761976 Centerline is valid? [True, True] Translation: X:130.76, Y:4.93, Z:0.96 [[ 9.98409777e-01 -5.46592754e-02 -1.37942488e-02 1.30764688e+02] [ 5.46595440e-02 9.98504986e-01 -3.57820911e-04 4.93308645e+00] [ 1.37931844e-02 -3.96735451e-04 9.99904791e-01 9.55406835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.824391418 meters Centerline goodness [0,1] 0.9991233134475164 Centerline is valid? [True, True] Translation: X:130.80, Y:4.93, Z:0.96 [[ 9.98564557e-01 -5.19638934e-02 -1.29837741e-02 1.30795751e+02] [ 5.19639154e-02 9.98648907e-01 -3.35889545e-04 4.93369659e+00] [ 1.29836860e-02 -3.39280345e-04 9.99915651e-01 9.55073552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.854391418 meters Centerline goodness [0,1] 0.999166114306485 Centerline is valid? [True, True] Translation: X:130.83, Y:4.94, Z:0.96 [[ 9.98665068e-01 -5.00032207e-02 -1.29522059e-02 1.30828138e+02] [ 5.00030889e-02 9.98749007e-01 -3.34212215e-04 4.93684905e+00] [ 1.29527144e-02 -3.13884237e-04 9.99916061e-01 9.55409900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.884391418 meters Centerline goodness [0,1] 0.9990605717701817 Centerline is valid? [True, True] Translation: X:130.86, Y:4.94, Z:0.96 [[ 9.98776367e-01 -4.77953843e-02 -1.27031176e-02 1.30860659e+02] [ 4.77950918e-02 9.98857108e-01 -3.26780555e-04 4.93976983e+00] [ 1.27042179e-02 -2.80765974e-04 9.99919259e-01 9.55528951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.914391418 meters Centerline goodness [0,1] 0.9989553352521053 Centerline is valid? [True, True] Translation: X:130.89, Y:4.94, Z:0.96 [[ 9.99016270e-01 -4.27624981e-02 -1.17414446e-02 1.30890765e+02] [ 4.27619127e-02 9.99085246e-01 -3.01019807e-04 4.94210806e+00] [ 1.17435764e-02 -2.01362944e-04 9.99931022e-01 9.55299954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.944391418 meters Centerline goodness [0,1] 0.9991670760096534 Centerline is valid? [True, True] Translation: X:130.92, Y:4.94, Z:0.96 [[ 9.99129387e-01 -4.02167631e-02 -1.10941669e-02 1.30922017e+02] [ 4.02160980e-02 9.99190965e-01 -2.83121973e-04 4.94303830e+00] [ 1.10965775e-02 -1.63288619e-04 9.99938418e-01 9.55714642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.974391418 meters Centerline goodness [0,1] 0.9989540865333305 Centerline is valid? [True, True] Translation: X:130.95, Y:4.95, Z:0.96 [[ 9.99291734e-01 -3.61022826e-02 -1.06139581e-02 1.30954266e+02] [ 3.61014552e-02 9.99348094e-01 -2.69594037e-04 4.94540358e+00] [ 1.06167718e-02 -1.13776241e-04 9.99943634e-01 9.55533261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.004391418 meters Centerline goodness [0,1] 0.9991689219425917 Centerline is valid? [True, True] Translation: X:130.99, Y:4.95, Z:0.96 [[ 9.99342795e-01 -3.46705623e-02 -1.05796762e-02 1.30986443e+02] [ 3.46696688e-02 9.99398790e-01 -2.67899534e-04 4.94574624e+00] [ 1.05826038e-02 -9.90704010e-05 9.99943998e-01 9.55163835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.034391418 meters Centerline goodness [0,1] 0.9989956835762213 Centerline is valid? [True, True] Translation: X:131.02, Y:4.95, Z:0.96 [[ 9.99365149e-01 -3.40479608e-02 -1.04897996e-02 1.31018689e+02] [ 3.40470567e-02 9.99420196e-01 -2.64805461e-04 4.94624752e+00] [ 1.04927337e-02 -9.25094538e-05 9.99944945e-01 9.55105763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.064391418 meters Centerline goodness [0,1] 0.9990194824572622 Centerline is valid? [True, True] Translation: X:131.05, Y:4.95, Z:0.95 [[ 9.99383496e-01 -3.35676522e-02 -1.02879246e-02 1.31049834e+02] [ 3.35667653e-02 9.99436444e-01 -2.58914065e-04 4.94516568e+00] [ 1.02908179e-02 -8.65779081e-05 9.99947044e-01 9.54888943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09439141800001 meters Centerline goodness [0,1] 0.9993401728321485 Centerline is valid? [True, True] Translation: X:131.08, Y:4.94, Z:0.95 [[ 9.99360504e-01 -3.41708204e-02 -1.05327404e-02 1.31082509e+02] [ 3.41699316e-02 9.99416002e-01 -2.64377900e-04 4.94148785e+00] [ 1.05356234e-02 -9.56941893e-05 9.99944494e-01 9.54428729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12439141800002 meters Centerline goodness [0,1] 0.9992339284574299 Centerline is valid? [True, True] Translation: X:131.11, Y:4.94, Z:0.95 [[ 9.99333229e-01 -3.50276299e-02 -1.03035333e-02 1.31114614e+02] [ 3.50268334e-02 9.99386339e-01 -2.57806258e-04 4.93957495e+00] [ 1.03062408e-02 -1.03265786e-04 9.99946884e-01 9.54351181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15439141800002 meters Centerline goodness [0,1] 0.9991710769623159 Centerline is valid? [True, True] Translation: X:131.15, Y:4.94, Z:0.95 [[ 9.99297897e-01 -3.60938450e-02 -1.00472285e-02 1.31145579e+02] [ 3.60931492e-02 9.99348399e-01 -2.50629333e-04 4.93717964e+00] [ 1.00497279e-02 -1.12182752e-04 9.99949494e-01 9.54437160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18439141800002 meters Centerline goodness [0,1] 0.9991084695393759 Centerline is valid? [True, True] Translation: X:131.18, Y:4.93, Z:0.96 [[ 9.99208556e-01 -3.87457848e-02 -9.00145742e-03 1.31177828e+02] [ 3.87453383e-02 9.99249092e-01 -2.24041564e-04 4.93266217e+00] [ 9.00337882e-03 -1.24900266e-04 9.99959461e-01 9.55060655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21439141800002 meters Centerline goodness [0,1] 0.9987897575268588 Centerline is valid? [True, True] Translation: X:131.21, Y:4.93, Z:0.96 [[ 9.99138565e-01 -4.05865207e-02 -8.65228914e-03 1.31210206e+02] [ 4.05861830e-02 9.99176018e-01 -2.14675077e-04 4.93017089e+00] [ 8.65387273e-03 -1.36673242e-04 9.99962545e-01 9.55496630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24439141800002 meters Centerline goodness [0,1] 0.9987312059887077 Centerline is valid? [True, True] Translation: X:131.24, Y:4.92, Z:0.96 [[ 9.98974590e-01 -4.45422349e-02 -8.10911510e-03 1.31241526e+02] [ 4.45420737e-02 9.99007489e-01 -2.00573309e-04 4.92273485e+00] [ 8.11000070e-03 -1.60829163e-04 9.99967100e-01 9.55342333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.274391418 meters Centerline goodness [0,1] 0.9988978147056953 Centerline is valid? [True, True] Translation: X:131.27, Y:4.92, Z:0.96 [[ 9.98867708e-01 -4.69320087e-02 -7.79033349e-03 1.31273780e+02] [ 4.69319359e-02 9.98898071e-01 -1.92250714e-04 4.92034130e+00] [ 7.79077181e-03 -1.73582403e-04 9.99969636e-01 9.55367624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.304391418 meters Centerline goodness [0,1] 0.9984550591521872 Centerline is valid? [True, True] Translation: X:131.31, Y:4.92, Z:0.96 [[ 9.98752245e-01 -4.92300064e-02 -8.38805112e-03 1.31305512e+02] [ 4.92300093e-02 9.98787447e-01 -2.06257027e-04 4.91743969e+00] [ 8.38803419e-03 -2.06944166e-04 9.99964798e-01 9.55327185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.334391418 meters Centerline goodness [0,1] 0.9986677099414215 Centerline is valid? [True, True] Translation: X:131.34, Y:4.91, Z:0.96 [[ 9.98650318e-01 -5.13261174e-02 -7.94808199e-03 1.31337182e+02] [ 5.13261897e-02 9.98681923e-01 -1.95014425e-04 4.91422165e+00] [ 7.94761514e-03 -2.13193546e-04 9.99968394e-01 9.55541162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.364391418 meters Centerline goodness [0,1] 0.998690546591197 Centerline is valid? [True, True] Translation: X:131.37, Y:4.91, Z:0.96 [[ 9.98439647e-01 -5.53498686e-02 -7.39345119e-03 1.31368927e+02] [ 5.53500488e-02 9.98466995e-01 -1.80395270e-04 4.90847436e+00] [ 7.39210184e-03 -2.29114095e-04 9.99972652e-01 9.55740090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.394391418 meters Centerline goodness [0,1] 0.9985196464069703 Centerline is valid? [True, True] Translation: X:131.40, Y:4.91, Z:0.96 [[ 9.98366264e-01 -5.66664653e-02 -7.32908868e-03 1.31399955e+02] [ 5.66666811e-02 9.98393137e-01 -1.78379715e-04 4.90535630e+00] [ 7.32741999e-03 -2.37226841e-04 9.99973126e-01 9.55517515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.424391418 meters Centerline goodness [0,1] 0.9986294726632509 Centerline is valid? [True, True] Translation: X:131.43, Y:4.90, Z:0.96 [[ 9.98155194e-01 -6.02618554e-02 -7.39706442e-03 1.31432501e+02] [ 6.02621770e-02 9.98182567e-01 -1.79601903e-04 4.90182374e+00] [ 7.39444389e-03 -2.66492632e-04 9.99972625e-01 9.56082428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.454391418 meters Centerline goodness [0,1] 0.9985647043924267 Centerline is valid? [True, True] Translation: X:131.46, Y:4.90, Z:0.96 [[ 9.98072756e-01 -6.16042289e-02 -7.46273024e-03 1.31463560e+02] [ 6.16045984e-02 9.98100617e-01 -1.80561840e-04 4.89786051e+00] [ 7.45967902e-03 -2.79524646e-04 9.99972137e-01 9.56115893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.484391418 meters Centerline goodness [0,1] 0.9986331041154081 Centerline is valid? [True, True] Translation: X:131.50, Y:4.90, Z:0.96 [[ 9.97966871e-01 -6.32664062e-02 -7.71278469e-03 1.31495248e+02] [ 6.32668542e-02 9.97996629e-01 -1.86126605e-04 4.89720388e+00] [ 7.70910868e-03 -3.02215439e-04 9.99970239e-01 9.55833141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.514391418 meters Centerline goodness [0,1] 0.9986326152810502 Centerline is valid? [True, True] Translation: X:131.53, Y:4.89, Z:0.96 [[ 9.97846597e-01 -6.51119715e-02 -7.91205042e-03 1.31526504e+02] [ 6.51125048e-02 9.97877911e-01 -1.90446466e-04 4.89463663e+00] [ 7.90766069e-03 -3.25137063e-04 9.99968681e-01 9.56199090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.544391418 meters Centerline goodness [0,1] 0.9982503478224208 Centerline is valid? [True, True] Translation: X:131.56, Y:4.89, Z:0.96 [[ 9.97600726e-01 -6.88752688e-02 -6.99922456e-03 1.31556267e+02] [ 6.88757816e-02 9.97625229e-01 -1.68027726e-04 4.89026605e+00] [ 6.99417597e-03 -3.14452482e-04 9.99975491e-01 9.55988024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.574391418 meters Centerline goodness [0,1] 0.9986124251024914 Centerline is valid? [True, True] Translation: X:131.59, Y:4.89, Z:0.96 [[ 9.97408103e-01 -7.15715128e-02 -7.38877686e-03 1.31587596e+02] [ 7.15721577e-02 9.97435409e-01 -1.77441476e-04 4.88754563e+00] [ 7.38252742e-03 -3.51849136e-04 9.99972687e-01 9.57040392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.604391418 meters Centerline goodness [0,1] 0.9986980260394792 Centerline is valid? [True, True] Translation: X:131.62, Y:4.88, Z:0.96 [[ 9.97241014e-01 -7.38471304e-02 -7.54733196e-03 1.31618599e+02] [ 7.38478716e-02 9.97269502e-01 -1.80805622e-04 4.88455008e+00] [ 7.54007596e-03 -3.77047619e-04 9.99971502e-01 9.57247684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.634391418 meters Centerline goodness [0,1] 0.998385507307152 Centerline is valid? [True, True] Translation: X:131.65, Y:4.88, Z:0.96 [[ 9.97070578e-01 -7.60442803e-02 -8.21769866e-03 1.31650548e+02] [ 7.60452377e-02 9.97104349e-01 -1.96351900e-04 4.88466572e+00] [ 8.20883451e-03 -4.29140146e-04 9.99966215e-01 9.57002627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.664391418 meters Centerline goodness [0,1] 0.9983786743030405 Centerline is valid? [True, True] Translation: X:131.68, Y:4.88, Z:0.96 [[ 9.96771774e-01 -7.98410180e-02 -8.45234457e-03 1.31681682e+02] [ 7.98421727e-02 9.96807497e-01 -2.01273396e-04 4.88338591e+00] [ 8.44143032e-03 -4.74229915e-04 9.99964258e-01 9.56697309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.694391418 meters Centerline goodness [0,1] 0.998338136609378 Centerline is valid? [True, True] Translation: X:131.71, Y:4.88, Z:0.96 [[ 9.96638718e-01 -8.14639967e-02 -8.65345637e-03 1.31712413e+02] [ 8.14652715e-02 9.96676160e-01 -2.05644843e-04 4.87885334e+00] [ 8.64144632e-03 -5.00002561e-04 9.99962537e-01 9.56968682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.724391418 meters Centerline goodness [0,1] 0.998020510876661 Centerline is valid? [True, True] Translation: X:131.74, Y:4.88, Z:0.96 [[ 9.96397814e-01 -8.43268037e-02 -8.96580950e-03 1.31742961e+02] [ 8.43282910e-02 9.96438003e-01 -2.12705753e-04 4.88195882e+00] [ 8.95181011e-03 -5.44131845e-04 9.99959784e-01 9.56831291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.754391418 meters Centerline goodness [0,1] 0.9980434233779348 Centerline is valid? [True, True] Translation: X:131.77, Y:4.88, Z:0.96 [[ 9.96320167e-01 -8.51485054e-02 -9.79062741e-03 1.31774780e+02] [ 8.51503221e-02 9.96368089e-01 -2.31891732e-04 4.88166226e+00] [ 9.77481396e-03 -6.02636669e-04 9.99952044e-01 9.56493902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.784391418 meters Centerline goodness [0,1] 0.9980460542902765 Centerline is valid? [True, True] Translation: X:131.81, Y:4.87, Z:0.96 [[ 9.96244763e-01 -8.59116130e-02 -1.07502527e-02 1.31806020e+02] [ 8.59138657e-02 9.96302536e-01 -2.52942033e-04 4.87373652e+00] [ 1.07322346e-02 -6.71603587e-04 9.99942182e-01 9.55820621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.814391418 meters Centerline goodness [0,1] 0.9982109782791716 Centerline is valid? [True, True] Translation: X:131.84, Y:4.88, Z:0.96 [[ 9.96199681e-01 -8.62865084e-02 -1.18673892e-02 1.31838310e+02] [ 8.62892985e-02 9.96270084e-01 -2.77685085e-04 4.87840567e+00] [ 1.18470853e-02 -7.47398892e-04 9.99929542e-01 9.55409326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84439141800001 meters Centerline goodness [0,1] 0.9980294327281874 Centerline is valid? [True, True] Translation: X:131.87, Y:4.88, Z:0.96 [[ 9.96259801e-01 -8.55670864e-02 -1.20284315e-02 1.31870866e+02] [ 8.55699127e-02 9.96332129e-01 -2.80428797e-04 4.88290226e+00] [ 1.20083082e-02 -7.49891894e-04 9.99927616e-01 9.56008195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87439141800002 meters Centerline goodness [0,1] 0.9979855209316966 Centerline is valid? [True, True] Translation: X:131.90, Y:4.88, Z:0.96 [[ 9.96403136e-01 -8.39671972e-02 -1.14149039e-02 1.31901203e+02] [ 8.39696510e-02 9.96468277e-01 -2.64986025e-04 4.88234387e+00] [ 1.13968397e-02 -6.94472587e-04 9.99934813e-01 9.57101344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90439141800002 meters Centerline goodness [0,1] 0.9981418526573619 Centerline is valid? [True, True] Translation: X:131.93, Y:4.89, Z:0.96 [[ 9.96755760e-01 -7.97802011e-02 -1.06336738e-02 1.31931638e+02] [ 7.97821031e-02 9.96812297e-01 -2.45898710e-04 4.89477081e+00] [ 1.06193947e-02 -6.03275905e-04 9.99943431e-01 9.58801684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93439141800002 meters Centerline goodness [0,1] 0.9980187168029677 Centerline is valid? [True, True] Translation: X:131.96, Y:4.90, Z:0.96 [[ 9.97004304e-01 -7.66892283e-02 -1.00588054e-02 1.31962395e+02] [ 7.66907755e-02 9.97054899e-01 -2.32378767e-04 4.89622762e+00] [ 1.00470021e-02 -5.39734955e-04 9.99949382e-01 9.59233981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96439141800002 meters Centerline goodness [0,1] 0.998149977925873 Centerline is valid? [True, True] Translation: X:131.99, Y:4.90, Z:0.96 [[ 9.97298110e-01 -7.28255361e-02 -9.63956698e-03 1.31993079e+02] [ 7.28267804e-02 9.97344580e-01 -2.22338609e-04 4.90275794e+00] [ 9.63016181e-03 -4.80280753e-04 9.99953514e-01 9.60027490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99439141800002 meters Centerline goodness [0,1] 0.9984173542383253 Centerline is valid? [True, True] Translation: X:132.02, Y:4.91, Z:0.96 [[ 9.97570478e-01 -6.89580884e-02 -9.89563000e-03 1.32023679e+02] [ 6.89592120e-02 9.97619454e-01 -2.28014769e-04 4.90784749e+00] [ 9.88779646e-03 -4.54934045e-04 9.99951011e-01 9.60439733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.024391418 meters Centerline goodness [0,1] 0.9984362783424551 Centerline is valid? [True, True] Translation: X:132.05, Y:4.92, Z:0.96 [[ 9.98165045e-01 -5.97917109e-02 -9.56525751e-03 1.32053625e+02] [ 5.97923420e-02 9.98210813e-01 -2.20233069e-04 4.91873807e+00] [ 9.56131159e-03 -3.52100198e-04 9.99954228e-01 9.61302157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.054391418 meters Centerline goodness [0,1] 0.9983948296618582 Centerline is valid? [True, True] Translation: X:132.08, Y:4.92, Z:0.96 [[ 9.98445533e-01 -5.49059302e-02 -9.58413601e-03 1.32084702e+02] [ 5.49063399e-02 9.98491485e-01 -2.20566522e-04 4.92499029e+00] [ 9.58178860e-03 -3.06006170e-04 9.99954047e-01 9.61627764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.084391418 meters Centerline goodness [0,1] 0.9984783803203855 Centerline is valid? [True, True] Translation: X:132.12, Y:4.93, Z:0.96 [[ 9.98693517e-01 -5.01491932e-02 -9.81419429e-03 1.32115400e+02] [ 5.01493971e-02 9.98741702e-01 -2.25465281e-04 4.93043515e+00] [ 9.81315201e-03 -2.67005213e-04 9.99951814e-01 9.62005821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.114391418 meters Centerline goodness [0,1] 0.9989242548883124 Centerline is valid? [True, True] Translation: X:132.15, Y:4.94, Z:0.96 [[ 9.99126068e-01 -4.04461721e-02 -1.05454535e-02 1.32146224e+02] [ 4.04458714e-02 9.99181702e-01 -2.41866696e-04 4.94314059e+00] [ 1.05466068e-02 -1.84864736e-04 9.99944366e-01 9.62010087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.144391418 meters Centerline goodness [0,1] 0.998880013524365 Centerline is valid? [True, True] Translation: X:132.18, Y:4.95, Z:0.96 [[ 9.99286450e-01 -3.60852578e-02 -1.11554695e-02 1.32177261e+02] [ 3.60846562e-02 9.99348704e-01 -2.55261542e-04 4.94795676e+00] [ 1.11574152e-02 -1.47461882e-04 9.99937743e-01 9.61824154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.174391418 meters Centerline goodness [0,1] 0.9988357324301439 Centerline is valid? [True, True] Translation: X:132.21, Y:4.95, Z:0.96 [[ 9.99408367e-01 -3.22032229e-02 -1.20776343e-02 1.32208946e+02] [ 3.22022549e-02 9.99481335e-01 -2.74657139e-04 4.95258597e+00] [ 1.20802149e-02 -1.14432415e-04 9.99927025e-01 9.61755559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.204391418 meters Centerline goodness [0,1] 0.998960300451951 Centerline is valid? [True, True] Translation: X:132.24, Y:4.96, Z:0.96 [[ 9.99596877e-01 -2.47932765e-02 -1.38339111e-02 1.32239977e+02] [ 2.47913103e-02 9.99692599e-01 -3.13621098e-04 4.96069633e+00] [ 1.38374342e-02 -2.94661133e-05 9.99904258e-01 9.59998612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.234391418 meters Centerline goodness [0,1] 0.9991095091699354 Centerline is valid? [True, True] Translation: X:132.27, Y:4.96, Z:0.96 [[ 9.99644869e-01 -2.24356551e-02 -1.43797196e-02 1.32270180e+02] [ 2.24332935e-02 9.99748289e-01 -3.25529614e-04 4.96409253e+00] [ 1.43834036e-02 2.82953725e-06 9.99896553e-01 9.60419169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.264391418 meters Centerline goodness [0,1] 0.9991312823120604 Centerline is valid? [True, True] Translation: X:132.30, Y:4.97, Z:0.96 [[ 9.99724835e-01 -1.83512491e-02 -1.46111641e-02 1.32300816e+02] [ 1.83483771e-02 9.99831600e-01 -3.30600119e-04 4.96912757e+00] [ 1.46147705e-02 6.24179990e-05 9.99893197e-01 9.60663101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.294391418 meters Centerline goodness [0,1] 0.9991529013130029 Centerline is valid? [True, True] Translation: X:132.33, Y:4.97, Z:0.96 [[ 9.99748151e-01 -1.74094713e-02 -1.41613830e-02 1.32328945e+02] [ 1.74066743e-02 9.99848441e-01 -3.20752757e-04 4.97123230e+00] [ 1.41648209e-02 7.41693938e-05 9.99899671e-01 9.61267731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.324391418 meters Centerline goodness [0,1] 0.99904673134771 Centerline is valid? [True, True] Translation: X:132.36, Y:4.97, Z:0.96 [[ 9.99753056e-01 -1.71426092e-02 -1.41406273e-02 1.32357722e+02] [ 1.71397652e-02 9.99853051e-01 -3.22295406e-04 4.97274165e+00] [ 1.41440743e-02 7.98487859e-05 9.99899964e-01 9.61713219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.354391418 meters Centerline goodness [0,1] 0.9992570421787769 Centerline is valid? [True, True] Translation: X:132.39, Y:4.97, Z:0.96 [[ 9.99742641e-01 -1.77272862e-02 -1.41561174e-02 1.32386828e+02] [ 1.77244406e-02 9.99842856e-01 -3.26458970e-04 4.97330453e+00] [ 1.41596801e-02 7.54656916e-05 9.99899744e-01 9.62054678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.384391418 meters Centerline goodness [0,1] 0.9992374981466969 Centerline is valid? [True, True] Translation: X:132.42, Y:4.97, Z:0.96 [[ 9.99684440e-01 -2.06599056e-02 -1.42894783e-02 1.32415693e+02] [ 2.06572498e-02 9.99786561e-01 -3.33446045e-04 4.97137994e+00] [ 1.42933173e-02 3.81594996e-05 9.99897845e-01 9.62368520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.414391418 meters Centerline goodness [0,1] 0.9991537615299991 Centerline is valid? [True, True] Translation: X:132.45, Y:4.97, Z:0.96 [[ 9.99623606e-01 -2.34234510e-02 -1.42824646e-02 1.32445064e+02] [ 2.34210449e-02 9.99725633e-01 -3.35730247e-04 4.96991576e+00] [ 1.42864099e-02 1.09363448e-06 9.99897944e-01 9.62862611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.444391418 meters Centerline goodness [0,1] 0.9992604175471219 Centerline is valid? [True, True] Translation: X:132.48, Y:4.97, Z:0.96 [[ 9.99535440e-01 -2.69113527e-02 -1.43067831e-02 1.32475112e+02] [ 2.69092916e-02 9.99637823e-01 -3.36582521e-04 4.96752040e+00] [ 1.43106594e-02 -4.85592395e-05 9.99897596e-01 9.63267844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.474391418 meters Centerline goodness [0,1] 0.9992604175471219 Centerline is valid? [True, True] Translation: X:132.51, Y:4.97, Z:0.96 [[ 9.99536499e-01 -2.68719839e-02 -1.43067846e-02 1.32505951e+02] [ 2.68699196e-02 9.99638882e-01 -3.36519307e-04 4.96820786e+00] [ 1.43106611e-02 -4.80588216e-05 9.99897596e-01 9.63529153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.504391418 meters Centerline goodness [0,1] 0.9989055166172044 Centerline is valid? [True, True] Translation: X:132.54, Y:4.96, Z:0.96 [[ 9.99246483e-01 -3.62758224e-02 -1.38032617e-02 1.32537034e+02] [ 3.62748036e-02 9.99341800e-01 -3.24248880e-04 4.95995758e+00] [ 1.38059388e-02 -1.76706054e-04 9.99904678e-01 9.64336246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.534391418 meters Centerline goodness [0,1] 0.9989464590488633 Centerline is valid? [True, True] Translation: X:132.57, Y:4.95, Z:0.96 [[ 9.99035048e-01 -4.16536494e-02 -1.39264286e-02 1.32567320e+02] [ 4.16531384e-02 9.99132078e-01 -3.26867854e-04 4.95489605e+00] [ 1.39279568e-02 -2.53527017e-04 9.99902969e-01 9.64823220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.564391418 meters Centerline goodness [0,1] 0.998776526178121 Centerline is valid? [True, True] Translation: X:132.60, Y:4.94, Z:0.96 [[ 9.98493519e-01 -5.31075169e-02 -1.37943537e-02 1.32597300e+02] [ 5.31081085e-02 9.98588716e-01 -3.23685699e-04 4.94244095e+00] [ 1.37920761e-02 -4.09393960e-04 9.99904801e-01 9.64805998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59439141800001 meters Centerline goodness [0,1] 0.9986929482449668 Centerline is valid? [True, True] Translation: X:132.63, Y:4.94, Z:0.96 [[ 9.98180833e-01 -5.87038410e-02 -1.37435306e-02 1.32628793e+02] [ 5.87049589e-02 9.98275325e-01 -3.22421084e-04 4.93671751e+00] [ 1.37387548e-02 -4.84978854e-04 9.99905501e-01 9.64838642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62439141800002 meters Centerline goodness [0,1] 0.9984823893935881 Centerline is valid? [True, True] Translation: X:132.66, Y:4.93, Z:0.96 [[ 9.97862056e-01 -6.38425796e-02 -1.39800516e-02 1.32659876e+02] [ 6.38442458e-02 9.97959821e-01 -3.27534135e-04 4.93321870e+00] [ 1.39724404e-02 -5.65711962e-04 9.99902221e-01 9.64825810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65439141800002 meters Centerline goodness [0,1] 0.9984009426022555 Centerline is valid? [True, True] Translation: X:132.69, Y:4.92, Z:0.96 [[ 9.97245963e-01 -7.27493460e-02 -1.44229569e-02 1.32690342e+02] [ 7.27520547e-02 9.97350001e-01 -3.37479692e-04 4.92291195e+00] [ 1.44092875e-02 -7.12749486e-04 9.99895927e-01 9.64213532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68439141800002 meters Centerline goodness [0,1] 0.9981661818641709 Centerline is valid? [True, True] Translation: X:132.72, Y:4.92, Z:0.96 [[ 9.96963799e-01 -7.64346554e-02 -1.48636219e-02 1.32721136e+02] [ 7.64379481e-02 9.97074280e-01 -3.47286029e-04 4.91930320e+00] [ 1.48466798e-02 -7.89913157e-04 9.99889470e-01 9.64020979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71439141800002 meters Centerline goodness [0,1] 0.9981966491224391 Centerline is valid? [True, True] Translation: X:132.75, Y:4.92, Z:0.96 [[ 9.96738889e-01 -7.92265684e-02 -1.53211892e-02 1.32752436e+02] [ 7.92304023e-02 9.96856266e-01 -3.57547861e-04 4.91583555e+00] [ 1.53013507e-02 -8.57522123e-04 9.99882560e-01 9.63723129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74439141800002 meters Centerline goodness [0,1] 0.9979431209990555 Centerline is valid? [True, True] Translation: X:132.78, Y:4.91, Z:0.96 [[ 9.96537382e-01 -8.16577703e-02 -1.56606355e-02 1.32782435e+02] [ 8.16620907e-02 9.96660007e-01 -3.64471858e-04 4.91286606e+00] [ 1.56380910e-02 -9.15670405e-04 9.99877298e-01 9.63431121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.774391418 meters Centerline goodness [0,1] 0.9982316534040672 Centerline is valid? [True, True] Translation: X:132.81, Y:4.91, Z:0.96 [[ 9.96176368e-01 -8.57168869e-02 -1.68896274e-02 1.32811916e+02] [ 8.57225055e-02 9.96318974e-01 -3.92350617e-04 4.90822318e+00] [ 1.68610873e-02 -1.05697077e-03 9.99857283e-01 9.62526972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.804391418 meters Centerline goodness [0,1] 0.9978786414904118 Centerline is valid? [True, True] Translation: X:132.84, Y:4.91, Z:0.96 [[ 9.96045375e-01 -8.71634304e-02 -1.72089496e-02 1.32843745e+02] [ 8.71694914e-02 9.96193415e-01 -3.99016948e-04 4.90667234e+00] [ 1.71782219e-02 -1.10265640e-03 9.99851835e-01 9.62201114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.834391418 meters Centerline goodness [0,1] 0.9976444855724741 Centerline is valid? [True, True] Translation: X:132.88, Y:4.91, Z:0.96 [[ 9.95928169e-01 -8.83964575e-02 -1.76960199e-02 1.32875134e+02] [ 8.84030849e-02 9.96084699e-01 -4.08922161e-04 4.90548641e+00] [ 1.76628819e-02 -1.15712565e-03 9.99843330e-01 9.62151861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.864391418 meters Centerline goodness [0,1] 0.9966887417218543 Centerline is valid? [True, True] Translation: X:132.91, Y:4.91, Z:0.96 [[ 9.95828398e-01 -8.94292027e-02 -1.81168332e-02 1.32907352e+02] [ 8.94363409e-02 9.95992453e-01 -4.17452142e-04 4.90557491e+00] [ 1.80815616e-02 -1.20459258e-03 9.99835790e-01 9.62453562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.894391418 meters Centerline goodness [0,1] 0.9898107408265089 Centerline is valid? [True, True] Translation: X:132.94, Y:4.90, Z:0.96 [[ 9.95671768e-01 -9.11032343e-02 -1.83829120e-02 1.32937125e+02] [ 9.11108960e-02 9.95840663e-01 -4.22046876e-04 4.90459939e+00] [ 1.83449011e-02 -1.25466342e-03 9.99830931e-01 9.62549910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.924391418 meters Centerline goodness [0,1] 0.9814154625039553 Centerline is valid? [True, True] Translation: X:132.97, Y:4.90, Z:0.96 [[ 9.95598981e-01 -9.17396142e-02 -1.91444944e-02 1.32969234e+02] [ 9.17480712e-02 9.95782155e-01 -4.37957465e-04 4.90473075e+00] [ 1.91039240e-02 -1.32044043e-03 9.99816631e-01 9.62172447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.954391418 meters Centerline goodness [0,1] 0.9707980055121921 Centerline is valid? [True, True] Translation: X:133.00, Y:4.91, Z:0.96 [[ 9.95567427e-01 -9.19406443e-02 -1.98094783e-02 1.33001687e+02] [ 9.19497675e-02 9.95763544e-01 -4.51720816e-04 4.90557247e+00] [ 1.97670879e-02 -1.37175840e-03 9.99803671e-01 9.61529843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.984391418 meters Centerline goodness [0,1] 0.9474105094804184 Centerline is valid? [True, False] Translation: X:133.00, Y:4.90, Z:0.96 [[ 9.95907622e-01 -8.81264312e-02 -2.00434905e-02 1.33002073e+02] [ 8.82250323e-02 9.96092181e-01 4.08775863e-03 4.90437454e+00] [ 1.96049246e-02 -5.83936757e-03 9.99790752e-01 9.60325059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.014391418 meters Centerline goodness [0,1] 0.9622315060978183 Centerline is valid? [False, True] Translation: X:133.00, Y:4.90, Z:0.96 [[ 9.96194161e-01 -8.48267692e-02 -2.00402701e-02 1.33001205e+02] [ 8.50007608e-02 9.96348814e-01 7.99443841e-03 4.90330886e+00] [ 1.92889570e-02 -9.66745107e-03 9.99767211e-01 9.60436290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.044391418 meters Centerline goodness [0,1] 0.9706945765937203 Centerline is valid? [True, True] Translation: X:133.03, Y:4.91, Z:0.96 [[ 9.96349099e-01 -8.29673361e-02 -2.01219812e-02 1.33032587e+02] [ 8.29776776e-02 9.96551354e-01 -3.21876426e-04 4.91276851e+00] [ 2.00792928e-02 -1.34897398e-03 9.99797481e-01 9.62650794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.074391418 meters Centerline goodness [0,1] 0.9631399750459957 Centerline is valid? [True, True] Translation: X:133.06, Y:4.91, Z:0.96 [[ 9.96455969e-01 -8.16402297e-02 -2.02577079e-02 1.33063040e+02] [ 8.16504644e-02 9.96660974e-01 -3.22749944e-04 4.91472108e+00] [ 2.02164163e-02 -1.33244515e-03 9.99794739e-01 9.63246699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.104391418 meters Centerline goodness [0,1] 0.9984122615746132 Centerline is valid? [True, True] Translation: X:133.09, Y:4.94, Z:0.97 [[ 9.96727549e-01 -7.79961763e-02 -2.12317822e-02 1.33093733e+02] [ 7.80066140e-02 9.96952784e-01 -3.37411612e-04 4.93555887e+00] [ 2.11934012e-02 -1.31991199e-03 9.99774523e-01 9.66770693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.134391418 meters Centerline goodness [0,1] 0.9985995586487862 Centerline is valid? [True, True] Translation: X:133.13, Y:4.94, Z:0.97 [[ 9.96895400e-01 -7.57107291e-02 -2.16205344e-02 1.33125244e+02] [ 7.57210327e-02 9.97128982e-01 -3.42872578e-04 4.94004817e+00] [ 2.15844206e-02 -1.29532109e-03 9.99766190e-01 9.67170292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.164391418 meters Centerline goodness [0,1] 0.9937461575968286 Centerline is valid? [True, True] Translation: X:133.16, Y:4.93, Z:0.96 [[ 9.97097307e-01 -7.31688767e-02 -2.10541147e-02 1.33156270e+02] [ 7.31780998e-02 9.97318833e-01 -3.33070798e-04 4.93079544e+00] [ 2.10220355e-02 -1.20859611e-03 9.99778282e-01 9.64463869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.194391418 meters Centerline goodness [0,1] 0.9985959537941158 Centerline is valid? [True, True] Translation: X:133.19, Y:4.95, Z:0.97 [[ 9.97308945e-01 -7.01849808e-02 -2.11881244e-02 1.33187367e+02] [ 7.01936679e-02 9.97533326e-01 -3.34360899e-04 4.94809041e+00] [ 2.11593273e-02 -1.15381105e-03 9.99775451e-01 9.68109054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.224391418 meters Centerline goodness [0,1] 0.998654765971985 Centerline is valid? [True, True] Translation: X:133.22, Y:4.96, Z:0.97 [[ 9.97763889e-01 -6.35761201e-02 -2.06227494e-02 1.33217895e+02] [ 6.35829466e-02 9.97976504e-01 -3.25173260e-04 4.95796309e+00] [ 2.06016926e-02 -9.86809039e-04 9.99787276e-01 9.69433608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.254391418 meters Centerline goodness [0,1] 0.9986969709915837 Centerline is valid? [True, True] Translation: X:133.25, Y:4.96, Z:0.97 [[ 9.97995096e-01 -5.99485540e-02 -2.02967676e-02 1.33248205e+02] [ 5.99544229e-02 9.98201064e-01 -3.19776641e-04 4.95917380e+00] [ 2.02794251e-02 -8.97745466e-04 9.99793948e-01 9.69034262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.284391418 meters Centerline goodness [0,1] 0.9988034188034188 Centerline is valid? [True, True] Translation: X:133.28, Y:4.97, Z:0.97 [[ 9.98224565e-01 -5.60998871e-02 -2.00130268e-02 1.33279604e+02] [ 5.61048394e-02 9.98424834e-01 -3.14372120e-04 4.97342680e+00] [ 1.99991392e-02 -8.09013684e-04 9.99799670e-01 9.72416482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.314391418 meters Centerline goodness [0,1] 0.9986502121095256 Centerline is valid? [True, True] Translation: X:133.31, Y:4.98, Z:0.97 [[ 9.98625366e-01 -4.86037417e-02 -1.96228035e-02 1.33309170e+02] [ 4.86070634e-02 9.98817931e-01 -3.07914732e-04 4.98253153e+00] [ 1.96145738e-02 -6.46315392e-04 9.99807407e-01 9.72979693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34439141800001 meters Centerline goodness [0,1] 0.9987565922051194 Centerline is valid? [True, True] Translation: X:133.34, Y:4.99, Z:0.97 [[ 9.98798802e-01 -4.48975800e-02 -1.96254958e-02 1.33340842e+02] [ 4.49002019e-02 9.98991430e-01 -3.07242181e-04 4.98783537e+00] [ 1.96194965e-02 -5.74315602e-04 9.99807354e-01 9.73402848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37439141800002 meters Centerline goodness [0,1] 0.9989262782657247 Centerline is valid? [True, True] Translation: X:133.37, Y:4.99, Z:0.97 [[ 9.98949757e-01 -4.14106620e-02 -1.96096680e-02 1.33371130e+02] [ 4.14126216e-02 9.99142082e-01 -3.06316468e-04 4.99105827e+00] [ 1.96055293e-02 -5.06092999e-04 9.99807665e-01 9.72919115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40439141800002 meters Centerline goodness [0,1] 0.999010348314365 Centerline is valid? [True, True] Translation: X:133.40, Y:5.00, Z:0.97 [[ 9.99187401e-01 -3.50113534e-02 -1.99685673e-02 1.33402137e+02] [ 3.50121210e-02 9.99386839e-01 -3.11268447e-04 4.99936668e+00] [ 1.99672213e-02 -3.88126387e-04 9.99800560e-01 9.73488909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43439141800002 meters Centerline goodness [0,1] 0.9991161888338004 Centerline is valid? [True, True] Translation: X:133.43, Y:5.00, Z:0.97 [[ 9.99275288e-01 -3.21985996e-02 -2.03014521e-02 1.33432240e+02] [ 3.21988185e-02 9.99481434e-01 -3.16176152e-04 5.00416556e+00] [ 2.03011048e-02 -3.37735756e-04 9.99793854e-01 9.74141716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46439141800002 meters Centerline goodness [0,1] 0.9991167600172339 Centerline is valid? [True, True] Translation: X:133.46, Y:5.01, Z:0.97 [[ 9.99340916e-01 -2.99225577e-02 -2.05517324e-02 1.33461850e+02] [ 2.99222954e-02 9.99552177e-01 -3.20342291e-04 5.00734709e+00] [ 2.05521144e-02 -2.94823850e-04 9.99788740e-01 9.73731212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49439141800002 meters Centerline goodness [0,1] 0.999266403434958 Centerline is valid? [True, True] Translation: X:133.49, Y:5.01, Z:0.97 [[ 9.99430208e-01 -2.63381436e-02 -2.11083276e-02 1.33491231e+02] [ 2.63370528e-02 9.99653065e-01 -3.29718493e-04 5.01214119e+00] [ 2.11096886e-02 -2.26400517e-04 9.99777140e-01 9.73529309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.524391418 meters Centerline goodness [0,1] 0.9993522057394572 Centerline is valid? [True, True] Translation: X:133.52, Y:5.01, Z:0.97 [[ 9.99466431e-01 -2.51703104e-02 -2.08160740e-02 1.33519663e+02] [ 2.51689102e-02 9.99683159e-01 -3.29292702e-04 5.01423763e+00] [ 2.08177670e-02 -1.94800896e-04 9.99783268e-01 9.74259316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.554391418 meters Centerline goodness [0,1] 0.9994391958931884 Centerline is valid? [True, True] Translation: X:133.55, Y:5.02, Z:0.97 [[ 9.99494967e-01 -2.44389558e-02 -2.03112967e-02 1.33548444e+02] [ 2.44373569e-02 9.99701310e-01 -3.26956990e-04 5.01564387e+00] [ 2.03132204e-02 -1.69562542e-04 9.99793651e-01 9.74788927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.584391418 meters Centerline goodness [0,1] 0.9990951006161934 Centerline is valid? [True, True] Translation: X:133.58, Y:5.02, Z:0.97 [[ 9.99504770e-01 -2.37603710e-02 -2.06315345e-02 1.33576763e+02] [ 2.37584574e-02 9.99717671e-01 -3.37895859e-04 5.01709403e+00] [ 2.06337381e-02 -1.52444911e-04 9.99787090e-01 9.74941347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.614391418 meters Centerline goodness [0,1] 0.9992454457259891 Centerline is valid? [True, True] Translation: X:133.61, Y:5.02, Z:0.98 [[ 9.99507989e-01 -2.38222509e-02 -2.04029397e-02 1.33605409e+02] [ 2.38202750e-02 9.99716199e-01 -3.39901892e-04 5.01835195e+00] [ 2.04052465e-02 -1.46268978e-04 9.99791781e-01 9.76255026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.644391418 meters Centerline goodness [0,1] 0.9990286861361134 Centerline is valid? [True, True] Translation: X:133.63, Y:5.02, Z:0.98 [[ 9.99493336e-01 -2.46555677e-02 -2.01289331e-02 1.33633580e+02] [ 2.46537470e-02 9.99695993e-01 -3.38634356e-04 5.01873503e+00] [ 2.01311630e-02 -1.57790841e-04 9.99797335e-01 9.76222545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.674391418 meters Centerline goodness [0,1] 0.9990524592988199 Centerline is valid? [True, True] Translation: X:133.66, Y:5.02, Z:0.98 [[ 9.99436659e-01 -2.71325354e-02 -1.97532524e-02 1.33662774e+02] [ 2.71311821e-02 9.99631825e-01 -3.36543842e-04 5.01732158e+00] [ 1.97551110e-02 -1.99574835e-04 9.99804829e-01 9.77465007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.704391418 meters Centerline goodness [0,1] 0.999224488916654 Centerline is valid? [True, True] Translation: X:133.69, Y:5.02, Z:0.98 [[ 9.99392516e-01 -2.92054303e-02 -1.90168569e-02 1.33692787e+02] [ 2.92045066e-02 9.99573404e-01 -3.26344043e-04 5.01557205e+00] [ 1.90182754e-02 -2.29232128e-04 9.99819110e-01 9.77863435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.734391418 meters Centerline goodness [0,1] 0.9990548610216093 Centerline is valid? [True, True] Translation: X:133.72, Y:5.01, Z:0.98 [[ 9.99228877e-01 -3.47576371e-02 -1.82635759e-02 1.33722827e+02] [ 3.47577273e-02 9.99395719e-01 -3.12580664e-04 5.00922908e+00] [ 1.82634041e-02 -3.22460764e-04 9.99833158e-01 9.78080572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.764391418 meters Centerline goodness [0,1] 0.9989052975015026 Centerline is valid? [True, True] Translation: X:133.75, Y:5.01, Z:0.98 [[ 9.99113377e-01 -3.79953640e-02 -1.81331638e-02 1.33754349e+02] [ 3.79960064e-02 9.99277843e-01 -3.09220739e-04 5.00666653e+00] [ 1.81318178e-02 -3.80041230e-04 9.99835533e-01 9.78709082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.794391418 meters Centerline goodness [0,1] 0.9988454630975797 Centerline is valid? [True, True] Translation: X:133.79, Y:5.00, Z:0.98 [[ 9.98993937e-01 -4.12116499e-02 -1.76837415e-02 1.33785595e+02] [ 4.12127768e-02 9.99150347e-01 -3.00850830e-04 5.00377364e+00] [ 1.76811150e-02 -4.28247936e-04 9.99843585e-01 9.79213214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.824391418 meters Centerline goodness [0,1] 0.9990798793144031 Centerline is valid? [True, True] Translation: X:133.82, Y:5.00, Z:0.98 [[ 9.98845620e-01 -4.45861773e-02 -1.78745676e-02 1.33817259e+02] [ 4.45878854e-02 9.99005420e-01 -3.03152972e-04 5.00033146e+00] [ 1.78703063e-02 -4.94186152e-04 9.99840191e-01 9.79487768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.854391418 meters Centerline goodness [0,1] 0.9987180582856167 Centerline is valid? [True, True] Translation: X:133.85, Y:4.99, Z:0.98 [[ 9.98541262e-01 -5.09580611e-02 -1.78500234e-02 1.33848402e+02] [ 5.09607927e-02 9.98700609e-01 -3.02095925e-04 4.99343098e+00] [ 1.78422234e-02 -6.07996094e-04 9.99840630e-01 9.79150252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.884391418 meters Centerline goodness [0,1] 0.9989312813936091 Centerline is valid? [True, True] Translation: X:133.88, Y:4.99, Z:0.98 [[ 9.98418334e-01 -5.31634554e-02 -1.82887427e-02 1.33880821e+02] [ 5.31667116e-02 9.98585603e-01 -3.08473139e-04 4.99030766e+00] [ 1.82792746e-02 -6.64367070e-04 9.99832699e-01 9.78958507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.914391418 meters Centerline goodness [0,1] 0.998827991817252 Centerline is valid? [True, True] Translation: X:133.91, Y:4.98, Z:0.98 [[ 9.98214307e-01 -5.66619717e-02 -1.89108195e-02 1.33911315e+02] [ 5.66661035e-02 9.98393135e-01 -3.17718822e-04 4.98327472e+00] [ 1.88984349e-02 -7.54450981e-04 9.99821124e-01 9.77704442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.944391418 meters Centerline goodness [0,1] 0.9989125335835217 Centerline is valid? [True, True] Translation: X:133.94, Y:4.98, Z:0.98 [[ 9.98157459e-01 -5.74255722e-02 -1.95956784e-02 1.33942672e+02] [ 5.74301780e-02 9.98349471e-01 -3.28088916e-04 4.98085762e+00] [ 1.95821758e-02 -7.97898897e-04 9.99807932e-01 9.77259715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.974391418 meters Centerline goodness [0,1] 0.9989776793320838 Centerline is valid? [True, True] Translation: X:133.98, Y:4.98, Z:0.98 [[ 9.98155259e-01 -5.74505439e-02 -1.96345318e-02 1.33975012e+02] [ 5.74552002e-02 9.98348032e-01 -3.27343276e-04 4.98117485e+00] [ 1.96209022e-02 -8.01366544e-04 9.99807170e-01 9.77657997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.004391418 meters Centerline goodness [0,1] 0.9987642220991179 Centerline is valid? [True, True] Translation: X:134.01, Y:4.98, Z:0.98 [[ 9.98196933e-01 -5.67499039e-02 -1.95533110e-02 1.34005943e+02] [ 5.67544125e-02 9.98388117e-01 -3.24710880e-04 4.97968900e+00] [ 1.95402207e-02 -7.85611275e-04 9.99808763e-01 9.77434688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.034391418 meters Centerline goodness [0,1] 0.9990212765957447 Centerline is valid? [True, True] Translation: X:134.04, Y:4.98, Z:0.98 [[ 9.98280023e-01 -5.51710145e-02 -1.98281210e-02 1.34037830e+02] [ 5.51753618e-02 9.98476626e-01 -3.28166895e-04 4.98033695e+00] [ 1.98160207e-02 -7.66421295e-04 9.99803350e-01 9.77822443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.064391418 meters Centerline goodness [0,1] 0.9990180382111218 Centerline is valid? [True, True] Translation: X:134.07, Y:4.99, Z:0.98 [[ 9.98521185e-01 -5.05483494e-02 -2.00076817e-02 1.34069036e+02] [ 5.05518671e-02 9.98721382e-01 -3.30229666e-04 4.98718265e+00] [ 1.99987921e-02 -6.81684349e-04 9.99799772e-01 9.79751337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09439141800001 meters Centerline goodness [0,1] 0.998933037429047 Centerline is valid? [True, True] Translation: X:134.10, Y:4.99, Z:0.98 [[ 9.98660820e-01 -4.76379984e-02 -2.01789140e-02 1.34100944e+02] [ 4.76410050e-02 9.98864468e-01 -3.31970878e-04 4.98943080e+00] [ 2.01718146e-02 -6.29817433e-04 9.99796330e-01 9.80302268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12439141800002 meters Centerline goodness [0,1] 0.9991458101990263 Centerline is valid? [True, True] Translation: X:134.13, Y:4.99, Z:0.98 [[ 9.98952428e-01 -4.12497648e-02 -1.98117146e-02 1.34131055e+02] [ 4.12514156e-02 9.99148745e-01 -3.25512755e-04 4.99335347e+00] [ 1.98082771e-02 -4.92089518e-04 9.99803676e-01 9.80767791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15439141800002 meters Centerline goodness [0,1] 0.999017199017199 Centerline is valid? [True, True] Translation: X:134.16, Y:4.99, Z:0.98 [[ 9.99080144e-01 -3.79053362e-02 -2.00512052e-02 1.34161960e+02] [ 3.79063642e-02 9.99281241e-01 -3.28935859e-04 4.99239968e+00] [ 2.00492617e-02 -4.31435002e-04 9.99798900e-01 9.79141482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18439141800002 meters Centerline goodness [0,1] 0.9992753777626223 Centerline is valid? [True, True] Translation: X:134.19, Y:5.00, Z:0.98 [[ 9.99191756e-01 -3.49442377e-02 -1.98679286e-02 1.34192841e+02] [ 3.49446724e-02 9.99389195e-01 -3.25401585e-04 4.99665934e+00] [ 1.98671640e-02 -3.69139673e-04 9.99802560e-01 9.80786426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21439141800002 meters Centerline goodness [0,1] 0.9992112219664023 Centerline is valid? [True, True] Translation: X:134.22, Y:5.00, Z:0.98 [[ 9.99271076e-01 -3.23638389e-02 -2.02459565e-02 1.34222903e+02] [ 3.23637637e-02 9.99476101e-01 -3.31451306e-04 4.99786897e+00] [ 2.02460767e-02 -3.24025649e-04 9.99794975e-01 9.80681450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24439141800002 meters Centerline goodness [0,1] 0.9997009697125038 Centerline is valid? [True, True] Translation: X:134.25, Y:5.00, Z:0.98 [[ 9.99391748e-01 -2.77594716e-02 -2.11079466e-02 1.34251804e+02] [ 2.77583425e-02 9.99614603e-01 -3.46539148e-04 4.99951419e+00] [ 2.11094314e-02 -2.39593246e-04 9.99777142e-01 9.80278867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.274391418 meters Centerline goodness [0,1] 0.9997015179942009 Centerline is valid? [True, True] Translation: X:134.28, Y:5.00, Z:0.98 [[ 9.99436918e-01 -2.60809510e-02 -2.11099729e-02 1.34280584e+02] [ 2.60793562e-02 9.99659814e-01 -3.50892569e-04 5.00050252e+00] [ 2.11119432e-02 -1.99839513e-04 9.99777098e-01 9.80310243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.304391418 meters Centerline goodness [0,1] 0.9996585136807956 Centerline is valid? [True, True] Translation: X:134.31, Y:5.00, Z:0.98 [[ 9.99471948e-01 -2.47550853e-02 -2.10478138e-02 1.34308295e+02] [ 2.47531374e-02 9.99693532e-01 -3.53108410e-04 5.00080073e+00] [ 2.10501045e-02 -1.68077476e-04 9.99778408e-01 9.80318511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.334391418 meters Centerline goodness [0,1] 0.9991693113804341 Centerline is valid? [True, True] Translation: X:134.34, Y:5.00, Z:0.98 [[ 9.99547669e-01 -2.21476201e-02 -2.03455008e-02 1.34336785e+02] [ 2.21451700e-02 9.99754706e-01 -3.45740856e-04 5.00116261e+00] [ 2.03481675e-02 -1.04970107e-04 9.99792949e-01 9.81776565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.364391418 meters Centerline goodness [0,1] 0.9991693113804341 Centerline is valid? [True, True] Translation: X:134.36, Y:5.00, Z:0.98 [[ 9.99540473e-01 -2.24701724e-02 -2.03453928e-02 1.34364169e+02] [ 2.24676614e-02 9.99747508e-01 -3.52021112e-04 5.00176800e+00] [ 2.03481657e-02 -1.05254046e-04 9.99792949e-01 9.81969145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.394391418 meters Centerline goodness [0,1] 0.9993393290993564 Centerline is valid? [True, True] Translation: X:134.39, Y:5.00, Z:0.98 [[ 9.99570326e-01 -2.15768414e-02 -1.98394155e-02 1.34392547e+02] [ 2.15741525e-02 9.99767190e-01 -3.49577903e-04 5.00145844e+00] [ 1.98423395e-02 -7.85908779e-05 9.99803118e-01 9.82345924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.424391418 meters Centerline goodness [0,1] 0.999531645839099 Centerline is valid? [True, True] Translation: X:134.42, Y:5.00, Z:0.98 [[ 9.99599988e-01 -2.05769387e-02 -1.94024112e-02 1.34420051e+02] [ 2.05740579e-02 9.99788271e-01 -3.48095750e-04 5.00146329e+00] [ 1.94054659e-02 -5.12298240e-05 9.99811695e-01 9.83502499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.454391418 meters Centerline goodness [0,1] 0.9995326507201427 Centerline is valid? [True, True] Translation: X:134.45, Y:5.00, Z:0.98 [[ 9.99680030e-01 -1.82292110e-02 -1.75366231e-02 1.34448262e+02] [ 1.82264084e-02 9.99833834e-01 -3.19638811e-04 5.00133476e+00] [ 1.75395359e-02 -9.31188577e-08 9.99846171e-01 9.84368800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.484391418 meters Centerline goodness [0,1] 0.999786966617669 Centerline is valid? [True, True] Translation: X:134.48, Y:5.00, Z:0.99 [[ 9.99696549e-01 -1.76568364e-02 -1.71768968e-02 1.34475715e+02] [ 1.76539738e-02 9.99844106e-01 -3.18281950e-04 5.00140900e+00] [ 1.71798389e-02 1.49448804e-05 9.99852416e-01 9.85712336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.514391418 meters Centerline goodness [0,1] 0.9996601890198578 Centerline is valid? [True, True] Translation: X:134.50, Y:5.00, Z:0.99 [[ 9.99710819e-01 -1.71748147e-02 -1.68316573e-02 1.34502898e+02] [ 1.71719244e-02 9.99852502e-01 -3.16239396e-04 5.00091652e+00] [ 1.68346060e-02 2.71159971e-05 9.99858288e-01 9.85496231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.544391418 meters Centerline goodness [0,1] 0.9995963458678564 Centerline is valid? [True, True] Translation: X:134.53, Y:5.00, Z:0.99 [[ 9.99717707e-01 -1.73388780e-02 -1.62440363e-02 1.34531184e+02] [ 1.73361349e-02 9.99849670e-01 -3.09676092e-04 4.99738845e+00] [ 1.62469638e-02 2.79798672e-05 9.99868009e-01 9.85797924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.574391418 meters Centerline goodness [0,1] 0.9995539222975126 Centerline is valid? [True, True] Translation: X:134.56, Y:5.00, Z:0.99 [[ 9.99709382e-01 -1.82550336e-02 -1.57450341e-02 1.34558757e+02] [ 1.82524907e-02 9.99833363e-01 -3.05207297e-04 4.99516046e+00] [ 1.57479819e-02 1.77325111e-05 9.99875993e-01 9.85367765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.604391418 meters Centerline goodness [0,1] 0.9993212573707208 Centerline is valid? [True, True] Translation: X:134.59, Y:4.99, Z:0.99 [[ 9.99685692e-01 -1.95105834e-02 -1.57433770e-02 1.34586915e+02] [ 1.95081400e-02 9.99809650e-01 -3.08772670e-04 4.99274176e+00] [ 1.57464046e-02 1.55161630e-06 9.99876018e-01 9.85105400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.634391418 meters Centerline goodness [0,1] 0.9992379500857306 Centerline is valid? [True, True] Translation: X:134.62, Y:4.99, Z:0.99 [[ 9.99641384e-01 -2.22107761e-02 -1.49594058e-02 1.34615581e+02] [ 2.22088236e-02 9.99753310e-01 -2.96650989e-04 4.98706454e+00] [ 1.49623043e-02 -3.56861996e-05 9.99888058e-01 9.85696001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.664391418 meters Centerline goodness [0,1] 0.9990480421400013 Centerline is valid? [True, True] Translation: X:134.64, Y:4.98, Z:0.99 [[ 9.99611185e-01 -2.39776896e-02 -1.42320123e-02 1.34644796e+02] [ 2.39760685e-02 9.99712492e-01 -2.84542938e-04 4.98380027e+00] [ 1.42347431e-02 -5.67953974e-05 9.99898679e-01 9.85670280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.694391418 meters Centerline goodness [0,1] 0.9989215478959611 Centerline is valid? [True, True] Translation: X:134.67, Y:4.98, Z:0.99 [[ 9.99579451e-01 -2.57047573e-02 -1.34233738e-02 1.34674098e+02] [ 2.57034621e-02 9.99669575e-01 -2.69028533e-04 4.98072562e+00] [ 1.34258537e-02 -7.61117882e-05 9.99909866e-01 9.86180772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.724391418 meters Centerline goodness [0,1] 0.9990730402174142 Centerline is valid? [True, True] Translation: X:134.70, Y:4.98, Z:0.99 [[ 9.99528770e-01 -2.75646362e-02 -1.35065872e-02 1.34704677e+02] [ 2.75634909e-02 9.99620018e-01 -2.70979042e-04 4.97694199e+00] [ 1.35089244e-02 -1.01437346e-04 9.99908745e-01 9.86164197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.754391418 meters Centerline goodness [0,1] 0.999029945170814 Centerline is valid? [True, True] Translation: X:134.74, Y:4.97, Z:0.99 [[ 9.99475528e-01 -2.95250604e-02 -1.33018663e-02 1.34735164e+02] [ 2.95241231e-02 9.99564032e-01 -2.66871780e-04 4.97342991e+00] [ 1.33039465e-02 -1.25994124e-04 9.99911491e-01 9.86476270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.784391418 meters Centerline goodness [0,1] 0.9990949464334575 Centerline is valid? [True, True] Translation: X:134.77, Y:4.97, Z:0.99 [[ 9.99394880e-01 -3.22452387e-02 -1.30429127e-02 1.34767079e+02] [ 3.22445723e-02 9.99479974e-01 -2.61433808e-04 4.96573469e+00] [ 1.30445600e-02 -1.59287532e-04 9.99914903e-01 9.86442850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.814391418 meters Centerline goodness [0,1] 0.9990104221496999 Centerline is valid? [True, True] Translation: X:134.80, Y:4.96, Z:0.99 [[ 9.99363725e-01 -3.33140304e-02 -1.27405052e-02 1.34798626e+02] [ 3.33134879e-02 9.99444919e-01 -2.54862000e-04 4.96311220e+00] [ 1.27419237e-02 -1.69730828e-04 9.99918804e-01 9.86705417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84439141800001 meters Centerline goodness [0,1] 0.99936874000505 Centerline is valid? [True, True] Translation: X:134.83, Y:4.96, Z:0.99 [[ 9.99338802e-01 -3.40567753e-02 -1.27316623e-02 1.34829673e+02] [ 3.40563005e-02 9.99419884e-01 -2.54161514e-04 4.95782674e+00] [ 1.27329324e-02 -1.79599855e-04 9.99918917e-01 9.86676036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87439141800002 meters Centerline goodness [0,1] 0.998925229705808 Centerline is valid? [True, True] Translation: X:134.86, Y:4.96, Z:0.99 [[ 9.99348217e-01 -3.38352468e-02 -1.25823850e-02 1.34860739e+02] [ 3.38347720e-02 9.99427409e-01 -2.50667113e-04 4.95566893e+00] [ 1.25836619e-02 -1.75218397e-04 9.99920807e-01 9.86695947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90439141800002 meters Centerline goodness [0,1] 0.998967290507503 Centerline is valid? [True, True] Translation: X:134.89, Y:4.95, Z:0.99 [[ 9.99379358e-01 -3.29942989e-02 -1.23399767e-02 1.34890955e+02] [ 3.29937829e-02 9.99455527e-01 -2.45448066e-04 4.95364363e+00] [ 1.23413563e-02 -1.61846783e-04 9.99923829e-01 9.86987695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93439141800002 meters Centerline goodness [0,1] 0.9991155101611036 Centerline is valid? [True, True] Translation: X:134.92, Y:4.95, Z:0.99 [[ 9.99448701e-01 -3.10688532e-02 -1.17055613e-02 1.34922060e+02] [ 3.10682606e-02 9.99517238e-01 -2.32501543e-04 4.94983375e+00] [ 1.17071338e-02 -1.31298063e-04 9.99931461e-01 9.87107087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96439141800002 meters Centerline goodness [0,1] 0.998970090589991 Centerline is valid? [True, True] Translation: X:134.95, Y:4.95, Z:0.99 [[ 9.99468764e-01 -3.02858187e-02 -1.20399161e-02 1.34952460e+02] [ 3.02851398e-02 9.99541271e-01 -2.38744053e-04 4.94744203e+00] [ 1.20416236e-02 -1.26013318e-04 9.99927489e-01 9.86640134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.994391418 meters Centerline goodness [0,1] 0.9992842255952507 Centerline is valid? [True, True] Translation: X:134.98, Y:4.94, Z:0.99 [[ 9.99503152e-01 -2.91990155e-02 -1.18687614e-02 1.34984002e+02] [ 2.91982833e-02 9.99573612e-01 -2.35010164e-04 4.94413822e+00] [ 1.18705627e-02 -1.11654057e-04 9.99929536e-01 9.87210387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.024391418 meters Centerline goodness [0,1] 0.9992835317669371 Centerline is valid? [True, True] Translation: X:135.02, Y:4.94, Z:0.99 [[ 9.99493772e-01 -2.94947950e-02 -1.19271705e-02 1.35015857e+02] [ 2.94940824e-02 9.99564927e-01 -2.35677661e-04 4.94184737e+00] [ 1.19289326e-02 -1.16222595e-04 9.99928841e-01 9.87648244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.054391418 meters Centerline goodness [0,1] 0.9990967714831852 Centerline is valid? [True, True] Translation: X:135.05, Y:4.94, Z:0.99 [[ 9.99469109e-01 -3.03549653e-02 -1.18353923e-02 1.35046414e+02] [ 3.03543284e-02 9.99539174e-01 -2.33481853e-04 4.93905067e+00] [ 1.18370256e-02 -1.25897486e-04 9.99929932e-01 9.87550825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.084391418 meters Centerline goodness [0,1] 0.9993702902961734 Centerline is valid? [True, True] Translation: X:135.08, Y:4.94, Z:0.99 [[ 9.99434645e-01 -3.15015459e-02 -1.17491610e-02 1.35077855e+02] [ 3.15010014e-02 9.99503694e-01 -2.31447530e-04 4.93618221e+00] [ 1.17506208e-02 -1.38793658e-04 9.99930949e-01 9.87714212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.114391418 meters Centerline goodness [0,1] 0.9993069410899926 Centerline is valid? [True, True] Translation: X:135.11, Y:4.93, Z:0.99 [[ 9.99315778e-01 -3.52502180e-02 -1.11981599e-02 1.35108300e+02] [ 3.52499626e-02 9.99378503e-01 -2.20238594e-04 4.92748438e+00] [ 1.11989638e-02 -1.74646817e-04 9.99937274e-01 9.87782563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.144391418 meters Centerline goodness [0,1] 0.9992244649856421 Centerline is valid? [True, True] Translation: X:135.14, Y:4.92, Z:0.99 [[ 9.99228545e-01 -3.76694855e-02 -1.11051231e-02 1.35140005e+02] [ 3.76693871e-02 9.99290233e-01 -2.18103780e-04 4.92416336e+00] [ 1.11054569e-02 -2.00387659e-04 9.99938312e-01 9.88164320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.174391418 meters Centerline goodness [0,1] 0.9992220353238015 Centerline is valid? [True, True] Translation: X:135.17, Y:4.92, Z:0.99 [[ 9.99126426e-01 -4.04276043e-02 -1.05826741e-02 1.35170668e+02] [ 4.04276732e-02 9.99182446e-01 -2.07501498e-04 4.91927888e+00] [ 1.05824110e-02 -2.20512661e-04 9.99943980e-01 9.88692287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.204391418 meters Centerline goodness [0,1] 0.9992867332382311 Centerline is valid? [True, True] Translation: X:135.20, Y:4.91, Z:0.99 [[ 9.99001993e-01 -4.33859158e-02 -1.06150972e-02 1.35201877e+02] [ 4.33861550e-02 9.99058356e-01 -2.07853838e-04 4.91440005e+00] [ 1.06141194e-02 -2.52901853e-04 9.99943637e-01 9.88751354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.234391418 meters Centerline goodness [0,1] 0.9992443642164477 Centerline is valid? [True, True] Translation: X:135.23, Y:4.91, Z:0.99 [[ 9.98702081e-01 -4.98673933e-02 -1.03632164e-02 1.35233474e+02] [ 4.98679741e-02 9.98755798e-01 -2.02516426e-04 4.90548717e+00] [ 1.03604215e-02 -3.14539033e-04 9.99946280e-01 9.88856224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.264391418 meters Centerline goodness [0,1] 0.9992879730267429 Centerline is valid? [True, True] Translation: X:135.26, Y:4.90, Z:0.99 [[ 9.98539653e-01 -5.29484110e-02 -1.07250294e-02 1.35264037e+02] [ 5.29492145e-02 9.98597185e-01 -2.09220501e-04 4.89838576e+00] [ 1.07210620e-02 -3.58966914e-04 9.99942463e-01 9.88759423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.294391418 meters Centerline goodness [0,1] 0.9993098544420278 Centerline is valid? [True, True] Translation: X:135.29, Y:4.89, Z:0.99 [[ 9.98246796e-01 -5.82157208e-02 -1.06894365e-02 1.35294187e+02] [ 5.82168240e-02 9.98303941e-01 -2.08193873e-04 4.88884916e+00] [ 1.06834267e-02 -4.14476174e-04 9.99942845e-01 9.89358373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.324391418 meters Centerline goodness [0,1] 0.9991210447011551 Centerline is valid? [True, True] Translation: X:135.33, Y:4.89, Z:0.99 [[ 9.98133932e-01 -6.01441691e-02 -1.05514376e-02 1.35325051e+02] [ 6.01453572e-02 9.98189608e-01 -2.04968548e-04 4.88594601e+00] [ 1.05446630e-02 -4.30033921e-04 9.99944311e-01 9.89728857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.354391418 meters Centerline goodness [0,1] 0.9994973190348525 Centerline is valid? [True, True] Translation: X:135.36, Y:4.88, Z:0.99 [[ 9.98065953e-01 -6.12446763e-02 -1.06509450e-02 1.35356725e+02] [ 6.12459554e-02 9.98122683e-01 -2.06341529e-04 4.88441817e+00] [ 1.06435871e-02 -4.46384850e-04 9.99943256e-01 9.90521089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.384391418 meters Centerline goodness [0,1] 0.9992890152861713 Centerline is valid? [True, True] Translation: X:135.39, Y:4.89, Z:0.99 [[ 9.98025719e-01 -6.18379113e-02 -1.09880735e-02 1.35387883e+02] [ 6.18393149e-02 9.98086096e-01 -2.12298051e-04 4.88713903e+00] [ 1.09801714e-02 -4.67616021e-04 9.99939607e-01 9.91031105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.414391418 meters Centerline goodness [0,1] 0.9994547322945284 Centerline is valid? [True, True] Translation: X:135.42, Y:4.89, Z:0.99 [[ 9.98095274e-01 -6.06976812e-02 -1.10279342e-02 1.35419632e+02] [ 6.06990304e-02 9.98156091e-01 -2.12622083e-04 4.88762615e+00] [ 1.10205054e-02 -4.57167818e-04 9.99939168e-01 9.91515341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.444391418 meters Centerline goodness [0,1] 0.9993305439330544 Centerline is valid? [True, True] Translation: X:135.45, Y:4.88, Z:0.99 [[ 9.98168611e-01 -5.94225379e-02 -1.13307874e-02 1.35449959e+02] [ 5.94238846e-02 9.98232816e-01 -2.18080106e-04 4.88239520e+00] [ 1.13237227e-02 -4.55638687e-04 9.99935781e-01 9.91101263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.474391418 meters Centerline goodness [0,1] 0.9994134528772232 Centerline is valid? [True, True] Translation: X:135.48, Y:4.89, Z:0.99 [[ 9.98299684e-01 -5.71521416e-02 -1.14618386e-02 1.35481311e+02] [ 5.71533739e-02 9.98365386e-01 -2.20278563e-04 4.88965037e+00] [ 1.14556923e-02 -4.35178725e-04 9.99934287e-01 9.91853852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.504391418 meters Centerline goodness [0,1] 0.9994557367440497 Centerline is valid? [True, True] Translation: X:135.51, Y:4.89, Z:0.99 [[ 9.98590247e-01 -5.17896586e-02 -1.16340105e-02 1.35512405e+02] [ 5.17905691e-02 9.98657943e-01 -2.23205478e-04 4.89466287e+00] [ 1.16299567e-02 -3.79641212e-04 9.99932298e-01 9.91785342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.534391418 meters Centerline goodness [0,1] 0.999476132601316 Centerline is valid? [True, True] Translation: X:135.54, Y:4.90, Z:0.99 [[ 9.98754107e-01 -4.85090555e-02 -1.17092107e-02 1.35543599e+02] [ 4.85097565e-02 9.98822684e-01 -2.24311959e-04 4.89867658e+00] [ 1.17063064e-02 -3.43978468e-04 9.99931420e-01 9.91926095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.564391418 meters Centerline goodness [0,1] 0.9994781991609443 Centerline is valid? [True, True] Translation: X:135.57, Y:4.90, Z:0.99 [[ 9.98902207e-01 -4.52586500e-02 -1.20845068e-02 1.35573918e+02] [ 4.52591638e-02 9.98975252e-01 -2.31099775e-04 4.90091814e+00] [ 1.20825825e-02 -3.16088596e-04 9.99926953e-01 9.91597974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59439141800001 meters Centerline goodness [0,1] 0.9996027016289233 Centerline is valid? [True, True] Translation: X:135.60, Y:4.90, Z:0.99 [[ 9.99164318e-01 -3.89481507e-02 -1.23979092e-02 1.35604218e+02] [ 3.89482090e-02 9.99241203e-01 -2.36832824e-04 4.90499612e+00] [ 1.23977259e-02 -2.46241450e-04 9.99923115e-01 9.90852360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62439141800002 meters Centerline goodness [0,1] 0.9995395852081285 Centerline is valid? [True, True] Translation: X:135.63, Y:4.91, Z:0.99 [[ 9.99271295e-01 -3.60853880e-02 -1.24387621e-02 1.35634237e+02] [ 3.60852268e-02 9.99348688e-01 -2.37463939e-04 4.90846348e+00] [ 1.24392295e-02 -2.11564653e-04 9.99922607e-01 9.91155875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65439141800002 meters Centerline goodness [0,1] 0.999478133806492 Centerline is valid? [True, True] Translation: X:135.66, Y:4.91, Z:0.99 [[ 9.99359698e-01 -3.36834536e-02 -1.20672801e-02 1.35663342e+02] [ 3.36831242e-02 9.99432536e-01 -2.30589856e-04 4.91014023e+00] [ 1.20681994e-02 -1.76021484e-04 9.99927161e-01 9.90609382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68439141800002 meters Centerline goodness [0,1] 0.9994563853809484 Centerline is valid? [True, True] Translation: X:135.69, Y:4.91, Z:0.99 [[ 9.99449135e-01 -3.04071331e-02 -1.32978868e-02 1.35692862e+02] [ 3.04064352e-02 9.99537585e-01 -2.54705589e-04 4.91482923e+00] [ 1.32994825e-02 -1.49776053e-04 9.99911547e-01 9.90192622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71439141800002 meters Centerline goodness [0,1] 0.9996658172856009 Centerline is valid? [True, True] Translation: X:135.72, Y:4.92, Z:0.99 [[ 9.99468555e-01 -2.96135621e-02 -1.36251540e-02 1.35722119e+02] [ 2.96127477e-02 9.99561412e-01 -2.61561744e-04 4.91642192e+00] [ 1.36269240e-02 -1.42055510e-04 9.99907139e-01 9.90337130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.744391418 meters Centerline goodness [0,1] 0.9995810640971932 Centerline is valid? [True, True] Translation: X:135.75, Y:4.92, Z:0.99 [[ 9.99468956e-01 -2.95327729e-02 -1.37702766e-02 1.35751173e+02] [ 2.95319218e-02 9.99563803e-01 -2.65188966e-04 4.91694188e+00] [ 1.37721018e-02 -1.41614592e-04 9.99905150e-01 9.89941770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.774391418 meters Centerline goodness [0,1] 0.9994771733902169 Centerline is valid? [True, True] Translation: X:135.78, Y:4.92, Z:0.99 [[ 9.99440121e-01 -3.03648817e-02 -1.40505618e-02 1.35780305e+02] [ 3.03640396e-02 9.99538869e-01 -2.73306143e-04 4.91805877e+00] [ 1.40523815e-02 -1.53478689e-04 9.99901249e-01 9.90465668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.804391418 meters Centerline goodness [0,1] 0.9995816862228357 Centerline is valid? [True, True] Translation: X:135.81, Y:4.92, Z:0.99 [[ 9.99415363e-01 -3.12738452e-02 -1.38159182e-02 1.35808917e+02] [ 3.12730596e-02 9.99510841e-01 -2.72949420e-04 4.91809944e+00] [ 1.38176962e-02 -1.59276191e-04 9.99904518e-01 9.90786968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.834391418 meters Centerline goodness [0,1] 0.9996041996500291 Centerline is valid? [True, True] Translation: X:135.84, Y:4.92, Z:0.99 [[ 9.99395907e-01 -3.20579917e-02 -1.34203527e-02 1.35837954e+02] [ 3.20572873e-02 9.99485997e-01 -2.67661337e-04 4.91583989e+00] [ 1.34220353e-02 -1.62720456e-04 9.99909907e-01 9.90405888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.864391418 meters Centerline goodness [0,1] 0.999479849364376 Centerline is valid? [True, True] Translation: X:135.87, Y:4.91, Z:0.99 [[ 9.99358339e-01 -3.33953902e-02 -1.29482891e-02 1.35868075e+02] [ 3.33948377e-02 9.99442203e-01 -2.58933313e-04 4.91481525e+00] [ 1.29497137e-02 -1.73638846e-04 9.99916134e-01 9.90942774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.894391418 meters Centerline goodness [0,1] 0.9993731848477884 Centerline is valid? [True, True] Translation: X:135.90, Y:4.91, Z:0.99 [[ 9.99252237e-01 -3.67163563e-02 -1.21192656e-02 1.35898096e+02] [ 3.67161105e-02 9.99325707e-01 -2.42848386e-04 4.91388388e+00] [ 1.21200101e-02 -2.02305501e-04 9.99926530e-01 9.92704633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.924391418 meters Centerline goodness [0,1] 0.9995436631404273 Centerline is valid? [True, True] Translation: X:135.93, Y:4.91, Z:0.99 [[ 9.99181534e-01 -3.86084617e-02 -1.20685387e-02 1.35927527e+02] [ 3.86083509e-02 9.99254390e-01 -2.42251048e-04 4.90975162e+00] [ 1.20688932e-02 -2.23893603e-04 9.99927143e-01 9.92555434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.954391418 meters Centerline goodness [0,1] 0.9993533853406199 Centerline is valid? [True, True] Translation: X:135.96, Y:4.91, Z:0.99 [[ 9.99018025e-01 -4.28580876e-02 -1.12325617e-02 1.35958051e+02] [ 4.28582584e-02 9.99081137e-01 -2.25612950e-04 4.90887312e+00] [ 1.12319098e-02 -2.56016627e-04 9.99936887e-01 9.93616359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.984391418 meters Centerline goodness [0,1] 0.9993544356518117 Centerline is valid? [True, True] Translation: X:135.99, Y:4.91, Z:0.99 [[ 9.98931652e-01 -4.49271777e-02 -1.08214355e-02 1.35988116e+02] [ 4.49274584e-02 9.98990228e-01 -2.17274231e-04 4.90649830e+00] [ 1.08202698e-02 -2.69137486e-04 9.99941423e-01 9.93724208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.014391418 meters Centerline goodness [0,1] 0.9995621259826102 Centerline is valid? [True, True] Translation: X:136.02, Y:4.91, Z:0.99 [[ 9.98843771e-01 -4.68812414e-02 -1.06428075e-02 1.36019775e+02] [ 4.68816271e-02 9.98900429e-01 -2.13382865e-04 4.90602132e+00] [ 1.06411087e-02 -2.85815988e-04 9.99943341e-01 9.93998289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.044391418 meters Centerline goodness [0,1] 0.9992097491993511 Centerline is valid? [True, True] Translation: X:136.05, Y:4.90, Z:0.99 [[ 9.98668793e-01 -5.06289995e-02 -9.86646170e-03 1.36049688e+02] [ 5.06295164e-02 9.98717484e-01 -1.97534296e-04 4.89969493e+00] [ 9.86380877e-03 -3.02262848e-04 9.99951306e-01 9.93919422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.074391418 meters Centerline goodness [0,1] 0.9993940913459529 Centerline is valid? [True, True] Translation: X:136.08, Y:4.90, Z:0.99 [[ 9.98589923e-01 -5.21738348e-02 -9.80085393e-03 1.36080879e+02] [ 5.21744204e-02 9.98637968e-01 -1.96100621e-04 4.90000135e+00] [ 9.79773618e-03 -3.15529769e-04 9.99951951e-01 9.94015790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.104391418 meters Centerline goodness [0,1] 0.9993742830326415 Centerline is valid? [True, True] Translation: X:136.11, Y:4.90, Z:0.99 [[ 9.98531893e-01 -5.32758587e-02 -9.78472762e-03 1.36112689e+02] [ 5.32764993e-02 9.98579780e-01 -1.95357805e-04 4.89921549e+00] [ 9.78123900e-03 -3.26225035e-04 9.99952109e-01 9.93803522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.134391418 meters Centerline goodness [0,1] 0.9992506400782665 Centerline is valid? [True, True] Translation: X:136.14, Y:4.90, Z:0.99 [[ 9.98498188e-01 -5.37907963e-02 -1.03884339e-02 1.36143301e+02] [ 5.37915519e-02 9.98552165e-01 -2.06865903e-04 4.89847704e+00] [ 1.03845206e-02 -3.52254751e-04 9.99946017e-01 9.93013981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.164391418 meters Centerline goodness [0,1] 0.9995408919217846 Centerline is valid? [True, True] Translation: X:136.17, Y:4.90, Z:0.99 [[ 9.98517336e-01 -5.33475638e-02 -1.08244030e-02 1.36174366e+02] [ 5.33483653e-02 9.98575939e-01 -2.14893299e-04 4.90080995e+00] [ 1.08204524e-02 -3.62889520e-04 9.99941391e-01 9.92933346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.194391418 meters Centerline goodness [0,1] 0.9993516000836645 Centerline is valid? [True, True] Translation: X:136.20, Y:4.90, Z:0.99 [[ 9.98549441e-01 -5.26876884e-02 -1.10914910e-02 1.36204817e+02] [ 5.26884937e-02 9.98610972e-01 -2.19795191e-04 4.90140863e+00] [ 1.10876651e-02 -3.64917589e-04 9.99938463e-01 9.92247176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.224391418 meters Centerline goodness [0,1] 0.9993950267022697 Centerline is valid? [True, True] Translation: X:136.24, Y:4.90, Z:0.99 [[ 9.98610232e-01 -5.15080249e-02 -1.11591834e-02 1.36236412e+02] [ 5.15087701e-02 9.98672518e-01 -2.20806812e-04 4.90266274e+00] [ 1.11557431e-02 -3.54295871e-04 9.99937710e-01 9.91826209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.254391418 meters Centerline goodness [0,1] 0.9994180971777713 Centerline is valid? [True, True] Translation: X:136.27, Y:4.91, Z:0.99 [[ 9.98769280e-01 -4.82460303e-02 -1.14997962e-02 1.36266436e+02] [ 4.82466093e-02 9.98835428e-01 -2.27238000e-04 4.90517764e+00] [ 1.14973672e-02 -3.27867841e-04 9.99933849e-01 9.91425104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.284391418 meters Centerline goodness [0,1] 0.9994180971777713 Centerline is valid? [True, True] Translation: X:136.30, Y:4.91, Z:0.99 [[ 9.98769280e-01 -4.82460303e-02 -1.14997962e-02 1.36296442e+02] [ 4.82466093e-02 9.98835428e-01 -2.27238000e-04 4.90577056e+00] [ 1.14973672e-02 -3.27867841e-04 9.99933849e-01 9.91635474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.314391418 meters Centerline goodness [0,1] 0.9994174676486498 Centerline is valid? [True, True] Translation: X:136.33, Y:4.91, Z:0.99 [[ 9.98856826e-01 -4.63477760e-02 -1.17014854e-02 1.36327392e+02] [ 4.63482464e-02 9.98925316e-01 -2.31124671e-04 4.90821767e+00] [ 1.16996221e-02 -3.11482875e-04 9.99931509e-01 9.91438836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34439141800001 meters Centerline goodness [0,1] 0.9993126861475017 Centerline is valid? [True, True] Translation: X:136.36, Y:4.91, Z:0.99 [[ 9.99041973e-01 -4.22038666e-02 -1.15745389e-02 1.36357358e+02] [ 4.22040505e-02 9.99108986e-01 -2.28471420e-04 4.91305148e+00] [ 1.15738682e-02 -2.60239884e-04 9.99932987e-01 9.90823393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37439141800002 meters Centerline goodness [0,1] 0.9993524939426852 Centerline is valid? [True, True] Translation: X:136.39, Y:4.92, Z:0.99 [[ 9.99120669e-01 -4.03528328e-02 -1.13814433e-02 1.36387501e+02] [ 4.03528895e-02 9.99185465e-01 -2.24749743e-04 4.91583243e+00] [ 1.13812420e-02 -2.34722011e-04 9.99935204e-01 9.90808231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40439141800002 meters Centerline goodness [0,1] 0.9993947489251576 Centerline is valid? [True, True] Translation: X:136.42, Y:4.92, Z:0.99 [[ 9.99212127e-01 -3.81004155e-02 -1.11123086e-02 1.36417631e+02] [ 3.81003288e-02 9.99273895e-01 -2.19575721e-04 4.91934649e+00] [ 1.11126058e-02 -2.03979887e-04 9.99938232e-01 9.91281573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43439141800002 meters Centerline goodness [0,1] 0.9994164599962486 Centerline is valid? [True, True] Translation: X:136.45, Y:4.93, Z:0.99 [[ 9.99378482e-01 -3.35552969e-02 -1.08024171e-02 1.36447922e+02] [ 3.35549495e-02 9.99436851e-01 -2.13452363e-04 4.92535843e+00] [ 1.08034962e-02 -1.49154862e-04 9.99941629e-01 9.91650760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46439141800002 meters Centerline goodness [0,1] 0.9995005410804961 Centerline is valid? [True, True] Translation: X:136.48, Y:4.93, Z:0.99 [[ 9.99463836e-01 -3.11081162e-02 -1.02140205e-02 1.36477288e+02] [ 3.11076781e-02 9.99516019e-01 -2.01792311e-04 4.92843450e+00] [ 1.02153545e-02 -1.16050347e-04 9.99947815e-01 9.92004996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.494391418 meters Centerline goodness [0,1] 0.9994168853346662 Centerline is valid? [True, True] Translation: X:136.51, Y:4.93, Z:0.99 [[ 9.99529949e-01 -2.90294302e-02 -9.85766716e-03 1.36507647e+02] [ 2.90289218e-02 9.99578553e-01 -1.94681331e-04 4.93160753e+00] [ 9.85916416e-03 -9.15676277e-05 9.99951393e-01 9.92660278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.524391418 meters Centerline goodness [0,1] 0.9995205536562995 Centerline is valid? [True, True] Translation: X:136.54, Y:4.94, Z:0.99 [[ 9.99616197e-01 -2.60746948e-02 -9.35778383e-03 1.36537657e+02] [ 2.60741072e-02 9.99659996e-01 -1.84809021e-04 4.93696472e+00] [ 9.35942098e-03 -5.92577684e-05 9.99956198e-01 9.93500737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.554391418 meters Centerline goodness [0,1] 0.9995217897538257 Centerline is valid? [True, True] Translation: X:136.57, Y:4.94, Z:0.99 [[ 9.99639286e-01 -2.53051695e-02 -8.99697523e-03 1.36568004e+02] [ 2.53045952e-02 9.99679772e-01 -1.77683329e-04 4.93874345e+00] [ 8.99859045e-03 -5.00455801e-05 9.99959511e-01 9.93735193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.584391418 meters Centerline goodness [0,1] 0.9994361491072361 Centerline is valid? [True, True] Translation: X:136.60, Y:4.94, Z:0.99 [[ 9.99639370e-01 -2.53251232e-02 -8.93128849e-03 1.36597963e+02] [ 2.53245584e-02 9.99679266e-01 -1.76345826e-04 4.93913447e+00] [ 8.93288990e-03 -4.98987059e-05 9.99960100e-01 9.93624818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.614391418 meters Centerline goodness [0,1] 0.9995000833194467 Centerline is valid? [True, True] Translation: X:136.63, Y:4.94, Z:0.99 [[ 9.99595281e-01 -2.68737245e-02 -9.33152726e-03 1.36628734e+02] [ 2.68731768e-02 9.99638834e-01 -1.84095231e-04 4.93773882e+00] [ 9.33310436e-03 -6.67470582e-05 9.99956443e-01 9.92879405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.644391418 meters Centerline goodness [0,1] 0.9993966127085847 Centerline is valid? [True, True] Translation: X:136.66, Y:4.94, Z:0.99 [[ 9.99551849e-01 -2.84320345e-02 -9.36596356e-03 1.36659151e+02] [ 2.84315511e-02 9.99595725e-01 -1.84774601e-04 4.93646001e+00] [ 9.36743065e-03 -8.15970783e-05 9.99956121e-01 9.92825730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.674391418 meters Centerline goodness [0,1] 0.9994370543346817 Centerline is valid? [True, True] Translation: X:136.69, Y:4.93, Z:0.99 [[ 9.99443946e-01 -3.19609320e-02 -9.50249270e-03 1.36689689e+02] [ 3.19605954e-02 9.99489112e-01 -1.87313267e-04 4.93236467e+00] [ 9.50362470e-03 -1.16496214e-04 9.99954833e-01 9.93108382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.704391418 meters Centerline goodness [0,1] 0.9995406234991961 Centerline is valid? [True, True] Translation: X:136.72, Y:4.93, Z:0.99 [[ 9.99381249e-01 -3.38769499e-02 -9.45889582e-03 1.36720664e+02] [ 3.38767063e-02 9.99426002e-01 -1.86020917e-04 4.93154064e+00] [ 9.45976825e-03 -1.34530419e-04 9.99955246e-01 9.93251111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.734391418 meters Centerline goodness [0,1] 0.9994565785348521 Centerline is valid? [True, True] Translation: X:136.75, Y:4.93, Z:0.99 [[ 9.99319880e-01 -3.55704458e-02 -9.72217150e-03 1.36750482e+02] [ 3.55702680e-02 9.99367159e-01 -1.91255450e-04 4.92911900e+00] [ 9.72282196e-03 -1.54694872e-04 9.99952720e-01 9.93337638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.764391418 meters Centerline goodness [0,1] 0.9993712932497852 Centerline is valid? [True, True] Translation: X:136.78, Y:4.93, Z:0.99 [[ 9.99249111e-01 -3.75403860e-02 -9.58825046e-03 1.36780936e+02] [ 3.75403024e-02 9.99295097e-01 -1.88765814e-04 4.92918323e+00] [ 9.58857801e-03 -1.71321750e-04 9.99954014e-01 9.93714277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.794391418 meters Centerline goodness [0,1] 0.9994136002848227 Centerline is valid? [True, True] Translation: X:136.81, Y:4.93, Z:0.99 [[ 9.99138891e-01 -4.03664393e-02 -9.59303801e-03 1.36811194e+02] [ 4.03664863e-02 9.99184923e-01 -1.88804443e-04 4.92516325e+00] [ 9.59284032e-03 -1.98595375e-04 9.99953968e-01 9.93717390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.824391418 meters Centerline goodness [0,1] 0.9993527778357726 Centerline is valid? [True, True] Translation: X:136.84, Y:4.92, Z:0.99 [[ 9.99102227e-01 -4.13002744e-02 -9.43545042e-03 1.36842809e+02] [ 4.13003638e-02 9.99146759e-01 -1.85451448e-04 4.92403543e+00] [ 9.43505890e-03 -2.04402581e-04 9.99955468e-01 9.93884327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.854391418 meters Centerline goodness [0,1] 0.9993935972230935 Centerline is valid? [True, True] Translation: X:136.87, Y:4.92, Z:0.99 [[ 9.99062061e-01 -4.23419805e-02 -9.06389733e-03 1.36873515e+02] [ 4.23421089e-02 9.99103155e-01 -1.77819566e-04 4.92219199e+00] [ 9.06329765e-03 -2.06131745e-04 9.99958906e-01 9.94462959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.884391418 meters Centerline goodness [0,1] 0.9993122850890903 Centerline is valid? [True, True] Translation: X:136.90, Y:4.92, Z:1.00 [[ 9.99049062e-01 -4.26247867e-02 -9.17060538e-03 1.36904527e+02] [ 4.26249322e-02 9.99091128e-01 -1.79672933e-04 4.92306910e+00] [ 9.16992900e-03 -2.11394358e-04 9.99957933e-01 9.95218140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.914391418 meters Centerline goodness [0,1] 0.9993942052599695 Centerline is valid? [True, True] Translation: X:136.94, Y:4.92, Z:1.00 [[ 9.99055253e-01 -4.25353654e-02 -8.90754835e-03 1.36935544e+02] [ 4.25355024e-02 9.99094941e-01 -1.74151281e-04 4.92316474e+00] [ 8.90689408e-03 -2.04900292e-04 9.99960312e-01 9.95613326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.944391418 meters Centerline goodness [0,1] 0.9994384125795582 Centerline is valid? [True, True] Translation: X:136.97, Y:4.92, Z:1.00 [[ 9.99086015e-01 -4.17995009e-02 -8.94067294e-03 1.36965591e+02] [ 4.17996125e-02 9.99125999e-01 -1.74463058e-04 4.92292828e+00] [ 8.94015125e-03 -1.99413063e-04 9.99960016e-01 9.95657369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.974391418 meters Centerline goodness [0,1] 0.9994162044952254 Centerline is valid? [True, True] Translation: X:137.00, Y:4.92, Z:1.00 [[ 9.99112646e-01 -4.11481264e-02 -8.98620323e-03 1.36997234e+02] [ 4.11482149e-02 9.99153038e-01 -1.75123424e-04 4.92316155e+00] [ 8.98579826e-03 -1.94798194e-04 9.99959608e-01 9.95677665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.004391418 meters Centerline goodness [0,1] 0.9994144709326641 Centerline is valid? [True, True] Translation: X:137.03, Y:4.92, Z:1.00 [[ 9.99135816e-01 -4.05597145e-02 -9.08467515e-03 1.37027482e+02] [ 4.05597836e-02 9.99177098e-01 -1.76709955e-04 4.92353200e+00] [ 9.08436666e-03 -1.91915213e-04 9.99958718e-01 9.95654522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.034391418 meters Centerline goodness [0,1] 0.9994150825151452 Centerline is valid? [True, True] Translation: X:137.06, Y:4.93, Z:1.00 [[ 9.99198242e-01 -3.88926691e-02 -9.49911845e-03 1.37059124e+02] [ 3.88926717e-02 9.99243377e-01 -1.84516068e-04 4.92572400e+00] [ 9.49910752e-03 -1.85077966e-04 9.99954865e-01 9.95460036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.064391418 meters Centerline goodness [0,1] 0.9996231392500471 Centerline is valid? [True, True] Translation: X:137.09, Y:4.93, Z:1.00 [[ 9.99232871e-01 -3.80159506e-02 -9.40514192e-03 1.37089843e+02] [ 3.80159172e-02 9.99277117e-01 -1.82395161e-04 4.92714575e+00] [ 9.40527702e-03 -1.75289856e-04 9.99955754e-01 9.95843962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09439141800001 meters Centerline goodness [0,1] 0.9995210329029571 Centerline is valid? [True, True] Translation: X:137.12, Y:4.93, Z:1.00 [[ 9.99278978e-01 -3.67355943e-02 -9.59275793e-03 1.37120285e+02] [ 3.67355011e-02 9.99325006e-01 -1.85978126e-04 4.92733960e+00] [ 9.59311489e-03 -1.66550738e-04 9.99953971e-01 9.96134718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12439141800002 meters Centerline goodness [0,1] 0.9997068553959546 Centerline is valid? [True, True] Translation: X:137.15, Y:4.93, Z:1.00 [[ 9.99386028e-01 -3.38282354e-02 -9.12236351e-03 1.37150850e+02] [ 3.38280313e-02 9.99427653e-01 -1.76715331e-04 4.92940812e+00] [ 9.12312031e-03 -1.31984766e-04 9.99958375e-01 9.96896844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15439141800002 meters Centerline goodness [0,1] 0.9997287371671814 Centerline is valid? [True, True] Translation: X:137.18, Y:4.93, Z:1.00 [[ 9.99456332e-01 -3.17357061e-02 -8.93790147e-03 1.37181035e+02] [ 3.17354265e-02 9.99496290e-01 -1.73141995e-04 4.93096208e+00] [ 8.93889414e-03 -1.10600253e-04 9.99960041e-01 9.97183306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18439141800002 meters Centerline goodness [0,1] 0.9996852904768898 Centerline is valid? [True, True] Translation: X:137.21, Y:4.93, Z:1.00 [[ 9.99513821e-01 -2.98539111e-02 -8.99255612e-03 1.37211050e+02] [ 2.98535519e-02 9.99554268e-01 -1.74200746e-04 4.93276842e+00] [ 8.99374842e-03 -9.43436875e-05 9.99959551e-01 9.97048123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21439141800002 meters Centerline goodness [0,1] 0.9996655028954906 Centerline is valid? [True, True] Translation: X:137.24, Y:4.93, Z:1.00 [[ 9.99582260e-01 -2.73394916e-02 -9.37326610e-03 1.37240783e+02] [ 2.73389904e-02 9.99626203e-01 -1.81624626e-04 4.93443437e+00] [ 9.37472793e-03 -7.47068777e-05 9.99956053e-01 9.96750268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.244391418 meters Centerline goodness [0,1] 0.9996648021285065 Centerline is valid? [True, True] Translation: X:137.27, Y:4.94, Z:1.00 [[ 9.99688342e-01 -2.27438448e-02 -1.02925860e-02 1.37270741e+02] [ 2.27429937e-02 9.99741325e-01 -1.99735909e-04 4.93772516e+00] [ 1.02944663e-02 -3.44105582e-05 9.99947010e-01 9.96181878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.274391418 meters Centerline goodness [0,1] 0.9998112059742821 Centerline is valid? [True, True] Translation: X:137.30, Y:4.94, Z:1.00 [[ 9.99735431e-01 -2.06029677e-02 -1.02267331e-02 1.37299910e+02] [ 2.06020111e-02 9.99787736e-01 -1.98887771e-04 4.93885095e+00] [ 1.02286600e-02 -1.18561160e-05 9.99947686e-01 9.96541127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.304391418 meters Centerline goodness [0,1] 0.9997900879531476 Centerline is valid? [True, True] Translation: X:137.33, Y:4.94, Z:1.00 [[ 9.99765125e-01 -1.91827283e-02 -1.00855695e-02 1.37329521e+02] [ 1.91817214e-02 9.99815995e-01 -1.96563095e-04 4.93937140e+00] [ 1.00874843e-02 3.05834229e-06 9.99949120e-01 9.96965850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.334391418 meters Centerline goodness [0,1] 0.9998322499475781 Centerline is valid? [True, True] Translation: X:137.36, Y:4.94, Z:1.00 [[ 9.99783021e-01 -1.79852173e-02 -1.05091580e-02 1.37358426e+02] [ 1.79840524e-02 9.99838253e-01 -2.05343577e-04 4.93791671e+00] [ 1.05111513e-02 1.63017734e-05 9.99944756e-01 9.96700399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.364391418 meters Centerline goodness [0,1] 0.9997696576274736 Centerline is valid? [True, True] Translation: X:137.39, Y:4.94, Z:1.00 [[ 9.99772296e-01 -1.84094996e-02 -1.07910659e-02 1.37387402e+02] [ 1.84082791e-02 9.99830531e-01 -2.12422343e-04 4.93650042e+00] [ 1.07931477e-02 1.37290209e-05 9.99941752e-01 9.96451978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.394391418 meters Centerline goodness [0,1] 0.9997279993304599 Centerline is valid? [True, True] Translation: X:137.41, Y:4.93, Z:1.00 [[ 9.99720072e-01 -2.05367813e-02 -1.17481222e-02 1.37414982e+02] [ 2.05354492e-02 9.99789098e-01 -2.34017221e-04 4.93128429e+00] [ 1.17504505e-02 -7.30125451e-06 9.99930961e-01 9.95774106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.424391418 meters Centerline goodness [0,1] 0.9997702349869452 Centerline is valid? [True, True] Translation: X:137.44, Y:4.93, Z:1.00 [[ 9.99678625e-01 -2.24010371e-02 -1.18676027e-02 1.37442708e+02] [ 2.23997812e-02 9.99749065e-01 -2.38748811e-04 4.92850574e+00] [ 1.18699729e-02 -2.71596201e-05 9.99929549e-01 9.96139214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.454391418 meters Centerline goodness [0,1] 0.9997692178583417 Centerline is valid? [True, True] Translation: X:137.47, Y:4.93, Z:1.00 [[ 9.99619514e-01 -2.47570867e-02 -1.21619578e-02 1.37470299e+02] [ 2.47558922e-02 9.99693495e-01 -2.48777312e-04 4.92526276e+00] [ 1.21643891e-02 -5.23974606e-05 9.99926010e-01 9.96620209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.484391418 meters Centerline goodness [0,1] 0.9998532556286948 Centerline is valid? [True, True] Translation: X:137.50, Y:4.92, Z:1.00 [[ 9.99475736e-01 -2.99800394e-02 -1.22250062e-02 1.37498219e+02] [ 2.99791838e-02 9.99550491e-01 -2.53280119e-04 4.91649923e+00] [ 1.22271043e-02 -1.13348375e-04 9.99925240e-01 9.96835959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.514391418 meters Centerline goodness [0,1] 0.9998529998529998 Centerline is valid? [True, True] Translation: X:137.53, Y:4.91, Z:1.00 [[ 9.99390741e-01 -3.26570940e-02 -1.23151082e-02 1.37527131e+02] [ 3.26563962e-02 9.99466604e-01 -2.57805430e-04 4.91258406e+00] [ 1.23169586e-02 -1.44518694e-04 9.99924133e-01 9.97519106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.544391418 meters Centerline goodness [0,1] 0.9999371042811019 Centerline is valid? [True, True] Translation: X:137.55, Y:4.90, Z:1.00 [[ 9.99213613e-01 -3.76035926e-02 -1.25747817e-02 1.37554848e+02] [ 3.76032204e-02 9.99292713e-01 -2.66117250e-04 4.90372053e+00] [ 1.25758947e-02 -2.06944310e-04 9.99920899e-01 9.97737550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.574391418 meters Centerline goodness [0,1] 0.9999790575916231 Centerline is valid? [True, True] Translation: X:137.58, Y:4.90, Z:1.00 [[ 9.99112654e-01 -4.00759885e-02 -1.29545156e-02 1.37583827e+02] [ 4.00757637e-02 9.99196605e-01 -2.77050369e-04 4.90349009e+00] [ 1.29552111e-02 -2.42357579e-04 9.99916048e-01 9.99016403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.604391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.61, Y:4.90, Z:1.00 [[ 9.99043901e-01 -4.18390628e-02 -1.26797601e-02 1.37612919e+02] [ 4.18389570e-02 9.99124330e-01 -2.73717408e-04 4.90065240e+00] [ 1.26801089e-02 -2.57052230e-04 9.99919571e-01 9.99514754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.634391418 meters Centerline goodness [0,1] 0.9999371490823766 Centerline is valid? [True, True] Translation: X:137.64, Y:4.90, Z:1.00 [[ 9.98970758e-01 -4.36359564e-02 -1.23825545e-02 1.37641307e+02] [ 4.36359809e-02 9.99047461e-01 -2.68318828e-04 4.89710358e+00] [ 1.23824680e-02 -2.72282251e-04 9.99923297e-01 1.00019645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.664391418 meters Centerline goodness [0,1] 0.9999579849586152 Centerline is valid? [True, True] Translation: X:137.67, Y:4.89, Z:1.00 [[ 9.98760092e-01 -4.81951565e-02 -1.24701716e-02 1.37670289e+02] [ 4.81955087e-02 9.98837884e-01 -2.72446297e-04 4.89180796e+00] [ 1.24688104e-02 -3.28897775e-04 9.99922207e-01 1.00101950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.694391418 meters Centerline goodness [0,1] 0.9999790584687552 Centerline is valid? [True, True] Translation: X:137.70, Y:4.89, Z:1.00 [[ 9.98636018e-01 -5.06413388e-02 -1.27105256e-02 1.37699435e+02] [ 5.06418707e-02 9.98716838e-01 -2.80208978e-04 4.88812410e+00] [ 1.27084061e-02 -3.63858014e-04 9.99919179e-01 1.00125474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.724391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.73, Y:4.88, Z:1.00 [[ 9.98369654e-01 -5.55573789e-02 -1.30923924e-02 1.37727608e+02] [ 5.55583528e-02 9.98455400e-01 -2.89596002e-04 4.88022947e+00] [ 1.30882591e-02 -4.38267896e-04 9.99914249e-01 1.00104616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.754391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.76, Y:4.88, Z:1.00 [[ 9.98198905e-01 -5.84462701e-02 -1.35269659e-02 1.37756658e+02] [ 5.84475413e-02 9.98290436e-01 -3.01670418e-04 4.87770883e+00] [ 1.35214722e-02 -4.89490817e-04 9.99908461e-01 1.00114541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.784391418 meters Centerline goodness [0,1] 0.9998331525819638 Centerline is valid? [True, True] Translation: X:137.79, Y:4.88, Z:1.00 [[ 9.97864568e-01 -6.37985400e-02 -1.40017586e-02 1.37786961e+02] [ 6.38003970e-02 9.97962630e-01 -3.14473155e-04 4.87640961e+00] [ 1.39932947e-02 -5.79516134e-04 9.99901921e-01 1.00164446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.814391418 meters Centerline goodness [0,1] 0.9998746683934577 Centerline is valid? [True, True] Translation: X:137.82, Y:4.87, Z:1.00 [[ 9.97675823e-01 -6.65475351e-02 -1.46416575e-02 1.37815201e+02] [ 6.65498492e-02 9.97783047e-01 -3.29658605e-04 4.87021992e+00] [ 1.46311356e-02 -6.45507682e-04 9.99892751e-01 1.00092958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84439141800001 meters Centerline goodness [0,1] 0.9997278113942338 Centerline is valid? [True, True] Translation: X:137.84, Y:4.87, Z:1.00 [[ 9.97478972e-01 -6.93488311e-02 -1.50479534e-02 1.37844121e+02] [ 6.93515762e-02 9.97592223e-01 -3.39956595e-04 4.87436124e+00] [ 1.50352969e-02 -7.04499731e-04 9.99886715e-01 1.00180316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.87, Y:4.87, Z:1.00 [[ 9.97322058e-01 -7.15073729e-02 -1.53430005e-02 1.37872095e+02] [ 7.15104604e-02 9.97439789e-01 -3.47998798e-04 4.87167018e+00] [ 1.53286036e-02 -7.50118148e-04 9.99882229e-01 1.00162383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.90, Y:4.87, Z:1.00 [[ 9.97073561e-01 -7.48037226e-02 -1.57707906e-02 1.37901185e+02] [ 7.48073745e-02 9.97197938e-01 -3.59055992e-04 4.87151840e+00] [ 1.57534586e-02 -8.21766205e-04 9.99875569e-01 1.00190915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93439141800002 meters Centerline goodness [0,1] 0.999979210411426 Centerline is valid? [True, True] Translation: X:137.93, Y:4.87, Z:1.00 [[ 9.96999319e-01 -7.57764701e-02 -1.58203936e-02 1.37928489e+02] [ 7.57802419e-02 9.97124478e-01 -3.61787735e-04 4.87085253e+00] [ 1.58023167e-02 -8.38171132e-04 9.99874784e-01 1.00175229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96439141800002 meters Centerline goodness [0,1] 0.99985374924263 Centerline is valid? [True, True] Translation: X:137.96, Y:4.87, Z:1.00 [[ 9.96962497e-01 -7.62180429e-02 -1.60183974e-02 1.37955854e+02] [ 7.62219367e-02 9.97090809e-01 -3.68182826e-04 4.87093605e+00] [ 1.59998590e-02 -8.53888807e-04 9.99871629e-01 1.00164623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.994391418 meters Centerline goodness [0,1] 0.9998539079620161 Centerline is valid? [True, True] Translation: X:137.98, Y:4.88, Z:1.00 [[ 9.96967552e-01 -7.60238608e-02 -1.66154180e-02 1.37984771e+02] [ 7.60279629e-02 9.97105611e-01 -3.85553152e-04 4.87885855e+00] [ 1.65966378e-02 -8.78852402e-04 9.99861880e-01 1.00205206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.024391418 meters Centerline goodness [0,1] 0.999728294946286 Centerline is valid? [True, True] Translation: X:138.01, Y:4.88, Z:1.00 [[ 9.97013808e-01 -7.53751002e-02 -1.67946825e-02 1.38013355e+02] [ 7.53791142e-02 9.97154869e-01 -3.94795044e-04 4.88328646e+00] [ 1.67766572e-02 -8.72352180e-04 9.99858881e-01 1.00216778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.054391418 meters Centerline goodness [0,1] 0.9994987468671679 Centerline is valid? [True, True] Translation: X:138.04, Y:4.89, Z:1.00 [[ 9.97208012e-01 -7.26557069e-02 -1.72432482e-02 1.38041718e+02] [ 7.26594803e-02 9.97356723e-01 -4.08383828e-04 4.89071403e+00] [ 1.72273409e-02 -8.45641826e-04 9.99851241e-01 1.00205725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.084391418 meters Centerline goodness [0,1] 0.9996445893962201 Centerline is valid? [True, True] Translation: X:138.07, Y:4.89, Z:1.00 [[ 9.97312516e-01 -7.11678297e-02 -1.74036268e-02 1.38069595e+02] [ 7.11714180e-02 9.97464013e-01 -4.13886342e-04 4.89352588e+00] [ 1.73889468e-02 -8.25866770e-04 9.99848460e-01 1.00214071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.114391418 meters Centerline goodness [0,1] 0.9995611743809424 Centerline is valid? [True, True] Translation: X:138.10, Y:4.90, Z:1.00 [[ 9.97428884e-01 -6.96947861e-02 -1.66810508e-02 1.38098821e+02] [ 6.96978210e-02 9.97568070e-01 -4.00057666e-04 4.89932687e+00] [ 1.66683655e-02 -7.63603819e-04 9.99860782e-01 1.00313497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.144391418 meters Centerline goodness [0,1] 0.9994773919769216 Centerline is valid? [True, True] Translation: X:138.13, Y:4.91, Z:1.00 [[ 9.97631194e-01 -6.70921006e-02 -1.51871651e-02 1.38127245e+02] [ 6.70942782e-02 9.97746573e-01 -3.66657302e-04 4.90838724e+00] [ 1.51775417e-02 -6.53183119e-04 9.99884601e-01 1.00443773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.174391418 meters Centerline goodness [0,1] 0.9994773919769216 Centerline is valid? [True, True] Translation: X:138.16, Y:4.91, Z:1.00 [[ 9.97611412e-01 -6.73856285e-02 -1.51870924e-02 1.38155541e+02] [ 6.73877946e-02 9.97726791e-01 -3.69649441e-04 4.90922651e+00] [ 1.51774780e-02 -6.54658163e-04 9.99884601e-01 1.00463623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.204391418 meters Centerline goodness [0,1] 0.9996251093431082 Centerline is valid? [True, True] Translation: X:138.18, Y:4.91, Z:1.01 [[ 9.97683835e-01 -6.63636851e-02 -1.49273537e-02 1.38184115e+02] [ 6.63655987e-02 9.97795306e-01 -3.67674740e-04 4.91375705e+00] [ 1.49188437e-02 -6.23839621e-04 9.99888513e-01 1.00520749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.234391418 meters Centerline goodness [0,1] 0.9991656585040257 Centerline is valid? [True, True] Translation: X:138.21, Y:4.92, Z:1.01 [[ 9.97746774e-01 -6.54278085e-02 -1.48518496e-02 1.38213785e+02] [ 6.54295641e-02 9.97857122e-01 -3.68181037e-04 4.91754030e+00] [ 1.48441132e-02 -6.04398605e-04 9.99889637e-01 1.00521087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.264391418 meters Centerline goodness [0,1] 0.9992690821760468 Centerline is valid? [True, True] Translation: X:138.24, Y:4.92, Z:1.01 [[ 9.97820040e-01 -6.42985702e-02 -1.48614221e-02 1.38243513e+02] [ 6.43001939e-02 9.97930533e-01 -3.69031100e-04 4.92174316e+00] [ 1.48543950e-02 -5.87365695e-04 9.99889495e-01 1.00526872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.294391418 meters Centerline goodness [0,1] 0.9991614431563279 Centerline is valid? [True, True] Translation: X:138.27, Y:4.93, Z:1.01 [[ 9.97916667e-01 -6.28063609e-02 -1.47542251e-02 1.38272018e+02] [ 6.28077873e-02 9.98025574e-01 -3.67129488e-04 4.92894734e+00] [ 1.47481521e-02 -5.60315599e-04 9.99891083e-01 1.00538081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.324391418 meters Centerline goodness [0,1] 0.9992482302086161 Centerline is valid? [True, True] Translation: X:138.30, Y:4.93, Z:1.01 [[ 9.97951537e-01 -6.23775695e-02 -1.42045598e-02 1.38302014e+02] [ 6.23788381e-02 9.98052481e-01 -3.54155752e-04 4.93287963e+00] [ 1.41989875e-02 -5.32633658e-04 9.99899047e-01 1.00577554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.354391418 meters Centerline goodness [0,1] 0.9993311316416538 Centerline is valid? [True, True] Translation: X:138.33, Y:4.94, Z:1.01 [[ 9.97971655e-01 -6.20960165e-02 -1.40235997e-02 1.38332286e+02] [ 6.20972214e-02 9.98070044e-01 -3.49923435e-04 4.93655248e+00] [ 1.40182636e-02 -5.21612905e-04 9.99901603e-01 1.00625442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.384391418 meters Centerline goodness [0,1] 0.9992449822780562 Centerline is valid? [True, True] Translation: X:138.36, Y:4.95, Z:1.01 [[ 9.97974478e-01 -6.21296921e-02 -1.36690029e-02 1.38361522e+02] [ 6.21308381e-02 9.98067955e-01 -3.41208033e-04 4.94639561e+00] [ 1.36637929e-02 -5.08749697e-04 9.99906517e-01 1.00715275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.414391418 meters Centerline goodness [0,1] 0.9993710428110193 Centerline is valid? [True, True] Translation: X:138.39, Y:4.95, Z:1.01 [[ 9.97968522e-01 -6.22769344e-02 -1.34317519e-02 1.38391947e+02] [ 6.22780541e-02 9.98058782e-01 -3.35303582e-04 4.94923276e+00] [ 1.34265597e-02 -5.01880954e-04 9.99909734e-01 1.00740204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.444391418 meters Centerline goodness [0,1] 0.999539276664363 Centerline is valid? [True, True] Translation: X:138.42, Y:4.96, Z:1.01 [[ 9.98013304e-01 -6.16933237e-02 -1.27819602e-02 1.38423309e+02] [ 6.16942944e-02 9.98095042e-01 -3.18722598e-04 4.96187870e+00] [ 1.27772742e-02 -4.70484626e-04 9.99918257e-01 1.00860586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.474391418 meters Centerline goodness [0,1] 0.9993741002691369 Centerline is valid? [True, True] Translation: X:138.45, Y:4.96, Z:1.01 [[ 9.98062307e-01 -6.09787732e-02 -1.23782367e-02 1.38454198e+02] [ 6.09796348e-02 9.98138963e-01 -3.08160709e-04 4.96120844e+00] [ 1.23739916e-02 -4.47256763e-04 9.99923339e-01 1.00796953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.504391418 meters Centerline goodness [0,1] 0.9995816862228357 Centerline is valid? [True, True] Translation: X:138.49, Y:4.97, Z:1.01 [[ 9.98103597e-01 -6.03205069e-02 -1.22737730e-02 1.38486489e+02] [ 6.03213130e-02 9.98178965e-01 -3.04847361e-04 4.96936531e+00] [ 1.22698106e-02 -4.36100853e-04 9.99924628e-01 1.00877515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.534391418 meters Centerline goodness [0,1] 0.9991002866528571 Centerline is valid? [True, True] Translation: X:138.52, Y:4.97, Z:1.01 [[ 9.98169928e-01 -5.91220429e-02 -1.27034683e-02 1.38518814e+02] [ 5.91228230e-02 9.98250666e-01 -3.14460121e-04 4.97364629e+00] [ 1.26998372e-02 -4.37180269e-04 9.99919258e-01 1.00889878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.564391418 meters Centerline goodness [0,1] 0.999203187250996 Centerline is valid? [True, True] Translation: X:138.55, Y:4.98, Z:1.01 [[ 9.98315477e-01 -5.65549498e-02 -1.29516774e-02 1.38549120e+02] [ 5.65555589e-02 9.98399402e-01 -3.19516811e-04 4.98070130e+00] [ 1.29490172e-02 -4.13510774e-04 9.99916072e-01 1.00842851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59439141800001 meters Centerline goodness [0,1] 0.9991622685766943 Centerline is valid? [True, True] Translation: X:138.58, Y:4.98, Z:1.01 [[ 9.98402183e-01 -5.50274282e-02 -1.28476731e-02 1.38579777e+02] [ 5.50279103e-02 9.98484767e-01 -3.16246833e-04 4.98326151e+00] [ 1.28456081e-02 -3.91239074e-04 9.99917415e-01 1.00820943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62439141800002 meters Centerline goodness [0,1] 0.9991638271630746 Centerline is valid? [True, True] Translation: X:138.61, Y:4.99, Z:1.01 [[ 9.98556090e-01 -5.22632800e-02 -1.24211233e-02 1.38610687e+02] [ 5.22635213e-02 9.98633282e-01 -3.05396781e-04 4.99209104e+00] [ 1.24201082e-02 -3.44215828e-04 9.99922808e-01 1.00909446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65439141800002 meters Centerline goodness [0,1] 0.9993918678046427 Centerline is valid? [True, True] Translation: X:138.64, Y:5.00, Z:1.01 [[ 9.98629226e-01 -5.09217969e-02 -1.21095041e-02 1.38642601e+02] [ 5.09219359e-02 9.98702592e-01 -2.97052244e-04 4.99584680e+00] [ 1.21089196e-02 -3.19994341e-04 9.99926633e-01 1.00972396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68439141800002 meters Centerline goodness [0,1] 0.99917951738792 Centerline is valid? [True, True] Translation: X:138.67, Y:5.00, Z:1.01 [[ 9.98712850e-01 -4.93039226e-02 -1.19066097e-02 1.38674307e+02] [ 4.93039533e-02 9.98783778e-01 -2.91131294e-04 5.00101557e+00] [ 1.19064825e-02 -2.96286365e-04 9.99929071e-01 1.00981054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71439141800002 meters Centerline goodness [0,1] 0.99934925899492 Centerline is valid? [True, True] Translation: X:138.71, Y:5.00, Z:1.01 [[ 9.98728945e-01 -4.89991471e-02 -1.18143117e-02 1.38705984e+02] [ 4.89991671e-02 9.98798778e-01 -2.87937947e-04 5.00309420e+00] [ 1.18142288e-02 -2.91319469e-04 9.99930167e-01 1.00982124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.744391418 meters Centerline goodness [0,1] 0.9994545950368149 Centerline is valid? [True, True] Translation: X:138.74, Y:5.00, Z:1.01 [[ 9.98712158e-01 -4.92321644e-02 -1.22563846e-02 1.38738625e+02] [ 4.92322157e-02 9.98787315e-01 -2.97717048e-04 5.00472920e+00] [ 1.22561788e-02 -3.06075336e-04 9.99924843e-01 1.00956615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.774391418 meters Centerline goodness [0,1] 0.9992645513763395 Centerline is valid? [True, True] Translation: X:138.77, Y:5.01, Z:1.01 [[ 9.98616785e-01 -5.12691403e-02 -1.16615544e-02 1.38770347e+02] [ 5.12693349e-02 9.98684823e-01 -2.82457543e-04 5.00645636e+00] [ 1.16606987e-02 -3.15813293e-04 9.99931962e-01 1.00981767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.804391418 meters Centerline goodness [0,1] 0.9993293373014209 Centerline is valid? [True, True] Translation: X:138.80, Y:5.00, Z:1.01 [[ 9.98563078e-01 -5.23390005e-02 -1.15068499e-02 1.38801762e+02] [ 5.23392688e-02 9.98629322e-01 -2.78025093e-04 5.00484389e+00] [ 1.15056293e-02 -3.24634518e-04 9.99933755e-01 1.00970872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.834391418 meters Centerline goodness [0,1] 0.9990550585863677 Centerline is valid? [True, True] Translation: X:138.83, Y:5.01, Z:1.01 [[ 9.98398470e-01 -5.54490395e-02 -1.12204406e-02 1.38832759e+02] [ 5.54494973e-02 9.98461456e-01 -2.70530043e-04 5.00620796e+00] [ 1.12181781e-02 -3.52071012e-04 9.99937012e-01 1.01030471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.864391418 meters Centerline goodness [0,1] 0.9991829894207604 Centerline is valid? [True, True] Translation: X:138.86, Y:5.00, Z:1.01 [[ 9.98322524e-01 -5.68194787e-02 -1.11214017e-02 1.38863717e+02] [ 5.68200192e-02 9.98384402e-01 -2.67622698e-04 5.00357809e+00] [ 1.11186402e-02 -3.64744492e-04 9.99938119e-01 1.01021123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.894391418 meters Centerline goodness [0,1] 0.9991605456453305 Centerline is valid? [True, True] Translation: X:138.90, Y:5.01, Z:1.01 [[ 9.98262102e-01 -5.78842547e-02 -1.10538635e-02 1.38895705e+02] [ 5.78848620e-02 9.98323230e-01 -2.65257707e-04 5.00747439e+00] [ 1.10506830e-02 -3.75054647e-04 9.99938869e-01 1.01086945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.924391418 meters Centerline goodness [0,1] 0.9986109649584342 Centerline is valid? [True, True] Translation: X:138.93, Y:5.00, Z:1.01 [[ 9.98151517e-01 -5.95889249e-02 -1.19461125e-02 1.38926452e+02] [ 5.95897658e-02 9.98222910e-01 -2.85859132e-04 5.00366946e+00] [ 1.19419173e-02 -4.26535321e-04 9.99928602e-01 1.01013523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.954391418 meters Centerline goodness [0,1] 0.9988652839942004 Centerline is valid? [True, True] Translation: X:138.96, Y:5.01, Z:1.01 [[ 9.98132266e-01 -5.99460571e-02 -1.17664329e-02 1.38958237e+02] [ 5.99469055e-02 9.98201528e-01 -2.80889927e-04 5.00997511e+00] [ 1.17621095e-02 -4.24995939e-04 9.99930734e-01 1.01083305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.984391418 meters Centerline goodness [0,1] 0.9990097341030719 Centerline is valid? [True, True] Translation: X:138.99, Y:5.01, Z:1.01 [[ 9.98145801e-01 -5.97100929e-02 -1.18180052e-02 1.38988934e+02] [ 5.97109426e-02 9.98215670e-01 -2.81245879e-04 5.01020173e+00] [ 1.18137112e-02 -4.24939839e-04 9.99930125e-01 1.01095009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.014391418 meters Centerline goodness [0,1] 0.9986155976003692 Centerline is valid? [True, True] Translation: X:139.02, Y:5.01, Z:1.01 [[ 9.98185516e-01 -5.89270292e-02 -1.23806897e-02 1.39021020e+02] [ 5.89279127e-02 9.98262197e-01 -2.93747480e-04 5.01231431e+00] [ 1.23764841e-02 -4.36353720e-04 9.99923313e-01 1.01079916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.044391418 meters Centerline goodness [0,1] 0.9986957527820435 Centerline is valid? [True, True] Translation: X:139.05, Y:5.02, Z:1.01 [[ 9.98358160e-01 -5.59609554e-02 -1.22211158e-02 1.39052149e+02] [ 5.59616037e-02 9.98432880e-01 -2.89183385e-04 5.01697623e+00] [ 1.22181468e-02 -3.95204647e-04 9.99925278e-01 1.01101297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.074391418 meters Centerline goodness [0,1] 0.9990354169724674 Centerline is valid? [True, True] Translation: X:139.08, Y:5.02, Z:1.01 [[ 9.98469355e-01 -5.39460574e-02 -1.21971020e-02 1.39083598e+02] [ 5.39465603e-02 9.98543783e-01 -2.88013511e-04 5.01871257e+00] [ 1.21948775e-02 -3.70419032e-04 9.99925571e-01 1.01117547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.104391418 meters Centerline goodness [0,1] 0.9989060231838933 Centerline is valid? [True, True] Translation: X:139.11, Y:5.02, Z:1.01 [[ 9.98694264e-01 -4.97926192e-02 -1.14220276e-02 1.39114461e+02] [ 4.97927952e-02 9.98759533e-01 -2.69138910e-04 5.02447718e+00] [ 1.14212601e-02 -2.99947195e-04 9.99934730e-01 1.01200626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.134391418 meters Centerline goodness [0,1] 0.9989311537252437 Centerline is valid? [True, True] Translation: X:139.15, Y:5.03, Z:1.01 [[ 9.98820156e-01 -4.71848862e-02 -1.14840003e-02 1.39146914e+02] [ 4.71848992e-02 9.98886136e-01 -2.69961170e-04 5.02902864e+00] [ 1.14839468e-02 -2.72228741e-04 9.99934020e-01 1.01268152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.164391418 meters Centerline goodness [0,1] 0.9990969990969991 Centerline is valid? [True, True] Translation: X:139.18, Y:5.03, Z:1.01 [[ 9.98923952e-01 -4.48970775e-02 -1.16271403e-02 1.39178615e+02] [ 4.48969468e-02 9.98991587e-01 -2.72387903e-04 5.03104167e+00] [ 1.16276447e-02 -2.49928299e-04 9.99932365e-01 1.01271244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.194391418 meters Centerline goodness [0,1] 0.9991179991179991 Centerline is valid? [True, True] Translation: X:139.21, Y:5.04, Z:1.01 [[ 9.99120088e-01 -4.02910540e-02 -1.16481860e-02 1.39209831e+02] [ 4.02906186e-02 9.99187966e-01 -2.72135259e-04 5.03715853e+00] [ 1.16496919e-02 -1.97416815e-04 9.99932121e-01 1.01274762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.224391418 meters Centerline goodness [0,1] 0.9991592929653839 Centerline is valid? [True, True] Translation: X:139.24, Y:5.04, Z:1.01 [[ 9.99192631e-01 -3.83792523e-02 -1.18793397e-02 1.39240655e+02] [ 3.83786701e-02 9.99263229e-01 -2.77051877e-04 5.03854242e+00] [ 1.18812204e-02 -1.79085066e-04 9.99929400e-01 1.01210221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.254391418 meters Centerline goodness [0,1] 0.9994753850673606 Centerline is valid? [True, True] Translation: X:139.27, Y:5.04, Z:1.01 [[ 9.99259466e-01 -3.64747901e-02 -1.22519027e-02 1.39271792e+02] [ 3.64740338e-02 9.99334560e-01 -2.85243288e-04 5.04240123e+00] [ 1.22541540e-02 -1.61844258e-04 9.99924902e-01 1.01284148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.284391418 meters Centerline goodness [0,1] 0.9995373096660217 Centerline is valid? [True, True] Translation: X:139.30, Y:5.04, Z:1.01 [[ 9.99325364e-01 -3.45029149e-02 -1.25843054e-02 1.39302708e+02] [ 3.45019672e-02 9.99404587e-01 -2.92472474e-04 5.04475980e+00] [ 1.25869037e-02 -1.41908129e-04 9.99920772e-01 1.01272449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.314391418 meters Centerline goodness [0,1] 0.9991801038535119 Centerline is valid? [True, True] Translation: X:139.33, Y:5.05, Z:1.01 [[ 9.99407895e-01 -3.16079528e-02 -1.35940097e-02 1.39334061e+02] [ 3.16065867e-02 9.99500337e-01 -3.15375542e-04 5.04715856e+00] [ 1.35971857e-02 -1.14471441e-04 9.99907547e-01 1.01218350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34439141800001 meters Centerline goodness [0,1] 0.9991172019505633 Centerline is valid? [True, True] Translation: X:139.36, Y:5.05, Z:1.01 [[ 9.99431154e-01 -3.08355142e-02 -1.36579497e-02 1.39363719e+02] [ 3.08340651e-02 9.99524467e-01 -3.16710821e-04 5.04801635e+00] [ 1.36612209e-02 -1.04599450e-04 9.99906676e-01 1.01194978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37439141800002 meters Centerline goodness [0,1] 0.9992430295639009 Centerline is valid? [True, True] Translation: X:139.39, Y:5.05, Z:1.01 [[ 9.99434601e-01 -3.01130982e-02 -1.49559026e-02 1.39394009e+02] [ 3.01112774e-02 9.99546492e-01 -3.46959528e-04 5.04921969e+00] [ 1.49595680e-02 -1.03577975e-04 9.99888094e-01 1.01206824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40439141800002 meters Centerline goodness [0,1] 0.9994108983799705 Centerline is valid? [True, True] Translation: X:139.42, Y:5.05, Z:1.01 [[ 9.99424795e-01 -3.03597444e-02 -1.51117564e-02 1.39424344e+02] [ 3.03579137e-02 9.99539031e-01 -3.50575154e-04 5.04944647e+00] [ 1.51154337e-02 -1.08387895e-04 9.99885749e-01 1.01228148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43439141800002 meters Centerline goodness [0,1] 0.9992841803865425 Centerline is valid? [True, True] Translation: X:139.45, Y:5.05, Z:1.01 [[ 9.99365578e-01 -3.22019190e-02 -1.52143964e-02 1.39454305e+02] [ 3.22002764e-02 9.99481374e-01 -3.52983656e-04 5.04736004e+00] [ 1.52178726e-02 -1.37148054e-04 9.99884192e-01 1.01216415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46439141800002 meters Centerline goodness [0,1] 0.9993684609393091 Centerline is valid? [True, True] Translation: X:139.48, Y:5.05, Z:1.01 [[ 9.99331800e-01 -3.32620179e-02 -1.51522816e-02 1.39484350e+02] [ 3.32605102e-02 9.99446654e-01 -3.51565829e-04 5.04763627e+00] [ 1.51555910e-02 -1.52641705e-04 9.99885136e-01 1.01343996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.494391418 meters Centerline goodness [0,1] 0.9989263609953265 Centerline is valid? [True, True] Translation: X:139.51, Y:5.05, Z:1.01 [[ 9.99282238e-01 -3.47050702e-02 -1.51844074e-02 1.39513973e+02] [ 3.47037201e-02 9.99397582e-01 -3.52479491e-04 5.04624709e+00] [ 1.51874928e-02 -1.74728927e-04 9.99884648e-01 1.01356713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.524391418 meters Centerline goodness [0,1] 0.9988639949510887 Centerline is valid? [True, True] Translation: X:139.54, Y:5.05, Z:1.01 [[ 9.99247360e-01 -3.57790552e-02 -1.49857518e-02 1.39544347e+02] [ 3.57778588e-02 9.99359707e-01 -3.48010363e-04 5.04586095e+00] [ 1.49886080e-02 -1.88409673e-04 9.99887647e-01 1.01454523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.554391418 meters Centerline goodness [0,1] 0.9988647830474269 Centerline is valid? [True, True] Translation: X:139.57, Y:5.04, Z:1.02 [[ 9.99151408e-01 -3.84020334e-02 -1.48912202e-02 1.39574355e+02] [ 3.84011456e-02 9.99262344e-01 -3.45654136e-04 5.04336960e+00] [ 1.48935094e-02 -2.26479097e-04 9.99889060e-01 1.01564421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.584391418 meters Centerline goodness [0,1] 0.9991170906033214 Centerline is valid? [True, True] Translation: X:139.61, Y:5.04, Z:1.02 [[ 9.99097094e-01 -3.98693835e-02 -1.46775203e-02 1.39606153e+02] [ 3.98686859e-02 9.99204870e-01 -3.40240507e-04 5.04229295e+00] [ 1.46794149e-02 -2.45240144e-04 9.99892222e-01 1.01642297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.614391418 meters Centerline goodness [0,1] 0.9989714525608732 Centerline is valid? [True, True] Translation: X:139.64, Y:5.04, Z:1.02 [[ 9.98938637e-01 -4.38683397e-02 -1.40416470e-02 1.39636277e+02] [ 4.38681019e-02 9.99037279e-01 -3.25086061e-04 5.03797833e+00] [ 1.40423898e-02 -2.91239374e-04 9.99901358e-01 1.01694522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.644391418 meters Centerline goodness [0,1] 0.9986772486772487 Centerline is valid? [True, True] Translation: X:139.67, Y:5.04, Z:1.02 [[ 9.98820117e-01 -4.63331404e-02 -1.45469552e-02 1.39667823e+02] [ 4.63331530e-02 9.98925986e-01 -3.36339088e-04 5.03533540e+00] [ 1.45469152e-02 -3.38064052e-04 9.99894131e-01 1.01670244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.674391418 meters Centerline goodness [0,1] 0.9985085600252074 Centerline is valid? [True, True] Translation: X:139.70, Y:5.03, Z:1.02 [[ 9.98691301e-01 -4.89461217e-02 -1.48311388e-02 1.39698972e+02] [ 4.89464315e-02 9.98801346e-01 -3.42311021e-04 5.03307548e+00] [ 1.48301162e-02 -3.84068280e-04 9.99889954e-01 1.01687740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.704391418 meters Centerline goodness [0,1] 0.9991619175326852 Centerline is valid? [True, True] Translation: X:139.73, Y:5.03, Z:1.02 [[ 9.98428616e-01 -5.35613024e-02 -1.64768181e-02 1.39729757e+02] [ 5.35623209e-02 9.98564436e-01 -3.79790951e-04 5.02784588e+00] [ 1.64735067e-02 -5.03342466e-04 9.99864176e-01 1.01587559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.734391418 meters Centerline goodness [0,1] 0.9987877014401271 Centerline is valid? [True, True] Translation: X:139.76, Y:5.02, Z:1.02 [[ 9.98281514e-01 -5.64230272e-02 -1.58259755e-02 1.39760432e+02] [ 5.64243309e-02 9.98406812e-01 -3.64477779e-04 5.02455909e+00] [ 1.58213267e-02 -5.29118648e-04 9.99874695e-01 1.01669074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.764391418 meters Centerline goodness [0,1] 0.9987853148757042 Centerline is valid? [True, True] Translation: X:139.79, Y:5.02, Z:1.02 [[ 9.98034447e-01 -6.03037850e-02 -1.70498141e-02 1.39791082e+02] [ 6.03058695e-02 9.98179868e-01 -3.92318903e-04 5.02019736e+00] [ 1.70424395e-02 -6.36656084e-04 9.99854564e-01 1.01659451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.794391418 meters Centerline goodness [0,1] 0.9986835231428273 Centerline is valid? [True, True] Translation: X:139.82, Y:5.02, Z:1.02 [[ 9.97930595e-01 -6.20497226e-02 -1.68629423e-02 1.39821715e+02] [ 6.20520160e-02 9.98072842e-01 -3.87696581e-04 5.01811461e+00] [ 1.68545012e-02 -6.59485288e-04 9.99857735e-01 1.01686856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.824391418 meters Centerline goodness [0,1] 0.9986835231428273 Centerline is valid? [True, True] Translation: X:139.85, Y:5.02, Z:1.02 [[ 9.97932961e-01 -6.20116549e-02 -1.68629541e-02 1.39852575e+02] [ 6.20139515e-02 9.98075208e-01 -3.87186538e-04 5.01878285e+00] [ 1.68545064e-02 -6.59352206e-04 9.99857735e-01 1.01708490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.854391418 meters Centerline goodness [0,1] 0.9995390932707617 Centerline is valid? [True, True] Translation: X:139.88, Y:5.02, Z:1.02 [[ 9.97916764e-01 -6.20981565e-02 -1.74914477e-02 1.39883068e+02] [ 6.21006491e-02 9.98069811e-01 -4.01141401e-04 5.01797072e+00] [ 1.74825960e-02 -6.85924526e-04 9.99846932e-01 1.01721625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.884391418 meters Centerline goodness [0,1] 0.9991430303283657 Centerline is valid? [True, True] Translation: X:139.91, Y:5.02, Z:1.02 [[ 9.97938324e-01 -6.17159386e-02 -1.76137493e-02 1.39913317e+02] [ 6.17184091e-02 9.98093520e-01 -4.03812644e-04 5.02042231e+00] [ 1.76050907e-02 -6.84112471e-04 9.99844784e-01 1.01745756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.914391418 meters Centerline goodness [0,1] 0.9991834512792597 Centerline is valid? [True, True] Translation: X:139.94, Y:5.02, Z:1.02 [[ 9.98019715e-01 -6.02831790e-02 -1.79606964e-02 1.39943245e+02] [ 6.02855198e-02 9.98181089e-01 -4.11560209e-04 5.02248106e+00] [ 1.79528377e-02 -6.72024718e-04 9.99838609e-01 1.01701355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.944391418 meters Centerline goodness [0,1] 0.9987224863347923 Centerline is valid? [True, True] Translation: X:139.97, Y:5.02, Z:1.02 [[ 9.98062962e-01 -5.94417381e-02 -1.83576715e-02 1.39973668e+02] [ 5.94440440e-02 9.98231551e-01 -4.20521641e-04 5.02453746e+00] [ 1.83502034e-02 -6.71547156e-04 9.99831395e-01 1.01682498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.974391418 meters Centerline goodness [0,1] 0.998679023735637 Centerline is valid? [True, True] Translation: X:140.00, Y:5.03, Z:1.02 [[ 9.98097405e-01 -5.87417799e-02 -1.87342991e-02 1.40004871e+02] [ 5.87440671e-02 9.98272984e-01 -4.28678018e-04 5.03105582e+00] [ 1.87271259e-02 -6.72666505e-04 9.99824406e-01 1.01794215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.004391418 meters Centerline goodness [0,1] 0.9987006182542177 Centerline is valid? [True, True] Translation: X:140.04, Y:5.03, Z:1.02 [[ 9.98129990e-01 -5.81520008e-02 -1.88379390e-02 1.40035615e+02] [ 5.81542182e-02 9.98307519e-01 -4.30531193e-04 5.02907149e+00] [ 1.88310924e-02 -6.65779519e-04 9.99822458e-01 1.01640124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.034391418 meters Centerline goodness [0,1] 0.9990588924209469 Centerline is valid? [True, True] Translation: X:140.07, Y:5.03, Z:1.02 [[ 9.98145586e-01 -5.80344538e-02 -1.83682283e-02 1.40065805e+02] [ 5.80365446e-02 9.98314371e-01 -4.19660327e-04 5.03279280e+00] [ 1.83616210e-02 -6.47146396e-04 9.99831202e-01 1.01755639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.064391418 meters Centerline goodness [0,1] 0.9985301837270342 Centerline is valid? [True, True] Translation: X:140.10, Y:5.03, Z:1.02 [[ 9.98141931e-01 -5.81803861e-02 -1.81032407e-02 1.40097589e+02] [ 5.81824488e-02 9.98305881e-01 -4.13178130e-04 5.03394978e+00] [ 1.80966106e-02 -6.40880460e-04 9.99836038e-01 1.01804850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09439141800001 meters Centerline goodness [0,1] 0.9985301837270342 Centerline is valid? [True, True] Translation: X:140.13, Y:5.03, Z:1.02 [[ 9.98144173e-01 -5.81419163e-02 -1.81032566e-02 1.40128446e+02] [ 5.81439852e-02 9.98308122e-01 -4.12480397e-04 5.03461317e+00] [ 1.80966105e-02 -6.40880582e-04 9.99836038e-01 1.01826479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12439141800002 meters Centerline goodness [0,1] 0.9989275350128275 Centerline is valid? [True, True] Translation: X:140.16, Y:5.04, Z:1.02 [[ 9.98132803e-01 -5.85116846e-02 -1.75297061e-02 1.40159457e+02] [ 5.85136934e-02 9.98286526e-01 -3.98727831e-04 5.03770132e+00] [ 1.75229996e-02 -6.27744520e-04 9.99846263e-01 1.02014567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15439141800002 meters Centerline goodness [0,1] 0.9988669268538336 Centerline is valid? [True, True] Translation: X:140.19, Y:5.04, Z:1.02 [[ 9.98123925e-01 -5.88427897e-02 -1.69161656e-02 1.40189879e+02] [ 5.88447233e-02 9.98267074e-01 -3.83856046e-04 5.03741185e+00] [ 1.69094383e-02 -6.12291178e-04 9.99856838e-01 1.02049647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18439141800002 meters Centerline goodness [0,1] 0.9985935007137459 Centerline is valid? [True, True] Translation: X:140.22, Y:5.04, Z:1.02 [[ 9.98102143e-01 -5.93101059e-02 -1.65657380e-02 1.40221282e+02] [ 5.93120380e-02 9.98239421e-01 -3.75078907e-04 5.03876917e+00] [ 1.65588186e-02 -6.08180619e-04 9.99862708e-01 1.02137436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21439141800002 meters Centerline goodness [0,1] 0.999057018922487 Centerline is valid? [True, True] Translation: X:140.25, Y:5.04, Z:1.02 [[ 9.98073046e-01 -5.99760913e-02 -1.59079419e-02 1.40252992e+02] [ 5.99779673e-02 9.98199636e-01 -3.59567042e-04 5.04016557e+00] [ 1.59008672e-02 -5.95251845e-04 9.99873396e-01 1.02226901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.244391418 meters Centerline goodness [0,1] 0.9994325466047372 Centerline is valid? [True, True] Translation: X:140.29, Y:5.04, Z:1.02 [[ 9.98085440e-01 -5.98536219e-02 -1.55884220e-02 1.40285658e+02] [ 5.98554233e-02 9.98206995e-01 -3.51392736e-04 5.04116091e+00] [ 1.55815040e-02 -5.82331625e-04 9.99878431e-01 1.02239307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.274391418 meters Centerline goodness [0,1] 0.999265014699706 Centerline is valid? [True, True] Translation: X:140.32, Y:5.04, Z:1.02 [[ 9.98111003e-01 -5.94939678e-02 -1.53262481e-02 1.40318063e+02] [ 5.94956851e-02 9.98228503e-01 -3.44277005e-04 5.04294172e+00] [ 1.53195801e-02 -5.68218967e-04 9.99882487e-01 1.02295397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.304391418 meters Centerline goodness [0,1] 0.9991609330424568 Centerline is valid? [True, True] Translation: X:140.35, Y:5.04, Z:1.02 [[ 9.98154569e-01 -5.88289772e-02 -1.50535176e-02 1.40349848e+02] [ 5.88305738e-02 9.98267925e-01 -3.37129194e-04 5.04495796e+00] [ 1.50472767e-02 -5.49100030e-04 9.99886633e-01 1.02345567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.334391418 meters Centerline goodness [0,1] 0.9991172019505633 Centerline is valid? [True, True] Translation: X:140.38, Y:5.05, Z:1.02 [[ 9.98225418e-01 -5.74795250e-02 -1.55601829e-02 1.40379753e+02] [ 5.74810764e-02 9.98346535e-01 -3.47880022e-04 5.04623148e+00] [ 1.55544506e-02 -5.47153379e-04 9.99878873e-01 1.02259379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.364391418 meters Centerline goodness [0,1] 0.9991381484907088 Centerline is valid? [True, True] Translation: X:140.41, Y:5.05, Z:1.02 [[ 9.98388608e-01 -5.47021773e-02 -1.50949947e-02 1.40411513e+02] [ 5.47033297e-02 9.98502595e-01 -3.36851828e-04 5.05348397e+00] [ 1.50908179e-02 -4.89437444e-04 9.99886007e-01 1.02461062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.394391418 meters Centerline goodness [0,1] 0.9992008916367001 Centerline is valid? [True, True] Translation: X:140.44, Y:5.06, Z:1.02 [[ 9.98494703e-01 -5.26356607e-02 -1.54212306e-02 1.40442204e+02] [ 5.26366266e-02 9.98613673e-01 -3.43524948e-04 5.05510419e+00] [ 1.54179333e-02 -4.68713713e-04 9.99881027e-01 1.02441449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.424391418 meters Centerline goodness [0,1] 0.9992230481710134 Centerline is valid? [True, True] Translation: X:140.47, Y:5.06, Z:1.03 [[ 9.98766229e-01 -4.72181816e-02 -1.53773433e-02 1.40473228e+02] [ 4.72185049e-02 9.98884526e-01 -3.42241600e-04 5.06175317e+00] [ 1.53763503e-02 -3.84275809e-04 9.99881703e-01 1.02522175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.454391418 meters Centerline goodness [0,1] 0.9992230481710134 Centerline is valid? [True, True] Translation: X:140.50, Y:5.06, Z:1.03 [[ 9.98768092e-01 -4.71787619e-02 -1.53773537e-02 1.40504075e+02] [ 4.71790878e-02 9.98886388e-01 -3.41772881e-04 5.06240029e+00] [ 1.53763538e-02 -3.84137674e-04 9.99881703e-01 1.02543800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.484391418 meters Centerline goodness [0,1] 0.9991374050619596 Centerline is valid? [True, True] Translation: X:140.53, Y:5.07, Z:1.03 [[ 9.99039519e-01 -4.11700991e-02 -1.50020984e-02 1.40534884e+02] [ 4.11697408e-02 9.99152111e-01 -3.32847370e-04 5.06882542e+00] [ 1.50030817e-02 -2.85104828e-04 9.99887407e-01 1.02572518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.514391418 meters Centerline goodness [0,1] 0.9992850985092201 Centerline is valid? [True, True] Translation: X:140.57, Y:5.07, Z:1.03 [[ 9.99149923e-01 -3.82725276e-02 -1.53181476e-02 1.40565844e+02] [ 3.82718168e-02 9.99267308e-01 -3.39650460e-04 5.07346326e+00] [ 1.53199234e-02 -2.46891609e-04 9.99882613e-01 1.02625913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.544391418 meters Centerline goodness [0,1] 0.9990952701565393 Centerline is valid? [True, True] Translation: X:140.60, Y:5.08, Z:1.03 [[ 9.99251839e-01 -3.56477140e-02 -1.50000597e-02 1.40595908e+02] [ 3.56467382e-02 9.99364398e-01 -3.32498590e-04 5.07502773e+00] [ 1.50023784e-02 -2.02453372e-04 9.99887437e-01 1.02553225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.574391418 meters Centerline goodness [0,1] 0.9990969232384753 Centerline is valid? [True, True] Translation: X:140.63, Y:5.08, Z:1.03 [[ 9.99414572e-01 -3.05791533e-02 -1.53436713e-02 1.40625956e+02] [ 3.05775371e-02 9.99532340e-01 -3.39972407e-04 5.08188548e+00] [ 1.53468917e-02 -1.29398301e-04 9.99882221e-01 1.02656686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.604391418 meters Centerline goodness [0,1] 0.9991157894736842 Centerline is valid? [True, True] Translation: X:140.66, Y:5.08, Z:1.03 [[ 9.99465332e-01 -2.89714605e-02 -1.51559840e-02 1.40656707e+02] [ 2.89696988e-02 9.99580234e-01 -3.35813788e-04 5.08396742e+00] [ 1.51593511e-02 -1.03430054e-04 9.99885085e-01 1.02644911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.634391418 meters Centerline goodness [0,1] 0.9990742883591761 Centerline is valid? [True, True] Translation: X:140.69, Y:5.09, Z:1.03 [[ 9.99493583e-01 -2.78639267e-02 -1.53681292e-02 1.40685812e+02] [ 2.78619849e-02 9.99611722e-01 -3.40488032e-04 5.08555773e+00] [ 1.53716494e-02 -8.78709791e-05 9.99881845e-01 1.02670597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.664391418 meters Centerline goodness [0,1] 0.999284767654669 Centerline is valid? [True, True] Translation: X:140.72, Y:5.09, Z:1.03 [[ 9.99495744e-01 -2.78755596e-02 -1.52056139e-02 1.40715131e+02] [ 2.78736554e-02 9.99611397e-01 -3.37186991e-04 5.08600891e+00] [ 1.52091042e-02 -8.68190786e-05 9.99884331e-01 1.02686932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.694391418 meters Centerline goodness [0,1] 0.9991816350512003 Centerline is valid? [True, True] Translation: X:140.75, Y:5.09, Z:1.03 [[ 9.99478830e-01 -2.86576411e-02 -1.48595955e-02 1.40745119e+02] [ 2.86559027e-02 9.99589281e-01 -3.29934960e-04 5.08571513e+00] [ 1.48629475e-02 -9.60521150e-05 9.99889536e-01 1.02735176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.724391418 meters Centerline goodness [0,1] 0.9993498594857598 Centerline is valid? [True, True] Translation: X:140.77, Y:5.08, Z:1.03 [[ 9.99388899e-01 -3.18274401e-02 -1.44513842e-02 1.40774777e+02] [ 3.18261233e-02 9.99493369e-01 -3.21146429e-04 5.08129687e+00] [ 1.44542840e-02 -1.38981360e-04 9.99895522e-01 1.02689013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.754391418 meters Centerline goodness [0,1] 0.9992657856093979 Centerline is valid? [True, True] Translation: X:140.81, Y:5.08, Z:1.03 [[ 9.99314277e-01 -3.39734220e-02 -1.47235340e-02 1.40805653e+02] [ 3.39722860e-02 9.99422722e-01 -3.27331237e-04 5.08099804e+00] [ 1.47261550e-02 -1.73085330e-04 9.99891549e-01 1.02810573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.784391418 meters Centerline goodness [0,1] 0.9992871370164588 Centerline is valid? [True, True] Translation: X:140.84, Y:5.08, Z:1.03 [[ 9.99227902e-01 -3.62596495e-02 -1.51273545e-02 1.40836516e+02] [ 3.62587123e-02 9.99342380e-01 -3.36308910e-04 5.07875839e+00] [ 1.51296009e-02 -2.12449149e-04 9.99885518e-01 1.02797020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.814391418 meters Centerline goodness [0,1] 0.9989532084162044 Centerline is valid? [True, True] Translation: X:140.87, Y:5.07, Z:1.03 [[ 9.99062391e-01 -4.07398972e-02 -1.46492302e-02 1.40867114e+02] [ 4.07395018e-02 9.99169749e-01 -3.25535508e-04 5.07321545e+00] [ 1.46503299e-02 -2.71572056e-04 9.99892641e-01 1.02777970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84439141800001 meters Centerline goodness [0,1] 0.9991826127051328 Centerline is valid? [True, True] Translation: X:140.90, Y:5.07, Z:1.03 [[ 9.98976592e-01 -4.27136594e-02 -1.48765389e-02 1.40898009e+02] [ 4.27134723e-02 9.99087309e-01 -3.30452838e-04 5.07159250e+00] [ 1.48770760e-02 -3.05313980e-04 9.99889284e-01 1.02829218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87439141800002 meters Centerline goodness [0,1] 0.9990177843723225 Centerline is valid? [True, True] Translation: X:140.93, Y:5.07, Z:1.03 [[ 9.98827536e-01 -4.60694185e-02 -1.48714896e-02 1.40929062e+02] [ 4.60696054e-02 9.98938177e-01 -3.30194980e-04 5.06839787e+00] [ 1.48709106e-02 -3.55315817e-04 9.99889359e-01 1.02868047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90439141800002 meters Centerline goodness [0,1] 0.9987429289754871 Centerline is valid? [True, True] Translation: X:140.96, Y:5.07, Z:1.03 [[ 9.98764667e-01 -4.73872544e-02 -1.49528403e-02 1.40959956e+02] [ 4.73875994e-02 9.98876522e-01 -3.31432843e-04 5.06740813e+00] [ 1.49517468e-02 -3.77555791e-04 9.99888145e-01 1.02872193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93439141800002 meters Centerline goodness [0,1] 0.9992066805845512 Centerline is valid? [True, True] Translation: X:140.99, Y:5.07, Z:1.03 [[ 9.98726036e-01 -4.82146305e-02 -1.48880346e-02 1.40990335e+02] [ 4.82150768e-02 9.98836923e-01 -3.29165652e-04 5.06606627e+00] [ 1.48865893e-02 -3.89081427e-04 9.99889113e-01 1.02885517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96439141800002 meters Centerline goodness [0,1] 0.9989965086864717 Centerline is valid? [True, True] Translation: X:141.02, Y:5.06, Z:1.03 [[ 9.98647797e-01 -4.97618274e-02 -1.50445691e-02 1.41020966e+02] [ 4.97624668e-02 9.98761026e-01 -3.32079801e-04 5.06409887e+00] [ 1.50424542e-02 -4.17024110e-04 9.99886769e-01 1.02879029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.994391418 meters Centerline goodness [0,1] 0.9990379789191902 Centerline is valid? [True, True] Translation: X:141.05, Y:5.06, Z:1.03 [[ 9.98610946e-01 -5.05052502e-02 -1.50132556e-02 1.41051943e+02] [ 5.05059771e-02 9.98723704e-01 -3.30974050e-04 5.06320093e+00] [ 1.50108102e-02 -4.27744833e-04 9.99887240e-01 1.02892711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.024391418 meters Centerline goodness [0,1] 0.9991836734693877 Centerline is valid? [True, True] Translation: X:141.08, Y:5.07, Z:1.03 [[ 9.98585121e-01 -5.10432491e-02 -1.49111605e-02 1.41083269e+02] [ 5.10440346e-02 9.98696350e-01 -3.28149368e-04 5.06935623e+00] [ 1.49084714e-02 -4.33440719e-04 9.99888769e-01 1.03114245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.054391418 meters Centerline goodness [0,1] 0.9989118834878319 Centerline is valid? [True, True] Translation: X:141.11, Y:5.07, Z:1.03 [[ 9.98531131e-01 -5.20104366e-02 -1.51820390e-02 1.41114835e+02] [ 5.20113746e-02 9.98646437e-01 -3.33317692e-04 5.06702651e+00] [ 1.51788251e-02 -4.56810623e-04 9.99884691e-01 1.03110323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.084391418 meters Centerline goodness [0,1] 0.9988660464920939 Centerline is valid? [True, True] Translation: X:141.15, Y:5.07, Z:1.03 [[ 9.98483236e-01 -5.27586876e-02 -1.57400201e-02 1.41146287e+02] [ 5.27598012e-02 9.98607172e-01 -3.44778485e-04 5.06662070e+00] [ 1.57362870e-02 -4.86184793e-04 9.99876059e-01 1.03113016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.114391418 meters Centerline goodness [0,1] 0.9988692993843963 Centerline is valid? [True, True] Translation: X:141.18, Y:5.07, Z:1.03 [[ 9.98450309e-01 -5.33109574e-02 -1.59662947e-02 1.41177904e+02] [ 5.33121839e-02 9.98577833e-01 -3.49100188e-04 5.06640694e+00] [ 1.59621989e-02 -5.02638850e-04 9.99872470e-01 1.03120691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.144391418 meters Centerline goodness [0,1] 0.9989490499411467 Centerline is valid? [True, True] Translation: X:141.21, Y:5.06, Z:1.03 [[ 9.98340495e-01 -5.52304558e-02 -1.63050113e-02 1.41208946e+02] [ 5.52320013e-02 9.98473485e-01 -3.55851290e-04 5.06484137e+00] [ 1.62997752e-02 -5.45297649e-04 9.99867001e-01 1.03117428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.174391418 meters Centerline goodness [0,1] 0.9990150467328891 Centerline is valid? [True, True] Translation: X:141.24, Y:5.06, Z:1.03 [[ 9.98280492e-01 -5.61143414e-02 -1.69481816e-02 1.41240125e+02] [ 5.61161501e-02 9.98424179e-01 -3.69200436e-04 5.06363954e+00] [ 1.69421917e-02 -5.82501108e-04 9.99856301e-01 1.03078973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.204391418 meters Centerline goodness [0,1] 0.9989509022240873 Centerline is valid? [True, True] Translation: X:141.27, Y:5.06, Z:1.03 [[ 9.98185991e-01 -5.76088193e-02 -1.74914383e-02 1.41270299e+02] [ 5.76109902e-02 9.98339035e-01 -3.80165795e-04 5.06131880e+00] [ 1.74842865e-02 -6.28222910e-04 9.99846941e-01 1.02975076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.234391418 meters Centerline goodness [0,1] 0.9987231548541048 Centerline is valid? [True, True] Translation: X:141.30, Y:5.06, Z:1.03 [[ 9.98167930e-01 -5.78099626e-02 -1.78547503e-02 1.41301146e+02] [ 5.78122677e-02 9.98327397e-01 -3.87453797e-04 5.06144053e+00] [ 1.78472851e-02 -6.45479651e-04 9.99840516e-01 1.02920265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.264391418 meters Centerline goodness [0,1] 0.9990565444367571 Centerline is valid? [True, True] Translation: X:141.33, Y:5.06, Z:1.03 [[ 9.98170473e-01 -5.77593143e-02 -1.78764559e-02 1.41332977e+02] [ 5.77616270e-02 9.98330328e-01 -3.87361789e-04 5.06217501e+00] [ 1.78689818e-02 -6.45920078e-04 9.99840128e-01 1.02928470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.294391418 meters Centerline goodness [0,1] 0.9988486497801968 Centerline is valid? [True, True] Translation: X:141.36, Y:5.06, Z:1.03 [[ 9.98205555e-01 -5.71934289e-02 -1.77364270e-02 1.41364242e+02] [ 5.71956287e-02 9.98362916e-01 -3.83627718e-04 5.06434386e+00] [ 1.77293319e-02 -6.31506772e-04 9.99842624e-01 1.02993092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.324391418 meters Centerline goodness [0,1] 0.998801841380615 Centerline is valid? [True, True] Translation: X:141.39, Y:5.06, Z:1.03 [[ 9.98311370e-01 -5.55846793e-02 -1.68745950e-02 1.41394418e+02] [ 5.55864486e-02 9.98453812e-01 -3.64526264e-04 5.06436421e+00] [ 1.68687657e-02 -5.74088093e-04 9.99857547e-01 1.03033134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.354391418 meters Centerline goodness [0,1] 0.9988859226872385 Centerline is valid? [True, True] Translation: X:141.43, Y:5.07, Z:1.03 [[ 9.98394109e-01 -5.41647085e-02 -1.65948247e-02 1.41425890e+02] [ 5.41662323e-02 9.98531868e-01 -3.57967433e-04 5.06853985e+00] [ 1.65898506e-02 -5.41486555e-04 9.99862232e-01 1.03165778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.384391418 meters Centerline goodness [0,1] 0.9989687684148497 Centerline is valid? [True, True] Translation: X:141.46, Y:5.07, Z:1.03 [[ 9.98491088e-01 -5.24195735e-02 -1.63626409e-02 1.41456884e+02] [ 5.24208314e-02 9.98625021e-01 -3.52309450e-04 5.07175571e+00] [ 1.63586105e-02 -5.05965392e-04 9.99866061e-01 1.03269163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.414391418 meters Centerline goodness [0,1] 0.9990955936481228 Centerline is valid? [True, True] Translation: X:141.49, Y:5.07, Z:1.03 [[ 9.98661670e-01 -4.92037062e-02 -1.59331070e-02 1.41487425e+02] [ 4.92044972e-02 9.98788666e-01 -3.42608746e-04 5.07308371e+00] [ 1.59306643e-02 -4.41830295e-04 9.99873001e-01 1.03295038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.444391418 meters Centerline goodness [0,1] 0.9990325158793589 Centerline is valid? [True, True] Translation: X:141.52, Y:5.08, Z:1.03 [[ 9.98726737e-01 -4.78255055e-02 -1.60507516e-02 1.41519178e+02] [ 4.78261411e-02 9.98855616e-01 -3.44464849e-04 5.07756932e+00] [ 1.60488576e-02 -4.23619255e-04 9.99871119e-01 1.03388047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.474391418 meters Centerline goodness [0,1] 0.9990294334845448 Centerline is valid? [True, True] Translation: X:141.55, Y:5.08, Z:1.03 [[ 9.98823831e-01 -4.58050486e-02 -1.59013262e-02 1.41550467e+02] [ 4.58054286e-02 9.98950322e-01 -3.40500008e-04 5.08152437e+00] [ 1.59002315e-02 -3.88267538e-04 9.99873508e-01 1.03421419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.504391418 meters Centerline goodness [0,1] 0.9992811079395285 Centerline is valid? [True, True] Translation: X:141.58, Y:5.08, Z:1.04 [[ 9.98852600e-01 -4.53153456e-02 -1.54920429e-02 1.41581930e+02] [ 4.53156569e-02 9.98972663e-01 -3.31125047e-04 5.08429232e+00] [ 1.54911324e-02 -3.71286986e-04 9.99879936e-01 1.03508250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.534391418 meters Centerline goodness [0,1] 0.999030578912984 Centerline is valid? [True, True] Translation: X:141.61, Y:5.09, Z:1.04 [[ 9.98861872e-01 -4.52758241e-02 -1.50020110e-02 1.41612921e+02] [ 4.52761205e-02 9.98974459e-01 -3.20052527e-04 5.08546203e+00] [ 1.50011164e-02 -3.59544589e-04 9.99887412e-01 1.03530080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.564391418 meters Centerline goodness [0,1] 0.9990104846519854 Centerline is valid? [True, True] Translation: X:141.64, Y:5.08, Z:1.03 [[ 9.98799803e-01 -4.68635822e-02 -1.42393043e-02 1.41643616e+02] [ 4.68640163e-02 9.98901232e-01 -3.03365905e-04 5.08276575e+00] [ 1.42378754e-02 -3.64309183e-04 9.99898570e-01 1.03436755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59439141800001 meters Centerline goodness [0,1] 0.9989717763088868 Centerline is valid? [True, True] Translation: X:141.67, Y:5.08, Z:1.03 [[ 9.98745938e-01 -4.81988536e-02 -1.35433220e-02 1.41674666e+02] [ 4.81993743e-02 9.98837693e-01 -2.88148110e-04 5.08374905e+00] [ 1.35414689e-02 -3.64992893e-04 9.99908243e-01 1.03495832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62439141800002 meters Centerline goodness [0,1] 0.9989480106882114 Centerline is valid? [True, True] Translation: X:141.71, Y:5.09, Z:1.04 [[ 9.98657255e-01 -5.00063457e-02 -1.35296920e-02 1.41706241e+02] [ 5.00070402e-02 9.98748824e-01 -2.87175482e-04 5.08608525e+00] [ 1.35271245e-02 -3.89789972e-04 9.99908428e-01 1.03566493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65439141800002 meters Centerline goodness [0,1] 0.9989504838269557 Centerline is valid? [True, True] Translation: X:141.74, Y:5.08, Z:1.04 [[ 9.98456755e-01 -5.39557842e-02 -1.31484519e-02 1.41737205e+02] [ 5.39567912e-02 9.98543233e-01 -2.78401825e-04 5.08321528e+00] [ 1.31443191e-02 -4.31476093e-04 9.99913517e-01 1.03505719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68439141800002 meters Centerline goodness [0,1] 0.9989076318719409 Centerline is valid? [True, True] Translation: X:141.77, Y:5.08, Z:1.04 [[ 9.98357031e-01 -5.57514652e-02 -1.32292435e-02 1.41769368e+02] [ 5.57526528e-02 9.98444572e-01 -2.79302324e-04 5.08442748e+00] [ 1.32242379e-02 -4.58721980e-04 9.99912451e-01 1.03554008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71439141800002 meters Centerline goodness [0,1] 0.9987841180663285 Centerline is valid? [True, True] Translation: X:141.80, Y:5.08, Z:1.03 [[ 9.98118167e-01 -5.98475505e-02 -1.33564428e-02 1.41799169e+02] [ 5.98491350e-02 9.98207394e-01 -2.81399825e-04 5.08210629e+00] [ 1.33493410e-02 -5.18501268e-04 9.99910759e-01 1.03492046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.744391418 meters Centerline goodness [0,1] 0.9987425864995704 Centerline is valid? [True, True] Translation: X:141.83, Y:5.08, Z:1.03 [[ 9.97991983e-01 -6.19534135e-02 -1.31824436e-02 1.41831327e+02] [ 6.19551470e-02 9.98078896e-01 -2.77226954e-04 5.08146695e+00] [ 1.31742939e-02 -5.40049956e-04 9.99913069e-01 1.03480043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.774391418 meters Centerline goodness [0,1] 0.9988651647612643 Centerline is valid? [True, True] Translation: X:141.86, Y:5.08, Z:1.03 [[ 9.97873589e-01 -6.38858373e-02 -1.29189491e-02 1.41862226e+02] [ 6.38876758e-02 9.97957059e-01 -2.70760373e-04 5.08001013e+00] [ 1.29098542e-02 -5.55177005e-04 9.99916510e-01 1.03486923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.804391418 meters Centerline goodness [0,1] 0.9985520324008982 Centerline is valid? [True, True] Translation: X:141.89, Y:5.08, Z:1.03 [[ 9.97747353e-01 -6.58778326e-02 -1.26622092e-02 1.41894658e+02] [ 6.58797699e-02 9.97827533e-01 -2.64502480e-04 5.07873843e+00] [ 1.26521258e-02 -5.70276781e-04 9.99919796e-01 1.03468735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.834391418 meters Centerline goodness [0,1] 0.9983412073490814 Centerline is valid? [True, True] Translation: X:141.93, Y:5.08, Z:1.03 [[ 9.97511236e-01 -6.94615360e-02 -1.21007777e-02 1.41925461e+02] [ 6.94635761e-02 9.97584457e-01 -2.52131292e-04 5.07781853e+00] [ 1.20890612e-02 -5.89059495e-04 9.99926751e-01 1.03497580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.864391418 meters Centerline goodness [0,1] 0.9981348757282367 Centerline is valid? [True, True] Translation: X:141.96, Y:5.08, Z:1.04 [[ 9.97392396e-01 -7.11829531e-02 -1.18910150e-02 1.41956063e+02] [ 7.11850490e-02 9.97463096e-01 -2.47427222e-04 5.07726429e+00] [ 1.18784612e-02 -5.99680457e-04 9.99929269e-01 1.03503087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.894391418 meters Centerline goodness [0,1] 0.9983607590946346 Centerline is valid? [True, True] Translation: X:141.99, Y:5.08, Z:1.04 [[ 9.97214005e-01 -7.35926590e-02 -1.21798780e-02 1.41987687e+02] [ 7.35950446e-02 9.97288176e-01 -2.52836716e-04 5.08035961e+00] [ 1.21654552e-02 -6.44246349e-04 9.99925791e-01 1.03554772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.924391418 meters Centerline goodness [0,1] 0.9983657391887362 Centerline is valid? [True, True] Translation: X:142.02, Y:5.08, Z:1.04 [[ 9.97149242e-01 -7.46101254e-02 -1.12569376e-02 1.42019957e+02] [ 7.46122361e-02 9.97212595e-01 -2.32933518e-04 5.08260649e+00] [ 1.12429392e-02 -6.07635805e-04 9.99936612e-01 1.03618973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.954391418 meters Centerline goodness [0,1] 0.998237774561017 Centerline is valid? [True, True] Translation: X:142.05, Y:5.08, Z:1.04 [[ 9.97129031e-01 -7.49586336e-02 -1.07190980e-02 1.42050776e+02] [ 7.49605790e-02 9.97186473e-01 -2.20720853e-04 5.07744962e+00] [ 1.07054845e-02 -5.83422621e-04 9.99942524e-01 1.03597975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.984391418 meters Centerline goodness [0,1] 0.998237774561017 Centerline is valid? [True, True] Translation: X:142.08, Y:5.08, Z:1.04 [[ 9.97134789e-01 -7.48819943e-02 -1.07191244e-02 1.42082505e+02] [ 7.48839492e-02 9.97192231e-01 -2.19432415e-04 5.07801718e+00] [ 1.07054591e-02 -5.83886671e-04 9.99942524e-01 1.03620198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.014391418 meters Centerline goodness [0,1] 0.9984276729559748 Centerline is valid? [True, True] Translation: X:142.11, Y:5.08, Z:1.04 [[ 9.97119159e-01 -7.49448392e-02 -1.16899222e-02 1.42114127e+02] [ 7.49471798e-02 9.97187477e-01 -2.38348004e-04 5.08366792e+00] [ 1.16749069e-02 -6.38465336e-04 9.99931642e-01 1.03599626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.044391418 meters Centerline goodness [0,1] 0.9981752973006984 Centerline is valid? [True, True] Translation: X:142.15, Y:5.09, Z:1.04 [[ 9.97150754e-01 -7.45657730e-02 -1.14157848e-02 1.42146365e+02] [ 7.45679906e-02 9.97215905e-01 -2.31860316e-04 5.08818324e+00] [ 1.14012910e-02 -6.20052441e-04 9.99934811e-01 1.03627803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.074391418 meters Centerline goodness [0,1] 0.9983477988079055 Centerline is valid? [True, True] Translation: X:142.18, Y:5.09, Z:1.04 [[ 9.97180577e-01 -7.42256517e-02 -1.10203731e-02 1.42178051e+02] [ 7.42277071e-02 9.97241294e-01 -2.22958803e-04 5.08979407e+00] [ 1.10065204e-02 -5.95686838e-04 9.99939249e-01 1.03677328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.104391418 meters Centerline goodness [0,1] 0.9981572610197885 Centerline is valid? [True, True] Translation: X:142.21, Y:5.09, Z:1.04 [[ 9.97276021e-01 -7.30502487e-02 -1.02077780e-02 1.42209438e+02] [ 7.30519580e-02 9.97328115e-01 -2.05806149e-04 5.09320243e+00] [ 1.01955381e-02 -5.40452630e-04 9.99947878e-01 1.03760215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.134391418 meters Centerline goodness [0,1] 0.9981204185201429 Centerline is valid? [True, True] Translation: X:142.24, Y:5.10, Z:1.04 [[ 9.97345167e-01 -7.19433403e-02 -1.12593569e-02 1.42242107e+02] [ 7.19453596e-02 9.97408549e-01 -2.26124535e-04 5.09608762e+00] [ 1.12464470e-02 -5.84534268e-04 9.99936586e-01 1.03685118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.164391418 meters Centerline goodness [0,1] 0.9979838709677419 Centerline is valid? [True, True] Translation: X:142.27, Y:5.10, Z:1.04 [[ 9.97452262e-01 -7.03825810e-02 -1.16308814e-02 1.42274319e+02] [ 7.03846424e-02 9.97519899e-01 -2.32505629e-04 5.10073673e+00] [ 1.16183999e-02 -5.86722160e-04 9.99932332e-01 1.03628792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.194391418 meters Centerline goodness [0,1] 0.997924180156001 Centerline is valid? [True, True] Translation: X:142.31, Y:5.10, Z:1.04 [[ 9.97531675e-01 -6.91390966e-02 -1.22614000e-02 1.42305144e+02] [ 6.91413048e-02 9.97606847e-01 -2.44221557e-04 5.09984538e+00] [ 1.22489418e-02 -6.04150455e-04 9.99924796e-01 1.03531268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.224391418 meters Centerline goodness [0,1] 0.9983626516646374 Centerline is valid? [True, True] Translation: X:142.34, Y:5.11, Z:1.04 [[ 9.97630712e-01 -6.76101762e-02 -1.27211101e-02 1.42336828e+02] [ 6.76124403e-02 9.97711629e-01 -2.52505529e-04 5.10731442e+00] [ 1.27090714e-02 -6.08198023e-04 9.99919052e-01 1.03550231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.254391418 meters Centerline goodness [0,1] 0.9982322860329552 Centerline is valid? [True, True] Translation: X:142.37, Y:5.12, Z:1.04 [[ 9.97850062e-01 -6.41947759e-02 -1.32017123e-02 1.42368504e+02] [ 6.41969283e-02 9.97937216e-01 -2.61109208e-04 5.11557707e+00] [ 1.31912418e-02 -5.86961538e-04 9.99912820e-01 1.03538071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.284391418 meters Centerline goodness [0,1] 0.9984216839579958 Centerline is valid? [True, True] Translation: X:142.40, Y:5.12, Z:1.04 [[ 9.97988308e-01 -6.20952554e-02 -1.27873495e-02 1.42400865e+02] [ 6.20971136e-02 9.98070080e-01 -2.52062575e-04 5.11998846e+00] [ 1.27783228e-02 -5.42501993e-04 9.99918207e-01 1.03602392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.314391418 meters Centerline goodness [0,1] 0.9983543956623557 Centerline is valid? [True, True] Translation: X:142.43, Y:5.13, Z:1.04 [[ 9.98239788e-01 -5.80419112e-02 -1.21845396e-02 1.42431480e+02] [ 5.80433056e-02 9.98314037e-01 -2.39459068e-04 5.12740303e+00] [ 1.21778956e-02 -4.68193388e-04 9.99925737e-01 1.03721210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34439141800001 meters Centerline goodness [0,1] 0.997995907432019 Centerline is valid? [True, True] Translation: X:142.46, Y:5.13, Z:1.04 [[ 9.98351789e-01 -5.61673555e-02 -1.17869783e-02 1.42463477e+02] [ 5.61685373e-02 9.98421275e-01 -2.31014640e-04 5.13198726e+00] [ 1.17813454e-02 -4.31423452e-04 9.99930504e-01 1.03810158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37439141800002 meters Centerline goodness [0,1] 0.998289768168574 Centerline is valid? [True, True] Translation: X:142.49, Y:5.14, Z:1.04 [[ 9.98596578e-01 -5.18312879e-02 -1.08807866e-02 1.42494365e+02] [ 5.18320448e-02 9.98655794e-01 -2.12609623e-04 5.14070109e+00] [ 1.08771804e-02 -3.51662177e-04 9.99940780e-01 1.03924091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40439141800002 meters Centerline goodness [0,1] 0.9984761904761905 Centerline is valid? [True, True] Translation: X:142.53, Y:5.15, Z:1.04 [[ 9.98737025e-01 -4.90468969e-02 -1.08975642e-02 1.42527035e+02] [ 4.90474976e-02 9.98796425e-01 -2.12290794e-04 5.14733647e+00] [ 1.08948603e-02 -3.22475575e-04 9.99940597e-01 1.03981558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43439141800002 meters Centerline goodness [0,1] 0.9985798766400306 Centerline is valid? [True, True] Translation: X:142.56, Y:5.15, Z:1.04 [[ 9.98880283e-01 -4.60019344e-02 -1.10455080e-02 1.42558046e+02] [ 4.60023757e-02 9.98941307e-01 -2.14246297e-04 5.15185462e+00] [ 1.10436699e-02 -2.94113206e-04 9.99938974e-01 1.03929896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46439141800002 meters Centerline goodness [0,1] 0.9985166034457182 Centerline is valid? [True, True] Translation: X:142.59, Y:5.16, Z:1.04 [[ 9.98997726e-01 -4.34894100e-02 -1.05931375e-02 1.42590191e+02] [ 4.34896817e-02 9.99053855e-01 -2.04806803e-04 5.15601772e+00] [ 1.05920218e-02 -2.56090648e-04 9.99943870e-01 1.03957451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.494391418 meters Centerline goodness [0,1] 0.9985574577313902 Centerline is valid? [True, True] Translation: X:142.62, Y:5.16, Z:1.04 [[ 9.99194345e-01 -3.85644109e-02 -1.11106574e-02 1.42620178e+02] [ 3.85644126e-02 9.99256093e-01 -2.14171700e-04 5.16415052e+00] [ 1.11106515e-02 -2.14476825e-04 9.99938252e-01 1.03928467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.524391418 meters Centerline goodness [0,1] 0.9986600306278713 Centerline is valid? [True, True] Translation: X:142.65, Y:5.17, Z:1.04 [[ 9.99267421e-01 -3.65460210e-02 -1.13582708e-02 1.42651102e+02] [ 3.65458968e-02 9.99331952e-01 -2.18562535e-04 5.16764343e+00] [ 1.13586705e-02 -1.96695773e-04 9.99935469e-01 1.03937091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.554391418 meters Centerline goodness [0,1] 0.9989142698997296 Centerline is valid? [True, True] Translation: X:142.68, Y:5.17, Z:1.04 [[ 9.99323606e-01 -3.49822859e-02 -1.13388741e-02 1.42682979e+02] [ 3.49820696e-02 9.99387916e-01 -2.17472338e-04 5.17094250e+00] [ 1.13395414e-02 -1.79332040e-04 9.99935689e-01 1.03954095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.584391418 meters Centerline goodness [0,1] 0.9987205186164542 Centerline is valid? [True, True] Translation: X:142.71, Y:5.17, Z:1.04 [[ 9.99356624e-01 -3.38115480e-02 -1.19631780e-02 1.42714472e+02] [ 3.38112372e-02 9.99428211e-01 -2.28287187e-04 5.17370933e+00] [ 1.19640563e-02 -1.76349538e-04 9.99928413e-01 1.03861481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.614391418 meters Centerline goodness [0,1] 0.9988039810345564 Centerline is valid? [True, True] Translation: X:142.75, Y:5.17, Z:1.04 [[ 9.99348603e-01 -3.39435754e-02 -1.22557771e-02 1.42746494e+02] [ 3.39432747e-02 9.99423734e-01 -2.32606580e-04 5.17453245e+00] [ 1.22566100e-02 -1.83546148e-04 9.99924868e-01 1.03824817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.644391418 meters Centerline goodness [0,1] 0.9988672067027166 Centerline is valid? [True, True] Translation: X:142.78, Y:5.17, Z:1.04 [[ 9.99312424e-01 -3.47794601e-02 -1.28478973e-02 1.42779145e+02] [ 3.47792110e-02 9.99394991e-01 -2.42882327e-04 5.17469913e+00] [ 1.28485715e-02 -2.04124403e-04 9.99917433e-01 1.03783339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.674391418 meters Centerline goodness [0,1] 0.9988915888647312 Centerline is valid? [True, True] Translation: X:142.81, Y:5.17, Z:1.04 [[ 9.99179456e-01 -3.81334388e-02 -1.36475277e-02 1.42810762e+02] [ 3.81334828e-02 9.99272621e-01 -2.57098977e-04 5.17283021e+00] [ 1.36474048e-02 -2.63539746e-04 9.99906835e-01 1.03672937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.704391418 meters Centerline goodness [0,1] 0.9987391007009745 Centerline is valid? [True, True] Translation: X:142.84, Y:5.17, Z:1.04 [[ 9.99090291e-01 -4.02604120e-02 -1.40601940e-02 1.42842529e+02] [ 4.02606851e-02 9.99189175e-01 -2.63739832e-04 5.17157624e+00] [ 1.40594119e-02 -3.02573138e-04 9.99901116e-01 1.03660899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.734391418 meters Centerline goodness [0,1] 0.9987815826599974 Centerline is valid? [True, True] Translation: X:142.88, Y:5.17, Z:1.04 [[ 9.98995750e-01 -4.24766514e-02 -1.42557320e-02 1.42875052e+02] [ 4.24771757e-02 9.99097402e-01 -2.66141686e-04 5.16983712e+00] [ 1.42541696e-02 -3.39668819e-04 9.99898346e-01 1.03615635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.764391418 meters Centerline goodness [0,1] 0.9987826755509995 Centerline is valid? [True, True] Translation: X:142.91, Y:5.17, Z:1.04 [[ 9.98754026e-01 -4.75382340e-02 -1.51826435e-02 1.42906596e+02] [ 4.75394255e-02 9.98869322e-01 -2.82623503e-04 5.16591803e+00] [ 1.51789123e-02 -4.39502789e-04 9.99884697e-01 1.03550612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.794391418 meters Centerline goodness [0,1] 0.9985926605113333 Centerline is valid? [True, True] Translation: X:142.94, Y:5.16, Z:1.04 [[ 9.98614447e-01 -5.03960181e-02 -1.51468721e-02 1.42938441e+02] [ 5.03975428e-02 9.98729197e-01 -2.81269690e-04 5.16485287e+00] [ 1.51417983e-02 -4.82485159e-04 9.99885240e-01 1.03615024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.824391418 meters Centerline goodness [0,1] 0.9987839481151196 Centerline is valid? [True, True] Translation: X:142.97, Y:5.17, Z:1.04 [[ 9.98364392e-01 -5.51234234e-02 -1.51640605e-02 1.42969034e+02] [ 5.51255042e-02 9.98479394e-01 -2.81052448e-04 5.16646205e+00] [ 1.51564945e-02 -5.55333723e-04 9.99884980e-01 1.03754655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.854391418 meters Centerline goodness [0,1] 0.998846695997608 Centerline is valid? [True, True] Translation: X:143.00, Y:5.17, Z:1.04 [[ 9.98241454e-01 -5.73164204e-02 -1.51270115e-02 1.42999650e+02] [ 5.73187491e-02 9.98355890e-01 -2.79919480e-04 5.16522134e+00] [ 1.51181850e-02 -5.87634151e-04 9.99885541e-01 1.03793222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.884391418 meters Centerline goodness [0,1] 0.9988482211415408 Centerline is valid? [True, True] Translation: X:143.03, Y:5.16, Z:1.04 [[ 9.98139518e-01 -5.91493968e-02 -1.47936189e-02 1.43031408e+02] [ 5.91518355e-02 9.98248960e-01 -2.73040749e-04 5.16498245e+00] [ 1.47838649e-02 -6.02536949e-04 9.99890531e-01 1.03861756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.914391418 meters Centerline goodness [0,1] 0.9985709410459859 Centerline is valid? [True, True] Translation: X:143.06, Y:5.16, Z:1.04 [[ 9.98035936e-01 -6.08752644e-02 -1.47808124e-02 1.43063548e+02] [ 6.08779024e-02 9.98145183e-01 -2.71814515e-04 5.16428049e+00] [ 1.47699435e-02 -6.28544199e-04 9.99890721e-01 1.03896041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.944391418 meters Centerline goodness [0,1] 0.9984826466062575 Centerline is valid? [True, True] Translation: X:143.10, Y:5.16, Z:1.04 [[ 9.97934034e-01 -6.25138603e-02 -1.48216168e-02 1.43095673e+02] [ 6.25167099e-02 9.98043880e-01 -2.71442665e-04 5.16379658e+00] [ 1.48095929e-02 -6.55716845e-04 9.99890117e-01 1.03901206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.974391418 meters Centerline goodness [0,1] 0.9985676109032603 Centerline is valid? [True, True] Translation: X:143.13, Y:5.16, Z:1.04 [[ 9.97686178e-01 -6.66531177e-02 -1.34034728e-02 1.43125870e+02] [ 6.66558270e-02 9.97775997e-01 -2.44992248e-04 5.16060941e+00] [ 1.33899929e-02 -6.48994183e-04 9.99910139e-01 1.04051568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.004391418 meters Centerline goodness [0,1] 0.998846695997608 Centerline is valid? [True, True] Translation: X:143.16, Y:5.16, Z:1.04 [[ 9.97563838e-01 -6.84654824e-02 -1.33741392e-02 1.43158396e+02] [ 6.84683487e-02 9.97653259e-01 -2.43982606e-04 5.16016394e+00] [ 1.33594580e-02 -6.72317002e-04 9.99910532e-01 1.04122633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.034391418 meters Centerline goodness [0,1] 0.9985691098581924 Centerline is valid? [True, True] Translation: X:143.19, Y:5.16, Z:1.04 [[ 9.97310042e-01 -7.21391966e-02 -1.29852493e-02 1.43188101e+02] [ 7.21422214e-02 9.97394327e-01 -2.35934433e-04 5.15764880e+00] [ 1.29684341e-02 -7.01484950e-04 9.99915660e-01 1.04159078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.064391418 meters Centerline goodness [0,1] 0.998720927753736 Centerline is valid? [True, True] Translation: X:143.22, Y:5.16, Z:1.04 [[ 9.97214252e-01 -7.34339820e-02 -1.30838306e-02 1.43219211e+02] [ 7.34371752e-02 9.97299817e-01 -2.36864297e-04 5.15673550e+00] [ 1.30658958e-02 -7.24635108e-04 9.99914375e-01 1.04174577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09439141800001 meters Centerline goodness [0,1] 0.9985482183650377 Centerline is valid? [True, True] Translation: X:143.25, Y:5.16, Z:1.04 [[ 9.97107814e-01 -7.48308770e-02 -1.32795420e-02 1.43250639e+02] [ 7.48342997e-02 9.97195954e-01 -2.39677849e-04 5.15530175e+00] [ 1.32602409e-02 -7.54780571e-04 9.99911794e-01 1.04158168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12439141800002 meters Centerline goodness [0,1] 0.9982277832344023 Centerline is valid? [True, True] Translation: X:143.28, Y:5.16, Z:1.04 [[ 9.97000885e-01 -7.62141456e-02 -1.34401963e-02 1.43282641e+02] [ 7.62177882e-02 9.97091165e-01 -2.41731851e-04 5.15649638e+00] [ 1.34195243e-02 -7.83375163e-04 9.99909647e-01 1.04188960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15439141800002 meters Centerline goodness [0,1] 0.9979040571465235 Centerline is valid? [True, True] Translation: X:143.31, Y:5.16, Z:1.04 [[ 9.96987362e-01 -7.63203569e-02 -1.38348479e-02 1.43314633e+02] [ 7.63242406e-02 9.97083020e-01 -2.47826702e-04 5.15748717e+00] [ 1.38134061e-02 -8.08854167e-04 9.99904263e-01 1.04175912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18439141800002 meters Centerline goodness [0,1] 0.9989110707803993 Centerline is valid? [True, True] Translation: X:143.35, Y:5.17, Z:1.04 [[ 9.97042721e-01 -7.55859737e-02 -1.38770858e-02 1.43346778e+02] [ 7.55898245e-02 9.97138966e-01 -2.47560175e-04 5.16682097e+00] [ 1.38560951e-02 -8.02138413e-04 9.99903678e-01 1.04310273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21439141800002 meters Centerline goodness [0,1] 0.9983277950477008 Centerline is valid? [True, True] Translation: X:143.38, Y:5.16, Z:1.04 [[ 9.97192033e-01 -7.32946588e-02 -1.53603822e-02 1.43377430e+02] [ 7.32991174e-02 9.97309964e-01 -2.73272627e-04 5.16477681e+00] [ 1.53390917e-02 -8.53397173e-04 9.99881985e-01 1.04164191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.244391418 meters Centerline goodness [0,1] 0.998713578182286 Centerline is valid? [True, True] Translation: X:143.41, Y:5.18, Z:1.04 [[ 9.97333979e-01 -7.12609753e-02 -1.57101142e-02 1.43409060e+02] [ 7.12653977e-02 9.97457350e-01 -2.78860808e-04 5.17702343e+00] [ 1.56900408e-02 -8.41470178e-04 9.99876550e-01 1.04263021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.274391418 meters Centerline goodness [0,1] 0.9988434354251445 Centerline is valid? [True, True] Translation: X:143.44, Y:5.19, Z:1.04 [[ 9.97679614e-01 -6.61778066e-02 -1.59964278e-02 1.43439341e+02] [ 6.61817463e-02 9.97807545e-01 -2.83537314e-04 5.18790447e+00] [ 1.59801202e-02 -7.75792126e-04 9.99872009e-01 1.04315035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.304391418 meters Centerline goodness [0,1] 0.9987814003206841 Centerline is valid? [True, True] Translation: X:143.47, Y:5.18, Z:1.04 [[ 9.97890170e-01 -6.28563916e-02 -1.62567582e-02 1.43470182e+02] [ 6.28600266e-02 9.98022311e-01 -2.87793608e-04 5.18204198e+00] [ 1.62426971e-02 -7.34713843e-04 9.99867809e-01 1.04120410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.334391418 meters Centerline goodness [0,1] 0.9989695148132246 Centerline is valid? [True, True] Translation: X:143.50, Y:5.19, Z:1.04 [[ 9.98296541e-01 -5.57495512e-02 -1.72047649e-02 1.43499543e+02] [ 5.57525708e-02 9.98444569e-01 -3.04456670e-04 5.19339258e+00] [ 1.71949774e-02 -6.55271832e-04 9.99851941e-01 1.04015233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.364391418 meters Centerline goodness [0,1] 0.9990959187187877 Centerline is valid? [True, True] Translation: X:143.53, Y:5.21, Z:1.04 [[ 9.98501204e-01 -5.17393463e-02 -1.78433666e-02 1.43530747e+02] [ 5.17419605e-02 9.98660438e-01 -3.15434828e-04 5.21167157e+00] [ 1.78357847e-02 -6.08288717e-04 9.99840745e-01 1.04361547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.394391418 meters Centerline goodness [0,1] 0.9991811933030231 Centerline is valid? [True, True] Translation: X:143.56, Y:5.22, Z:1.04 [[ 9.98713688e-01 -4.74182590e-02 -1.79576721e-02 1.43561313e+02] [ 4.74202220e-02 9.98874978e-01 -3.16724111e-04 5.21675296e+00] [ 1.79524879e-02 -5.35240094e-04 9.99838698e-01 1.04346725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.424391418 meters Centerline goodness [0,1] 0.9991365726250351 Centerline is valid? [True, True] Translation: X:143.59, Y:5.22, Z:1.04 [[ 9.98920629e-01 -4.27577541e-02 -1.81480204e-02 1.43593013e+02] [ 4.27590076e-02 9.99085364e-01 -3.19128519e-04 5.22285818e+00] [ 1.81450667e-02 -4.57207280e-04 9.99835260e-01 1.04411608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.454391418 meters Centerline goodness [0,1] 0.9995663768618693 Centerline is valid? [True, True] Translation: X:143.62, Y:5.23, Z:1.04 [[ 9.99263751e-01 -3.37312073e-02 -1.82800932e-02 1.43623334e+02] [ 3.37309767e-02 9.99430897e-01 -3.21028821e-04 5.23358340e+00] [ 1.82805187e-02 -2.95812935e-04 9.99832854e-01 1.04489545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.484391418 meters Centerline goodness [0,1] 0.9994348686069511 Centerline is valid? [True, True] Translation: X:143.65, Y:5.24, Z:1.05 [[ 9.99407138e-01 -2.95187724e-02 -1.77204412e-02 1.43654929e+02] [ 2.95179011e-02 9.99564204e-01 -3.10782354e-04 5.23873191e+00] [ 1.77218926e-02 -2.12472127e-04 9.99842932e-01 1.04568371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.514391418 meters Centerline goodness [0,1] 0.9994566634790925 Centerline is valid? [True, True] Translation: X:143.69, Y:5.24, Z:1.05 [[ 9.99535465e-01 -2.53579711e-02 -1.69064195e-02 1.43686501e+02] [ 2.53565937e-02 9.99678426e-01 -2.95859717e-04 5.24361121e+00] [ 1.69084852e-02 -1.32966929e-04 9.99857033e-01 1.04677227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.544391418 meters Centerline goodness [0,1] 0.9993456924754635 Centerline is valid? [True, True] Translation: X:143.72, Y:5.25, Z:1.05 [[ 9.99639499e-01 -2.15572827e-02 -1.60048738e-02 1.43716392e+02] [ 2.15555653e-02 9.99767613e-01 -2.79824532e-04 5.24810868e+00] [ 1.60071867e-02 -6.52704476e-05 9.99871875e-01 1.04723649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.574391418 meters Centerline goodness [0,1] 0.9994324259425004 Centerline is valid? [True, True] Translation: X:143.75, Y:5.26, Z:1.05 [[ 9.99775712e-01 -1.44657677e-02 -1.54682461e-02 1.43745940e+02] [ 1.44633122e-02 9.99895364e-01 -2.70603509e-04 5.25620402e+00] [ 1.54705421e-02 4.68207425e-05 9.99880323e-01 1.04820309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.604391418 meters Centerline goodness [0,1] 0.9994753754344547 Centerline is valid? [True, True] Translation: X:143.77, Y:5.26, Z:1.05 [[ 9.99818622e-01 -1.18094716e-02 -1.49418686e-02 1.43774236e+02] [ 1.18068483e-02 9.99930262e-01 -2.63769338e-04 5.25966672e+00] [ 1.49439415e-02 8.73051207e-05 9.99888329e-01 1.04964468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.634391418 meters Centerline goodness [0,1] 0.9997159525422248 Centerline is valid? [True, True] Translation: X:143.80, Y:5.27, Z:1.05 [[ 9.99871535e-01 -6.89923015e-03 -1.44676808e-02 1.43802200e+02] [ 6.89621818e-03 9.99976188e-01 -2.58064865e-04 5.26516843e+00] [ 1.44691168e-02 1.58259429e-04 9.99895304e-01 1.04963366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.664391418 meters Centerline goodness [0,1] 0.9996276339422614 Centerline is valid? [True, True] Translation: X:143.83, Y:5.27, Z:1.05 [[ 9.99876591e-01 -6.29585688e-03 -1.43932474e-02 1.43831325e+02] [ 6.29277369e-03 9.99980167e-01 -2.59490605e-04 5.26651257e+00] [ 1.43945957e-02 1.68885133e-04 9.99896378e-01 1.04915006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.694391418 meters Centerline goodness [0,1] 0.9995847992832324 Centerline is valid? [True, True] Translation: X:143.86, Y:5.27, Z:1.05 [[ 9.99868269e-01 -7.40166961e-03 -1.44450604e-02 1.43859322e+02] [ 7.39863590e-03 9.99972595e-01 -2.63446694e-04 5.26608184e+00] [ 1.44466145e-02 1.56538247e-04 9.99895630e-01 1.04824247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.724391418 meters Centerline goodness [0,1] 0.999476062610518 Centerline is valid? [True, True] Translation: X:143.89, Y:5.26, Z:1.05 [[ 9.99846655e-01 -9.83552873e-03 -1.44889388e-02 1.43888434e+02] [ 9.83268760e-03 9.99951622e-01 -2.67314389e-04 5.26454675e+00] [ 1.44908671e-02 1.24808189e-04 9.99894994e-01 1.04770764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.754391418 meters Centerline goodness [0,1] 0.9995420546481453 Centerline is valid? [True, True] Translation: X:143.92, Y:5.26, Z:1.05 [[ 9.99807592e-01 -1.28134446e-02 -1.48524059e-02 1.43916086e+02] [ 1.28107469e-02 9.99917901e-01 -2.76764624e-04 5.26215760e+00] [ 1.48547329e-02 8.64409589e-05 9.99889659e-01 1.04716109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.784391418 meters Centerline goodness [0,1] 0.9992792714089151 Centerline is valid? [True, True] Translation: X:143.94, Y:5.26, Z:1.05 [[ 9.99743870e-01 -1.68785953e-02 -1.50766864e-02 1.43943744e+02] [ 1.68762555e-02 9.99857546e-01 -2.82416856e-04 5.25879994e+00] [ 1.50793054e-02 2.79065099e-05 9.99886300e-01 1.04640453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.814391418 meters Centerline goodness [0,1] 0.9992592592592593 Centerline is valid? [True, True] Translation: X:143.97, Y:5.25, Z:1.05 [[ 9.99552109e-01 -2.59036949e-02 -1.49860238e-02 1.43973053e+02] [ 2.59023779e-02 9.99664437e-01 -2.82002400e-04 5.25004934e+00] [ 1.49883000e-02 -1.06297559e-04 9.99887663e-01 1.04629072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84439141800001 meters Centerline goodness [0,1] 0.9995209789448473 Centerline is valid? [True, True] Translation: X:144.00, Y:5.25, Z:1.05 [[ 9.99435120e-01 -3.02162933e-02 -1.47111106e-02 1.44004183e+02] [ 3.02154879e-02 9.99543370e-01 -2.77059755e-04 5.24589526e+00] [ 1.47127648e-02 -1.67600136e-04 9.99891747e-01 1.04675864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87439141800002 meters Centerline goodness [0,1] 0.9994567579313341 Centerline is valid? [True, True] Translation: X:144.04, Y:5.24, Z:1.05 [[ 9.99178065e-01 -3.78526006e-02 -1.45043099e-02 1.44035496e+02] [ 3.78526299e-02 9.99283295e-01 -2.72603223e-04 5.23821170e+00] [ 1.45042333e-02 -2.76647113e-04 9.99894770e-01 1.04728467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90439141800002 meters Centerline goodness [0,1] 0.9994567579313341 Centerline is valid? [True, True] Translation: X:144.07, Y:5.24, Z:1.05 [[ 9.99181067e-01 -3.77732798e-02 -1.45043262e-02 1.44067195e+02] [ 3.77733134e-02 9.99286297e-01 -2.71731213e-04 5.23872914e+00] [ 1.45042386e-02 -2.76367777e-04 9.99894770e-01 1.04750681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93439141800002 meters Centerline goodness [0,1] 0.9992403194999132 Centerline is valid? [True, True] Translation: X:144.10, Y:5.23, Z:1.05 [[ 9.99078787e-01 -4.06211372e-02 -1.38383509e-02 1.44098397e+02] [ 4.06214538e-02 9.99174575e-01 -2.58319628e-04 5.23339541e+00] [ 1.38374216e-02 -3.04052270e-04 9.99904212e-01 1.04713523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96439141800002 meters Centerline goodness [0,1] 0.999392611553396 Centerline is valid? [True, True] Translation: X:144.13, Y:5.23, Z:1.05 [[ 9.98980947e-01 -4.31165358e-02 -1.33428547e-02 1.44131036e+02] [ 4.31170645e-02 9.99069996e-01 -2.48170397e-04 5.23215322e+00] [ 1.33411461e-02 -3.27387230e-04 9.99910949e-01 1.04811400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.994391418 meters Centerline goodness [0,1] 0.999027489626556 Centerline is valid? [True, True] Translation: X:144.16, Y:5.22, Z:1.05 [[ 9.98833145e-01 -4.67431374e-02 -1.21419594e-02 1.44162245e+02] [ 4.67438527e-02 9.98906883e-01 -2.25028658e-04 5.22330216e+00] [ 1.21392054e-02 -3.42795881e-04 9.99926258e-01 1.04820224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.024391418 meters Centerline goodness [0,1] 0.9989417532341317 Centerline is valid? [True, True] Translation: X:144.19, Y:5.23, Z:1.05 [[ 9.98790308e-01 -4.78560717e-02 -1.13012360e-02 1.44194071e+02] [ 4.78567708e-02 9.98854187e-01 -2.08720064e-04 5.22543437e+00] [ 1.12982754e-02 -3.32373085e-04 9.99936117e-01 1.04990085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.054391418 meters Centerline goodness [0,1] 0.9993318533525875 Centerline is valid? [True, True] Translation: X:144.23, Y:5.22, Z:1.05 [[ 9.98781533e-01 -4.82477879e-02 -1.03730435e-02 1.44226469e+02] [ 4.82484060e-02 9.98835349e-01 -1.90795068e-04 5.22383506e+00] [ 1.03701680e-02 -3.09920224e-04 9.99946180e-01 1.05057440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.084391418 meters Centerline goodness [0,1] 0.9990752489300845 Centerline is valid? [True, True] Translation: X:144.26, Y:5.22, Z:1.05 [[ 9.98798668e-01 -4.81202647e-02 -9.25535205e-03 1.44259792e+02] [ 4.81207583e-02 9.98841511e-01 -1.69472435e-04 5.22248360e+00] [ 9.25278489e-03 -2.76105717e-04 9.99957154e-01 1.05109837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.114391418 meters Centerline goodness [0,1] 0.999397110436449 Centerline is valid? [True, True] Translation: X:144.29, Y:5.22, Z:1.05 [[ 9.98886031e-01 -4.63653029e-02 -8.77247530e-03 1.44292116e+02] [ 4.63656869e-02 9.98924520e-01 -1.59699823e-04 5.22272870e+00] [ 8.77044521e-03 -2.47219921e-04 9.99961508e-01 1.05171667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.144391418 meters Centerline goodness [0,1] 0.9992469879518072 Centerline is valid? [True, True] Translation: X:144.32, Y:5.22, Z:1.05 [[ 9.98962694e-01 -4.46350309e-02 -9.01386306e-03 1.44323657e+02] [ 4.46353740e-02 9.99003332e-01 -1.63204080e-04 5.22315678e+00] [ 9.01216385e-03 -2.39302361e-04 9.99959361e-01 1.05149686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.174391418 meters Centerline goodness [0,1] 0.9992891607789075 Centerline is valid? [True, True] Translation: X:144.36, Y:5.23, Z:1.05 [[ 9.99053928e-01 -4.25175402e-02 -9.13828233e-03 1.44356016e+02] [ 4.25178160e-02 9.99095695e-01 -1.64176163e-04 5.22531552e+00] [ 9.13699891e-03 -2.24518967e-04 9.99958232e-01 1.05149504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.204391418 meters Centerline goodness [0,1] 0.9991609835853968 Centerline is valid? [True, True] Translation: X:144.39, Y:5.23, Z:1.05 [[ 9.99275045e-01 -3.68917493e-02 -9.40125775e-03 1.44386139e+02] [ 3.68918006e-02 9.99319252e-01 -1.68027404e-04 5.22791155e+00] [ 9.40105668e-03 -1.78923734e-04 9.99955793e-01 1.05079994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.234391418 meters Centerline goodness [0,1] 0.9991820745173163 Centerline is valid? [True, True] Translation: X:144.42, Y:5.23, Z:1.05 [[ 9.99391707e-01 -3.36067046e-02 -9.31696814e-03 1.44417728e+02] [ 3.36066217e-02 9.99435124e-01 -1.65501392e-04 5.22958578e+00] [ 9.31726717e-03 -1.47711105e-04 9.99956582e-01 1.05059091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.264391418 meters Centerline goodness [0,1] 0.9991808579435223 Centerline is valid? [True, True] Translation: X:144.45, Y:5.23, Z:1.05 [[ 9.99592004e-01 -2.69316378e-02 -9.51377316e-03 1.44449895e+02] [ 2.69312563e-02 9.99637274e-01 -1.68233792e-04 5.23415768e+00] [ 9.51485308e-03 -8.80527101e-05 9.99954729e-01 1.04987192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.294391418 meters Centerline goodness [0,1] 0.999159500872826 Centerline is valid? [True, True] Translation: X:144.48, Y:5.24, Z:1.05 [[ 9.99669577e-01 -2.38545787e-02 -9.57584942e-03 1.44482501e+02] [ 2.38540583e-02 9.99715437e-01 -1.68572698e-04 5.23633306e+00] [ 9.57714572e-03 -5.99058729e-05 9.99954136e-01 1.04996172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.324391418 meters Centerline goodness [0,1] 0.999244631488076 Centerline is valid? [True, True] Translation: X:144.51, Y:5.24, Z:1.05 [[ 9.99778620e-01 -1.86465830e-02 -9.74760336e-03 1.44513564e+02] [ 1.86458032e-02 9.99826137e-01 -1.70875493e-04 5.23969612e+00] [ 9.74909486e-03 -1.09142299e-05 9.99952476e-01 1.04948322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.354391418 meters Centerline goodness [0,1] 0.9991793365583966 Centerline is valid? [True, True] Translation: X:144.54, Y:5.24, Z:1.05 [[ 9.99808944e-01 -1.68948521e-02 -9.83057123e-03 1.44544856e+02] [ 1.68939795e-02 9.99857272e-01 -1.71804793e-04 5.24094961e+00] [ 9.83207075e-03 5.69449968e-06 9.99951664e-01 1.04978039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.384391418 meters Centerline goodness [0,1] 0.9994185420480242 Centerline is valid? [True, True] Translation: X:144.58, Y:5.24, Z:1.05 [[ 9.99832780e-01 -1.55978154e-02 -9.54566624e-03 1.44576426e+02] [ 1.55969370e-02 9.99878347e-01 -1.66455013e-04 5.24193611e+00] [ 9.54710131e-03 1.75440227e-05 9.99954425e-01 1.05002884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.414391418 meters Centerline goodness [0,1] 0.9992235020059531 Centerline is valid? [True, True] Translation: X:144.61, Y:5.24, Z:1.05 [[ 9.99838018e-01 -1.52720973e-02 -9.52364661e-03 1.44606497e+02] [ 1.52712124e-02 9.99883375e-01 -1.65636132e-04 5.24219464e+00] [ 9.52506552e-03 2.01716716e-05 9.99954635e-01 1.05013782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.444391418 meters Centerline goodness [0,1] 0.9995038826574634 Centerline is valid? [True, True] Translation: X:144.64, Y:5.24, Z:1.05 [[ 9.99834010e-01 -1.55963580e-02 -9.41839758e-03 1.44637215e+02] [ 1.55955109e-02 9.99878369e-01 -1.63376313e-04 5.24193173e+00] [ 9.41980009e-03 1.64644713e-05 9.99955633e-01 1.05052767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.474391418 meters Centerline goodness [0,1] 0.9991812285880503 Centerline is valid? [True, True] Translation: X:144.67, Y:5.24, Z:1.05 [[ 9.99807085e-01 -1.75950372e-02 -8.72972422e-03 1.44667556e+02] [ 1.75943857e-02 9.99845195e-01 -1.51430235e-04 5.23915827e+00] [ 8.73103724e-03 -2.19311390e-06 9.99961884e-01 1.05137425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.504391418 meters Centerline goodness [0,1] 0.9989443522847232 Centerline is valid? [True, True] Translation: X:144.70, Y:5.24, Z:1.05 [[ 9.99787582e-01 -1.89351090e-02 -8.13956487e-03 1.44699314e+02] [ 1.89345873e-02 9.99820715e-01 -1.41148667e-04 5.23761117e+00] [ 8.14077823e-03 -1.30006170e-05 9.99966863e-01 1.05171564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.534391418 meters Centerline goodness [0,1] 0.9989457604509564 Centerline is valid? [True, True] Translation: X:144.73, Y:5.23, Z:1.05 [[ 9.99729284e-01 -2.20253577e-02 -7.49948689e-03 1.44731481e+02] [ 2.20250040e-02 9.99757412e-01 -1.29756591e-04 5.23294200e+00] [ 7.50052554e-03 -3.54547654e-05 9.99971870e-01 1.05186355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.564391418 meters Centerline goodness [0,1] 0.9989491067407297 Centerline is valid? [True, True] Translation: X:144.76, Y:5.23, Z:1.05 [[ 9.99693709e-01 -2.36431227e-02 -7.31376405e-03 1.44762491e+02] [ 2.36428338e-02 9.99720461e-01 -1.25979339e-04 5.23021863e+00] [ 7.31469811e-03 -4.69773549e-05 9.99973246e-01 1.05212780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59439141800001 meters Centerline goodness [0,1] 0.9992280310503067 Centerline is valid? [True, True] Translation: X:144.79, Y:5.23, Z:1.05 [[ 9.99669606e-01 -2.49061924e-02 -6.35291409e-03 1.44794978e+02] [ 2.49060019e-02 9.99689791e-01 -1.09117772e-04 5.22820218e+00] [ 6.35366107e-03 -4.91439701e-05 9.99979814e-01 1.05266507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62439141800002 meters Centerline goodness [0,1] 0.9988856983671195 Centerline is valid? [True, True] Translation: X:144.83, Y:5.22, Z:1.05 [[ 9.99603270e-01 -2.75972851e-02 -5.62959844e-03 1.44827568e+02] [ 2.75971803e-02 9.99619121e-01 -9.63190358e-05 5.22457378e+00] [ 5.63011239e-03 -5.90802200e-05 9.99984149e-01 1.05324375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65439141800002 meters Centerline goodness [0,1] 0.9989951682558686 Centerline is valid? [True, True] Translation: X:144.86, Y:5.22, Z:1.05 [[ 9.99576331e-01 -2.85887759e-02 -5.46257646e-03 1.44859975e+02] [ 2.85886942e-02 9.99591255e-01 -9.30451236e-05 5.22345980e+00] [ 5.46300370e-03 -6.31622247e-05 9.99985076e-01 1.05334326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68439141800002 meters Centerline goodness [0,1] 0.9988043385430011 Centerline is valid? [True, True] Translation: X:144.89, Y:5.22, Z:1.05 [[ 9.99558568e-01 -2.92675751e-02 -5.10669021e-03 1.44890738e+02] [ 2.92675147e-02 9.99571611e-01 -8.65593220e-05 5.22122416e+00] [ 5.10703594e-03 -6.29390191e-05 9.99986957e-01 1.05350311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71439141800002 meters Centerline goodness [0,1] 0.9990411250799063 Centerline is valid? [True, True] Translation: X:144.92, Y:5.22, Z:1.05 [[ 9.99527931e-01 -3.02927885e-02 -5.12458232e-03 1.44923441e+02] [ 3.02927427e-02 9.99541066e-01 -8.65847500e-05 5.21794262e+00] [ 5.12485337e-03 -6.86937774e-05 9.99986865e-01 1.05351756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.744391418 meters Centerline goodness [0,1] 0.9988946048212236 Centerline is valid? [True, True] Translation: X:144.96, Y:5.21, Z:1.05 [[ 9.99535870e-01 -3.01090683e-02 -4.63556315e-03 1.44955704e+02] [ 3.01090291e-02 9.99546617e-01 -7.82649033e-05 5.21443353e+00] [ 4.63581795e-03 -6.13437274e-05 9.99989253e-01 1.05407096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.774391418 meters Centerline goodness [0,1] 0.9989162540640473 Centerline is valid? [True, True] Translation: X:144.99, Y:5.22, Z:1.05 [[ 9.99553864e-01 -2.94848072e-02 -4.76635991e-03 1.44987688e+02] [ 2.94847645e-02 9.99565227e-01 -7.92536664e-05 5.21622771e+00] [ 4.76662441e-03 -6.13166910e-05 9.99988638e-01 1.05389433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.804391418 meters Centerline goodness [0,1] 0.9990018900380131 Centerline is valid? [True, True] Translation: X:145.02, Y:5.22, Z:1.05 [[ 9.99623452e-01 -2.70179733e-02 -4.79400011e-03 1.45020360e+02] [ 2.70179034e-02 9.99634947e-01 -7.93688315e-05 5.21654377e+00] [ 4.79439443e-03 -5.01848864e-05 9.99988506e-01 1.05389778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.834391418 meters Centerline goodness [0,1] 0.9990209849742476 Centerline is valid? [True, True] Translation: X:145.05, Y:5.22, Z:1.05 [[ 9.99674631e-01 -2.50369485e-02 -4.87678170e-03 1.45051224e+02] [ 2.50368554e-02 9.99686526e-01 -8.01437124e-05 5.21717800e+00] [ 4.87725951e-03 -4.19816423e-05 9.99988105e-01 1.05407771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.864391418 meters Centerline goodness [0,1] 0.9989397794741306 Centerline is valid? [True, True] Translation: X:145.08, Y:5.22, Z:1.05 [[ 9.99729741e-01 -2.27779690e-02 -4.64851643e-03 1.45083437e+02] [ 2.27778610e-02 9.99740548e-01 -7.61780364e-05 5.21847313e+00] [ 4.64904555e-03 -2.97258124e-05 9.99989193e-01 1.05416120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.894391418 meters Centerline goodness [0,1] 0.9988932402520007 Centerline is valid? [True, True] Translation: X:145.12, Y:5.22, Z:1.05 [[ 9.99821521e-01 -1.83037562e-02 -4.67966804e-03 1.45115747e+02] [ 1.83035995e-02 9.99832472e-01 -7.63076415e-05 5.22031961e+00] [ 4.68028079e-03 -9.36074742e-06 9.99989047e-01 1.05394094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.924391418 meters Centerline goodness [0,1] 0.9990188759731258 Centerline is valid? [True, True] Translation: X:145.15, Y:5.22, Z:1.05 [[ 9.99856200e-01 -1.62209888e-02 -4.94561175e-03 1.45147805e+02] [ 1.62207904e-02 9.99868431e-01 -8.02149077e-05 5.22101119e+00] [ 4.94626223e-03 -1.83589545e-08 9.99987767e-01 1.05384583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.954391418 meters Centerline goodness [0,1] 0.9991922627271761 Centerline is valid? [True, True] Translation: X:145.18, Y:5.22, Z:1.05 [[ 9.99884365e-01 -1.42092527e-02 -5.41790420e-03 1.45178771e+02] [ 1.42089882e-02 9.99899043e-01 -8.73152570e-05 5.22125901e+00] [ 5.41859791e-03 1.03222235e-05 9.99985319e-01 1.05355781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.984391418 meters Centerline goodness [0,1] 0.9992125481516164 Centerline is valid? [True, True] Translation: X:145.21, Y:5.22, Z:1.05 [[ 9.99895794e-01 -1.29860568e-02 -6.30583278e-03 1.45210839e+02] [ 1.29856758e-02 9.99915677e-01 -1.01354014e-04 5.21923173e+00] [ 6.30661725e-03 1.94579519e-05 9.99980113e-01 1.05241336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.014391418 meters Centerline goodness [0,1] 0.999084151562267 Centerline is valid? [True, True] Translation: X:145.24, Y:5.22, Z:1.05 [[ 9.99887743e-01 -1.32821572e-02 -6.93442836e-03 1.45242263e+02] [ 1.32817079e-02 9.99911788e-01 -1.10843143e-04 5.21740386e+00] [ 6.93528889e-03 1.87296481e-05 9.99975950e-01 1.05175212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.044391418 meters Centerline goodness [0,1] 0.9989583111885882 Centerline is valid? [True, True] Translation: X:145.27, Y:5.21, Z:1.05 [[ 9.99870775e-01 -1.41539001e-02 -7.62230080e-03 1.45272839e+02] [ 1.41533849e-02 9.99899828e-01 -1.21531539e-04 5.21497720e+00] [ 7.62325741e-03 1.36344775e-05 9.99970942e-01 1.05108247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.074391418 meters Centerline goodness [0,1] 0.9992135691208978 Centerline is valid? [True, True] Translation: X:145.30, Y:5.21, Z:1.05 [[ 9.99802060e-01 -1.77421365e-02 -9.00319552e-03 1.45303597e+02] [ 1.77415635e-02 9.99842596e-01 -1.43509629e-04 5.20805550e+00] [ 9.00432455e-03 -1.62495429e-05 9.99959460e-01 1.04988926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.104391418 meters Centerline goodness [0,1] 0.9990052067899928 Centerline is valid? [True, True] Translation: X:145.33, Y:5.20, Z:1.05 [[ 9.99747045e-01 -2.02786203e-02 -9.72749500e-03 1.45334101e+02] [ 2.02780729e-02 9.99794367e-01 -1.54906114e-04 5.20424033e+00] [ 9.72863598e-03 -4.23879230e-05 9.99952675e-01 1.04933919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.134391418 meters Centerline goodness [0,1] 0.9990459229105711 Centerline is valid? [True, True] Translation: X:145.37, Y:5.20, Z:1.05 [[ 9.99685270e-01 -2.28885983e-02 -1.02699875e-02 1.45365618e+02] [ 2.28881272e-02 9.99738019e-01 -1.63417800e-04 5.20024669e+00] [ 1.02710373e-02 -7.16944120e-05 9.99947249e-01 1.04920325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.164391418 meters Centerline goodness [0,1] 0.9990271344880824 Centerline is valid? [True, True] Translation: X:145.40, Y:5.19, Z:1.05 [[ 9.99546861e-01 -2.77101431e-02 -1.17567337e-02 1.45396308e+02] [ 2.77098639e-02 9.99615991e-01 -1.86670369e-04 5.19121707e+00] [ 1.17573917e-02 -1.39191710e-04 9.99930870e-01 1.04824505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.194391418 meters Centerline goodness [0,1] 0.9989862082074894 Centerline is valid? [True, True] Translation: X:145.43, Y:5.19, Z:1.05 [[ 9.99478135e-01 -2.99627023e-02 -1.20703773e-02 1.45427550e+02] [ 2.99625763e-02 9.99551003e-01 -1.91318326e-04 5.18733196e+00] [ 1.20706902e-02 -1.70441118e-04 9.99927132e-01 1.04834263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.224391418 meters Centerline goodness [0,1] 0.9989285038973045 Centerline is valid? [True, True] Translation: X:145.46, Y:5.18, Z:1.05 [[ 9.99390795e-01 -3.26099155e-02 -1.24351107e-02 1.45459054e+02] [ 3.26099926e-02 9.99468133e-01 -1.96618792e-04 5.18031383e+00] [ 1.24349086e-02 -2.09009856e-04 9.99922662e-01 1.04867198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.254391418 meters Centerline goodness [0,1] 0.9991154915339904 Centerline is valid? [True, True] Translation: X:145.49, Y:5.18, Z:1.05 [[ 9.99380457e-01 -3.30586414e-02 -1.20759527e-02 1.45489457e+02] [ 3.30587510e-02 9.99453392e-01 -1.90587106e-04 5.17753378e+00] [ 1.20756525e-02 -2.08746886e-04 9.99927065e-01 1.04902373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.284391418 meters Centerline goodness [0,1] 0.9987596182146912 Centerline is valid? [True, True] Translation: X:145.52, Y:5.18, Z:1.05 [[ 9.99381725e-01 -3.31391050e-02 -1.17459414e-02 1.45520267e+02] [ 3.31392169e-02 9.99450728e-01 -1.85162290e-04 5.17503773e+00] [ 1.17456258e-02 -2.04203492e-04 9.99930997e-01 1.04937721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.314391418 meters Centerline goodness [0,1] 0.9990769488965343 Centerline is valid? [True, True] Translation: X:145.55, Y:5.17, Z:1.05 [[ 9.99429097e-01 -3.16700428e-02 -1.17681222e-02 1.45551874e+02] [ 3.16700571e-02 9.99498361e-01 -1.85188708e-04 5.17410088e+00] [ 1.17680838e-02 -1.87614118e-04 9.99930736e-01 1.05074432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34439141800001 meters Centerline goodness [0,1] 0.9988876996369284 Centerline is valid? [True, True] Translation: X:145.58, Y:5.17, Z:1.05 [[ 9.99470123e-01 -3.02809174e-02 -1.19390135e-02 1.45582297e+02] [ 3.02808376e-02 9.99541413e-01 -1.87491534e-04 5.17074975e+00] [ 1.19392158e-02 -1.74131141e-04 9.99928710e-01 1.04976140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37439141800002 meters Centerline goodness [0,1] 0.9990782444747041 Centerline is valid? [True, True] Translation: X:145.61, Y:5.17, Z:1.05 [[ 9.99506761e-01 -2.89502644e-02 -1.21703180e-02 1.45612995e+02] [ 2.89500858e-02 9.99580840e-01 -1.90886657e-04 5.16972799e+00] [ 1.21707429e-02 -1.61539247e-04 9.99925921e-01 1.04959070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40439141800002 meters Centerline goodness [0,1] 0.9993074210879785 Centerline is valid? [True, True] Translation: X:145.64, Y:5.17, Z:1.05 [[ 9.99569346e-01 -2.60002271e-02 -1.36055256e-02 1.45643920e+02] [ 2.59997325e-02 9.99661927e-01 -2.13254699e-04 5.16988621e+00] [ 1.36064706e-02 -1.40577167e-04 9.99907418e-01 1.04983814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43439141800002 meters Centerline goodness [0,1] 0.9992666624761666 Centerline is valid? [True, True] Translation: X:145.67, Y:5.17, Z:1.05 [[ 9.99601912e-01 -2.45662997e-02 -1.38749224e-02 1.45673496e+02] [ 2.45656454e-02 9.99698195e-01 -2.17616767e-04 5.16805176e+00] [ 1.38760809e-02 -1.23316286e-04 9.99903715e-01 1.04912999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46439141800002 meters Centerline goodness [0,1] 0.9993493955674949 Centerline is valid? [True, True] Translation: X:145.70, Y:5.17, Z:1.05 [[ 9.99622325e-01 -2.31944754e-02 -1.47384967e-02 1.45703268e+02] [ 2.31935811e-02 9.99730966e-01 -2.31624769e-04 5.16734819e+00] [ 1.47399040e-02 -1.10301230e-04 9.99891356e-01 1.04925223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.494391418 meters Centerline goodness [0,1] 0.9993289435054313 Centerline is valid? [True, True] Translation: X:145.73, Y:5.16, Z:1.05 [[ 9.99666903e-01 -2.04453944e-02 -1.57501726e-02 1.45732361e+02] [ 2.04440189e-02 9.99790968e-01 -2.48351709e-04 5.16456879e+00] [ 1.57519580e-02 -7.37278432e-05 9.99875927e-01 1.04804640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.524391418 meters Centerline goodness [0,1] 0.9994543546694649 Centerline is valid? [True, True] Translation: X:145.76, Y:5.16, Z:1.05 [[ 9.99685164e-01 -1.90471891e-02 -1.63333446e-02 1.45759521e+02] [ 1.90454955e-02 9.99818584e-01 -2.59242536e-04 5.16356429e+00] [ 1.63353193e-02 -5.19157244e-05 9.99866568e-01 1.04785317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.554391418 meters Centerline goodness [0,1] 0.9994964119350371 Centerline is valid? [True, True] Translation: X:145.79, Y:5.16, Z:1.05 [[ 9.99707013e-01 -1.75409018e-02 -1.66794663e-02 1.45787314e+02] [ 1.75388584e-02 9.99846146e-01 -2.68789034e-04 5.16286916e+00] [ 1.66816149e-02 -2.38285167e-05 9.99860852e-01 1.04829169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.584391418 meters Centerline goodness [0,1] 0.9994552007375744 Centerline is valid? [True, True] Translation: X:145.82, Y:5.16, Z:1.05 [[ 9.99740173e-01 -1.43272181e-02 -1.77290027e-02 1.45815373e+02] [ 1.43243055e-02 9.99897359e-01 -2.91264770e-04 5.16124061e+00] [ 1.77313560e-02 3.72334398e-05 9.99842786e-01 1.04618701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.614391418 meters Centerline goodness [0,1] 0.9994767685223943 Centerline is valid? [True, True] Translation: X:145.84, Y:5.16, Z:1.05 [[ 9.99763318e-01 -1.26495276e-02 -1.77002225e-02 1.45843512e+02] [ 1.26462609e-02 9.99919989e-01 -2.96478738e-04 5.16079686e+00] [ 1.77025566e-02 7.25669351e-05 9.99843295e-01 1.04608634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.644391418 meters Centerline goodness [0,1] 0.9996651108273855 Centerline is valid? [True, True] Translation: X:145.87, Y:5.16, Z:1.05 [[ 9.99775986e-01 -1.08195245e-02 -1.81910765e-02 1.45871114e+02] [ 1.08157056e-02 9.99941461e-01 -3.08302387e-04 5.16020579e+00] [ 1.81933473e-02 1.11483995e-04 9.99834481e-01 1.04597404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.674391418 meters Centerline goodness [0,1] 0.9995820795720495 Centerline is valid? [True, True] Translation: X:145.90, Y:5.16, Z:1.05 [[ 9.99793656e-01 -8.28842240e-03 -1.85458477e-02 1.45900136e+02] [ 8.28394201e-03 9.99965637e-01 -3.18395516e-04 5.15786511e+00] [ 1.85478494e-02 1.64697090e-04 9.99827960e-01 1.04602270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.704391418 meters Centerline goodness [0,1] 0.9996862384169682 Centerline is valid? [True, True] Translation: X:145.93, Y:5.16, Z:1.05 [[ 9.99799015e-01 -7.61105377e-03 -1.85472892e-02 1.45929087e+02] [ 7.60635656e-03 9.99971019e-01 -3.23788393e-04 5.15664081e+00] [ 1.85492160e-02 1.82646021e-04 9.99827932e-01 1.04636415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.734391418 meters Centerline goodness [0,1] 0.9995825506157379 Centerline is valid? [True, True] Translation: X:145.96, Y:5.16, Z:1.05 [[ 9.99803976e-01 -7.45070893e-03 -1.83438342e-02 1.45957302e+02] [ 7.44598216e-03 9.99972225e-01 -3.25963059e-04 5.15527870e+00] [ 1.83457534e-02 1.89311300e-04 9.99831685e-01 1.04661671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.764391418 meters Centerline goodness [0,1] 0.9996862187264665 Centerline is valid? [True, True] Translation: X:145.99, Y:5.15, Z:1.05 [[ 9.99780185e-01 -8.23499370e-03 -1.92812244e-02 1.45985348e+02] [ 8.22984659e-03 9.99966074e-01 -3.46283540e-04 5.14943106e+00] [ 1.92834219e-02 1.87525903e-04 9.99814040e-01 1.04624715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.794391418 meters Centerline goodness [0,1] 0.9996862187264665 Centerline is valid? [True, True] Translation: X:146.01, Y:5.15, Z:1.05 [[ 9.99777472e-01 -8.55828661e-03 -1.92811395e-02 1.46012756e+02] [ 8.55310936e-03 9.99963360e-01 -3.50963811e-04 5.15015197e+00] [ 1.92834367e-02 1.85972017e-04 9.99814040e-01 1.04643949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.824391418 meters Centerline goodness [0,1] 0.9996444927748385 Centerline is valid? [True, True] Translation: X:146.04, Y:5.15, Z:1.05 [[ 9.99758430e-01 -1.01503558e-02 -1.94949315e-02 1.46040310e+02] [ 1.01452840e-02 9.99948471e-01 -3.59044903e-04 5.14650528e+00] [ 1.94975714e-02 1.61176551e-04 9.99809891e-01 1.04613564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.854391418 meters Centerline goodness [0,1] 0.9996648161726197 Centerline is valid? [True, True] Translation: X:146.07, Y:5.14, Z:1.05 [[ 9.99721650e-01 -1.42674591e-02 -1.87899245e-02 1.46069008e+02] [ 1.42633939e-02 9.99898211e-01 -3.50356966e-04 5.13681621e+00] [ 1.87930106e-02 8.22513503e-05 9.99823392e-01 1.04729319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.884391418 meters Centerline goodness [0,1] 0.9996011001238689 Centerline is valid? [True, True] Translation: X:146.10, Y:5.13, Z:1.05 [[ 9.99695107e-01 -1.68664393e-02 -1.80337497e-02 1.46097721e+02] [ 1.68630242e-02 9.99857751e-01 -3.41431767e-04 5.13171024e+00] [ 1.80369431e-02 3.72241105e-05 9.99837320e-01 1.04993080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.914391418 meters Centerline goodness [0,1] 0.9997495669595342 Centerline is valid? [True, True] Translation: X:146.13, Y:5.13, Z:1.05 [[ 9.99659254e-01 -1.94962352e-02 -1.73571906e-02 1.46125632e+02] [ 1.94934137e-02 9.99809930e-01 -3.31746566e-04 5.12700995e+00] [ 1.73603593e-02 -6.71737159e-06 9.99849298e-01 1.04971842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.944391418 meters Centerline goodness [0,1] 0.9997486121294648 Centerline is valid? [True, True] Translation: X:146.15, Y:5.12, Z:1.05 [[ 9.99605059e-01 -2.24008153e-02 -1.69684626e-02 1.46153528e+02] [ 2.23984672e-02 9.99749069e-01 -3.28437893e-04 5.12239240e+00] [ 1.69715619e-02 -5.17593721e-05 9.99855971e-01 1.05236521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.974391418 meters Centerline goodness [0,1] 0.9995595268059401 Centerline is valid? [True, True] Translation: X:146.18, Y:5.11, Z:1.05 [[ 9.99497348e-01 -2.70701219e-02 -1.65003097e-02 1.46182159e+02] [ 2.70684515e-02 9.99633530e-01 -3.24600737e-04 5.11396631e+00] [ 1.65030498e-02 -1.22200258e-04 9.99863808e-01 1.05381175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.004391418 meters Centerline goodness [0,1] 0.9995384744482672 Centerline is valid? [True, True] Translation: X:146.21, Y:5.11, Z:1.05 [[ 9.99441924e-01 -2.92372297e-02 -1.61562968e-02 1.46210868e+02] [ 2.92358326e-02 9.99572490e-01 -3.22704594e-04 5.11031157e+00] [ 1.61588248e-02 -1.49818288e-04 9.99869426e-01 1.05444504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.034391418 meters Centerline goodness [0,1] 0.9998742164734492 Centerline is valid? [True, True] Translation: X:146.24, Y:5.11, Z:1.05 [[ 9.99380760e-01 -3.11839695e-02 -1.62989548e-02 1.46239504e+02] [ 3.11827255e-02 9.99513646e-01 -3.30518158e-04 5.10680824e+00] [ 1.63013346e-02 -1.77932345e-04 9.99867109e-01 1.05457983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.064391418 meters Centerline goodness [0,1] 0.9997071068432394 Centerline is valid? [True, True] Translation: X:146.27, Y:5.10, Z:1.05 [[ 9.99303635e-01 -3.34464570e-02 -1.65402381e-02 1.46267129e+02] [ 3.34454331e-02 9.99440488e-01 -3.38590252e-04 5.09963257e+00] [ 1.65423083e-02 -2.14840957e-04 9.99863144e-01 1.05393892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09439141800001 meters Centerline goodness [0,1] 0.9997901848471497 Centerline is valid? [True, True] Translation: X:146.30, Y:5.10, Z:1.06 [[ 9.99277813e-01 -3.43272913e-02 -1.62938330e-02 1.46295279e+02] [ 3.43263488e-02 9.99410620e-01 -3.37596396e-04 5.09890227e+00] [ 1.62958185e-02 -2.21955205e-04 9.99867190e-01 1.05513544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12439141800002 meters Centerline goodness [0,1] 0.9999372109085581 Centerline is valid? [True, True] Translation: X:146.32, Y:5.10, Z:1.05 [[ 9.99277455e-01 -3.43525560e-02 -1.62625124e-02 1.46322587e+02] [ 3.43515567e-02 9.99409753e-01 -3.40864400e-04 5.09669221e+00] [ 1.62646231e-02 -2.18024508e-04 9.99867698e-01 1.05459422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15439141800002 meters Centerline goodness [0,1] 0.9998328492927435 Centerline is valid? [True, True] Translation: X:146.35, Y:5.10, Z:1.05 [[ 9.99312324e-01 -3.30212441e-02 -1.68664163e-02 1.46350508e+02] [ 3.30199436e-02 9.99454630e-01 -3.55656508e-04 5.09601670e+00] [ 1.68689621e-02 -2.01516183e-04 9.99857689e-01 1.05416264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18439141800002 meters Centerline goodness [0,1] 0.9998743534437627 Centerline is valid? [True, True] Translation: X:146.38, Y:5.10, Z:1.05 [[ 9.99348191e-01 -3.18179224e-02 -1.70532312e-02 1.46379688e+02] [ 3.18163564e-02 9.99493666e-01 -3.63200517e-04 5.09671330e+00] [ 1.70561528e-02 -1.79607901e-04 9.99854517e-01 1.05413023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21439141800002 meters Centerline goodness [0,1] 0.9998538286454092 Centerline is valid? [True, True] Translation: X:146.41, Y:5.10, Z:1.06 [[ 9.99391442e-01 -3.05182063e-02 -1.68933122e-02 1.46408229e+02] [ 3.05163997e-02 9.99534200e-01 -3.64769366e-04 5.09855014e+00] [ 1.68965754e-02 -1.50975685e-04 9.99857231e-01 1.05531534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.244391418 meters Centerline goodness [0,1] 0.9998956027894934 Centerline is valid? [True, True] Translation: X:146.44, Y:5.10, Z:1.06 [[ 9.99533431e-01 -2.59954220e-02 -1.60361871e-02 1.46436065e+02] [ 2.59931642e-02 9.99662060e-01 -3.49239535e-04 5.10049899e+00] [ 1.60398464e-02 -6.77546538e-05 9.99871351e-01 1.05620917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.274391418 meters Centerline goodness [0,1] 0.9999790575916231 Centerline is valid? [True, True] Translation: X:146.46, Y:5.10, Z:1.06 [[ 9.99584804e-01 -2.41208960e-02 -1.57608036e-02 1.46464020e+02] [ 2.41184236e-02 9.99709048e-01 -3.46953173e-04 5.10216495e+00] [ 1.57645868e-02 -3.33166183e-05 9.99875731e-01 1.05678597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.304391418 meters Centerline goodness [0,1] 0.999979075120318 Centerline is valid? [True, True] Translation: X:146.49, Y:5.10, Z:1.06 [[ 9.99682304e-01 -2.02134947e-02 -1.50567806e-02 1.46490863e+02] [ 2.02107430e-02 9.99795686e-01 -3.34914990e-04 5.10457774e+00] [ 1.50604741e-02 3.04998666e-05 9.99886584e-01 1.05707196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.334391418 meters Centerline goodness [0,1] 0.9998329609755079 Centerline is valid? [True, True] Translation: X:146.52, Y:5.11, Z:1.06 [[ 9.99695372e-01 -1.95279715e-02 -1.50937292e-02 1.46518444e+02] [ 1.95250719e-02 9.99809310e-01 -3.39457809e-04 5.10571187e+00] [ 1.50974799e-02 4.46482535e-05 9.99886026e-01 1.05697208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.364391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.55, Y:5.11, Z:1.06 [[ 9.99696713e-01 -1.91193263e-02 -1.55220557e-02 1.46546281e+02] [ 1.91161296e-02 9.99817207e-01 -3.54301986e-04 5.10609016e+00] [ 1.55259924e-02 5.74729010e-05 9.99879463e-01 1.05659250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.394391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.57, Y:5.10, Z:1.06 [[ 9.99648704e-01 -2.10806860e-02 -1.60646617e-02 1.46574255e+02] [ 2.10774265e-02 9.99777777e-01 -3.72205923e-04 5.10260598e+00] [ 1.60689381e-02 3.34734431e-05 9.99870886e-01 1.05588835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.424391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.60, Y:5.10, Z:1.06 [[ 9.99577892e-01 -2.36254582e-02 -1.69078623e-02 1.46602213e+02] [ 2.36221102e-02 9.99720880e-01 -3.97725392e-04 5.09997947e+00] [ 1.69125394e-02 -1.84187723e-06 9.99856973e-01 1.05531610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.454391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.63, Y:5.09, Z:1.05 [[ 9.99385058e-01 -3.01436858e-02 -1.79127000e-02 1.46629748e+02] [ 3.01409034e-02 9.99545569e-01 -4.25344410e-04 5.09147574e+00] [ 1.79173814e-02 -1.14822114e-04 9.99839464e-01 1.05324966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.484391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.66, Y:5.09, Z:1.05 [[ 9.99264865e-01 -3.39215281e-02 -1.78622125e-02 1.46658180e+02] [ 3.39192911e-02 9.99424484e-01 -4.28271829e-04 5.08847820e+00] [ 1.78664601e-02 -1.77916593e-04 9.99840366e-01 1.05450104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.514391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.69, Y:5.08, Z:1.06 [[ 9.99123646e-01 -3.79235338e-02 -1.77128815e-02 1.46687138e+02] [ 3.79218701e-02 9.99280615e-01 -4.29921808e-04 5.08489584e+00] [ 1.77164433e-02 -2.42160545e-04 9.99843022e-01 1.05536684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.544391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.72, Y:5.08, Z:1.06 [[ 9.98986021e-01 -4.16505392e-02 -1.70927786e-02 1.46715300e+02] [ 4.16494830e-02 9.99132196e-01 -4.17920408e-04 5.08110637e+00] [ 1.70953520e-02 -2.94408747e-04 9.99853820e-01 1.05616804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.574391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.74, Y:5.07, Z:1.06 [[ 9.98741457e-01 -4.75656095e-02 -1.59064178e-02 1.46744506e+02] [ 4.75654211e-02 9.98868049e-01 -3.90381612e-04 5.07493098e+00] [ 1.59069813e-02 -3.66705163e-04 9.99873409e-01 1.05857738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.604391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.77, Y:5.07, Z:1.06 [[ 9.98629210e-01 -5.00331674e-02 -1.53747673e-02 1.46773549e+02] [ 5.00332358e-02 9.98747481e-01 -3.80440259e-04 5.07409910e+00] [ 1.53745448e-02 -3.89330603e-04 9.99881729e-01 1.06013015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.634391418 meters Centerline goodness [0,1] 0.999937035637829 Centerline is valid? [True, True] Translation: X:146.80, Y:5.07, Z:1.06 [[ 9.98545407e-01 -5.18517014e-02 -1.47807395e-02 1.46801548e+02] [ 5.18519216e-02 9.98654716e-01 -3.68582781e-04 5.07021946e+00] [ 1.47799669e-02 -3.98363104e-04 9.99890691e-01 1.06041107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.664391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.83, Y:5.07, Z:1.06 [[ 9.98419994e-01 -5.45188625e-02 -1.36091856e-02 1.46829484e+02] [ 5.45192784e-02 9.98512660e-01 -3.40711739e-04 5.06703640e+00] [ 1.36075193e-02 -4.01789565e-04 9.99907333e-01 1.06169634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.694391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.86, Y:5.07, Z:1.06 [[ 9.98366398e-01 -5.56089844e-02 -1.31215843e-02 1.46858536e+02] [ 5.56094340e-02 9.98452543e-01 -3.30875497e-04 5.06678958e+00] [ 1.31196789e-02 -3.99348899e-04 9.99913854e-01 1.06243272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.724391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.89, Y:5.07, Z:1.06 [[ 9.98352398e-01 -5.58075797e-02 -1.33417813e-02 1.46887683e+02] [ 5.58080107e-02 9.98441461e-01 -3.40292537e-04 5.07125754e+00] [ 1.33399786e-02 -4.04846406e-04 9.99910937e-01 1.06327047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.754391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.92, Y:5.07, Z:1.06 [[ 9.98380296e-01 -5.53436692e-02 -1.31856821e-02 1.46916649e+02] [ 5.53439982e-02 9.98467288e-01 -3.40212543e-04 5.07262001e+00] [ 1.31843009e-02 -3.90086869e-04 9.99913007e-01 1.06368407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.784391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.94, Y:5.07, Z:1.06 [[ 9.98444350e-01 -5.42454531e-02 -1.28961380e-02 1.46944543e+02] [ 5.42456421e-02 9.98527565e-01 -3.35395864e-04 5.07372150e+00] [ 1.28953429e-02 -3.64685179e-04 9.99916785e-01 1.06386357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.814391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.97, Y:5.07, Z:1.06 [[ 9.98523055e-01 -5.27458874e-02 -1.30222588e-02 1.46972685e+02] [ 5.27459309e-02 9.98607907e-01 -3.40349828e-04 5.07204034e+00] [ 1.30220827e-02 -3.47024012e-04 9.99915149e-01 1.06308434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84439141800001 meters Centerline goodness [0,1] 0.9999790558371382 Centerline is valid? [True, True] Translation: X:147.00, Y:5.08, Z:1.06 [[ 9.98742128e-01 -4.83883748e-02 -1.31425353e-02 1.47001300e+02] [ 4.83880209e-02 9.98828554e-01 -3.45095914e-04 5.08132425e+00] [ 1.31438382e-02 -2.91279448e-04 9.99913574e-01 1.06374665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87439141800002 meters Centerline goodness [0,1] 0.9999790277253471 Centerline is valid? [True, True] Translation: X:147.03, Y:5.09, Z:1.06 [[ 9.98856405e-01 -4.60464918e-02 -1.28687058e-02 1.47030410e+02] [ 4.60459385e-02 9.98939266e-01 -3.39436749e-04 5.08556679e+00] [ 1.28706854e-02 -2.53503065e-04 9.99917137e-01 1.06438159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90439141800002 meters Centerline goodness [0,1] 0.9999789915966386 Centerline is valid? [True, True] Translation: X:147.06, Y:5.09, Z:1.06 [[ 9.98956695e-01 -4.38684527e-02 -1.26917701e-02 1.47059109e+02] [ 4.38677029e-02 9.99037292e-01 -3.37597539e-04 5.08946468e+00] [ 1.26943615e-02 -2.19513477e-04 9.99919399e-01 1.06462602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.09, Y:5.10, Z:1.06 [[ 9.99145188e-01 -3.92384313e-02 -1.30091845e-02 1.47087351e+02] [ 3.92371996e-02 9.99229863e-01 -3.49998179e-04 5.09637073e+00] [ 1.30128990e-02 -1.60744971e-04 9.99915316e-01 1.06464883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.12, Y:5.10, Z:1.06 [[ 9.99251832e-01 -3.60310950e-02 -1.40547537e-02 1.47116076e+02] [ 3.60293015e-02 9.99350661e-01 -3.80878538e-04 5.10097913e+00] [ 1.40593509e-02 -1.25789382e-04 9.99901155e-01 1.06324384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.994391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.14, Y:5.10, Z:1.06 [[ 9.99269621e-01 -3.52793878e-02 -1.46829383e-02 1.47143508e+02] [ 3.52773303e-02 9.99377482e-01 -3.99188363e-04 5.10330234e+00] [ 1.46878810e-02 -1.19078059e-04 9.99892120e-01 1.06255067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.024391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.17, Y:5.11, Z:1.06 [[ 9.99263778e-01 -3.52797179e-02 -1.50746003e-02 1.47171844e+02] [ 3.52774956e-02 9.99377470e-01 -4.13387419e-04 5.10546594e+00] [ 1.50798001e-02 -1.18711071e-04 9.99886286e-01 1.06210914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.054391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.20, Y:5.11, Z:1.06 [[ 9.99255674e-01 -3.55581592e-02 -1.49571387e-02 1.47198372e+02] [ 3.55559489e-02 9.99367602e-01 -4.13751077e-04 5.10669248e+00] [ 1.49623921e-02 -1.18372149e-04 9.99888050e-01 1.06213082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.084391418 meters Centerline goodness [0,1] 0.999853304832558 Centerline is valid? [True, True] Translation: X:147.23, Y:5.11, Z:1.06 [[ 9.99199237e-01 -3.71418122e-02 -1.48785331e-02 1.47226836e+02] [ 3.71397495e-02 9.99309995e-01 -4.15018703e-04 5.10712101e+00] [ 1.48836814e-02 -1.37898622e-04 9.99889222e-01 1.06277397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.114391418 meters Centerline goodness [0,1] 0.9998533632193057 Centerline is valid? [True, True] Translation: X:147.25, Y:5.11, Z:1.06 [[ 9.99163177e-01 -3.83518537e-02 -1.42155402e-02 1.47254603e+02] [ 3.83500530e-02 9.99264286e-01 -3.99349768e-04 5.10516382e+00] [ 1.42203974e-02 -1.46151137e-04 9.99898874e-01 1.06204947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.144391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.28, Y:5.11, Z:1.06 [[ 9.99093056e-01 -4.01074421e-02 -1.42989248e-02 1.47282922e+02] [ 4.01057587e-02 9.99195358e-01 -4.04575443e-04 5.10593252e+00] [ 1.43036458e-02 -1.69260711e-04 9.99897683e-01 1.06377650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.174391418 meters Centerline goodness [0,1] 0.9996859033419885 Centerline is valid? [True, True] Translation: X:147.31, Y:5.10, Z:1.06 [[ 9.98921084e-01 -4.42881163e-02 -1.39724838e-02 1.47311706e+02] [ 4.42868616e-02 9.99018776e-01 -3.99352352e-04 5.10371265e+00] [ 1.39764602e-02 -2.19875971e-04 9.99902300e-01 1.06436864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.204391418 meters Centerline goodness [0,1] 0.9997272174077261 Centerline is valid? [True, True] Translation: X:147.34, Y:5.10, Z:1.07 [[ 9.98806812e-01 -4.67596129e-02 -1.40886597e-02 1.47340551e+02] [ 4.67585248e-02 9.98906139e-01 -4.06798726e-04 5.10311774e+00] [ 1.40922704e-02 -2.52451605e-04 9.99900667e-01 1.06516458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.234391418 meters Centerline goodness [0,1] 0.9995177792687018 Centerline is valid? [True, True] Translation: X:147.37, Y:5.10, Z:1.07 [[ 9.98696301e-01 -4.91730357e-02 -1.37007855e-02 1.47368999e+02] [ 4.91721788e-02 9.98790237e-01 -3.99602428e-04 5.10267030e+00] [ 1.37038604e-02 -2.74616006e-04 9.99906060e-01 1.06547439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.264391418 meters Centerline goodness [0,1] 0.9996440014239943 Centerline is valid? [True, True] Translation: X:147.40, Y:5.10, Z:1.07 [[ 9.98566984e-01 -5.17059320e-02 -1.38012848e-02 1.47398057e+02] [ 5.17052460e-02 9.98662306e-01 -4.06754238e-04 5.10222453e+00] [ 1.38038545e-02 -3.07427472e-04 9.99904675e-01 1.06633905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.294391418 meters Centerline goodness [0,1] 0.999874657920575 Centerline is valid? [True, True] Translation: X:147.43, Y:5.10, Z:1.07 [[ 9.98391342e-01 -5.52093195e-02 -1.29096401e-02 1.47427107e+02] [ 5.52089807e-02 9.98474748e-01 -3.82893312e-04 5.09682244e+00] [ 1.29110890e-02 -3.30450705e-04 9.99916594e-01 1.06675351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.324391418 meters Centerline goodness [0,1] 0.9999580993882511 Centerline is valid? [True, True] Translation: X:147.46, Y:5.10, Z:1.07 [[ 9.98316431e-01 -5.66334862e-02 -1.25280440e-02 1.47455561e+02] [ 5.66332525e-02 9.98394979e-01 -3.73708152e-04 5.09764514e+00] [ 1.25291006e-02 -3.36424891e-04 9.99921451e-01 1.06773273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.354391418 meters Centerline goodness [0,1] 0.9999580923644288 Centerline is valid? [True, True] Translation: X:147.48, Y:5.10, Z:1.07 [[ 9.98263216e-01 -5.76840783e-02 -1.19623676e-02 1.47484060e+02] [ 5.76839123e-02 9.98334832e-01 -3.59197705e-04 5.09624351e+00] [ 1.19631683e-02 -3.31462309e-04 9.99928384e-01 1.06838426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.384391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.51, Y:5.10, Z:1.07 [[ 9.98265952e-01 -5.76231104e-02 -1.20277249e-02 1.47513215e+02] [ 5.76229301e-02 9.98338353e-01 -3.61827945e-04 5.09722310e+00] [ 1.20285887e-02 -3.31872233e-04 9.99927599e-01 1.06849516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.414391418 meters Centerline goodness [0,1] 0.9998745609633718 Centerline is valid? [True, True] Translation: X:147.54, Y:5.10, Z:1.07 [[ 9.98318925e-01 -5.65763732e-02 -1.25872233e-02 1.47541839e+02] [ 5.65760843e-02 9.98398219e-01 -3.79319593e-04 5.09924828e+00] [ 1.25885218e-02 -3.33453877e-04 9.99920706e-01 1.06775565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.444391418 meters Centerline goodness [0,1] 0.9999791218656701 Centerline is valid? [True, True] Translation: X:147.57, Y:5.10, Z:1.07 [[ 9.98373748e-01 -5.55722530e-02 -1.27115306e-02 1.47570230e+02] [ 5.55718503e-02 9.98454616e-01 -3.85163991e-04 5.10169213e+00] [ 1.27132908e-02 -3.21865656e-04 9.99919131e-01 1.06803754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.474391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.60, Y:5.10, Z:1.07 [[ 9.98447923e-01 -5.41846566e-02 -1.28750952e-02 1.47599114e+02] [ 5.41840799e-02 9.98530886e-01 -3.93873876e-04 5.10448463e+00] [ 1.28775221e-02 -3.04362632e-04 9.99917035e-01 1.06806988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.504391418 meters Centerline goodness [0,1] 0.9999789968915399 Centerline is valid? [True, True] Translation: X:147.63, Y:5.11, Z:1.07 [[ 9.98543939e-01 -5.24390835e-02 -1.26548104e-02 1.47627375e+02] [ 5.24383566e-02 9.98624087e-01 -3.89472377e-04 5.10732805e+00] [ 1.26578221e-02 -2.74692180e-04 9.99919849e-01 1.06825845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.534391418 meters Centerline goodness [0,1] 0.9998319927756893 Centerline is valid? [True, True] Translation: X:147.66, Y:5.11, Z:1.07 [[ 9.98794798e-01 -4.73776195e-02 -1.28184246e-02 1.47655566e+02] [ 4.73764468e-02 9.98877027e-01 -3.95299400e-04 5.11428903e+00] [ 1.28227582e-02 -2.12468428e-04 9.99917762e-01 1.06859598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.564391418 meters Centerline goodness [0,1] 0.9998949447409338 Centerline is valid? [True, True] Translation: X:147.68, Y:5.12, Z:1.07 [[ 9.98923416e-01 -4.45809194e-02 -1.28277490e-02 1.47684163e+02] [ 4.45794878e-02 9.99005761e-01 -3.97661422e-04 5.11895312e+00] [ 1.28327233e-02 -1.74621175e-04 9.99917642e-01 1.06845890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59439141800001 meters Centerline goodness [0,1] 0.9998534246288502 Centerline is valid? [True, True] Translation: X:147.71, Y:5.13, Z:1.07 [[ 9.99134203e-01 -3.98361788e-02 -1.19968145e-02 1.47712549e+02] [ 3.98345583e-02 9.99206219e-01 -3.74096266e-04 5.12570982e+00] [ 1.20021942e-02 -1.04115432e-04 9.99927966e-01 1.06972242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62439141800002 meters Centerline goodness [0,1] 0.999958122199422 Centerline is valid? [True, True] Translation: X:147.74, Y:5.13, Z:1.07 [[ 9.99184426e-01 -3.83839980e-02 -1.25359882e-02 1.47741689e+02] [ 3.83820887e-02 9.99263059e-01 -3.92946690e-04 5.12904894e+00] [ 1.25418328e-02 -8.85312004e-05 9.99921344e-01 1.06923807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65439141800002 meters Centerline goodness [0,1] 0.9998741637130094 Centerline is valid? [True, True] Translation: X:147.77, Y:5.13, Z:1.07 [[ 9.99222464e-01 -3.70576970e-02 -1.34608191e-02 1.47771419e+02] [ 3.70553434e-02 9.99313125e-01 -4.24298361e-04 5.13219753e+00] [ 1.34672967e-02 -7.48268212e-05 9.99909309e-01 1.06867032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68439141800002 meters Centerline goodness [0,1] 0.9998323554065381 Centerline is valid? [True, True] Translation: X:147.80, Y:5.13, Z:1.07 [[ 9.99222379e-01 -3.69148713e-02 -1.38538745e-02 1.47800192e+02] [ 3.69123312e-02 9.99318411e-01 -4.39093083e-04 5.13378873e+00] [ 1.38606410e-02 -7.26271711e-05 9.99903934e-01 1.06914400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71439141800002 meters Centerline goodness [0,1] 0.9998323554065381 Centerline is valid? [True, True] Translation: X:147.83, Y:5.13, Z:1.07 [[ 9.99211031e-01 -3.72208247e-02 -1.38537390e-02 1.47828447e+02] [ 3.72182551e-02 9.99307062e-01 -4.43337600e-04 5.13484977e+00] [ 1.38606406e-02 -7.26241735e-05 9.99903934e-01 1.06934251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.744391418 meters Centerline goodness [0,1] 0.9999371661954132 Centerline is valid? [True, True] Translation: X:147.86, Y:5.13, Z:1.07 [[ 9.99126564e-01 -3.92551302e-02 -1.43228206e-02 1.47856400e+02] [ 3.92525495e-02 9.99229215e-01 -4.61360880e-04 5.13359102e+00] [ 1.43298916e-02 -1.01249315e-04 9.99897317e-01 1.06845185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.774391418 meters Centerline goodness [0,1] 0.9998952462760051 Centerline is valid? [True, True] Translation: X:147.88, Y:5.13, Z:1.07 [[ 9.99017867e-01 -4.16831441e-02 -1.50272148e-02 1.47883935e+02] [ 4.16805535e-02 9.99130870e-01 -4.85677936e-04 5.13054026e+00] [ 1.50343988e-02 -1.41141695e-04 9.99886967e-01 1.06722423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.804391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.91, Y:5.13, Z:1.07 [[ 9.98699559e-01 -4.89084442e-02 -1.43928593e-02 1.47913073e+02] [ 4.89067746e-02 9.98803238e-01 -4.68160830e-04 5.12757504e+00] [ 1.43985315e-02 -2.36356311e-04 9.99896308e-01 1.07017548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.834391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.94, Y:5.12, Z:1.07 [[ 9.98481243e-01 -5.31020746e-02 -1.46757120e-02 1.47941619e+02] [ 5.31007516e-02 9.98589044e-01 -4.80077749e-04 5.12436418e+00] [ 1.46804983e-02 -2.99942709e-04 9.99892191e-01 1.07050774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.864391418 meters Centerline goodness [0,1] 0.9999790974268933 Centerline is valid? [True, True] Translation: X:147.97, Y:5.12, Z:1.07 [[ 9.98254335e-01 -5.72119493e-02 -1.46654305e-02 1.47970767e+02] [ 5.72110574e-02 9.98361990e-01 -4.80692056e-04 5.12107246e+00] [ 1.46689097e-02 -3.59171858e-04 9.99892341e-01 1.07077769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.894391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.00, Y:5.11, Z:1.07 [[ 9.97821367e-01 -6.44399194e-02 -1.41427307e-02 1.48001077e+02] [ 6.44398066e-02 9.97921488e-01 -4.64147734e-04 5.11481259e+00] [ 1.41432445e-02 -4.48218307e-04 9.99899879e-01 1.07181947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.924391418 meters Centerline goodness [0,1] 0.9998533263488738 Centerline is valid? [True, True] Translation: X:148.03, Y:5.11, Z:1.07 [[ 9.97614434e-01 -6.76935949e-02 -1.35284191e-02 1.48030310e+02] [ 6.76937828e-02 9.97706046e-01 -4.44552063e-04 5.11283657e+00] [ 1.35274788e-02 -4.72298309e-04 9.99908388e-01 1.07266503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.954391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.06, Y:5.11, Z:1.07 [[ 9.97412592e-01 -7.06847422e-02 -1.31068035e-02 1.48059345e+02] [ 7.06851468e-02 9.97498583e-01 -4.32951822e-04 5.11096055e+00] [ 1.31046210e-02 -4.94624732e-04 9.99914008e-01 1.07299778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.984391418 meters Centerline goodness [0,1] 0.9999579637647652 Centerline is valid? [True, True] Translation: X:148.09, Y:5.11, Z:1.07 [[ 9.97213838e-01 -7.34433381e-02 -1.30628240e-02 1.48088764e+02] [ 7.34439457e-02 9.97299252e-01 -4.33843371e-04 5.11146624e+00] [ 1.30594076e-02 -5.26750727e-04 9.99914584e-01 1.07375091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.014391418 meters Centerline goodness [0,1] 0.9999161056230206 Centerline is valid? [True, True] Translation: X:148.12, Y:5.11, Z:1.07 [[ 9.97171038e-01 -7.39248303e-02 -1.36029286e-02 1.48117854e+02] [ 7.39255238e-02 9.97263662e-01 -4.52528572e-04 5.10993091e+00] [ 1.35991595e-02 -5.54355237e-04 9.99907373e-01 1.07302968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.044391418 meters Centerline goodness [0,1] 0.9999791618912668 Centerline is valid? [True, True] Translation: X:148.15, Y:5.11, Z:1.07 [[ 9.97215912e-01 -7.33022358e-02 -1.36823879e-02 1.48146041e+02] [ 7.33028669e-02 9.97309622e-01 -4.56046668e-04 5.11111763e+00] [ 1.36790064e-02 -5.48181266e-04 9.99906288e-01 1.07293637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.074391418 meters Centerline goodness [0,1] 0.9998323975530042 Centerline is valid? [True, True] Translation: X:148.18, Y:5.12, Z:1.07 [[ 9.97365046e-01 -7.12429172e-02 -1.36898173e-02 1.48175553e+02] [ 7.12433453e-02 9.97458860e-01 -4.57024224e-04 5.11773031e+00] [ 1.36875893e-02 -5.19488393e-04 9.99906186e-01 1.07341298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.104391418 meters Centerline goodness [0,1] 0.999874256014754 Centerline is valid? [True, True] Translation: X:148.20, Y:5.12, Z:1.07 [[ 9.97503127e-01 -6.92423127e-02 -1.38929251e-02 1.48204695e+02] [ 6.92425513e-02 9.97599746e-01 -4.64417622e-04 5.12169937e+00] [ 1.38917359e-02 -4.98723548e-04 9.99903381e-01 1.07379096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.134391418 meters Centerline goodness [0,1] 0.9998953690334191 Centerline is valid? [True, True] Translation: X:148.23, Y:5.12, Z:1.07 [[ 9.97654379e-01 -6.70803289e-02 -1.36370434e-02 1.48233413e+02] [ 6.70803470e-02 9.97747472e-01 -4.56598582e-04 5.12323640e+00] [ 1.36369544e-02 -4.59250032e-04 9.99906907e-01 1.07332121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.164391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.26, Y:5.13, Z:1.07 [[ 9.97822930e-01 -6.44511033e-02 -1.39805534e-02 1.48262924e+02] [ 6.44508538e-02 9.97920772e-01 -4.68867711e-04 5.12864243e+00] [ 1.39817037e-02 -4.33211652e-04 9.99902157e-01 1.07371906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.194391418 meters Centerline goodness [0,1] 0.999979064606624 Centerline is valid? [True, True] Translation: X:148.29, Y:5.14, Z:1.07 [[ 9.98152482e-01 -5.92002464e-02 -1.36731027e-02 1.48292157e+02] [ 5.91995073e-02 9.98246066e-01 -4.59144637e-04 5.13721945e+00] [ 1.36763025e-02 -3.51144585e-04 9.99906413e-01 1.07426544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.224391418 meters Centerline goodness [0,1] 0.9999162268576695 Centerline is valid? [True, True] Translation: X:148.32, Y:5.14, Z:1.07 [[ 9.98308728e-01 -5.65476188e-02 -1.34926230e-02 1.48321709e+02] [ 5.65466490e-02 9.98399855e-01 -4.53672477e-04 5.14088496e+00] [ 1.34966869e-02 -3.10057422e-04 9.99908868e-01 1.07417131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.254391418 meters Centerline goodness [0,1] 0.9997490747130042 Centerline is valid? [True, True] Translation: X:148.35, Y:5.15, Z:1.07 [[ 9.98595267e-01 -5.12468025e-02 -1.34632341e-02 1.48350682e+02] [ 5.12453473e-02 9.98685991e-01 -4.53270106e-04 5.14796188e+00] [ 1.34687719e-02 -2.37294725e-04 9.99909264e-01 1.07363616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.284391418 meters Centerline goodness [0,1] 0.999811924017303 Centerline is valid? [True, True] Translation: X:148.38, Y:5.15, Z:1.07 [[ 9.98722579e-01 -4.86554995e-02 -1.36327901e-02 1.48379096e+02] [ 4.86537561e-02 9.98815599e-01 -4.59709349e-04 5.15139106e+00] [ 1.36390108e-02 -2.04164339e-04 9.99906964e-01 1.07321719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.314391418 meters Centerline goodness [0,1] 0.9998115775149168 Centerline is valid? [True, True] Translation: X:148.41, Y:5.16, Z:1.07 [[ 9.98838702e-01 -4.61882907e-02 -1.37072917e-02 1.48408129e+02] [ 4.61862856e-02 9.98932737e-01 -4.62970834e-04 5.15750653e+00] [ 1.37140462e-02 -1.70655700e-04 9.99905943e-01 1.07381300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34439141800001 meters Centerline goodness [0,1] 0.9997907380668383 Centerline is valid? [True, True] Translation: X:148.44, Y:5.16, Z:1.07 [[ 9.98945701e-01 -4.38100035e-02 -1.37174819e-02 1.48436496e+02] [ 4.38077592e-02 9.99039871e-01 -4.64190327e-04 5.16120622e+00] [ 1.37246475e-02 -1.37231211e-04 9.99905803e-01 1.07363300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37439141800002 meters Centerline goodness [0,1] 0.9998118257087898 Centerline is valid? [True, True] Translation: X:148.47, Y:5.17, Z:1.07 [[ 9.99125640e-01 -3.94283677e-02 -1.39053867e-02 1.48465870e+02] [ 3.94256246e-02 9.99222397e-01 -4.71448256e-04 5.16786013e+00] [ 1.39131623e-02 -7.71925166e-05 9.99903204e-01 1.07333383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40439141800002 meters Centerline goodness [0,1] 0.9998745530954024 Centerline is valid? [True, True] Translation: X:148.49, Y:5.17, Z:1.07 [[ 9.99178924e-01 -3.80295596e-02 -1.39725189e-02 1.48494536e+02] [ 3.80266424e-02 9.99276613e-01 -4.74493226e-04 5.17062192e+00] [ 1.39804561e-02 -5.72243489e-05 9.99902267e-01 1.07309482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43439141800002 meters Centerline goodness [0,1] 0.9997903739728324 Centerline is valid? [True, True] Translation: X:148.52, Y:5.17, Z:1.07 [[ 9.99268535e-01 -3.57697652e-02 -1.35247827e-02 1.48523834e+02] [ 3.57668151e-02 9.99360057e-01 -4.60017155e-04 5.17407239e+00] [ 1.35325823e-02 -2.40577336e-05 9.99908430e-01 1.07361389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46439141800002 meters Centerline goodness [0,1] 0.9997488961894997 Centerline is valid? [True, True] Translation: X:148.55, Y:5.18, Z:1.07 [[ 9.99292210e-01 -3.52926735e-02 -1.30194769e-02 1.48553064e+02] [ 3.52898920e-02 9.99377019e-01 -4.43383184e-04 5.17562699e+00] [ 1.30270142e-02 -1.63865721e-05 9.99915145e-01 1.07431766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.494391418 meters Centerline goodness [0,1] 0.9997068492577005 Centerline is valid? [True, True] Translation: X:148.58, Y:5.18, Z:1.07 [[ 9.99311585e-01 -3.47702799e-02 -1.29376747e-02 1.48582742e+02] [ 3.47674823e-02 9.99395331e-01 -4.41153476e-04 5.17722023e+00] [ 1.29451907e-02 -8.96059612e-06 9.99916207e-01 1.07461572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.524391418 meters Centerline goodness [0,1] 0.99981210463684 Centerline is valid? [True, True] Translation: X:148.61, Y:5.18, Z:1.08 [[ 9.99326665e-01 -3.45080219e-02 -1.24665008e-02 1.48611577e+02] [ 3.45053960e-02 9.99404421e-01 -4.25726331e-04 5.17836676e+00] [ 1.24737670e-02 -4.72187225e-06 9.99922200e-01 1.07510128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.554391418 meters Centerline goodness [0,1] 0.9998120261492512 Centerline is valid? [True, True] Translation: X:148.64, Y:5.18, Z:1.08 [[ 9.99340509e-01 -3.43060683e-02 -1.19013231e-02 1.48641684e+02] [ 3.43036533e-02 9.99411374e-01 -4.07057638e-04 5.17909636e+00] [ 1.19082822e-02 -1.46967315e-06 9.99929094e-01 1.07587533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.584391418 meters Centerline goodness [0,1] 0.9997497288729457 Centerline is valid? [True, True] Translation: X:148.67, Y:5.18, Z:1.08 [[ 9.99343746e-01 -3.43593585e-02 -1.14678365e-02 1.48671480e+02] [ 3.43571143e-02 9.99409543e-01 -3.92703507e-04 5.17930445e+00] [ 1.14745583e-02 -1.55597617e-06 9.99934165e-01 1.07654193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.614391418 meters Centerline goodness [0,1] 0.9998323940416082 Centerline is valid? [True, True] Translation: X:148.70, Y:5.18, Z:1.08 [[ 9.99359844e-01 -3.41349153e-02 -1.07102709e-02 1.48700674e+02] [ 3.41329402e-02 9.99417234e-01 -3.67198093e-04 5.17900837e+00] [ 1.07165636e-02 1.38999141e-06 9.99942576e-01 1.07742937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.644391418 meters Centerline goodness [0,1] 0.999665376973753 Centerline is valid? [True, True] Translation: X:148.73, Y:5.18, Z:1.08 [[ 9.99361384e-01 -3.40567034e-02 -1.08150836e-02 1.48731096e+02] [ 3.40546817e-02 9.99419902e-01 -3.71091185e-04 5.17937679e+00] [ 1.08214479e-02 2.54997032e-06 9.99941446e-01 1.07751474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.674391418 meters Centerline goodness [0,1] 0.9998324466971055 Centerline is valid? [True, True] Translation: X:148.76, Y:5.18, Z:1.08 [[ 9.99384459e-01 -3.30731509e-02 -1.16991136e-02 1.48761501e+02] [ 3.30707178e-02 9.99452934e-01 -4.01424352e-04 5.17897138e+00] [ 1.17059898e-02 1.42791749e-05 9.99931482e-01 1.07695028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.704391418 meters Centerline goodness [0,1] 0.9998959135666258 Centerline is valid? [True, True] Translation: X:148.79, Y:5.18, Z:1.08 [[ 9.99395575e-01 -3.25645057e-02 -1.21670664e-02 1.48790165e+02] [ 3.25618322e-02 9.99469636e-01 -4.17816857e-04 5.17949615e+00] [ 1.21742194e-02 2.13823430e-05 9.99925891e-01 1.07636162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.734391418 meters Centerline goodness [0,1] 0.9999791061615929 Centerline is valid? [True, True] Translation: X:148.82, Y:5.18, Z:1.08 [[ 9.99413286e-01 -3.20050610e-02 -1.21967460e-02 1.48819350e+02] [ 3.20023244e-02 9.99487706e-01 -4.19521451e-04 5.17937499e+00] [ 1.22039245e-02 2.89510889e-05 9.99925529e-01 1.07704841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.764391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.85, Y:5.18, Z:1.08 [[ 9.99467855e-01 -3.04094431e-02 -1.18013595e-02 1.48847746e+02] [ 3.04067627e-02 9.99537525e-01 -4.06533385e-04 5.17846599e+00] [ 1.18082642e-02 4.74759119e-05 9.99930279e-01 1.07760596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.794391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.88, Y:5.18, Z:1.08 [[ 9.99506444e-01 -2.91839806e-02 -1.16259890e-02 1.48876446e+02] [ 2.91812876e-02 9.99574055e-01 -4.01242591e-04 5.17909331e+00] [ 1.16327468e-02 6.17832268e-05 9.99932335e-01 1.07787373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.824391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.91, Y:5.18, Z:1.08 [[ 9.99542476e-01 -2.79397002e-02 -1.15849409e-02 1.48905133e+02] [ 2.79369332e-02 9.99609607e-01 -4.00644131e-04 5.18035813e+00] [ 1.15916121e-02 7.68131086e-05 9.99932812e-01 1.07828086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.854391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.93, Y:5.18, Z:1.08 [[ 9.99613990e-01 -2.53769637e-02 -1.13084016e-02 1.48933970e+02] [ 2.53741427e-02 9.99677947e-01 -3.92885382e-04 5.18092769e+00] [ 1.13147299e-02 1.05792729e-04 9.99935981e-01 1.07914789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.884391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.96, Y:5.18, Z:1.08 [[ 9.99647119e-01 -2.40640060e-02 -1.12499206e-02 1.48962896e+02] [ 2.40610941e-02 9.99710412e-01 -3.94133161e-04 5.18187160e+00] [ 1.12561472e-02 1.23308682e-04 9.99936640e-01 1.07911661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.914391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.99, Y:5.18, Z:1.08 [[ 9.99698045e-01 -2.16049408e-02 -1.17066558e-02 1.48992113e+02] [ 2.16015769e-02 9.99766573e-01 -4.13726276e-04 5.17941410e+00] [ 1.17128617e-02 1.60719122e-04 9.99931389e-01 1.07885132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.944391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.02, Y:5.18, Z:1.08 [[ 9.99708404e-01 -2.07884925e-02 -1.22860298e-02 1.49019795e+02] [ 2.07846907e-02 9.99783879e-01 -4.37063891e-04 5.18022485e+00] [ 1.22924604e-02 1.81575116e-04 9.99924428e-01 1.07749908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.974391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.05, Y:5.18, Z:1.08 [[ 9.99705037e-01 -2.07276744e-02 -1.26570904e-02 1.49048264e+02] [ 2.07236011e-02 9.99785141e-01 -4.52906612e-04 5.17901601e+00] [ 1.26637586e-02 1.90472528e-04 9.99919793e-01 1.07700755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.004391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.08, Y:5.18, Z:1.08 [[ 9.99687432e-01 -2.11632095e-02 -1.33100159e-02 1.49076612e+02] [ 2.11586822e-02 9.99776014e-01 -4.80884086e-04 5.17592870e+00] [ 1.33172117e-02 1.99111381e-04 9.99911302e-01 1.07737010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.034391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.10, Y:5.18, Z:1.08 [[ 9.99663729e-01 -2.19097434e-02 -1.38705443e-02 1.49103329e+02] [ 2.19048487e-02 9.99759933e-01 -5.04726893e-04 5.17557650e+00] [ 1.38782728e-02 2.00724995e-04 9.99903672e-01 1.07638608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.064391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.13, Y:5.17, Z:1.08 [[ 9.99615501e-01 -2.40505652e-02 -1.37993096e-02 1.49132084e+02] [ 2.40458821e-02 9.99710728e-01 -5.05213124e-04 5.16738383e+00] [ 1.38074685e-02 1.73202299e-04 9.99904657e-01 1.07724743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09439141800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.16, Y:5.16, Z:1.08 [[ 9.99576691e-01 -2.55352964e-02 -1.39423186e-02 1.49160481e+02] [ 2.55305975e-02 9.99673909e-01 -5.14935551e-04 5.16416631e+00] [ 1.39509212e-02 1.58761849e-04 9.99902669e-01 1.07803300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.19, Y:5.16, Z:1.08 [[ 9.99531222e-01 -2.76072083e-02 -1.32355154e-02 1.49188458e+02] [ 2.76031165e-02 9.99618840e-01 -4.91769285e-04 5.15618653e+00] [ 1.32440470e-02 1.26197281e-04 9.99912286e-01 1.07892057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.22, Y:5.15, Z:1.08 [[ 9.99506228e-01 -2.84748237e-02 -1.32847248e-02 1.49216742e+02] [ 2.84707387e-02 9.99594503e-01 -4.96550222e-04 5.15267225e+00] [ 1.32934770e-02 1.18079112e-04 9.99911631e-01 1.07953429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.24, Y:5.15, Z:1.08 [[ 9.99491951e-01 -2.88304138e-02 -1.35885097e-02 1.49244172e+02] [ 2.88261162e-02 9.99584310e-01 -5.12063771e-04 5.15020875e+00] [ 1.35976241e-02 1.20099658e-04 9.99907541e-01 1.07955248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.27, Y:5.15, Z:1.08 [[ 9.99514713e-01 -2.78124273e-02 -1.40288141e-02 1.49272079e+02] [ 2.78077106e-02 9.99613150e-01 -5.31204628e-04 5.14554223e+00] [ 1.40381612e-02 1.40837638e-04 9.99901450e-01 1.07893909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.244391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.30, Y:5.14, Z:1.08 [[ 9.99521219e-01 -2.73892540e-02 -1.43931027e-02 1.49301418e+02] [ 2.73842027e-02 9.99624832e-01 -5.47955594e-04 5.14436566e+00] [ 1.44027110e-02 1.53549601e-04 9.99896264e-01 1.07886847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.274391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.33, Y:5.14, Z:1.08 [[ 9.99531623e-01 -2.66692750e-02 -1.50094918e-02 1.49330415e+02] [ 2.66636324e-02 9.99644296e-01 -5.75960619e-04 5.14313633e+00] [ 1.50195134e-02 1.75483280e-04 9.99887185e-01 1.07870979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.304391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.36, Y:5.14, Z:1.08 [[ 9.99548862e-01 -2.60826618e-02 -1.48918364e-02 1.49359428e+02] [ 2.60769760e-02 9.99659772e-01 -5.75889385e-04 5.13762502e+00] [ 1.49017906e-02 1.87295517e-04 9.99888945e-01 1.07929261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.334391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.39, Y:5.14, Z:1.08 [[ 9.99525584e-01 -2.67240169e-02 -1.53112586e-02 1.49386644e+02] [ 2.67180292e-02 9.99642832e-01 -5.95527873e-04 5.13514245e+00] [ 1.53217048e-02 1.86158692e-04 9.99882598e-01 1.07957450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.364391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.41, Y:5.13, Z:1.08 [[ 9.99488595e-01 -2.80965070e-02 -1.52687408e-02 1.49414887e+02] [ 2.80906834e-02 9.99605201e-01 -5.95784919e-04 5.13130016e+00] [ 1.52794522e-02 1.66570869e-04 9.99883248e-01 1.08020093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.394391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.44, Y:5.12, Z:1.08 [[ 9.99309752e-01 -3.39024027e-02 -1.51870247e-02 1.49444356e+02] [ 3.38972630e-02 9.99425145e-01 -5.95784087e-04 5.11900467e+00] [ 1.51984928e-02 8.05742794e-05 9.99884493e-01 1.08236092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.424391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.47, Y:5.11, Z:1.08 [[ 9.99184491e-01 -3.73552528e-02 -1.53276840e-02 1.49472393e+02] [ 3.73503776e-02 9.99302048e-01 -6.04307203e-04 5.11313347e+00] [ 1.53395601e-02 3.13195994e-05 9.99882342e-01 1.08277604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.454391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.50, Y:5.11, Z:1.08 [[ 9.98998876e-01 -4.19511705e-02 -1.55353124e-02 1.49500455e+02] [ 4.19466586e-02 9.99119662e-01 -6.16306997e-04 5.10706885e+00] [ 1.55474908e-02 -3.59644476e-05 9.99879130e-01 1.08439276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.484391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.53, Y:5.10, Z:1.08 [[ 9.98832339e-01 -4.58857086e-02 -1.51149233e-02 1.49529017e+02] [ 4.58818296e-02 9.98946692e-01 -6.03487191e-04 5.10096621e+00] [ 1.51266941e-02 -9.07178125e-05 9.99885581e-01 1.08486300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.514391418 meters Centerline goodness [0,1] 0.9998534951862704 Centerline is valid? [True, True] Translation: X:149.56, Y:5.09, Z:1.09 [[ 9.98478628e-01 -5.31960280e-02 -1.45124965e-02 1.49556916e+02] [ 5.31931868e-02 9.98584071e-01 -5.81983021e-04 5.08785708e+00] [ 1.45229070e-02 -1.90868330e-04 9.99894519e-01 1.08539054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.544391418 meters Centerline goodness [0,1] 0.999979077309342 Centerline is valid? [True, True] Translation: X:149.59, Y:5.08, Z:1.09 [[ 9.98317070e-01 -5.61027461e-02 -1.46802612e-02 1.49585645e+02] [ 5.61001009e-02 9.98424974e-01 -5.92256204e-04 5.08337446e+00] [ 1.46903666e-02 -2.32304659e-04 9.99892064e-01 1.08551715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.574391418 meters Centerline goodness [0,1] 0.9999371569818594 Centerline is valid? [True, True] Translation: X:149.61, Y:5.08, Z:1.09 [[ 9.98001636e-01 -6.11104648e-02 -1.60700516e-02 1.49614979e+02] [ 6.11078625e-02 9.98130954e-01 -6.53379701e-04 5.07665426e+00] [ 1.60799442e-02 -3.29932491e-04 9.99870655e-01 1.08519212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.604391418 meters Centerline goodness [0,1] 0.9998332742846425 Centerline is valid? [True, True] Translation: X:149.64, Y:5.07, Z:1.08 [[ 9.97864808e-01 -6.32248202e-02 -1.63843437e-02 1.49642930e+02] [ 6.32223468e-02 9.97999242e-01 -6.69399221e-04 5.07288215e+00] [ 1.63938853e-02 -3.67886737e-04 9.99865544e-01 1.08427859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.634391418 meters Centerline goodness [0,1] 0.9998332742846425 Centerline is valid? [True, True] Translation: X:149.67, Y:5.07, Z:1.08 [[ 9.97842660e-01 -6.35734519e-02 -1.63841778e-02 1.49670384e+02] [ 6.35709591e-02 9.97977094e-01 -6.73441526e-04 5.07422578e+00] [ 1.63938472e-02 -3.69569215e-04 9.99865544e-01 1.08447126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.664391418 meters Centerline goodness [0,1] 0.9999791236091105 Centerline is valid? [True, True] Translation: X:149.70, Y:5.06, Z:1.08 [[ 9.97545540e-01 -6.76879014e-02 -1.79232604e-02 1.49698937e+02] [ 6.76855168e-02 9.97706431e-01 -7.40327611e-04 5.06311132e+00] [ 1.79322634e-02 -4.74634636e-04 9.99839091e-01 1.08200073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.694391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.73, Y:5.07, Z:1.08 [[ 9.97393989e-01 -6.98360504e-02 -1.81151110e-02 1.49727695e+02] [ 6.98338956e-02 9.97558350e-01 -7.52276703e-04 5.06547264e+00] [ 1.81234162e-02 -5.14732506e-04 9.99835625e-01 1.08393151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.724391418 meters Centerline goodness [0,1] 0.9998746238716149 Centerline is valid? [True, True] Translation: X:149.76, Y:5.06, Z:1.08 [[ 9.97266747e-01 -7.16452087e-02 -1.80554626e-02 1.49755525e+02] [ 7.16433038e-02 9.97430033e-01 -7.53140882e-04 5.06282287e+00] [ 1.80630196e-02 -5.42470637e-04 9.99836703e-01 1.08417269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.754391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.78, Y:5.06, Z:1.08 [[ 9.97041210e-01 -7.47453690e-02 -1.79431336e-02 1.49784017e+02] [ 7.47439546e-02 9.97202476e-01 -7.50378746e-04 5.05998290e+00] [ 1.79490246e-02 -5.92982229e-04 9.99838727e-01 1.08457657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.784391418 meters Centerline goodness [0,1] 0.9999372516209998 Centerline is valid? [True, True] Translation: X:149.81, Y:5.06, Z:1.08 [[ 9.96914736e-01 -7.64710745e-02 -1.76970005e-02 1.49812265e+02] [ 7.64699370e-02 9.97071611e-01 -7.41952770e-04 5.05884127e+00] [ 1.77019147e-02 -6.13624865e-04 9.99843121e-01 1.08496538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.814391418 meters Centerline goodness [0,1] 0.9998533417138068 Centerline is valid? [True, True] Translation: X:149.84, Y:5.06, Z:1.09 [[ 9.96781176e-01 -7.82760380e-02 -1.73247981e-02 1.49841061e+02] [ 7.82751547e-02 9.96931526e-01 -7.30119680e-04 5.05839191e+00] [ 1.73287882e-02 -6.28331695e-04 9.99849648e-01 1.08537438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84439141800001 meters Centerline goodness [0,1] 0.9997914146260064 Centerline is valid? [True, True] Translation: X:149.87, Y:5.06, Z:1.09 [[ 9.96628773e-01 -8.03363447e-02 -1.66481574e-02 1.49869797e+02] [ 8.03357358e-02 9.96767611e-01 -7.06421692e-04 5.05780766e+00] [ 1.66510954e-02 -6.33401791e-04 9.99861160e-01 1.08575996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87439141800002 meters Centerline goodness [0,1] 0.99985402677566 Centerline is valid? [True, True] Translation: X:149.90, Y:5.06, Z:1.09 [[ 9.96354405e-01 -8.39010303e-02 -1.54439699e-02 1.49898420e+02] [ 8.39008961e-02 9.96473887e-01 -6.57756116e-04 5.05569275e+00] [ 1.54446991e-02 -6.40404711e-04 9.99880518e-01 1.08624623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90439141800002 meters Centerline goodness [0,1] 0.9998949998949999 Centerline is valid? [True, True] Translation: X:149.93, Y:5.05, Z:1.09 [[ 9.96113734e-01 -8.67801541e-02 -1.50543425e-02 1.49927397e+02] [ 8.67803408e-02 9.96227263e-01 -6.42077168e-04 5.05479206e+00] [ 1.50532660e-02 -6.66839087e-04 9.99886471e-01 1.08580888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93439141800002 meters Centerline goodness [0,1] 0.9999373485924317 Centerline is valid? [True, True] Translation: X:149.96, Y:5.06, Z:1.09 [[ 9.96049204e-01 -8.74694464e-02 -1.53322895e-02 1.49956167e+02] [ 8.74696784e-02 9.96166966e-01 -6.56754117e-04 5.05795065e+00] [ 1.53309663e-02 -6.86951018e-04 9.99882238e-01 1.08596173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96439141800002 meters Centerline goodness [0,1] 0.9999581948537865 Centerline is valid? [True, True] Translation: X:149.98, Y:5.06, Z:1.09 [[ 9.96063793e-01 -8.73590860e-02 -1.50103586e-02 1.49984269e+02] [ 8.73592541e-02 9.96176663e-01 -6.45737011e-04 5.06059484e+00] [ 1.50093800e-02 -6.68098478e-04 9.99887130e-01 1.08608836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.994391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.01, Y:5.07, Z:1.09 [[ 9.96095937e-01 -8.70455145e-02 -1.46956790e-02 1.50013166e+02] [ 8.70455992e-02 9.96204126e-01 -6.35084272e-04 5.06553883e+00] [ 1.46951773e-02 -6.46589325e-04 9.99891811e-01 1.08681303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.024391418 meters Centerline goodness [0,1] 0.9999583046677925 Centerline is valid? [True, True] Translation: X:150.04, Y:5.07, Z:1.09 [[ 9.96369376e-01 -8.40036622e-02 -1.38366046e-02 1.50041342e+02] [ 8.40034127e-02 9.96465286e-01 -6.00250839e-04 5.07216019e+00] [ 1.38381194e-02 -5.64250452e-04 9.99904089e-01 1.08799756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.054391418 meters Centerline goodness [0,1] 0.9999372581825787 Centerline is valid? [True, True] Translation: X:150.07, Y:5.08, Z:1.09 [[ 9.96513893e-01 -8.23678454e-02 -1.32514144e-02 1.50070254e+02] [ 8.23674438e-02 9.96601862e-01 -5.76993576e-04 5.07801948e+00] [ 1.32539099e-02 -5.16503013e-04 9.99912030e-01 1.08902213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.084391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.10, Y:5.08, Z:1.09 [[ 9.96668274e-01 -8.05813156e-02 -1.26096176e-02 1.50098744e+02] [ 8.05807664e-02 9.96747929e-01 -5.52444138e-04 5.08459242e+00] [ 1.26131269e-02 -4.65489106e-04 9.99920343e-01 1.09000565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.114391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.13, Y:5.09, Z:1.09 [[ 9.97002855e-01 -7.64474745e-02 -1.18781489e-02 1.50126916e+02] [ 7.64466696e-02 9.97073535e-01 -5.22456521e-04 5.09330857e+00] [ 1.18833284e-02 -3.87154283e-04 9.99929316e-01 1.09041079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.144391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.16, Y:5.10, Z:1.09 [[ 9.97150503e-01 -7.45596025e-02 -1.14777795e-02 1.50155683e+02] [ 7.45587083e-02 9.97216497e-01 -5.06383551e-04 5.10023401e+00] [ 1.14835868e-02 -3.50827801e-04 9.99934000e-01 1.09048166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.174391418 meters Centerline goodness [0,1] 0.9999371424979572 Centerline is valid? [True, True] Translation: X:150.18, Y:5.11, Z:1.09 [[ 9.97268276e-01 -7.29798984e-02 -1.13982681e-02 1.50184143e+02] [ 7.29788782e-02 9.97333358e-01 -5.05964802e-04 5.10627653e+00] [ 1.14047983e-02 -3.27250174e-04 9.99934910e-01 1.09019128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.204391418 meters Centerline goodness [0,1] 0.9999161179381789 Centerline is valid? [True, True] Translation: X:150.21, Y:5.12, Z:1.09 [[ 9.97493677e-01 -6.98351745e-02 -1.13759745e-02 1.50212582e+02] [ 6.98339173e-02 9.97558502e-01 -5.08194376e-04 5.12219465e+00] [ 1.13836899e-02 -2.87508184e-04 9.99935162e-01 1.09043042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.234391418 meters Centerline goodness [0,1] 0.9999161144199312 Centerline is valid? [True, True] Translation: X:150.24, Y:5.13, Z:1.09 [[ 9.97591343e-01 -6.83606976e-02 -1.17612873e-02 1.50240082e+02] [ 6.83592194e-02 9.97660633e-01 -5.28118318e-04 5.12713114e+00] [ 1.17698758e-02 -2.77146155e-04 9.99930694e-01 1.08971629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.264391418 meters Centerline goodness [0,1] 0.9998951540187465 Centerline is valid? [True, True] Translation: X:150.27, Y:5.13, Z:1.09 [[ 9.97714094e-01 -6.64689034e-02 -1.21849140e-02 1.50267932e+02] [ 6.64671594e-02 9.97788462e-01 -5.48481837e-04 5.12816506e+00] [ 1.21944236e-02 -2.62668565e-04 9.99925611e-01 1.08808128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.294391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.30, Y:5.14, Z:1.09 [[ 9.97969472e-01 -6.23855783e-02 -1.28441404e-02 1.50295181e+02] [ 6.23832852e-02 9.98052098e-01 -5.79492681e-04 5.13847174e+00] [ 1.28552733e-02 -2.22943670e-04 9.99917343e-01 1.08734243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.324391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.32, Y:5.15, Z:1.09 [[ 9.98077922e-01 -6.06792896e-02 -1.25890893e-02 1.50323333e+02] [ 6.06769221e-02 9.98157295e-01 -5.70275047e-04 5.14732039e+00] [ 1.26004952e-02 -1.94688258e-04 9.99920592e-01 1.08853994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.354391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.35, Y:5.15, Z:1.09 [[ 9.98183818e-01 -5.90226035e-02 -1.20581022e-02 1.50351763e+02] [ 5.90202687e-02 9.98256633e-01 -5.49697345e-04 5.15271532e+00] [ 1.20695251e-02 -1.62973439e-04 9.99927147e-01 1.08907926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.384391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.38, Y:5.16, Z:1.09 [[ 9.98370857e-01 -5.59526761e-02 -1.11771743e-02 1.50380156e+02] [ 5.59504422e-02 9.98433415e-01 -5.12702484e-04 5.16153409e+00] [ 1.11883514e-02 -1.13500626e-04 9.99937402e-01 1.09033550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.414391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.41, Y:5.17, Z:1.09 [[ 9.98456434e-01 -5.46640008e-02 -9.82831220e-03 1.50408965e+02] [ 5.46621848e-02 9.98504802e-01 -4.53504567e-04 5.16648274e+00] [ 9.83840731e-03 -8.44324651e-05 9.99951598e-01 1.09133471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.444391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.44, Y:5.17, Z:1.09 [[ 9.98505328e-01 -5.39053964e-02 -9.01768834e-03 1.50437155e+02] [ 5.39038131e-02 9.98546045e-01 -4.18706802e-04 5.17044460e+00] [ 9.02714758e-03 -6.80068144e-05 9.99959252e-01 1.09194233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.474391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.47, Y:5.17, Z:1.09 [[ 9.98552847e-01 -5.30832064e-02 -8.62471834e-03 1.50465214e+02] [ 5.30817062e-02 9.98590091e-01 -4.02916711e-04 5.17366155e+00] [ 8.63394639e-03 -5.54811371e-05 9.99962725e-01 1.09229578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.504391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.49, Y:5.18, Z:1.09 [[ 9.98559877e-01 -5.29756710e-02 -8.47052654e-03 1.50494220e+02] [ 5.29742103e-02 9.98595802e-01 -3.96866496e-04 5.17681571e+00] [ 8.47965651e-03 -5.24244958e-05 9.99964046e-01 1.09136721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.534391418 meters Centerline goodness [0,1] 0.9999790965530216 Centerline is valid? [True, True] Translation: X:150.52, Y:5.18, Z:1.09 [[ 9.98507497e-01 -5.38929953e-02 -8.85006841e-03 1.50523162e+02] [ 5.38914130e-02 9.98546715e-01 -4.17341306e-04 5.17869965e+00] [ 8.85969851e-03 -6.02242692e-05 9.99960750e-01 1.09100785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.564391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.55, Y:5.18, Z:1.09 [[ 9.98400598e-01 -5.59194330e-02 -8.32242692e-03 1.50551814e+02] [ 5.59180841e-02 9.98435282e-01 -3.94863529e-04 5.17939990e+00] [ 8.33148522e-03 -7.11421853e-05 9.99965290e-01 1.09107639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59439141800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.58, Y:5.18, Z:1.09 [[ 9.98352502e-01 -5.68881435e-02 -7.48470000e-03 1.50579564e+02] [ 5.68870649e-02 9.98380556e-01 -3.57101468e-04 5.18033290e+00] [ 7.49289379e-03 -6.92694708e-05 9.99971925e-01 1.09189616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.61, Y:5.18, Z:1.09 [[ 9.98250090e-01 -5.87999272e-02 -6.27109227e-03 1.50608815e+02] [ 5.87992031e-02 9.98269785e-01 -2.99926980e-04 5.18069576e+00] [ 6.27787762e-03 -6.93330939e-05 9.99980292e-01 1.09305809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.64, Y:5.18, Z:1.09 [[ 9.98185312e-01 -5.99141266e-02 -6.03161750e-03 1.50637996e+02] [ 5.99134655e-02 9.98203533e-01 -2.90391712e-04 5.18043075e+00] [ 6.03818047e-03 -7.15103655e-05 9.99981767e-01 1.09335097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.67, Y:5.18, Z:1.09 [[ 9.98093983e-01 -6.13917662e-02 -6.28110728e-03 1.50667268e+02] [ 6.13910751e-02 9.98113743e-01 -3.02954649e-04 5.18082854e+00] [ 6.28785842e-03 -8.32267167e-05 9.99980228e-01 1.09302421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.70, Y:5.18, Z:1.09 [[ 9.97994838e-01 -6.29601825e-02 -6.50522949e-03 1.50696577e+02] [ 6.29594727e-02 9.98016035e-01 -3.14043248e-04 5.18118648e+00] [ 6.51209556e-03 -9.61522783e-05 9.99978791e-01 1.09239580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.744391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.73, Y:5.18, Z:1.09 [[ 9.97701727e-01 -6.73606195e-02 -7.33565792e-03 1.50725485e+02] [ 6.73598325e-02 9.97728684e-01 -3.54575751e-04 5.17913716e+00] [ 7.34288076e-03 -1.40367850e-04 9.99973031e-01 1.09137172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.774391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.75, Y:5.18, Z:1.09 [[ 9.97553231e-01 -6.94975548e-02 -7.59213427e-03 1.50753502e+02] [ 6.94967559e-02 9.97582109e-01 -3.69315307e-04 5.17838829e+00] [ 7.59944383e-03 -1.59217024e-04 9.99971111e-01 1.09103036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.804391418 meters Centerline goodness [0,1] 0.9998951562172363 Centerline is valid? [True, True] Translation: X:150.78, Y:5.18, Z:1.09 [[ 9.97411526e-01 -7.14773013e-02 -7.82579358e-03 1.50782144e+02] [ 7.14765020e-02 9.97442211e-01 -3.82131921e-04 5.17876740e+00] [ 7.83309061e-03 -1.78217568e-04 9.99969305e-01 1.09100325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.834391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.81, Y:5.18, Z:1.09 [[ 9.97280449e-01 -7.33296382e-02 -7.38042350e-03 1.50811385e+02] [ 7.33289623e-02 9.97307742e-01 -3.62510722e-04 5.17949922e+00] [ 7.38713627e-03 -1.79673941e-04 9.99972699e-01 1.09146754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.864391418 meters Centerline goodness [0,1] 0.9998529782407797 Centerline is valid? [True, True] Translation: X:150.84, Y:5.18, Z:1.09 [[ 9.97119200e-01 -7.55160176e-02 -7.11557898e-03 1.50838807e+02] [ 7.55154300e-02 9.97144571e-01 -3.51590928e-04 5.17812774e+00] [ 7.12181170e-03 -1.86757942e-04 9.99974622e-01 1.09204948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.894391418 meters Centerline goodness [0,1] 0.9999164595559825 Centerline is valid? [True, True] Translation: X:150.87, Y:5.18, Z:1.09 [[ 9.97041156e-01 -7.65009718e-02 -7.51890885e-03 1.50866630e+02] [ 7.65003361e-02 9.97069486e-01 -3.72539824e-04 5.17852849e+00] [ 7.52537424e-03 -2.03761517e-04 9.99971663e-01 1.09221861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.924391418 meters Centerline goodness [0,1] 0.9998953909241166 Centerline is valid? [True, True] Translation: X:150.90, Y:5.18, Z:1.09 [[ 9.96953913e-01 -7.76453662e-02 -7.35475487e-03 1.50895508e+02] [ 7.76447829e-02 9.96981020e-01 -3.65247185e-04 5.17988047e+00] [ 7.36091077e-03 -2.06923735e-04 9.99972887e-01 1.09267159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.954391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.92, Y:5.18, Z:1.09 [[ 9.96847030e-01 -7.90116317e-02 -7.29117620e-03 1.50922957e+02] [ 7.90110795e-02 9.96873671e-01 -3.64195711e-04 5.17995607e+00] [ 7.29715729e-03 -2.13036290e-04 9.99973353e-01 1.09282863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.984391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.95, Y:5.18, Z:1.09 [[ 9.96799981e-01 -7.96183355e-02 -7.12173523e-03 1.50950640e+02] [ 7.96178189e-02 9.96825399e-01 -3.56467413e-04 5.18070132e+00] [ 7.12750790e-03 -2.11690316e-04 9.99974577e-01 1.09318496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.014391418 meters Centerline goodness [0,1] 0.9999791314509903 Centerline is valid? [True, True] Translation: X:150.98, Y:5.18, Z:1.09 [[ 9.96852812e-01 -7.90272824e-02 -6.25770459e-03 1.50979803e+02] [ 7.90268687e-02 9.96872437e-01 -3.13733286e-04 5.18455874e+00] [ 6.26292672e-03 -1.81780891e-04 9.99980371e-01 1.09403649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.044391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.01, Y:5.19, Z:1.09 [[ 9.96944158e-01 -7.79535186e-02 -5.05911869e-03 1.51008757e+02] [ 7.79532326e-02 9.96956985e-01 -2.53996457e-04 5.19160022e+00] [ 5.06352363e-03 -1.41154372e-04 9.99987170e-01 1.09498902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.074391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.04, Y:5.20, Z:1.10 [[ 9.97081679e-01 -7.61610028e-02 -5.25606290e-03 1.51038478e+02] [ 7.61606584e-02 9.97095524e-01 -2.65937364e-04 5.19590319e+00] [ 5.26105084e-03 -1.35143937e-04 9.99986151e-01 1.09535064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.104391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.07, Y:5.20, Z:1.10 [[ 9.97463714e-01 -7.09452283e-02 -5.73699227e-03 1.51066996e+02] [ 7.09447302e-02 9.97480206e-01 -2.90533620e-04 5.20158415e+00] [ 5.74314820e-03 -1.17212625e-04 9.99983501e-01 1.09511362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.134391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.10, Y:5.21, Z:1.09 [[ 9.97647448e-01 -6.82246608e-02 -6.70555809e-03 1.51095979e+02] [ 6.82239154e-02 9.97669976e-01 -3.40120454e-04 5.20759496e+00] [ 6.71313858e-03 -1.18159124e-04 9.99977460e-01 1.09398556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.164391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.12, Y:5.21, Z:1.09 [[ 9.97801622e-01 -6.57856828e-02 -8.01047024e-03 1.51124562e+02] [ 6.57845369e-02 9.97833768e-01 -4.06746535e-04 5.20955852e+00] [ 8.01987580e-03 -1.21112722e-04 9.99967833e-01 1.09278216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.194391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.15, Y:5.22, Z:1.09 [[ 9.97919624e-01 -6.38008887e-02 -9.26667572e-03 1.51153754e+02] [ 6.37992637e-02 9.97962641e-01 -4.71164950e-04 5.21641483e+00] [ 9.27785691e-03 -1.21022338e-04 9.99956952e-01 1.09182734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.224391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.18, Y:5.22, Z:1.09 [[ 9.98091355e-01 -6.09167903e-02 -1.01386313e-02 1.51181876e+02] [ 6.09146908e-02 9.98142843e-01 -5.16042822e-04 5.22170923e+00] [ 1.01512379e-02 -1.02533711e-04 9.99948470e-01 1.09085304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.254391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.21, Y:5.22, Z:1.09 [[ 9.98104959e-01 -6.06111153e-02 -1.06199755e-02 1.51210740e+02] [ 6.06087775e-02 9.98161451e-01 -5.42129243e-04 5.22455856e+00] [ 1.06333093e-02 -1.02561850e-04 9.99943460e-01 1.09090574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.284391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.24, Y:5.23, Z:1.09 [[ 9.98108202e-01 -6.05523877e-02 -1.06501571e-02 1.51238440e+02] [ 6.05499969e-02 9.98165016e-01 -5.47079527e-04 5.22706608e+00] [ 1.06637412e-02 -9.88224184e-05 9.99943136e-01 1.09146716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.314391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.27, Y:5.23, Z:1.09 [[ 9.98109708e-01 -6.06411566e-02 -9.98303223e-03 1.51266248e+02] [ 6.06390345e-02 9.98159627e-01 -5.15398739e-04 5.22810550e+00] [ 9.99591411e-03 -9.09369504e-05 9.99950035e-01 1.09209610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34439141800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.29, Y:5.23, Z:1.09 [[ 9.98076563e-01 -6.11940092e-02 -9.92306795e-03 1.51294423e+02] [ 6.11919278e-02 9.98125886e-01 -5.13513573e-04 5.23131316e+00] [ 9.93589495e-03 -9.46857956e-05 9.99950633e-01 1.09313054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.32, Y:5.23, Z:1.09 [[ 9.98004024e-01 -6.23870237e-02 -9.78910473e-03 1.51323671e+02] [ 6.23850367e-02 9.98052027e-01 -5.08506204e-04 5.23223528e+00] [ 9.80176001e-03 -1.03202419e-04 9.99951956e-01 1.09332075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.35, Y:5.23, Z:1.09 [[ 9.97791324e-01 -6.57115512e-02 -9.71934123e-03 1.51351270e+02] [ 6.57097273e-02 9.97838652e-01 -5.07213936e-04 5.23056728e+00] [ 9.73166416e-03 -1.32561597e-04 9.99952637e-01 1.09375201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.38, Y:5.23, Z:1.09 [[ 9.97636408e-01 -6.80439161e-02 -9.57202373e-03 1.51379675e+02] [ 6.80422437e-02 9.97682315e-01 -5.00645243e-04 5.22984471e+00] [ 9.58390466e-03 -1.51840050e-04 9.99954062e-01 1.09418016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.41, Y:5.23, Z:1.10 [[ 9.97275697e-01 -7.31606600e-02 -9.41817258e-03 1.51407141e+02] [ 7.31592561e-02 9.97320149e-01 -4.93960577e-04 5.22694977e+00] [ 9.42907176e-03 -1.96411621e-04 9.99955526e-01 1.09537824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.494391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.43, Y:5.23, Z:1.10 [[ 9.97252101e-01 -7.34816087e-02 -9.41808697e-03 1.51434556e+02] [ 7.34802037e-02 9.97296553e-01 -4.95587682e-04 5.22861618e+00] [ 9.42904225e-03 -1.97817092e-04 9.99955526e-01 1.09557082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.524391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.46, Y:5.23, Z:1.10 [[ 9.97055162e-01 -7.62137333e-02 -8.51293629e-03 1.51463149e+02] [ 7.62126637e-02 9.97091484e-01 -4.50444657e-04 5.22971161e+00] [ 8.52250634e-03 -1.99675380e-04 9.99963663e-01 1.09683864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.554391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.49, Y:5.23, Z:1.10 [[ 9.96871324e-01 -7.86181624e-02 -8.16989503e-03 1.51491553e+02] [ 7.86172389e-02 9.96904780e-01 -4.34624227e-04 5.23095234e+00] [ 8.17877677e-03 -2.09030161e-04 9.99966531e-01 1.09791286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.584391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.52, Y:5.23, Z:1.10 [[ 9.96577115e-01 -8.23903574e-02 -6.77376039e-03 1.51519962e+02] [ 8.23897978e-02 9.96600115e-01 -3.62098476e-04 5.22876731e+00] [ 6.78056381e-03 -1.97229694e-04 9.99976992e-01 1.09990959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.614391418 meters Centerline goodness [0,1] 0.9998952506651583 Centerline is valid? [True, True] Translation: X:151.55, Y:5.23, Z:1.10 [[ 9.96433824e-01 -8.41390988e-02 -6.34395876e-03 1.51549277e+02] [ 8.41386401e-02 9.96454000e-01 -3.39630498e-04 5.23099987e+00] [ 6.35003929e-03 -1.95352747e-04 9.99979819e-01 1.10107208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.644391418 meters Centerline goodness [0,1] 0.9999791323219466 Centerline is valid? [True, True] Translation: X:151.58, Y:5.23, Z:1.10 [[ 9.96340990e-01 -8.52684586e-02 -5.82427915e-03 1.51577569e+02] [ 8.52680904e-02 9.96357996e-01 -3.11960965e-04 5.23140229e+00] [ 5.82966753e-03 -1.85805664e-04 9.99982990e-01 1.10166423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.674391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.61, Y:5.23, Z:1.10 [[ 9.96253369e-01 -8.62766731e-02 -5.96329549e-03 1.51605851e+02] [ 8.62763024e-02 9.96271197e-01 -3.19860286e-04 5.23356597e+00] [ 5.96865601e-03 -1.95829197e-04 9.99982168e-01 1.10182107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.704391418 meters Centerline goodness [0,1] 0.9997700909185913 Centerline is valid? [True, True] Translation: X:151.63, Y:5.24, Z:1.10 [[ 9.96164111e-01 -8.72810393e-02 -6.25179762e-03 1.51634676e+02] [ 8.72806394e-02 9.96183706e-01 -3.37298934e-04 5.23511957e+00] [ 6.25737872e-03 -2.09655800e-04 9.99980400e-01 1.10130727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.734391418 meters Centerline goodness [0,1] 0.9999581204455985 Centerline is valid? [True, True] Translation: X:151.66, Y:5.24, Z:1.10 [[ 9.96165834e-01 -8.72354378e-02 -6.60378511e-03 1.51663332e+02] [ 8.72349769e-02 9.96187698e-01 -3.58362795e-04 5.23842125e+00] [ 6.60987143e-03 -2.19092270e-04 9.99978131e-01 1.10113843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.764391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.69, Y:5.24, Z:1.10 [[ 9.96230895e-01 -8.64393991e-02 -7.22729590e-03 1.51692168e+02] [ 8.64388092e-02 9.96257084e-01 -3.94528502e-04 5.24009478e+00] [ 7.23434755e-03 -2.31677369e-04 9.99973805e-01 1.10060176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.794391418 meters Centerline goodness [0,1] 0.9999582070838993 Centerline is valid? [True, True] Translation: X:151.72, Y:5.25, Z:1.10 [[ 9.96523709e-01 -8.28450735e-02 -8.78589041e-03 1.51720256e+02] [ 8.28440554e-02 9.96562407e-01 -4.80387364e-04 5.24594248e+00] [ 8.79548582e-03 -2.49141394e-04 9.99961288e-01 1.09896467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.824391418 meters Centerline goodness [0,1] 0.9998744349573079 Centerline is valid? [True, True] Translation: X:151.75, Y:5.25, Z:1.10 [[ 9.96700373e-01 -8.05486277e-02 -1.00142453e-02 1.51748672e+02] [ 8.05471749e-02 9.96750646e-01 -5.48960862e-04 5.25387538e+00] [ 1.00259235e-02 -2.59469672e-04 9.99949706e-01 1.09868563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.854391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.78, Y:5.26, Z:1.10 [[ 9.97273214e-01 -7.28446813e-02 -1.18232255e-02 1.51777012e+02] [ 7.28420815e-02 9.97343275e-01 -6.50940613e-04 5.26412338e+00] [ 1.18392320e-02 -2.12062721e-04 9.99929891e-01 1.09697039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.884391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.81, Y:5.27, Z:1.10 [[ 9.97543776e-01 -6.89115839e-02 -1.25542093e-02 1.51805274e+02] [ 6.89083146e-02 9.97622756e-01 -6.93304612e-04 5.27249286e+00] [ 1.25721416e-02 -1.73487705e-04 9.99920952e-01 1.09684194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.914391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.83, Y:5.28, Z:1.10 [[ 9.97836137e-01 -6.44991291e-02 -1.27634915e-02 1.51834221e+02] [ 6.44953417e-02 9.97917757e-01 -7.08551101e-04 5.27963119e+00] [ 1.27826157e-02 -1.16167849e-04 9.99918292e-01 1.09706998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.944391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.86, Y:5.29, Z:1.10 [[ 9.98337958e-01 -5.62753656e-02 -1.24259997e-02 1.51862312e+02] [ 5.62710949e-02 9.98415286e-01 -6.93332517e-04 5.29133861e+00] [ 1.24453255e-02 -7.04443668e-06 9.99922554e-01 1.09794261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.974391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.89, Y:5.30, Z:1.10 [[ 9.98516848e-01 -5.30190784e-02 -1.23725846e-02 1.51890435e+02] [ 5.30145481e-02 9.98593499e-01 -6.94080553e-04 5.29719010e+00] [ 1.23919821e-02 3.71241434e-05 9.99923216e-01 1.09805836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.004391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.92, Y:5.30, Z:1.10 [[ 9.98625165e-01 -5.09453291e-02 -1.23431222e-02 1.51919322e+02] [ 5.09406160e-02 9.98701441e-01 -6.96143085e-04 5.30216734e+00] [ 1.23625592e-02 6.64197537e-05 9.99923578e-01 1.09856089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.034391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.95, Y:5.31, Z:1.10 [[ 9.98680861e-01 -4.99680337e-02 -1.18208839e-02 1.51947779e+02] [ 4.99636006e-02 9.98750814e-01 -6.70229560e-04 5.30537539e+00] [ 1.18396075e-02 7.87315132e-05 9.99929906e-01 1.09949824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.064391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.98, Y:5.31, Z:1.10 [[ 9.98614736e-01 -5.12716795e-02 -1.18247338e-02 1.51976507e+02] [ 5.12673050e-02 9.98684740e-01 -6.72970319e-04 5.30713739e+00] [ 1.18436855e-02 6.58158424e-05 9.99929859e-01 1.09927306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09439141800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.01, Y:5.31, Z:1.10 [[ 9.98452624e-01 -5.42884518e-02 -1.20466779e-02 1.52005221e+02] [ 5.42841068e-02 9.98525294e-01 -6.87618946e-04 5.30597899e+00] [ 1.20662423e-02 3.26117936e-05 9.99927200e-01 1.09989873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.03, Y:5.30, Z:1.10 [[ 9.98219805e-01 -5.83176690e-02 -1.25007787e-02 1.52034563e+02] [ 5.83132571e-02 9.98298076e-01 -7.17445915e-04 5.30372417e+00] [ 1.25213432e-02 -1.27924039e-05 9.99921605e-01 1.09995122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.06, Y:5.30, Z:1.10 [[ 9.97942200e-01 -6.29518019e-02 -1.21834461e-02 1.52063059e+02] [ 6.29479241e-02 9.98016566e-01 -7.01885414e-04 5.30042944e+00] [ 1.22034660e-02 -6.64815666e-05 9.99925533e-01 1.10042142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.09, Y:5.29, Z:1.10 [[ 9.97295931e-01 -7.25729437e-02 -1.15755485e-02 1.52092794e+02] [ 7.25700789e-02 9.97363092e-01 -6.67884865e-04 5.29175531e+00] [ 1.15934952e-02 -1.73959609e-04 9.99932778e-01 1.10250678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21439141800002 meters Centerline goodness [0,1] 0.9999790755581595 Centerline is valid? [True, True] Translation: X:152.12, Y:5.29, Z:1.10 [[ 9.96930229e-01 -7.76063237e-02 -1.03622511e-02 1.52121762e+02] [ 7.76042848e-02 9.96984060e-01 -5.99314003e-04 5.28830666e+00] [ 1.03775098e-02 -2.06680842e-04 9.99946131e-01 1.10381037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.244391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.15, Y:5.28, Z:1.11 [[ 9.96301118e-01 -8.54660636e-02 -8.92380773e-03 1.52151236e+02] [ 8.54648489e-02 9.96341052e-01 -5.18079178e-04 5.28251614e+00] [ 8.93543417e-03 -2.46509015e-04 9.99960048e-01 1.10619978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.274391418 meters Centerline goodness [0,1] 0.9999790917454211 Centerline is valid? [True, True] Translation: X:152.18, Y:5.28, Z:1.11 [[ 9.96026690e-01 -8.85976531e-02 -9.01599448e-03 1.52180595e+02] [ 8.85965362e-02 9.96067457e-01 -5.23994117e-04 5.27961942e+00] [ 9.02696335e-03 -2.76873755e-04 9.99959218e-01 1.10675528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.304391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.21, Y:5.28, Z:1.11 [[ 9.95741626e-01 -9.17488489e-02 -8.98677332e-03 1.52208557e+02] [ 9.17478617e-02 9.95782133e-01 -5.22924058e-04 5.27647235e+00] [ 8.99684598e-03 -3.03819984e-04 9.99959481e-01 1.10665819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.334391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.24, Y:5.28, Z:1.11 [[ 9.95696760e-01 -9.21533293e-02 -9.78399855e-03 1.52236358e+02] [ 9.21521572e-02 9.95744773e-01 -5.71501997e-04 5.27910369e+00] [ 9.79503123e-03 -3.32573886e-04 9.99951972e-01 1.10584119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.364391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.27, Y:5.28, Z:1.10 [[ 9.95716524e-01 -9.18194978e-02 -1.08528091e-02 1.52265115e+02] [ 9.18179940e-02 9.95775602e-01 -6.37788773e-04 5.28140641e+00] [ 1.08655240e-02 -3.61426343e-04 9.99940903e-01 1.10492010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.394391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.29, Y:5.29, Z:1.10 [[ 9.95946555e-01 -8.90943894e-02 -1.23551255e-02 1.52292959e+02] [ 8.90921910e-02 9.96023117e-01 -7.29310710e-04 5.28526279e+00] [ 1.23709681e-02 -3.74390709e-04 9.99923407e-01 1.10309053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.424391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.32, Y:5.29, Z:1.10 [[ 9.96126585e-01 -8.69189368e-02 -1.33013548e-02 1.52321658e+02] [ 8.69161547e-02 9.96215318e-01 -7.88193311e-04 5.28976212e+00] [ 1.33195223e-02 -3.70962298e-04 9.99911222e-01 1.10272460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.454391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.35, Y:5.29, Z:1.10 [[ 9.96297757e-01 -8.48317558e-02 -1.39410565e-02 1.52350385e+02] [ 8.48284360e-02 9.96395226e-01 -8.30357929e-04 5.29479007e+00] [ 1.39612428e-02 -3.55314275e-04 9.99902474e-01 1.10272461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.484391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.38, Y:5.30, Z:1.10 [[ 9.96519333e-01 -8.21373382e-02 -1.42364224e-02 1.52379050e+02] [ 8.21335387e-02 9.96620969e-01 -8.52346550e-04 5.30194290e+00] [ 1.42583265e-02 -3.19907931e-04 9.99898294e-01 1.10343825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.514391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.41, Y:5.31, Z:1.10 [[ 9.97052951e-01 -7.53704310e-02 -1.43077087e-02 1.52406912e+02] [ 7.53658558e-02 9.97155579e-01 -8.59460314e-04 5.31083981e+00] [ 1.43317894e-02 -2.21385265e-04 9.99897270e-01 1.10393998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.544391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.43, Y:5.32, Z:1.10 [[ 9.97306034e-01 -7.19245789e-02 -1.44058630e-02 1.52434150e+02] [ 7.19195605e-02 9.97410059e-01 -8.66783780e-04 5.31566800e+00] [ 1.44308957e-02 -1.71614640e-04 9.99895854e-01 1.10409474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.574391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.46, Y:5.32, Z:1.10 [[ 9.97795064e-01 -6.47689218e-02 -1.44912592e-02 1.52461516e+02] [ 6.47630664e-02 9.97900287e-01 -8.73468547e-04 5.32474757e+00] [ 1.45174053e-02 -6.69557740e-05 9.99894615e-01 1.10371512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.604391418 meters Centerline goodness [0,1] 0.9999161548619699 Centerline is valid? [True, True] Translation: X:152.49, Y:5.33, Z:1.10 [[ 9.98020808e-01 -6.11324388e-02 -1.47408283e-02 1.52489830e+02] [ 6.11259369e-02 9.98129663e-01 -8.91650319e-04 5.33092285e+00] [ 1.47677668e-02 -1.11613704e-05 9.99890951e-01 1.10447523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.634391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.52, Y:5.34, Z:1.10 [[ 9.98223570e-01 -5.75666942e-02 -1.53551260e-02 1.52517429e+02] [ 5.75591683e-02 9.98341662e-01 -9.31984076e-04 5.33662980e+00] [ 1.53833133e-02 4.65001878e-05 9.99881669e-01 1.10455839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.664391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.55, Y:5.35, Z:1.10 [[ 9.98612291e-01 -5.00642947e-02 -1.63419046e-02 1.52545930e+02] [ 5.00547052e-02 9.98745981e-01 -9.95552808e-04 5.34601054e+00] [ 1.63712532e-02 1.76182052e-04 9.99865967e-01 1.10374122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.694391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.57, Y:5.35, Z:1.10 [[ 9.98763438e-01 -4.67025156e-02 -1.70431695e-02 1.52572994e+02] [ 4.66915357e-02 9.98908812e-01 -1.04180576e-03 5.35115360e+00] [ 1.70732271e-02 2.44745749e-04 9.99854212e-01 1.10341626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.724391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.60, Y:5.36, Z:1.10 [[ 9.98886906e-01 -4.36263501e-02 -1.79357611e-02 1.52601189e+02] [ 4.36136164e-02 9.99047867e-01 -1.10068789e-03 5.35543333e+00] [ 1.79667029e-02 3.17219317e-04 9.99838535e-01 1.10337150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.754391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.63, Y:5.36, Z:1.10 [[ 9.98986219e-01 -4.09575904e-02 -1.86818026e-02 1.52628946e+02] [ 4.09432429e-02 9.99160812e-01 -1.14998756e-03 5.36036055e+00] [ 1.87132258e-02 3.83928144e-04 9.99824819e-01 1.10280846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.784391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.66, Y:5.36, Z:1.10 [[ 9.99148443e-01 -3.67091054e-02 -1.88369399e-02 1.52657248e+02] [ 3.66936819e-02 9.99325882e-01 -1.16388070e-03 5.36428204e+00] [ 1.88669666e-02 4.71692906e-04 9.99821892e-01 1.10387572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.814391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.68, Y:5.37, Z:1.10 [[ 9.99204275e-01 -3.53274047e-02 -1.85146332e-02 1.52684901e+02] [ 3.53121944e-02 9.99375671e-01 -1.14791278e-03 5.36713771e+00] [ 1.85436267e-02 4.93207036e-04 9.99827931e-01 1.10389716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84439141800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.71, Y:5.37, Z:1.11 [[ 9.99254630e-01 -3.42814676e-02 -1.77472393e-02 1.52713753e+02] [ 3.42672511e-02 9.99412095e-01 -1.10462017e-03 5.36742109e+00] [ 1.77746736e-02 4.95647716e-04 9.99841895e-01 1.10541214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.74, Y:5.37, Z:1.11 [[ 9.99345840e-01 -3.24550111e-02 -1.59550560e-02 1.52742770e+02] [ 3.24432163e-02 9.99473082e-01 -9.97592587e-04 5.36627539e+00] [ 1.59790259e-02 4.79306669e-04 9.99872212e-01 1.10796601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.77, Y:5.36, Z:1.11 [[ 9.99373293e-01 -3.20508158e-02 -1.50255575e-02 1.52771919e+02] [ 3.20402425e-02 9.99486134e-01 -9.43946574e-04 5.36334619e+00] [ 1.50480907e-02 4.61932488e-04 9.99886664e-01 1.10982219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.80, Y:5.36, Z:1.11 [[ 9.99405092e-01 -3.12744594e-02 -1.45385939e-02 1.52801125e+02] [ 3.12644127e-02 9.99510727e-01 -9.17857292e-04 5.36288396e+00] [ 1.45601860e-02 4.62770652e-04 9.99893888e-01 1.11069052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.83, Y:5.36, Z:1.11 [[ 9.99452610e-01 -2.98486141e-02 -1.42667691e-02 1.52830312e+02] [ 2.98387306e-02 9.99554316e-01 -9.05169190e-04 5.35953533e+00] [ 1.42874287e-02 4.78971429e-04 9.99897815e-01 1.11085439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.994391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.86, Y:5.36, Z:1.11 [[ 9.99456210e-01 -2.95606922e-02 -1.46098936e-02 1.52857901e+02] [ 2.95502510e-02 9.99562863e-01 -9.30072101e-04 5.36334017e+00] [ 1.46310006e-02 4.97840315e-04 9.99892837e-01 1.10925569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.024391418 meters Centerline goodness [0,1] 0.9999372647427854 Centerline is valid? [True, True] Translation: X:152.89, Y:5.36, Z:1.11 [[ 9.99461997e-01 -2.91659053e-02 -1.50022136e-02 1.52887403e+02] [ 2.91548018e-02 9.99574449e-01 -9.58342629e-04 5.35824773e+00] [ 1.50237803e-02 5.20440474e-04 9.99887001e-01 1.10966020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.054391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.92, Y:5.35, Z:1.11 [[ 9.99461322e-01 -2.88566371e-02 -1.56320381e-02 1.52915576e+02] [ 2.88444936e-02 9.99583409e-01 -1.00178760e-03 5.35309732e+00] [ 1.56544342e-02 5.50349731e-04 9.99877310e-01 1.10894667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.084391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.94, Y:5.35, Z:1.11 [[ 9.99447163e-01 -2.93167472e-02 -1.56810803e-02 1.52944093e+02] [ 2.93045230e-02 9.99570021e-01 -1.00880940e-03 5.34905847e+00] [ 1.57039128e-02 5.48725115e-04 9.99876535e-01 1.10963144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.114391418 meters Centerline goodness [0,1] 0.9999372752362633 Centerline is valid? [True, True] Translation: X:152.97, Y:5.35, Z:1.11 [[ 9.99448130e-01 -2.94813318e-02 -1.53064111e-02 1.52971110e+02] [ 2.94696470e-02 9.99565187e-01 -9.88434741e-04 5.34781228e+00] [ 1.53288960e-02 5.36814724e-04 9.99882361e-01 1.10955020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.144391418 meters Centerline goodness [0,1] 0.999937231928026 Centerline is valid? [True, True] Translation: X:153.00, Y:5.34, Z:1.11 [[ 9.99427945e-01 -3.04395816e-02 -1.47381850e-02 1.53000314e+02] [ 3.04288016e-02 9.99536480e-01 -9.55177519e-04 5.34039337e+00] [ 1.47604288e-02 5.06165797e-04 9.99890931e-01 1.11102358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.174391418 meters Centerline goodness [0,1] 0.9998324537153389 Centerline is valid? [True, True] Translation: X:153.03, Y:5.34, Z:1.11 [[ 9.99422863e-01 -3.10401444e-02 -1.38003836e-02 1.53028988e+02] [ 3.10306931e-02 9.99518028e-01 -8.98514019e-04 5.33834180e+00] [ 1.38216222e-02 4.69759985e-04 9.99904366e-01 1.11188089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.204391418 meters Centerline goodness [0,1] 0.9999790860608596 Centerline is valid? [True, True] Translation: X:153.06, Y:5.34, Z:1.11 [[ 9.99416607e-01 -3.12950645e-02 -1.36771366e-02 1.53055806e+02] [ 3.12857538e-02 9.99510081e-01 -8.94230443e-04 5.33665188e+00] [ 1.36984209e-02 4.65809226e-04 9.99906064e-01 1.11219468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.234391418 meters Centerline goodness [0,1] 0.9999581064097193 Centerline is valid? [True, True] Translation: X:153.08, Y:5.33, Z:1.11 [[ 9.99389435e-01 -3.18708448e-02 -1.43180637e-02 1.53084119e+02] [ 3.18606633e-02 9.99491879e-01 -9.38689593e-04 5.33027819e+00] [ 1.43407052e-02 4.81933456e-04 9.99897051e-01 1.11111178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.264391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.11, Y:5.33, Z:1.11 [[ 9.99346892e-01 -3.27811699e-02 -1.52047600e-02 1.53113127e+02] [ 3.27697440e-02 9.99462427e-01 -1.00007377e-03 5.32747947e+00] [ 1.52293699e-02 5.01164522e-04 9.99883901e-01 1.10993727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.294391418 meters Centerline goodness [0,1] 0.9998537645190941 Centerline is valid? [True, True] Translation: X:153.14, Y:5.33, Z:1.11 [[ 9.99291744e-01 -3.39028518e-02 -1.63280797e-02 1.53141909e+02] [ 3.38897427e-02 9.99424995e-01 -1.07896133e-03 5.32506480e+00] [ 1.63552709e-02 5.24842732e-04 9.99866106e-01 1.10868455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.324391418 meters Centerline goodness [0,1] 0.9999372699899632 Centerline is valid? [True, True] Translation: X:153.17, Y:5.32, Z:1.11 [[ 9.99245754e-01 -3.48037742e-02 -1.72226696e-02 1.53170019e+02] [ 3.47892256e-02 9.99394017e-01 -1.14371087e-03 5.32212113e+00] [ 1.72520384e-02 5.43684891e-04 9.99851025e-01 1.10803150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.354391418 meters Centerline goodness [0,1] 0.9998953361801892 Centerline is valid? [True, True] Translation: X:153.20, Y:5.31, Z:1.11 [[ 9.99177382e-01 -3.66713445e-02 -1.73139271e-02 1.53199239e+02] [ 3.66568240e-02 9.99327245e-01 -1.15538549e-03 5.31181640e+00] [ 1.73446486e-02 5.19761468e-04 9.99849435e-01 1.10939867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.384391418 meters Centerline goodness [0,1] 0.9998749087876576 Centerline is valid? [True, True] Translation: X:153.23, Y:5.31, Z:1.11 [[ 9.99159561e-01 -3.74478578e-02 -1.66682284e-02 1.53227224e+02] [ 3.74344550e-02 9.99298463e-01 -1.11548299e-03 5.30955664e+00] [ 1.66983074e-02 4.90579447e-04 9.99860453e-01 1.11022718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.414391418 meters Centerline goodness [0,1] 0.9998325869501528 Centerline is valid? [True, True] Translation: X:153.26, Y:5.31, Z:1.11 [[ 9.99101400e-01 -3.90881177e-02 -1.63862974e-02 1.53255587e+02] [ 3.90753250e-02 9.99235662e-01 -1.10026710e-03 5.30977238e+00] [ 1.64167801e-02 4.58978508e-04 9.99865130e-01 1.11030521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.444391418 meters Centerline goodness [0,1] 0.9998325869501528 Centerline is valid? [True, True] Translation: X:153.28, Y:5.31, Z:1.11 [[ 9.99088586e-01 -3.94144322e-02 -1.63859464e-02 1.53282990e+02] [ 3.94015979e-02 9.99222844e-01 -1.10547615e-03 5.31187264e+00] [ 1.64167837e-02 4.58836136e-04 9.99865130e-01 1.11049794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.474391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.31, Y:5.30, Z:1.11 [[ 9.98904276e-01 -4.39514944e-02 -1.60783711e-02 1.53311938e+02] [ 4.39396765e-02 9.99033594e-01 -1.08771294e-03 5.30102244e+00] [ 1.61106394e-02 3.80042684e-04 9.99870143e-01 1.11184524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.504391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.34, Y:5.29, Z:1.11 [[ 9.98779184e-01 -4.67935793e-02 -1.58272732e-02 1.53341004e+02] [ 4.67824336e-02 9.98904525e-01 -1.07392524e-03 5.29375446e+00] [ 1.58601876e-02 3.32175821e-04 9.99874164e-01 1.11387457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.534391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.37, Y:5.28, Z:1.12 [[ 9.98533769e-01 -5.21277695e-02 -1.45947696e-02 1.53370284e+02] [ 5.21188239e-02 9.98640397e-01 -9.92866557e-04 5.28177779e+00] [ 1.46266824e-02 2.30748559e-04 9.99892998e-01 1.11583110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.564391418 meters Centerline goodness [0,1] 0.9999791510299392 Centerline is valid? [True, True] Translation: X:153.40, Y:5.28, Z:1.12 [[ 9.98394788e-01 -5.48055251e-02 -1.42898951e-02 1.53399805e+02] [ 5.47971846e-02 9.98497030e-01 -9.74847602e-04 5.27744392e+00] [ 1.43218449e-02 1.90236743e-04 9.99897419e-01 1.11661297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59439141800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.43, Y:5.27, Z:1.12 [[ 9.98257289e-01 -5.73140430e-02 -1.40529333e-02 1.53429461e+02] [ 5.73061699e-02 9.98356187e-01 -9.62620969e-04 5.27336348e+00] [ 1.40850046e-02 1.55623613e-04 9.99900789e-01 1.11693852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.46, Y:5.26, Z:1.12 [[ 9.98002378e-01 -6.15529157e-02 -1.42299978e-02 1.53458108e+02] [ 6.15452355e-02 9.98103817e-01 -9.77418498e-04 5.26394923e+00] [ 1.42631780e-02 9.96774198e-05 9.99898271e-01 1.11665322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.49, Y:5.26, Z:1.12 [[ 9.97839379e-01 -6.39849386e-02 -1.49164800e-02 1.53486358e+02] [ 6.39767211e-02 9.97950862e-01 -1.02792189e-03 5.26026709e+00] [ 1.49516856e-02 7.13934625e-05 9.99888215e-01 1.11607824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.52, Y:5.26, Z:1.12 [[ 9.97677909e-01 -6.62111386e-02 -1.59648012e-02 1.53515057e+02] [ 6.62019243e-02 9.97805634e-01 -1.10553617e-03 5.25702489e+00] [ 1.60029674e-02 4.60684555e-05 9.99871943e-01 1.11570542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.54, Y:5.25, Z:1.12 [[ 9.97580623e-01 -6.76693794e-02 -1.59297325e-02 1.53543681e+02] [ 6.76603093e-02 9.97707800e-01 -1.10824958e-03 5.25450843e+00] [ 1.59682129e-02 2.77576771e-05 9.99872500e-01 1.11609206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.744391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.57, Y:5.25, Z:1.12 [[ 9.97492476e-01 -6.87820831e-02 -1.66668827e-02 1.53571440e+02] [ 6.87722540e-02 9.97631708e-01 -1.16285016e-03 5.24992989e+00] [ 1.67073939e-02 1.37151940e-05 9.99860422e-01 1.11638009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.774391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.60, Y:5.25, Z:1.12 [[ 9.97499170e-01 -6.87797486e-02 -1.62711929e-02 1.53599962e+02] [ 6.87703217e-02 9.97631869e-01 -1.13884256e-03 5.25020349e+00] [ 1.63109899e-02 1.70193424e-05 9.99866967e-01 1.11730012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.804391418 meters Centerline goodness [0,1] 0.9999162812114109 Centerline is valid? [True, True] Translation: X:153.63, Y:5.25, Z:1.12 [[ 9.97552618e-01 -6.81688679e-02 -1.55492818e-02 1.53628331e+02] [ 6.81601101e-02 9.97673797e-01 -1.09310168e-03 5.25126607e+00] [ 1.55876265e-02 3.05856835e-05 9.99878505e-01 1.11846243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.834391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.66, Y:5.25, Z:1.12 [[ 9.97710176e-01 -6.59821650e-02 -1.48579228e-02 1.53656588e+02] [ 6.59738586e-02 9.97820800e-01 -1.04904176e-03 5.25272243e+00] [ 1.48947624e-02 6.64051396e-05 9.99889065e-01 1.11989128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.864391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.68, Y:5.25, Z:1.12 [[ 9.97785945e-01 -6.48820269e-02 -1.46127031e-02 1.53684454e+02] [ 6.48738324e-02 9.97892938e-01 -1.03459785e-03 5.25450230e+00] [ 1.46490400e-02 8.43251393e-05 9.99892694e-01 1.11997673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.894391418 meters Centerline goodness [0,1] 0.9999790365183849 Centerline is valid? [True, True] Translation: X:153.71, Y:5.26, Z:1.12 [[ 9.97790816e-01 -6.47271372e-02 -1.49627673e-02 1.53712616e+02] [ 6.47184811e-02 9.97902996e-01 -1.06250498e-03 5.25570831e+00] [ 1.50001632e-02 9.17901376e-05 9.99887487e-01 1.11940867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.924391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.74, Y:5.25, Z:1.12 [[ 9.97713704e-01 -6.57343518e-02 -1.56958548e-02 1.53740541e+02] [ 6.57248703e-02 9.97837155e-01 -1.11970643e-03 5.25258272e+00] [ 1.57355103e-02 8.55384334e-05 9.99876186e-01 1.11934944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.954391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.77, Y:5.25, Z:1.12 [[ 9.97587045e-01 -6.75812297e-02 -1.59017149e-02 1.53768940e+02] [ 6.75716466e-02 9.97713773e-01 -1.13977653e-03 5.25140679e+00] [ 1.59423875e-02 6.25212381e-05 9.99872910e-01 1.11922906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.984391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.80, Y:5.25, Z:1.12 [[ 9.97412471e-01 -7.00743572e-02 -1.60607177e-02 1.53797632e+02] [ 7.00648135e-02 9.97541770e-01 -1.15683573e-03 5.24957171e+00] [ 1.61023013e-02 2.85511884e-05 9.99870349e-01 1.12018241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.014391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.83, Y:5.24, Z:1.12 [[ 9.96985528e-01 -7.58084759e-02 -1.65206662e-02 1.53825777e+02] [ 7.57991040e-02 9.97122395e-01 -1.19361591e-03 5.24247312e+00] [ 1.65636124e-02 -6.22339032e-05 9.99862812e-01 1.11951405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.044391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.85, Y:5.24, Z:1.12 [[ 9.96726931e-01 -7.92620133e-02 -1.59046647e-02 1.53854603e+02] [ 7.92537098e-02 9.96853811e-01 -1.15268619e-03 5.24057992e+00] [ 1.59459898e-02 -1.11590306e-04 9.99872848e-01 1.12144227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.074391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.88, Y:5.23, Z:1.12 [[ 9.96307131e-01 -8.44969185e-02 -1.52437641e-02 1.53882999e+02] [ 8.44898564e-02 9.96423724e-01 -1.10784288e-03 5.23495407e+00] [ 1.52828575e-02 -1.84191676e-04 9.99883193e-01 1.12291928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.104391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.91, Y:5.23, Z:1.12 [[ 9.96130115e-01 -8.66721837e-02 -1.45851277e-02 1.53911330e+02] [ 8.66659284e-02 9.96236864e-01 -1.06157765e-03 5.23213785e+00] [ 1.46222511e-02 -2.06564169e-04 9.99893068e-01 1.12281217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.134391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.94, Y:5.23, Z:1.12 [[ 9.96001961e-01 -8.82397460e-02 -1.39226603e-02 1.53940367e+02] [ 8.82341614e-02 9.96099242e-01 -1.01606189e-03 5.23172755e+00] [ 1.39580084e-02 -2.16454621e-04 9.99902559e-01 1.12381913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.164391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.97, Y:5.23, Z:1.12 [[ 9.95915539e-01 -8.92242576e-02 -1.38300501e-02 1.53968430e+02] [ 8.92188053e-02 9.96011536e-01 -1.01194475e-03 5.23133988e+00] [ 1.38651795e-02 -2.26089045e-04 9.99903848e-01 1.12386989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.194391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:5.23, Z:1.12 [[ 9.95839216e-01 -9.00217645e-02 -1.41540408e-02 1.53996794e+02] [ 9.00161142e-02 9.95939769e-01 -1.03706951e-03 5.23188157e+00] [ 1.41899309e-02 -2.41337267e-04 9.99899289e-01 1.12341260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.224391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:5.24, Z:1.12 [[ 9.95801520e-01 -9.02818719e-02 -1.51167628e-02 1.54024182e+02] [ 9.02754013e-02 9.95916220e-01 -1.11126302e-03 5.23798216e+00] [ 1.51553562e-02 -2.58074426e-04 9.99885118e-01 1.12371012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.254391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:5.24, Z:1.12 [[ 9.95764067e-01 -9.04756533e-02 -1.63731149e-02 1.54051988e+02] [ 9.04680183e-02 9.95898629e-01 -1.20790437e-03 5.23638980e+00] [ 1.64152486e-02 -2.78455487e-04 9.99865222e-01 1.12009230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.284391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.08, Y:5.24, Z:1.12 [[ 9.95652158e-01 -9.13122813e-02 -1.84078161e-02 1.54081204e+02] [ 9.13026926e-02 9.95822254e-01 -1.36240511e-03 5.23869620e+00] [ 1.84553173e-02 -3.24201592e-04 9.99829634e-01 1.11738794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.314391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.11, Y:5.24, Z:1.12 [[ 9.95560963e-01 -9.20488910e-02 -1.96308545e-02 1.54109704e+02] [ 9.20380122e-02 9.95754426e-01 -1.45885014e-03 5.24475898e+00] [ 1.96817958e-02 -3.54410579e-04 9.99806232e-01 1.11938484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34439141800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:5.25, Z:1.12 [[ 9.95469576e-01 -9.29802036e-02 -1.98747138e-02 1.54138547e+02] [ 9.29691155e-02 9.95667888e-01 -1.48313711e-03 5.24671860e+00] [ 1.99265168e-02 -3.71316701e-04 9.99801378e-01 1.11977782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.17, Y:5.25, Z:1.12 [[ 9.95330151e-01 -9.46591973e-02 -1.89083990e-02 1.54166818e+02] [ 9.46494005e-02 9.95509664e-01 -1.41437560e-03 5.24776277e+00] [ 1.89573776e-02 -3.81897950e-04 9.99820220e-01 1.12206231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.20, Y:5.25, Z:1.12 [[ 9.95240135e-01 -9.56741342e-02 -1.85346832e-02 1.54195417e+02] [ 9.56648185e-02 9.95412632e-01 -1.39063491e-03 5.24996601e+00] [ 1.85827056e-02 -3.89101431e-04 9.99827251e-01 1.12354372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.22, Y:5.25, Z:1.12 [[ 9.95168006e-01 -9.66067174e-02 -1.75437336e-02 1.54222787e+02] [ 9.65984613e-02 9.95322559e-01 -1.31939377e-03 5.25188724e+00] [ 1.75891361e-02 -3.81679208e-04 9.99845226e-01 1.12495924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.25, Y:5.25, Z:1.13 [[ 9.94979398e-01 -9.86690733e-02 -1.67454680e-02 1.54250969e+02] [ 9.86618142e-02 9.95120222e-01 -1.26109020e-03 5.25361381e+00] [ 1.67881844e-02 -3.97379482e-04 9.99858990e-01 1.12635446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.494391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.28, Y:5.26, Z:1.13 [[ 9.94856743e-01 -9.98491745e-02 -1.70353317e-02 1.54279941e+02] [ 9.98417720e-02 9.95002495e-01 -1.28660070e-03 5.25623341e+00] [ 1.70786636e-02 -4.20854320e-04 9.99854060e-01 1.12651019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.524391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.31, Y:5.26, Z:1.13 [[ 9.94735785e-01 -1.01096837e-01 -1.67375967e-02 1.54308667e+02] [ 1.01089786e-01 9.94876497e-01 -1.26894903e-03 5.25875334e+00] [ 1.67801283e-02 -4.29731062e-04 9.99859111e-01 1.12681818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.554391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.34, Y:5.26, Z:1.13 [[ 9.94552556e-01 -1.02709687e-01 -1.77745461e-02 1.54336863e+02] [ 1.02701897e-01 9.94711260e-01 -1.35294976e-03 5.26379204e+00] [ 1.78195022e-02 -4.79899965e-04 9.99841105e-01 1.12729616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.584391418 meters Centerline goodness [0,1] 0.9999790426691256 Centerline is valid? [True, True] Translation: X:154.36, Y:5.27, Z:1.13 [[ 9.94589343e-01 -1.02391619e-01 -1.75498109e-02 1.54364370e+02] [ 1.02383919e-01 9.94744058e-01 -1.33903082e-03 5.26544230e+00] [ 1.75946757e-02 -4.65032645e-04 9.99845094e-01 1.12682101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.614391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.39, Y:5.27, Z:1.13 [[ 9.94603660e-01 -1.02192118e-01 -1.78978064e-02 1.54391811e+02] [ 1.02184001e-01 9.94764572e-01 -1.36983606e-03 5.27009299e+00] [ 1.79440902e-02 -4.66425501e-04 9.99838883e-01 1.12714490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.644391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.42, Y:5.28, Z:1.13 [[ 9.94866695e-01 -9.96240349e-02 -1.77570172e-02 1.54419890e+02] [ 9.96155384e-02 9.95025066e-01 -1.36456285e-03 5.28247464e+00] [ 1.78046205e-02 -4.11316692e-04 9.99841401e-01 1.13011892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.674391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.45, Y:5.29, Z:1.13 [[ 9.94974877e-01 -9.86402393e-02 -1.71783829e-02 1.54448554e+02] [ 9.86320523e-02 9.95123089e-01 -1.32524485e-03 5.28786602e+00] [ 1.72253279e-02 -3.75753831e-04 9.99851562e-01 1.13110673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.704391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.48, Y:5.29, Z:1.13 [[ 9.95071985e-01 -9.77181134e-02 -1.68201034e-02 1.54475930e+02] [ 9.77100798e-02 9.95214072e-01 -1.30073480e-03 5.29284658e+00] [ 1.68667089e-02 -3.49168882e-04 9.99857686e-01 1.13185524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.734391418 meters Centerline goodness [0,1] 0.9998535227772082 Centerline is valid? [True, True] Translation: X:154.50, Y:5.30, Z:1.13 [[ 9.95022426e-01 -9.82230785e-02 -1.68106705e-02 1.54503518e+02] [ 9.82150957e-02 9.95164358e-01 -1.30179409e-03 5.29835023e+00] [ 1.68572464e-02 -3.55747299e-04 9.99857843e-01 1.13178405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.764391418 meters Centerline goodness [0,1] 0.9999582131962726 Centerline is valid? [True, True] Translation: X:154.53, Y:5.30, Z:1.13 [[ 9.94908390e-01 -9.93257196e-02 -1.70791409e-02 1.54531695e+02] [ 9.93176022e-02 9.95054902e-01 -1.32492045e-03 5.29923898e+00] [ 1.71262816e-02 -3.78084852e-04 9.99853263e-01 1.13029846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.794391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.56, Y:5.31, Z:1.13 [[ 9.94546796e-01 -1.02711140e-01 -1.80856719e-02 1.54559690e+02] [ 1.02702543e-01 9.94711119e-01 -1.40598571e-03 5.30531120e+00] [ 1.81344293e-02 -4.59125904e-04 9.99835452e-01 1.13017737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.824391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.59, Y:5.31, Z:1.13 [[ 9.94262412e-01 -1.05395341e-01 -1.82778266e-02 1.54588022e+02] [ 1.05386928e-01 9.94430271e-01 -1.42558351e-03 5.30805145e+00] [ 1.83262739e-02 -5.08839896e-04 9.99831930e-01 1.12988390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.854391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.62, Y:5.31, Z:1.13 [[ 9.93965050e-01 -1.07998309e-01 -1.92313465e-02 1.54616516e+02] [ 1.07989365e-01 9.94150909e-01 -1.50599247e-03 5.30957938e+00] [ 1.92815052e-02 -5.79877018e-04 9.99813926e-01 1.12911131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.884391418 meters Centerline goodness [0,1] 0.9999372555581119 Centerline is valid? [True, True] Translation: X:154.65, Y:5.31, Z:1.13 [[ 9.93695672e-01 -1.10411129e-01 -1.94497770e-02 1.54645395e+02] [ 1.10402326e-01 9.93885802e-01 -1.52906511e-03 5.31194723e+00] [ 1.94996830e-02 -6.27875248e-04 9.99809666e-01 1.12829482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.914391418 meters Centerline goodness [0,1] 0.999916421153806 Centerline is valid? [True, True] Translation: X:154.67, Y:5.31, Z:1.13 [[ 9.93287842e-01 -1.13818086e-01 -2.06083958e-02 1.54673688e+02] [ 1.13808870e-01 9.93501337e-01 -1.62328106e-03 5.31474986e+00] [ 2.06592275e-02 -7.33032903e-04 9.99786307e-01 1.12697420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.944391418 meters Centerline goodness [0,1] 0.9999374439602143 Centerline is valid? [True, True] Translation: X:154.70, Y:5.32, Z:1.13 [[ 9.93168047e-01 -1.14824591e-01 -2.07976945e-02 1.54702248e+02] [ 1.14815330e-01 9.93385495e-01 -1.64275555e-03 5.31825032e+00] [ 2.08487568e-02 -7.56361844e-04 9.99782355e-01 1.12687608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.974391418 meters Centerline goodness [0,1] 0.9999580017219294 Centerline is valid? [True, True] Translation: X:154.73, Y:5.33, Z:1.13 [[ 9.93069483e-01 -1.15669395e-01 -2.08228788e-02 1.54730413e+02] [ 1.15660163e-01 9.93287471e-01 -1.65120593e-03 5.32575882e+00] [ 2.08740986e-02 -7.68615338e-04 9.99781817e-01 1.12836992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.004391418 meters Centerline goodness [0,1] 0.9999790145219508 Centerline is valid? [True, True] Translation: X:154.76, Y:5.33, Z:1.13 [[ 9.93017220e-01 -1.16159077e-01 -2.05880897e-02 1.54757739e+02] [ 1.16150011e-01 9.93230329e-01 -1.63966607e-03 5.33011697e+00] [ 2.06391772e-02 -7.63090196e-04 9.99786698e-01 1.12885112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.034391418 meters Centerline goodness [0,1] 0.9999582210524117 Centerline is valid? [True, True] Translation: X:154.79, Y:5.34, Z:1.13 [[ 9.93199117e-01 -1.14879183e-01 -1.89284560e-02 1.54785088e+02] [ 1.14871218e-01 9.93379243e-01 -1.51112497e-03 5.33511490e+00] [ 1.89767321e-02 -6.73486812e-04 9.99819699e-01 1.12906127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.064391418 meters Centerline goodness [0,1] 0.9998121556186341 Centerline is valid? [True, True] Translation: X:154.81, Y:5.34, Z:1.13 [[ 9.93313482e-01 -1.14035528e-01 -1.80062437e-02 1.54813192e+02] [ 1.14028107e-01 9.93476478e-01 -1.44164338e-03 5.34494428e+00] [ 1.80531782e-02 -6.21214075e-04 9.99836835e-01 1.13154132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09439141800001 meters Centerline goodness [0,1] 0.9998747338093449 Centerline is valid? [True, True] Translation: X:154.84, Y:5.36, Z:1.13 [[ 9.93771771e-01 -1.10285036e-01 -1.59648891e-02 1.54841711e+02] [ 1.10278682e-01 9.93899881e-01 -1.28051096e-03 5.35557143e+00] [ 1.60087226e-02 -4.88051282e-04 9.99871733e-01 1.13351842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12439141800002 meters Centerline goodness [0,1] 0.999875267654824 Centerline is valid? [True, True] Translation: X:154.87, Y:5.36, Z:1.13 [[ 9.93996771e-01 -1.08368623e-01 -1.50552358e-02 1.54870588e+02] [ 1.08362729e-01 9.94110686e-01 -1.20910337e-03 5.36322240e+00] [ 1.50975996e-02 -4.29581587e-04 9.99885932e-01 1.13449874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15439141800002 meters Centerline goodness [0,1] 0.999727697367043 Centerline is valid? [True, True] Translation: X:154.90, Y:5.37, Z:1.14 [[ 9.94265952e-01 -1.05958521e-01 -1.44224860e-02 1.54898470e+02] [ 1.05952811e-01 9.94370481e-01 -1.16158218e-03 5.37065552e+00] [ 1.44643738e-02 -3.73181320e-04 9.99895316e-01 1.13509436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18439141800002 meters Centerline goodness [0,1] 0.9998752053911271 Centerline is valid? [True, True] Translation: X:154.93, Y:5.38, Z:1.14 [[ 9.94526066e-01 -1.03542148e-01 -1.40330556e-02 1.54926827e+02] [ 1.03536443e-01 9.94625014e-01 -1.13439371e-03 5.37854100e+00] [ 1.40750857e-02 -3.24748550e-04 9.99900888e-01 1.13546427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21439141800002 meters Centerline goodness [0,1] 0.9999373106258489 Centerline is valid? [True, True] Translation: X:154.95, Y:5.39, Z:1.14 [[ 9.94824934e-01 -1.00617579e-01 -1.41227840e-02 1.54954212e+02] [ 1.00611466e-01 9.94925134e-01 -1.14453215e-03 5.38552324e+00] [ 1.41662729e-02 -2.82304883e-04 9.99899613e-01 1.13511772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.244391418 meters Centerline goodness [0,1] 0.9998541180393464 Centerline is valid? [True, True] Translation: X:154.98, Y:5.40, Z:1.13 [[ 9.95425974e-01 -9.44335403e-02 -1.44719432e-02 1.54981996e+02] [ 9.44264464e-02 9.95531148e-01 -1.17423399e-03 5.39930378e+00] [ 1.45181573e-02 -1.97671148e-04 9.99894586e-01 1.13454320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.274391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.01, Y:5.41, Z:1.13 [[ 9.95715085e-01 -9.13954077e-02 -1.40836439e-02 1.55009807e+02] [ 9.13883475e-02 9.95814670e-01 -1.14541511e-03 5.40730878e+00] [ 1.41293849e-02 -1.46573840e-04 9.99900165e-01 1.13399055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.304391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.04, Y:5.41, Z:1.13 [[ 9.95684519e-01 -9.17278587e-02 -1.40832824e-02 1.55037183e+02] [ 9.17207690e-02 9.95784102e-01 -1.14984653e-03 5.40977781e+00] [ 1.41293817e-02 -1.46845101e-04 9.99900165e-01 1.13418320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.334391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.06, Y:5.42, Z:1.13 [[ 9.95979031e-01 -8.84711690e-02 -1.40933369e-02 1.55064950e+02] [ 8.84636786e-02 9.96078733e-01 -1.15523235e-03 5.41856817e+00] [ 1.41402779e-02 -9.61612268e-05 9.99900017e-01 1.13448167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.364391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.09, Y:5.43, Z:1.13 [[ 9.96603492e-01 -8.12482374e-02 -1.34239637e-02 1.55092038e+02] [ 8.12407485e-02 9.96693897e-01 -1.10314954e-03 5.43118687e+00] [ 1.34692116e-02 8.82983026e-06 9.99909286e-01 1.13462841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.394391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.12, Y:5.44, Z:1.13 [[ 9.96856166e-01 -7.81156084e-02 -1.32565371e-02 1.55119612e+02] [ 7.81079882e-02 9.96944306e-01 -1.09238960e-03 5.43878274e+00] [ 1.33013619e-02 5.35138581e-05 9.99911532e-01 1.13488188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.424391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.15, Y:5.45, Z:1.14 [[ 9.97101915e-01 -7.49723917e-02 -1.29194254e-02 1.55147721e+02] [ 7.49648348e-02 9.97185605e-01 -1.06888463e-03 5.44615243e+00] [ 1.29632018e-02 9.72843207e-05 9.99915969e-01 1.13501535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.454391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.17, Y:5.46, Z:1.13 [[ 9.97540581e-01 -6.90583430e-02 -1.19889150e-02 1.55174876e+02] [ 6.90513741e-02 9.97612609e-01 -9.94750772e-04 5.45723209e+00] [ 1.20289886e-02 1.64453210e-04 9.99927636e-01 1.13469413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.484391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.20, Y:5.46, Z:1.13 [[ 9.97709831e-01 -6.65991947e-02 -1.18169223e-02 1.55203176e+02] [ 6.65922207e-02 9.97779790e-01 -9.83095973e-04 5.46350508e+00] [ 1.18561597e-02 1.93929416e-04 9.99929694e-01 1.13432372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.514391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.23, Y:5.47, Z:1.13 [[ 9.97990832e-01 -6.23862013e-02 -1.10571946e-02 1.55230756e+02] [ 6.23798099e-02 9.98052057e-01 -9.22314936e-04 5.47059719e+00] [ 1.10931956e-02 2.30716152e-04 9.99938442e-01 1.13368569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.544391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.26, Y:5.47, Z:1.13 [[ 9.98082902e-01 -6.07802567e-02 -1.16739572e-02 1.55259587e+02] [ 6.07729967e-02 9.98151136e-01 -9.75961876e-04 5.47461558e+00] [ 1.17116929e-02 2.64629498e-04 9.99931381e-01 1.13300452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.574391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.29, Y:5.48, Z:1.13 [[ 9.98155018e-01 -5.96277181e-02 -1.14497034e-02 1.55288562e+02] [ 5.96206196e-02 9.98220646e-01 -9.60609441e-04 5.47803814e+00] [ 1.14866093e-02 2.76198723e-04 9.99933989e-01 1.13273816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.604391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.32, Y:5.48, Z:1.13 [[ 9.98284605e-01 -5.74616606e-02 -1.12252107e-02 1.55316617e+02] [ 5.74546727e-02 9.98347669e-01 -9.44277782e-04 5.48151584e+00] [ 1.12609227e-02 2.97717167e-04 9.99936549e-01 1.13246661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.634391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.35, Y:5.48, Z:1.13 [[ 9.98312570e-01 -5.70345009e-02 -1.09122592e-02 1.55345043e+02] [ 5.70278512e-02 9.98372164e-01 -9.19826751e-04 5.48299099e+00] [ 1.09469577e-02 2.95971914e-04 9.99940036e-01 1.13276027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.664391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.37, Y:5.48, Z:1.13 [[ 9.98328261e-01 -5.68640985e-02 -1.03516671e-02 1.55374288e+02] [ 5.68580748e-02 9.98381887e-01 -8.75512208e-04 5.48400538e+00] [ 1.03847022e-02 2.85472716e-04 9.99946037e-01 1.13361367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.694391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.40, Y:5.48, Z:1.13 [[ 9.98359632e-01 -5.65397139e-02 -9.01693543e-03 1.55402736e+02] [ 5.65351086e-02 9.98400319e-01 -7.65023671e-04 5.48380366e+00] [ 9.04576542e-03 2.53995328e-04 9.99959054e-01 1.13482185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.724391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.43, Y:5.48, Z:1.14 [[ 9.98442066e-01 -5.54134986e-02 -6.54105529e-03 1.55430436e+02] [ 5.54110413e-02 9.98463473e-01 -5.56435277e-04 5.48399014e+00] [ 6.56183881e-03 1.93121702e-04 9.99978452e-01 1.13748158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.754391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.46, Y:5.48, Z:1.14 [[ 9.98460997e-01 -5.52056620e-02 -5.28884493e-03 1.55459904e+02] [ 5.52040522e-02 9.98474992e-01 -4.49988826e-04 5.48197137e+00] [ 5.30562133e-03 1.57330620e-04 9.99985913e-01 1.13862789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.784391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.49, Y:5.49, Z:1.14 [[ 9.98503145e-01 -5.44845742e-02 -4.78537842e-03 1.55487906e+02] [ 5.44832398e-02 9.98514602e-01 -4.08860277e-04 5.48626485e+00] [ 4.80054680e-03 1.47525352e-04 9.99988466e-01 1.13914840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.814391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.52, Y:5.49, Z:1.14 [[ 9.98523006e-01 -5.41932768e-02 -3.85955186e-03 1.55517024e+02] [ 5.41924077e-02 9.98530457e-01 -3.29476867e-04 5.48701901e+00] [ 3.87173551e-03 1.19831824e-04 9.99992498e-01 1.13958313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84439141800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.54, Y:5.49, Z:1.14 [[ 9.98614126e-01 -5.24195919e-02 -4.69189667e-03 1.55544631e+02] [ 5.24182779e-02 9.98625136e-01 -4.02677526e-04 5.48584758e+00] [ 4.70655414e-03 1.56178322e-04 9.99988912e-01 1.13728473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.57, Y:5.48, Z:1.14 [[ 9.98636875e-01 -5.19407084e-02 -5.15305434e-03 1.55574253e+02] [ 5.19391152e-02 9.98650155e-01 -4.42610880e-04 5.48018303e+00] [ 5.16908804e-03 1.74362463e-04 9.99986625e-01 1.13587804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.60, Y:5.49, Z:1.13 [[ 9.98635585e-01 -5.18431779e-02 -6.26528084e-03 1.55601477e+02] [ 5.18408048e-02 9.98655215e-01 -5.40689853e-04 5.48574944e+00] [ 6.28488647e-03 2.15154927e-04 9.99980227e-01 1.13473338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.63, Y:5.48, Z:1.13 [[ 9.98572505e-01 -5.28919900e-02 -7.44245329e-03 1.55630033e+02] [ 5.28886598e-02 9.98600208e-01 -6.43708540e-04 5.48071431e+00] [ 7.46608243e-03 2.49168269e-04 9.99972097e-01 1.13290416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.66, Y:5.47, Z:1.13 [[ 9.98490171e-01 -5.44411211e-02 -7.31727147e-03 1.55659604e+02] [ 5.44379377e-02 9.98516955e-01 -6.33660300e-04 5.47180028e+00] [ 7.34091680e-03 2.34366413e-04 9.99973028e-01 1.13281174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.994391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.69, Y:5.46, Z:1.13 [[ 9.98208846e-01 -5.94460767e-02 -6.72780768e-03 1.55689139e+02] [ 5.94434857e-02 9.98231501e-01 -5.84600544e-04 5.46427511e+00] [ 6.75066177e-03 1.83629095e-04 9.99977197e-01 1.13347744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.024391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.72, Y:5.46, Z:1.13 [[ 9.97966721e-01 -6.34798064e-02 -5.72179020e-03 1.55718470e+02] [ 6.34779986e-02 9.97983114e-01 -4.97179434e-04 5.45659511e+00] [ 5.74181085e-03 1.32960739e-04 9.99983507e-01 1.13452196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.054391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.75, Y:5.45, Z:1.14 [[ 9.97671635e-01 -6.80182707e-02 -4.98231182e-03 1.55746869e+02] [ 6.80169481e-02 9.97684071e-01 -4.34618247e-04 5.45161785e+00] [ 5.00033513e-03 9.47246526e-05 9.99987494e-01 1.13577106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.084391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.78, Y:5.44, Z:1.14 [[ 9.96906040e-01 -7.85016116e-02 -3.98038278e-03 1.55775993e+02] [ 7.85008498e-02 9.96913986e-01 -3.47510550e-04 5.43755622e+00] [ 3.99537940e-03 3.39719358e-05 9.99992018e-01 1.13686477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.114391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.81, Y:5.43, Z:1.14 [[ 9.96437953e-01 -8.42475767e-02 -3.70823680e-03 1.55805675e+02] [ 8.42469564e-02 9.96444853e-01 -3.23444300e-04 5.43114645e+00] [ 3.72230288e-03 9.88451198e-06 9.99993072e-01 1.13700532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.144391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.83, Y:5.43, Z:1.14 [[ 9.95939949e-01 -8.99309286e-02 -4.00567383e-03 1.55834378e+02] [ 8.99302456e-02 9.95948005e-01 -3.50676725e-04 5.42526652e+00] [ 4.02097954e-03 -1.09782715e-05 9.99991916e-01 1.13704450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.174391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.86, Y:5.41, Z:1.14 [[ 9.94875368e-01 -1.00995707e-01 -4.78218529e-03 1.55863453e+02] [ 1.00994849e-01 9.94886859e-01 -4.21281200e-04 5.41038582e+00] [ 4.80028090e-03 -6.38537921e-05 9.99988477e-01 1.13608426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.204391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.89, Y:5.41, Z:1.14 [[ 9.94313404e-01 -1.06365403e-01 -5.22064495e-03 1.55892548e+02] [ 1.06364450e-01 9.94327105e-01 -4.60638960e-04 5.40553793e+00] [ 5.24002483e-03 -9.72715349e-05 9.99986266e-01 1.13608834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.234391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.92, Y:5.40, Z:1.14 [[ 9.93790921e-01 -1.11150537e-01 -5.01642121e-03 1.55921321e+02] [ 1.11149708e-01 9.93803575e-01 -4.44479344e-04 5.40028239e+00] [ 5.03474145e-03 -1.15854219e-04 9.99987319e-01 1.13708610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.264391418 meters Centerline goodness [0,1] 0.9997894293535481 Centerline is valid? [True, True] Translation: X:155.95, Y:5.40, Z:1.14 [[ 9.93261649e-01 -1.15824552e-01 -3.99618117e-03 1.55950087e+02] [ 1.15824063e-01 9.93269682e-01 -3.54434492e-04 5.39574899e+00] [ 4.01033781e-03 -1.10807751e-04 9.99991952e-01 1.13847955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.294391418 meters Centerline goodness [0,1] 0.9999789597710823 Centerline is valid? [True, True] Translation: X:155.98, Y:5.39, Z:1.14 [[ 9.92343706e-01 -1.23484982e-01 -2.32993522e-03 1.55980027e+02] [ 1.23484836e-01 9.92346438e-01 -2.06800841e-04 5.38821420e+00] [ 2.33763972e-03 -8.24941555e-05 9.99997264e-01 1.14151718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.324391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.01, Y:5.39, Z:1.14 [[ 9.91946502e-01 -1.26644387e-01 -1.82671933e-03 1.56009471e+02] [ 1.26644303e-01 9.91948181e-01 -1.62040329e-04 5.38834978e+00] [ 1.83253242e-03 -7.06082586e-05 9.99998318e-01 1.14258813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.354391418 meters Centerline goodness [0,1] 0.9999789854158786 Centerline is valid? [True, True] Translation: X:156.04, Y:5.39, Z:1.14 [[ 9.91624031e-01 -1.29152882e-01 -1.14678414e-03 1.56038028e+02] [ 1.29152851e-01 9.91624693e-01 -1.01639186e-04 5.38774679e+00] [ 1.15030646e-03 -4.73225815e-05 9.99999337e-01 1.14372658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.384391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.07, Y:5.40, Z:1.14 [[ 9.91302467e-01 -1.31600110e-01 -9.10944086e-04 1.56065798e+02] [ 1.31600092e-01 9.91302885e-01 -8.03824313e-05 5.39551459e+00] [ 9.13599837e-04 -4.01970227e-05 9.99999582e-01 1.14329149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.414391418 meters Centerline goodness [0,1] 0.999979025525935 Centerline is valid? [True, True] Translation: X:156.09, Y:5.40, Z:1.14 [[ 9.90913313e-01 -1.34494162e-01 -1.45822231e-03 1.56094886e+02] [ 1.34494116e-01 9.90914384e-01 -1.29576460e-04 5.39826096e+00] [ 1.46240074e-03 -6.77232818e-05 9.99998928e-01 1.14295297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.444391418 meters Centerline goodness [0,1] 0.9999163564886454 Centerline is valid? [True, True] Translation: X:156.12, Y:5.40, Z:1.14 [[ 9.90818501e-01 -1.35178107e-01 -2.36163885e-03 1.56122982e+02] [ 1.35177989e-01 9.90821309e-01 -2.10109671e-04 5.39907319e+00] [ 2.36836433e-03 -1.11061042e-04 9.99997189e-01 1.14234285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.474391418 meters Centerline goodness [0,1] 0.9999580087761658 Centerline is valid? [True, True] Translation: X:156.15, Y:5.41, Z:1.14 [[ 9.90758803e-01 -1.35593925e-01 -3.35871489e-03 1.56150255e+02] [ 1.35593690e-01 9.90764484e-01 -2.98606305e-04 5.40744210e+00] [ 3.36818463e-03 -1.59573720e-04 9.99994315e-01 1.14075913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.504391418 meters Centerline goodness [0,1] 0.9998739442833733 Centerline is valid? [True, True] Translation: X:156.18, Y:5.41, Z:1.14 [[ 9.90818420e-01 -1.35066563e-01 -5.99016616e-03 1.56177843e+02] [ 1.35065779e-01 9.90836488e-01 -5.37092482e-04 5.41234749e+00] [ 6.00781844e-03 -2.76905334e-04 9.99981915e-01 1.13782666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.534391418 meters Centerline goodness [0,1] 0.9999790074733395 Centerline is valid? [True, True] Translation: X:156.21, Y:5.42, Z:1.14 [[ 9.90886575e-01 -1.34530123e-01 -6.74095876e-03 1.56205815e+02] [ 1.34529112e-01 9.90909457e-01 -6.05239067e-04 5.42085301e+00] [ 6.76110267e-03 -3.07131933e-04 9.99977096e-01 1.13690626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.564391418 meters Centerline goodness [0,1] 0.9999166180271826 Centerline is valid? [True, True] Translation: X:156.23, Y:5.42, Z:1.14 [[ 9.90995714e-01 -1.33687302e-01 -7.42963654e-03 1.56233562e+02] [ 1.33686032e-01 9.91023510e-01 -6.69546228e-04 5.42466494e+00] [ 7.45245430e-03 -3.29721188e-04 9.99972176e-01 1.13636327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59439141800001 meters Centerline goodness [0,1] 0.999978997773764 Centerline is valid? [True, True] Translation: X:156.26, Y:5.44, Z:1.14 [[ 9.91120997e-01 -1.32723897e-01 -7.97098969e-03 1.56261637e+02] [ 1.32722395e-01 9.91152989e-01 -7.19470287e-04 5.43711998e+00] [ 7.99596116e-03 -3.44846731e-04 9.99967972e-01 1.13672815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.29, Y:5.44, Z:1.14 [[ 9.91162997e-01 -1.32410347e-01 -7.96319017e-03 1.56290121e+02] [ 1.32408818e-01 9.91194928e-01 -7.21219309e-04 5.44491414e+00] [ 7.98857060e-03 -3.39550709e-04 9.99968033e-01 1.13767763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65439141800002 meters Centerline goodness [0,1] 0.999979035639413 Centerline is valid? [True, True] Translation: X:156.32, Y:5.45, Z:1.14 [[ 9.91194881e-01 -1.32204921e-01 -7.38688620e-03 1.56318068e+02] [ 1.32203584e-01 9.91222357e-01 -6.71164521e-04 5.45377539e+00] [ 7.41077801e-03 -3.11317992e-04 9.99972491e-01 1.13891969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68439141800002 meters Centerline goodness [0,1] 0.9999581274600117 Centerline is valid? [True, True] Translation: X:156.35, Y:5.46, Z:1.14 [[ 9.91265158e-01 -1.31695877e-01 -7.04146988e-03 1.56346039e+02] [ 1.31694634e-01 9.91290125e-01 -6.41918305e-04 5.46158701e+00] [ 7.06467755e-03 -2.91012549e-04 9.99975003e-01 1.14015880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71439141800002 meters Centerline goodness [0,1] 0.9999371424979572 Centerline is valid? [True, True] Translation: X:156.37, Y:5.47, Z:1.14 [[ 9.91297994e-01 -1.31470908e-01 -6.60962905e-03 1.56373577e+02] [ 1.31469794e-01 9.91319993e-01 -6.04601532e-04 5.46833278e+00] [ 6.63174494e-03 -2.69626285e-04 9.99977973e-01 1.14098906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.744391418 meters Centerline goodness [0,1] 0.9996660962477566 Centerline is valid? [True, True] Translation: X:156.40, Y:5.48, Z:1.14 [[ 9.91378628e-01 -1.30921119e-01 -5.29877867e-03 1.56401558e+02] [ 1.30920395e-01 9.91392765e-01 -4.84799547e-04 5.48039622e+00] [ 5.31664134e-03 -2.13098286e-04 9.99985844e-01 1.14241867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.774391418 meters Centerline goodness [0,1] 0.9997697251355482 Centerline is valid? [True, True] Translation: X:156.43, Y:5.49, Z:1.14 [[ 9.91360547e-01 -1.31071474e-01 -4.95328208e-03 1.56428960e+02] [ 1.31070836e-01 9.91372901e-01 -4.54510702e-04 5.48755070e+00] [ 4.97012301e-03 -1.98646848e-04 9.99987629e-01 1.14290276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.804391418 meters Centerline goodness [0,1] 0.9997064250964603 Centerline is valid? [True, True] Translation: X:156.46, Y:5.50, Z:1.14 [[ 9.91476595e-01 -1.30191272e-01 -4.93899368e-03 1.56457025e+02] [ 1.30190618e-01 9.91488878e-01 -4.55033705e-04 5.50027085e+00] [ 4.95619872e-03 -1.91855373e-04 9.99987700e-01 1.14303092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.834391418 meters Centerline goodness [0,1] 0.9998115459513789 Centerline is valid? [True, True] Translation: X:156.48, Y:5.51, Z:1.14 [[ 9.91542788e-01 -1.29666539e-01 -5.43030755e-03 1.56484525e+02] [ 1.29665729e-01 9.91557636e-01 -5.02525091e-04 5.50678329e+00] [ 5.44962361e-03 -2.05849657e-04 9.99985130e-01 1.14269750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.864391418 meters Centerline goodness [0,1] 0.9997915189926198 Centerline is valid? [True, True] Translation: X:156.51, Y:5.51, Z:1.14 [[ 9.91607272e-01 -1.29141854e-01 -6.11559506e-03 1.56512211e+02] [ 1.29140813e-01 9.91626104e-01 -5.66543432e-04 5.51485204e+00] [ 6.13754817e-03 -2.27984330e-04 9.99981139e-01 1.14206607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.894391418 meters Centerline goodness [0,1] 0.9998125741893834 Centerline is valid? [True, True] Translation: X:156.54, Y:5.52, Z:1.14 [[ 9.91678655e-01 -1.28560298e-01 -6.75982499e-03 1.56540776e+02] [ 1.28558997e-01 9.91701663e-01 -6.28524091e-04 5.52303481e+00] [ 6.78453293e-03 -2.45742394e-04 9.99976955e-01 1.14128241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.924391418 meters Centerline goodness [0,1] 0.9997903080374929 Centerline is valid? [True, True] Translation: X:156.57, Y:5.54, Z:1.14 [[ 9.91907459e-01 -1.26727659e-01 -7.72617610e-03 1.56568101e+02] [ 1.26725883e-01 9.91937514e-01 -7.21003744e-04 5.53708868e+00] [ 7.75525503e-03 -2.63937496e-04 9.99969893e-01 1.14053713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.954391418 meters Centerline goodness [0,1] 0.9999582837953404 Centerline is valid? [True, True] Translation: X:156.60, Y:5.54, Z:1.14 [[ 9.92020088e-01 -1.25848165e-01 -7.64095015e-03 1.56596805e+02] [ 1.25846384e-01 9.92049483e-01 -7.15326449e-04 5.54475046e+00] [ 7.67022317e-03 -2.51967743e-04 9.99970552e-01 1.14139086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.984391418 meters Centerline goodness [0,1] 0.9999582803145665 Centerline is valid? [True, True] Translation: X:156.62, Y:5.55, Z:1.14 [[ 9.92165357e-01 -1.24694667e-01 -7.69058138e-03 1.56623950e+02] [ 1.24692813e-01 9.92195133e-01 -7.22005906e-04 5.55237059e+00] [ 7.72058770e-03 -2.42610979e-04 9.99970166e-01 1.14211990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.014391418 meters Centerline goodness [0,1] 0.9999791231732776 Centerline is valid? [True, True] Translation: X:156.65, Y:5.56, Z:1.14 [[ 9.92449734e-01 -1.22459828e-01 -6.86407030e-03 1.56651861e+02] [ 1.22458293e-01 9.92473451e-01 -6.45039077e-04 5.56490349e+00] [ 6.89139891e-03 -2.00393474e-04 9.99976234e-01 1.14383707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.044391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.68, Y:5.57, Z:1.14 [[ 9.92531418e-01 -1.21785538e-01 -7.04749158e-03 1.56680063e+02] [ 1.21783888e-01 9.92556418e-01 -6.64399051e-04 5.57230494e+00] [ 7.07594720e-03 -1.98833993e-04 9.99974945e-01 1.14413178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.074391418 meters Centerline goodness [0,1] 0.9999165832499166 Centerline is valid? [True, True] Translation: X:156.71, Y:5.58, Z:1.14 [[ 9.92634355e-01 -1.20950494e-01 -6.92926078e-03 1.56708006e+02] [ 1.20948864e-01 9.92658523e-01 -6.55248929e-04 5.57960142e+00] [ 6.95764246e-03 -1.87663624e-04 9.99975778e-01 1.14414749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.104391418 meters Centerline goodness [0,1] 0.9999790724928846 Centerline is valid? [True, True] Translation: X:156.73, Y:5.59, Z:1.14 [[ 9.92941330e-01 -1.18274437e-01 -8.86974599e-03 1.56734527e+02] [ 1.18271636e-01 9.92980922e-01 -8.41539209e-04 5.59142227e+00] [ 8.90702113e-03 -2.13440306e-04 9.99960309e-01 1.14190633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.134391418 meters Centerline goodness [0,1] 0.9999790378367047 Centerline is valid? [True, True] Translation: X:156.76, Y:5.60, Z:1.14 [[ 9.93074077e-01 -1.17111261e-01 -9.42501122e-03 1.56762282e+02] [ 1.17108032e-01 9.93118778e-01 -8.95739719e-04 5.60204749e+00] [ 9.46505683e-03 -2.14208618e-04 9.99955182e-01 1.14154369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.164391418 meters Centerline goodness [0,1] 0.9999790834361731 Centerline is valid? [True, True] Translation: X:156.79, Y:5.61, Z:1.14 [[ 9.93264645e-01 -1.15440907e-01 -9.93690764e-03 1.56790107e+02] [ 1.15437208e-01 9.93314328e-01 -9.46989939e-04 5.60691282e+00] [ 9.97979411e-03 -2.06477248e-04 9.99950179e-01 1.14075017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.194391418 meters Centerline goodness [0,1] 0.9999582872755334 Centerline is valid? [True, True] Translation: X:156.82, Y:5.62, Z:1.14 [[ 9.93713151e-01 -1.11511659e-01 -9.96612388e-03 1.56817921e+02] [ 1.11507724e-01 9.93763112e-01 -9.51378157e-04 5.62023806e+00] [ 1.00100560e-02 -1.65902807e-04 9.99949884e-01 1.14116077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.224391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.85, Y:5.63, Z:1.14 [[ 9.93932212e-01 -1.09578630e-01 -9.55413542e-03 1.56845734e+02] [ 1.09574899e-01 9.93978121e-01 -9.14636337e-04 5.62781190e+00] [ 9.59682617e-03 -1.37806909e-04 9.99953940e-01 1.14211439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.254391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.87, Y:5.63, Z:1.14 [[ 9.93897494e-01 -1.09893105e-01 -9.55387245e-03 1.56873057e+02] [ 1.09889363e-01 9.93943402e-01 -9.17376063e-04 5.63067394e+00] [ 9.59682179e-03 -1.38091184e-04 9.99953940e-01 1.14230704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.284391418 meters Centerline goodness [0,1] 0.9999790961160584 Centerline is valid? [True, True] Translation: X:156.90, Y:5.64, Z:1.14 [[ 9.94037972e-01 -1.08645374e-01 -9.20289410e-03 1.56900906e+02] [ 1.08641822e-01 9.94080564e-01 -8.86504692e-04 5.63988134e+00] [ 9.24473279e-03 -1.18599857e-04 9.99957260e-01 1.14375989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.314391418 meters Centerline goodness [0,1] 0.9999790545210816 Centerline is valid? [True, True] Translation: X:156.93, Y:5.65, Z:1.15 [[ 9.94210942e-01 -1.07114210e-01 -8.43491614e-03 1.56929041e+02] [ 1.07111151e-01 9.94246718e-01 -8.14941169e-04 5.64954390e+00] [ 8.47367947e-03 -9.32501482e-05 9.99964093e-01 1.14541630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34439141800001 meters Centerline goodness [0,1] 0.9999790676742093 Centerline is valid? [True, True] Translation: X:156.96, Y:5.65, Z:1.15 [[ 9.94199416e-01 -1.07222480e-01 -8.41787014e-03 1.56956523e+02] [ 1.07219414e-01 9.94235048e-01 -8.15950587e-04 5.65492025e+00] [ 8.45682977e-03 -9.13415049e-05 9.99964236e-01 1.14587759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37439141800002 meters Centerline goodness [0,1] 0.9999790738066838 Centerline is valid? [True, True] Translation: X:156.98, Y:5.66, Z:1.15 [[ 9.94140559e-01 -1.07747766e-01 -8.65842994e-03 1.56984225e+02] [ 1.07744516e-01 9.94178259e-01 -8.42396294e-04 5.65996477e+00] [ 8.69878912e-03 -9.54380173e-05 9.99962160e-01 1.14598163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.01, Y:5.66, Z:1.15 [[ 9.94055212e-01 -1.08527288e-01 -8.72140752e-03 1.57011409e+02] [ 1.08523992e-01 9.94093465e-01 -8.51637851e-04 5.66452690e+00] [ 8.76232017e-03 -9.99069189e-05 9.99961605e-01 1.14579775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.04, Y:5.67, Z:1.14 [[ 9.93931672e-01 -1.09551637e-01 -9.91311640e-03 1.57039133e+02] [ 1.09547399e-01 9.93981099e-01 -9.71134911e-04 5.66926002e+00] [ 9.95983975e-03 -1.20714367e-04 9.99950392e-01 1.14420622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.07, Y:5.67, Z:1.14 [[ 9.93826699e-01 -1.10438251e-01 -1.05776081e-02 1.57067309e+02] [ 1.10433455e-01 9.93882978e-01 -1.03813032e-03 5.67272588e+00] [ 1.06275540e-02 -1.36400184e-04 9.99943517e-01 1.14303411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.494391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.10, Y:5.68, Z:1.14 [[ 9.93660212e-01 -1.11798851e-01 -1.18490625e-02 1.57096150e+02] [ 1.11792884e-01 9.93730844e-01 -1.16676455e-03 5.67578846e+00] [ 1.19052218e-02 -1.65273360e-04 9.99929117e-01 1.14179821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.524391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.12, Y:5.68, Z:1.14 [[ 9.93294292e-01 -1.14669849e-01 -1.47402368e-02 1.57124156e+02] [ 1.14660880e-01 9.93403627e-01 -1.45494375e-03 5.67654641e+00] [ 1.48098428e-02 -2.44941200e-04 9.99890298e-01 1.13866023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.554391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.15, Y:5.68, Z:1.14 [[ 9.93076990e-01 -1.16441652e-01 -1.54736709e-02 1.57152416e+02] [ 1.16431930e-01 9.93197494e-01 -1.53075353e-03 5.68024858e+00] [ 1.55466547e-02 -2.81473272e-04 9.99879104e-01 1.13891193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.584391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.18, Y:5.68, Z:1.14 [[ 9.92886876e-01 -1.17978795e-01 -1.60204448e-02 1.57181406e+02] [ 1.17968493e-01 9.93016066e-01 -1.58984191e-03 5.68267821e+00] [ 1.60961267e-02 -3.11374571e-04 9.99870400e-01 1.13889169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.614391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.21, Y:5.68, Z:1.14 [[ 9.92715206e-01 -1.19405840e-01 -1.60861822e-02 1.57209121e+02] [ 1.19395583e-01 9.92845474e-01 -1.59997575e-03 5.68359295e+00] [ 1.61621396e-02 -3.32298850e-04 9.99869329e-01 1.13846183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.644391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.24, Y:5.69, Z:1.14 [[ 9.92505865e-01 -1.21102168e-01 -1.63209446e-02 1.57237452e+02] [ 1.21091772e-01 9.92639982e-01 -1.62735442e-03 5.68819296e+00] [ 1.63978983e-02 -3.61173301e-04 9.99865480e-01 1.14047311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.674391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.26, Y:5.69, Z:1.14 [[ 9.92513851e-01 -1.21025217e-01 -1.64058519e-02 1.57264250e+02] [ 1.21014642e-01 9.92649368e-01 -1.63943054e-03 5.68980285e+00] [ 1.64836710e-02 -3.58190791e-04 9.99864071e-01 1.14000923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.704391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.29, Y:5.69, Z:1.14 [[ 9.92475745e-01 -1.21320212e-01 -1.65318434e-02 1.57292113e+02] [ 1.21309442e-01 9.92613356e-01 -1.65644194e-03 5.69497063e+00] [ 1.66106885e-02 -3.61490255e-04 9.99861968e-01 1.14078460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.734391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.32, Y:5.70, Z:1.14 [[ 9.92699566e-01 -1.19521825e-01 -1.61896382e-02 1.57319727e+02] [ 1.19511202e-01 9.92831522e-01 -1.62553792e-03 5.70014720e+00] [ 1.62678704e-02 -3.21172339e-04 9.99867618e-01 1.14150343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.764391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.35, Y:5.71, Z:1.14 [[ 9.92808286e-01 -1.18689010e-01 -1.56405190e-02 1.57348223e+02] [ 1.18678940e-01 9.92931434e-01 -1.57371435e-03 5.70550533e+00] [ 1.57167455e-02 -2.93803566e-04 9.99876441e-01 1.14239687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.794391418 meters Centerline goodness [0,1] 0.99995807303677 Centerline is valid? [True, True] Translation: X:157.38, Y:5.71, Z:1.14 [[ 9.92943853e-01 -1.17566588e-01 -1.55113393e-02 1.57376083e+02] [ 1.17556473e-01 9.93064965e-01 -1.56543206e-03 5.71182795e+00] [ 1.55878102e-02 -2.69072210e-04 9.99878467e-01 1.14365144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.824391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.40, Y:5.72, Z:1.14 [[ 9.93101691e-01 -1.16268684e-01 -1.51863364e-02 1.57404831e+02] [ 1.16258765e-01 9.93217769e-01 -1.53730132e-03 5.71679037e+00] [ 1.52620791e-02 -2.38848179e-04 9.99883499e-01 1.14434692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.854391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.43, Y:5.72, Z:1.15 [[ 9.93487501e-01 -1.12935155e-01 -1.51074596e-02 1.57432356e+02] [ 1.12924908e-01 9.93602343e-01 -1.53236036e-03 5.72398050e+00] [ 1.51838646e-02 -1.83627622e-04 9.99884702e-01 1.14518231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.884391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.46, Y:5.73, Z:1.15 [[ 9.93683416e-01 -1.11180166e-01 -1.52394027e-02 1.57461249e+02] [ 1.11169500e-01 9.93800255e-01 -1.54790467e-03 5.72963927e+00] [ 1.53170186e-02 -1.56029570e-04 9.99882675e-01 1.14588850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.914391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.49, Y:5.74, Z:1.15 [[ 9.93875767e-01 -1.09493396e-01 -1.49049096e-02 1.57489844e+02] [ 1.09482950e-01 9.93987515e-01 -1.51750780e-03 5.73530041e+00] [ 1.49814511e-02 -1.23619245e-04 9.99887764e-01 1.14652658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.944391418 meters Centerline goodness [0,1] 0.9999790325624306 Centerline is valid? [True, True] Translation: X:157.52, Y:5.74, Z:1.15 [[ 9.94092947e-01 -1.07534158e-01 -1.46839112e-02 1.57517315e+02] [ 1.07523762e-01 9.94201386e-01 -1.49794903e-03 5.74066863e+00] [ 1.47598456e-02 -8.97688041e-05 9.99891064e-01 1.14725255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.974391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.55, Y:5.75, Z:1.15 [[ 9.94435333e-01 -1.04305178e-01 -1.47918427e-02 1.57545769e+02] [ 1.04294224e-01 9.94545337e-01 -1.51213847e-03 5.74786257e+00] [ 1.48688821e-02 -3.89798389e-05 9.99889451e-01 1.14807959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.004391418 meters Centerline goodness [0,1] 0.9999789960092418 Centerline is valid? [True, True] Translation: X:157.57, Y:5.75, Z:1.15 [[ 9.94509696e-01 -1.03584459e-01 -1.48567696e-02 1.57573843e+02] [ 1.03573253e-01 9.94620661e-01 -1.52377040e-03 5.75206672e+00] [ 1.49346889e-02 -2.33595099e-05 9.99888471e-01 1.14842774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.034391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.60, Y:5.76, Z:1.15 [[ 9.94569555e-01 -1.03019230e-01 -1.47796434e-02 1.57600262e+02] [ 1.03008023e-01 9.94679364e-01 -1.51956011e-03 5.75516950e+00] [ 1.48575502e-02 -1.11136218e-05 9.99889620e-01 1.14833725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.064391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.63, Y:5.76, Z:1.15 [[ 9.94419374e-01 -1.04216008e-01 -1.64052702e-02 1.57628787e+02] [ 1.04202295e-01 9.94554686e-01 -1.69082117e-03 5.75635489e+00] [ 1.64921490e-02 -2.80814796e-05 9.99863995e-01 1.14627605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09439141800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.66, Y:5.76, Z:1.15 [[ 9.94221815e-01 -1.05873120e-01 -1.77162564e-02 1.57657933e+02] [ 1.05857290e-01 9.94379646e-01 -1.83158364e-03 5.75774575e+00] [ 1.78106002e-02 -5.43944777e-05 9.99841377e-01 1.14528486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.69, Y:5.76, Z:1.14 [[ 9.94014364e-01 -1.07529676e-01 -1.93083559e-02 1.57686516e+02] [ 1.07511065e-01 9.94201872e-01 -2.00232359e-03 5.75908552e+00] [ 1.94117128e-02 -8.55235076e-05 9.99811571e-01 1.14401672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.72, Y:5.76, Z:1.14 [[ 9.93705049e-01 -1.10017172e-01 -2.11304801e-02 1.57715455e+02] [ 1.09995301e-01 9.93929677e-01 -2.19805473e-03 5.75903668e+00] [ 2.12440350e-02 -1.40035430e-04 9.99774310e-01 1.14311027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.74, Y:5.76, Z:1.14 [[ 9.93569777e-01 -1.11163914e-01 -2.14867904e-02 1.57743657e+02] [ 1.11141485e-01 9.93802072e-01 -2.23894004e-03 5.76035193e+00] [ 2.16025061e-02 -1.63530631e-04 9.99766625e-01 1.14298429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.77, Y:5.76, Z:1.14 [[ 9.93418629e-01 -1.12348852e-01 -2.22971676e-02 1.57772212e+02] [ 1.12324872e-01 9.93668808e-01 -2.32899047e-03 5.76221578e+00] [ 2.24176594e-02 -1.90863976e-04 9.99748674e-01 1.14366059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.244391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.80, Y:5.76, Z:1.14 [[ 9.93320201e-01 -1.13235569e-01 -2.21964711e-02 1.57800332e+02] [ 1.13211854e-01 9.93568148e-01 -2.32618544e-03 5.76450169e+00] [ 2.23171137e-02 -2.02256666e-04 9.99750922e-01 1.14475189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.274391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.83, Y:5.77, Z:1.14 [[ 9.93278109e-01 -1.13593297e-01 -2.22522137e-02 1.57827358e+02] [ 1.13569442e-01 9.93527312e-01 -2.33695952e-03 5.76615521e+00] [ 2.23736450e-02 -2.05920759e-04 9.99749657e-01 1.14499277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.304391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.86, Y:5.77, Z:1.15 [[ 9.93339382e-01 -1.13231431e-01 -2.13428112e-02 1.57856403e+02] [ 1.13209285e-01 9.93568623e-01 -2.24690874e-03 5.76870691e+00] [ 2.14599682e-02 -1.84261458e-04 9.99769691e-01 1.14693789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.334391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.88, Y:5.77, Z:1.15 [[ 9.93347896e-01 -1.13161758e-01 -2.13160749e-02 1.57883865e+02] [ 1.13139496e-01 9.93576563e-01 -2.25132460e-03 5.77175766e+00] [ 2.14339163e-02 -1.75341434e-04 9.99770252e-01 1.14806102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.364391418 meters Centerline goodness [0,1] 0.9999790184847149 Centerline is valid? [True, True] Translation: X:157.91, Y:5.77, Z:1.15 [[ 9.93362124e-01 -1.13112262e-01 -2.09118753e-02 1.57912187e+02] [ 1.13090678e-01 9.93582201e-01 -2.21566596e-03 5.77448045e+00] [ 2.10282860e-02 -1.63979511e-04 9.99778868e-01 1.14842576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.394391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.94, Y:5.78, Z:1.15 [[ 9.93301433e-01 -1.13794914e-01 -2.00743684e-02 1.57940104e+02] [ 1.13775026e-01 9.93504248e-01 -2.13376877e-03 5.77599045e+00] [ 2.01867823e-02 -1.64486216e-04 9.99796213e-01 1.15006296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.424391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.97, Y:5.78, Z:1.15 [[ 9.93269352e-01 -1.14116261e-01 -1.98361706e-02 1.57966845e+02] [ 1.14096819e-01 9.93467388e-01 -2.11285915e-03 5.77704926e+00] [ 1.99477001e-02 -1.64605718e-04 9.99801011e-01 1.14934634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.454391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.99, Y:5.78, Z:1.15 [[ 9.93177962e-01 -1.14900303e-01 -1.98860875e-02 1.57994636e+02] [ 1.14880809e-01 9.93377013e-01 -2.12371286e-03 5.77935368e+00] [ 1.99983975e-02 -1.75305006e-04 9.99799997e-01 1.15092160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.484391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.02, Y:5.78, Z:1.15 [[ 9.93107322e-01 -1.15442658e-01 -2.02691629e-02 1.58022739e+02] [ 1.15422370e-01 9.93314129e-01 -2.17186676e-03 5.78046350e+00] [ 2.03843720e-02 -1.82618049e-04 9.99792200e-01 1.15208987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.514391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.05, Y:5.78, Z:1.15 [[ 9.93150293e-01 -1.15183390e-01 -1.96285862e-02 1.58050554e+02] [ 1.15164238e-01 9.93344230e-01 -2.10706581e-03 5.78260994e+00] [ 1.97406418e-02 -1.67878144e-04 9.99805120e-01 1.15239728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.544391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.08, Y:5.79, Z:1.15 [[ 9.93197634e-01 -1.14801749e-01 -1.94683937e-02 1.58078681e+02] [ 1.14782734e-01 9.93388411e-01 -2.09504612e-03 5.78562567e+00] [ 1.95801916e-02 -1.53840597e-04 9.99808278e-01 1.15268639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.574391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.11, Y:5.79, Z:1.15 [[ 9.93298093e-01 -1.13936351e-01 -1.94269742e-02 1.58106856e+02] [ 1.13917117e-01 9.93488043e-01 -2.09744215e-03 5.78896965e+00] [ 1.95394415e-02 -1.29679605e-04 9.99809078e-01 1.15290006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.604391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.14, Y:5.79, Z:1.15 [[ 9.93566568e-01 -1.11545961e-01 -1.95696887e-02 1.58135040e+02] [ 1.11525843e-01 9.93759273e-01 -2.11977328e-03 5.79236175e+00] [ 1.96840118e-02 -7.63901810e-05 9.99806248e-01 1.15245410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.634391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.16, Y:5.80, Z:1.15 [[ 9.93695761e-01 -1.10390747e-01 -1.95606303e-02 1.58162011e+02] [ 1.10370338e-01 9.93888264e-01 -2.12318071e-03 5.79545918e+00] [ 1.96754604e-02 -4.91176926e-05 9.99806418e-01 1.15202615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.664391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.19, Y:5.80, Z:1.15 [[ 9.93727128e-01 -1.10137324e-01 -1.93949687e-02 1.58189562e+02] [ 1.10117104e-01 9.93916379e-01 -2.11071460e-03 5.79815837e+00] [ 1.95094455e-02 -3.82434260e-05 9.99809672e-01 1.15245151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.694391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.22, Y:5.80, Z:1.15 [[ 9.93734919e-01 -1.10076936e-01 -1.93385187e-02 1.58216905e+02] [ 1.10056736e-01 9.93923069e-01 -2.10897971e-03 5.79900571e+00] [ 1.94531499e-02 -3.25674640e-05 9.99810769e-01 1.15163292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.724391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.25, Y:5.80, Z:1.15 [[ 9.93638849e-01 -1.10884819e-01 -1.96569204e-02 1.58245282e+02] [ 1.10863997e-01 9.93833263e-01 -2.14923546e-03 5.80076930e+00] [ 1.97740189e-02 -4.36809050e-05 9.99804474e-01 1.15131306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.754391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.27, Y:5.80, Z:1.15 [[ 9.93505509e-01 -1.11994448e-01 -2.01009399e-02 1.58273333e+02] [ 1.11972758e-01 9.93708831e-01 -2.20487323e-03 5.80234296e+00] [ 2.02214151e-02 -6.02039829e-05 9.99795524e-01 1.15107274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.784391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.30, Y:5.80, Z:1.15 [[ 9.93379107e-01 -1.13033244e-01 -2.05289135e-02 1.58301400e+02] [ 1.13010744e-01 9.93591203e-01 -2.25654298e-03 5.80361118e+00] [ 2.06524122e-02 -7.83851460e-05 9.99786713e-01 1.15064684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.814391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.33, Y:5.80, Z:1.15 [[ 9.93069752e-01 -1.15660169e-01 -2.08612944e-02 1.58329382e+02] [ 1.15637459e-01 9.93288834e-01 -2.29572763e-03 5.80212362e+00] [ 2.09868151e-02 -1.32529421e-04 9.99779744e-01 1.15012188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84439141800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.36, Y:5.80, Z:1.15 [[ 9.92878014e-01 -1.17274878e-01 -2.09726563e-02 1.58358440e+02] [ 1.17252180e-01 9.93099480e-01 -2.31293498e-03 5.80300990e+00] [ 2.10991832e-02 -1.62627384e-04 9.99777374e-01 1.15039522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.39, Y:5.80, Z:1.15 [[ 9.92672070e-01 -1.19121283e-01 -2.03047053e-02 1.58386064e+02] [ 1.19100324e-01 9.92879692e-01 -2.24271250e-03 5.80311548e+00] [ 2.04272843e-02 -1.92018921e-04 9.99791323e-01 1.15100526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.42, Y:5.80, Z:1.15 [[ 9.92167871e-01 -1.23546643e-01 -1.84158523e-02 1.58415637e+02] [ 1.23530086e-01 9.92338734e-01 -2.03832460e-03 5.80159715e+00] [ 1.85265917e-02 -2.52551636e-04 9.99828336e-01 1.15435013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93439141800002 meters Centerline goodness [0,1] 0.9999791039786025 Centerline is valid? [True, True] Translation: X:158.44, Y:5.80, Z:1.16 [[ 9.91875384e-01 -1.26036715e-01 -1.72617994e-02 1.58444738e+02] [ 1.26022454e-01 9.92025539e-01 -1.91582817e-03 5.80216607e+00] [ 1.73656105e-02 -2.75111516e-04 9.99849169e-01 1.15582728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.47, Y:5.80, Z:1.16 [[ 9.91641871e-01 -1.28049138e-01 -1.58056557e-02 1.58472398e+02] [ 1.28037390e-01 9.91767785e-01 -1.75716727e-03 5.80253033e+00] [ 1.59005439e-02 -2.81234268e-04 9.99873539e-01 1.15681098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.994391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.50, Y:5.80, Z:1.16 [[ 9.91424025e-01 -1.29798992e-01 -1.51863170e-02 1.58501054e+02] [ 1.29788303e-01 9.91540284e-01 -1.69154001e-03 5.80356904e+00] [ 1.52774053e-02 -2.93972906e-04 9.99883250e-01 1.15776485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.024391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.53, Y:5.81, Z:1.16 [[ 9.91297317e-01 -1.30919887e-01 -1.37699876e-02 1.58528790e+02] [ 1.30911147e-01 9.91392912e-01 -1.53809807e-03 5.80609996e+00] [ 1.38528358e-02 -2.77932379e-04 9.99904006e-01 1.15918047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.054391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.56, Y:5.81, Z:1.16 [[ 9.91368756e-01 -1.30414510e-01 -1.34180814e-02 1.58556435e+02] [ 1.30406118e-01 9.91459524e-01 -1.50224504e-03 5.80820587e+00] [ 1.34993992e-02 -2.60521108e-04 9.99908845e-01 1.15933331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.084391418 meters Centerline goodness [0,1] 0.9999791240449251 Centerline is valid? [True, True] Translation: X:158.59, Y:5.81, Z:1.16 [[ 9.91463127e-01 -1.29695090e-01 -1.34183111e-02 1.58585299e+02] [ 1.29686590e-01 9.91553893e-01 -1.50538918e-03 5.81327657e+00] [ 1.35002202e-02 -2.47637135e-04 9.99908837e-01 1.15909501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.114391418 meters Centerline goodness [0,1] 0.9999791240449251 Centerline is valid? [True, True] Translation: X:158.61, Y:5.82, Z:1.16 [[ 9.91418272e-01 -1.30037581e-01 -1.34178238e-02 1.58612578e+02] [ 1.30029054e-01 9.91509035e-01 -1.50972301e-03 5.81656207e+00] [ 1.35002142e-02 -2.47939946e-04 9.99908837e-01 1.15928767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.144391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.64, Y:5.82, Z:1.16 [[ 9.91541040e-01 -1.29024035e-01 -1.41125745e-02 1.58641563e+02] [ 1.29014434e-01 9.91641437e-01 -1.59248183e-03 5.82113742e+00] [ 1.42000821e-02 -2.41714713e-04 9.99899145e-01 1.15846337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.174391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.67, Y:5.83, Z:1.16 [[ 9.91839104e-01 -1.26568475e-01 -1.53496856e-02 1.58669808e+02] [ 1.26556749e-01 9.91957848e-01 -1.73684785e-03 5.82729175e+00] [ 1.54460713e-02 -2.19932688e-04 9.99880678e-01 1.15693341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.204391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.70, Y:5.83, Z:1.16 [[ 9.92063892e-01 -1.24748162e-01 -1.57203646e-02 1.58697773e+02] [ 1.24735583e-01 9.92188419e-01 -1.78199245e-03 5.83157661e+00] [ 1.58198640e-02 -1.93038481e-04 9.99874839e-01 1.15644381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.234391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.73, Y:5.84, Z:1.16 [[ 9.92265504e-01 -1.23119207e-01 -1.58376109e-02 1.58726001e+02] [ 1.23106177e-01 9.92391875e-01 -1.79874777e-03 5.83692935e+00] [ 1.59385768e-02 -1.64872369e-04 9.99872959e-01 1.15671383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.264391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.75, Y:5.84, Z:1.16 [[ 9.92507621e-01 -1.21167068e-01 -1.57214477e-02 1.58754185e+02] [ 1.21153907e-01 9.92632120e-01 -1.79039587e-03 5.84265279e+00] [ 1.58225510e-02 -1.27733268e-04 9.99874807e-01 1.15764216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.294391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.78, Y:5.85, Z:1.16 [[ 9.92805770e-01 -1.18755263e-01 -1.52934482e-02 1.58781201e+02] [ 1.18742476e-01 9.92923552e-01 -1.74470516e-03 5.84781898e+00] [ 1.53924178e-02 -8.38285505e-05 9.99881526e-01 1.15784940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.324391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.81, Y:5.86, Z:1.16 [[ 9.93372628e-01 -1.13960513e-01 -1.49607484e-02 1.58809706e+02] [ 1.13947700e-01 9.93485280e-01 -1.70887656e-03 5.85643462e+00] [ 1.50580278e-02 -7.19166851e-06 9.99886621e-01 1.15920636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.354391418 meters Centerline goodness [0,1] 0.9999790632916693 Centerline is valid? [True, True] Translation: X:158.84, Y:5.86, Z:1.16 [[ 9.93582272e-01 -1.12174547e-01 -1.45306861e-02 1.58836794e+02] [ 1.12162212e-01 9.93688518e-01 -1.66360417e-03 5.86207072e+00] [ 1.46255900e-02 2.31337035e-05 9.99893040e-01 1.15951201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.384391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.86, Y:5.87, Z:1.16 [[ 9.93792147e-01 -1.10298049e-01 -1.45433394e-02 1.58863543e+02] [ 1.10285429e-01 9.93898555e-01 -1.66935320e-03 5.86747120e+00] [ 1.46387304e-02 5.50716772e-05 9.99892847e-01 1.15897558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.414391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.89, Y:5.87, Z:1.16 [[ 9.94047876e-01 -1.07844745e-01 -1.54379821e-02 1.58891724e+02] [ 1.07830161e-01 9.94167743e-01 -1.77640983e-03 5.87282166e+00] [ 1.55395203e-02 1.01156327e-04 9.99879249e-01 1.15805548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.444391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.92, Y:5.88, Z:1.16 [[ 9.94078942e-01 -1.07495059e-01 -1.58703753e-02 1.58919455e+02] [ 1.07479516e-01 9.94205612e-01 -1.83153023e-03 5.87642940e+00] [ 1.59752966e-02 1.14945380e-04 9.99872380e-01 1.15786191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.474391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.95, Y:5.88, Z:1.16 [[ 9.94133623e-01 -1.06907224e-01 -1.64068636e-02 1.58947331e+02] [ 1.06890473e-01 9.94268992e-01 -1.89705453e-03 5.88020267e+00] [ 1.65156446e-02 1.32188275e-04 9.99863599e-01 1.15716658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.504391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.98, Y:5.88, Z:1.16 [[ 9.94055236e-01 -1.07673075e-01 -1.61461261e-02 1.58975284e+02] [ 1.07656888e-01 9.94186348e-01 -1.87095539e-03 5.88246056e+00] [ 1.62537097e-02 1.21591311e-04 9.99867892e-01 1.15784662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.534391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.00, Y:5.88, Z:1.16 [[ 9.93781840e-01 -1.10208926e-01 -1.58634087e-02 1.59003540e+02] [ 1.10193568e-01 9.93908439e-01 -1.84163121e-03 5.88166517e+00] [ 1.59697400e-02 8.21340359e-05 9.99872472e-01 1.15770136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.564391418 meters Centerline goodness [0,1] 0.9999790886848874 Centerline is valid? [True, True] Translation: X:159.03, Y:5.88, Z:1.16 [[ 9.93469828e-01 -1.13112199e-01 -1.49443039e-02 1.59032287e+02] [ 1.13098849e-01 9.93582221e-01 -1.73813310e-03 5.88092872e+00] [ 1.50449988e-02 3.65992098e-05 9.99886817e-01 1.16004275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59439141800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.06, Y:5.88, Z:1.16 [[ 9.93086357e-01 -1.16601759e-01 -1.35468736e-02 1.59060428e+02] [ 1.16591055e-01 9.93178750e-01 -1.57994908e-03 5.88002919e+00] [ 1.36386918e-02 -1.04184098e-05 9.99906989e-01 1.16200440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.09, Y:5.88, Z:1.16 [[ 9.92689734e-01 -1.20114590e-01 -1.18142523e-02 1.59088075e+02] [ 1.20106663e-01 9.92760033e-01 -1.38083474e-03 5.87860569e+00] [ 1.18945759e-02 -4.82299461e-05 9.99929256e-01 1.16386004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65439141800002 meters Centerline goodness [0,1] 0.9999790158430385 Centerline is valid? [True, True] Translation: X:159.12, Y:5.87, Z:1.17 [[ 9.91794100e-01 -1.27494313e-01 -9.46903928e-03 1.59116451e+02] [ 1.27489545e-01 9.91839296e-01 -1.10792946e-03 5.87089086e+00] [ 9.53301995e-03 -1.08365605e-04 9.99954554e-01 1.16646366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68439141800002 meters Centerline goodness [0,1] 0.9999790171639599 Centerline is valid? [True, True] Translation: X:159.15, Y:5.87, Z:1.17 [[ 9.91249174e-01 -1.31754385e-01 -8.11526979e-03 1.59145648e+02] [ 1.31751016e-01 9.91282385e-01 -9.50666976e-04 5.86991089e+00] [ 8.16977853e-03 -1.26847188e-04 9.99966619e-01 1.16767925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71439141800002 meters Centerline goodness [0,1] 0.9998529442658768 Centerline is valid? [True, True] Translation: X:159.17, Y:5.87, Z:1.17 [[ 9.90718897e-01 -1.35680799e-01 -8.17238706e-03 1.59174494e+02] [ 1.35677495e-01 9.90752591e-01 -9.59858220e-04 5.86844490e+00] [ 8.22704798e-03 -1.57859329e-04 9.99966145e-01 1.16794534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.744391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.20, Y:5.86, Z:1.17 [[ 9.89772968e-01 -1.42359134e-01 -9.12952293e-03 1.59204253e+02] [ 1.42355273e-01 9.89815044e-01 -1.07475965e-03 5.86329443e+00] [ 9.18954099e-03 -2.35867673e-04 9.99957747e-01 1.16639488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.774391418 meters Centerline goodness [0,1] 0.9998314867085142 Centerline is valid? [True, True] Translation: X:159.23, Y:5.86, Z:1.17 [[ 9.89307926e-01 -1.45509872e-01 -9.83389110e-03 1.59233560e+02] [ 1.45505534e-01 9.89356759e-01 -1.15900395e-03 5.86330228e+00] [ 9.89787314e-03 -2.84273780e-04 9.99950974e-01 1.16518271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.804391418 meters Centerline goodness [0,1] 0.9999790575916231 Centerline is valid? [True, True] Translation: X:159.26, Y:5.86, Z:1.16 [[ 9.88989530e-01 -1.47553364e-01 -1.13010623e-02 1.59261976e+02] [ 1.47547736e-01 9.89054035e-01 -1.33472697e-03 5.86464722e+00] [ 1.13743048e-02 -3.47415166e-04 9.99935250e-01 1.16361379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.834391418 meters Centerline goodness [0,1] 0.9999579761304421 Centerline is valid? [True, True] Translation: X:159.29, Y:5.87, Z:1.16 [[ 9.88585530e-01 -1.50097987e-01 -1.30093491e-02 1.59290160e+02] [ 1.50090726e-01 9.88671031e-01 -1.53826899e-03 5.86576849e+00] [ 1.30928577e-02 -4.31872195e-04 9.99914192e-01 1.16187887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.864391418 meters Centerline goodness [0,1] 0.9999371293249785 Centerline is valid? [True, True] Translation: X:159.32, Y:5.87, Z:1.16 [[ 9.88434956e-01 -1.51052786e-01 -1.33938114e-02 1.59318430e+02] [ 1.51045137e-01 9.88525593e-01 -1.58669040e-03 5.86912886e+00] [ 1.34797994e-02 -4.54729822e-04 9.99909040e-01 1.16207996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.894391418 meters Centerline goodness [0,1] 0.9997280732947058 Centerline is valid? [True, True] Translation: X:159.34, Y:5.87, Z:1.16 [[ 9.88403246e-01 -1.51289714e-01 -1.30554589e-02 1.59344730e+02] [ 1.51282423e-01 9.88489366e-01 -1.54990289e-03 5.87273047e+00] [ 1.31396667e-02 -4.43132412e-04 9.99913573e-01 1.16280602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.924391418 meters Centerline goodness [0,1] 0.9993061104335759 Centerline is valid? [True, True] Translation: X:159.37, Y:5.88, Z:1.16 [[ 9.88452597e-01 -1.51073107e-01 -1.17635167e-02 1.59373331e+02] [ 1.51067140e-01 9.88522514e-01 -1.39931594e-03 5.87939300e+00] [ 1.18399001e-02 -3.93923344e-04 9.99929828e-01 1.16455174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.954391418 meters Centerline goodness [0,1] 0.999036548329668 Centerline is valid? [True, True] Translation: X:159.40, Y:5.89, Z:1.17 [[ 9.88682086e-01 -1.49684324e-01 -1.01161046e-02 1.59400492e+02] [ 1.49679818e-01 9.88733786e-01 -1.20541237e-03 5.88587494e+00] [ 1.01825657e-02 -3.22407080e-04 9.99948104e-01 1.16675452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.984391418 meters Centerline goodness [0,1] 0.9989909819007379 Centerline is valid? [True, True] Translation: X:159.43, Y:5.89, Z:1.17 [[ 9.88737311e-01 -1.49345460e-01 -9.71924180e-03 1.59429260e+02] [ 1.49341270e-01 9.88785033e-01 -1.15953597e-03 5.89235853e+00] [ 9.78341225e-03 -3.05007434e-04 9.99952095e-01 1.16735402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.014391418 meters Centerline goodness [0,1] 0.9990526914089637 Centerline is valid? [True, True] Translation: X:159.46, Y:5.90, Z:1.17 [[ 9.88830583e-01 -1.48718468e-01 -9.84351997e-03 1.59457023e+02] [ 1.48714118e-01 9.88879531e-01 -1.17651040e-03 5.89780473e+00] [ 9.90902423e-03 -3.00500924e-04 9.99950859e-01 1.16749244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.044391418 meters Centerline goodness [0,1] 0.9991380760174907 Centerline is valid? [True, True] Translation: X:159.48, Y:5.90, Z:1.17 [[ 9.88886335e-01 -1.48274407e-01 -1.08865348e-02 1.59483837e+02] [ 1.48269046e-01 9.88946204e-01 -1.30233571e-03 5.90478248e+00] [ 1.09593003e-02 -3.26274146e-04 9.99939892e-01 1.16631736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.074391418 meters Centerline goodness [0,1] 0.9993686868686869 Centerline is valid? [True, True] Translation: X:159.51, Y:5.91, Z:1.17 [[ 9.88834260e-01 -1.48529253e-01 -1.20775113e-02 1.59511821e+02] [ 1.48522659e-01 9.88907947e-01 -1.44607608e-03 5.90877094e+00] [ 1.21583315e-02 -3.63854527e-04 9.99926019e-01 1.16522887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.104391418 meters Centerline goodness [0,1] 0.9994970029760657 Centerline is valid? [True, True] Translation: X:159.54, Y:5.91, Z:1.16 [[ 9.88671660e-01 -1.49540845e-01 -1.28796345e-02 1.59540202e+02] [ 1.49533402e-01 9.88755468e-01 -1.54445936e-03 5.91424130e+00] [ 1.29657688e-02 -3.98972366e-04 9.99915861e-01 1.16478290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.134391418 meters Centerline goodness [0,1] 0.999663703049793 Centerline is valid? [True, True] Translation: X:159.57, Y:5.92, Z:1.16 [[ 9.88431872e-01 -1.51039213e-01 -1.37691665e-02 1.59568164e+02] [ 1.51030814e-01 9.88527672e-01 -1.65382061e-03 5.91839083e+00] [ 1.38609939e-02 -4.44879421e-04 9.99903833e-01 1.16441946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.164391418 meters Centerline goodness [0,1] 0.9999161970208041 Centerline is valid? [True, True] Translation: X:159.60, Y:5.92, Z:1.17 [[ 9.87905373e-01 -1.54433167e-01 -1.39057659e-02 1.59596608e+02] [ 1.54424918e-01 9.88003113e-01 -1.67147772e-03 5.92270139e+00] [ 1.39970715e-02 -4.96134930e-04 9.99901913e-01 1.16535632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.194391418 meters Centerline goodness [0,1] 0.9996013177497535 Centerline is valid? [True, True] Translation: X:159.63, Y:5.93, Z:1.17 [[ 9.87642877e-01 -1.56169265e-01 -1.31418611e-02 1.59625195e+02] [ 1.56162022e-01 9.87730186e-01 -1.58183933e-03 5.92669231e+00] [ 1.32276476e-02 -4.89967241e-04 9.99912391e-01 1.16694490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.224391418 meters Centerline goodness [0,1] 0.9998531602022194 Centerline is valid? [True, True] Translation: X:159.65, Y:5.94, Z:1.17 [[ 9.87336933e-01 -1.58168853e-01 -1.21817021e-02 1.59652713e+02] [ 1.58162740e-01 9.87411965e-01 -1.46964112e-03 5.94192479e+00] [ 1.22608098e-02 -4.75660424e-04 9.99924720e-01 1.17024867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.254391418 meters Centerline goodness [0,1] 0.9998112693186822 Centerline is valid? [True, True] Translation: X:159.68, Y:5.95, Z:1.17 [[ 9.87087176e-01 -1.59779813e-01 -1.13718406e-02 1.59679813e+02] [ 1.59774563e-01 9.87152572e-01 -1.37458684e-03 5.94508287e+00] [ 1.14453729e-02 -4.60093810e-04 9.99934394e-01 1.17124935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.284391418 meters Centerline goodness [0,1] 0.9999161794597766 Centerline is valid? [True, True] Translation: X:159.71, Y:5.95, Z:1.17 [[ 9.86630314e-01 -1.62641221e-01 -1.04142202e-02 1.59707620e+02] [ 1.62636957e-01 9.86685173e-01 -1.26075086e-03 5.95282524e+00] [ 1.04806067e-02 -4.49842051e-04 9.99944976e-01 1.17229663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.314391418 meters Centerline goodness [0,1] 0.9999790316831267 Centerline is valid? [True, True] Translation: X:159.74, Y:5.96, Z:1.17 [[ 9.86506929e-01 -1.63361860e-01 -1.08157857e-02 1.59735210e+02] [ 1.63357272e-01 9.86566105e-01 -1.31221744e-03 5.95829782e+00] [ 1.08848539e-02 -4.72325649e-04 9.99940647e-01 1.17173245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34439141800001 meters Centerline goodness [0,1] 0.999832572935415 Centerline is valid? [True, True] Translation: X:159.76, Y:5.96, Z:1.17 [[ 9.86405597e-01 -1.63931317e-01 -1.14246352e-02 1.59763259e+02] [ 1.63926207e-01 9.86471627e-01 -1.38862773e-03 5.96479610e+00] [ 1.14977180e-02 -5.03046945e-04 9.99933773e-01 1.17058853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37439141800002 meters Centerline goodness [0,1] 0.9999583472175941 Centerline is valid? [True, True] Translation: X:159.79, Y:5.96, Z:1.17 [[ 9.86391584e-01 -1.63959447e-01 -1.22041808e-02 1.59791048e+02] [ 1.63953582e-01 9.86466935e-01 -1.48641132e-03 5.95889316e+00] [ 1.22827320e-02 -5.34735539e-04 9.99924421e-01 1.16761078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.82, Y:5.98, Z:1.17 [[ 9.86641531e-01 -1.62221976e-01 -1.49171015e-02 1.59817151e+02] [ 1.62212960e-01 9.86754094e-01 -1.82044327e-03 5.98395458e+00] [ 1.50148269e-02 -6.23622255e-04 9.99887077e-01 1.16609657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.84, Y:6.00, Z:1.17 [[ 9.86856223e-01 -1.60813869e-01 -1.59278110e-02 1.59844741e+02] [ 1.60803328e-01 9.86984545e-01 -1.94869735e-03 5.99533030e+00] [ 1.60338809e-02 -6.38160914e-04 9.99871245e-01 1.16596310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46439141800002 meters Centerline goodness [0,1] 0.9999791887785894 Centerline is valid? [True, True] Translation: X:159.87, Y:6.00, Z:1.17 [[ 9.87139145e-01 -1.59084904e-01 -1.57575806e-02 1.59872268e+02] [ 1.59074291e-01 9.87264724e-01 -1.93261788e-03 6.00411413e+00] [ 1.58643538e-02 -5.98863214e-04 9.99873974e-01 1.16585116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.494391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.90, Y:6.02, Z:1.17 [[ 9.87912334e-01 -1.54352228e-01 -1.43042116e-02 1.59899874e+02] [ 1.54342955e-01 9.88015772e-01 -1.75658287e-03 6.01884783e+00] [ 1.44039191e-02 -4.72404399e-04 9.99896147e-01 1.16813546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.524391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.93, Y:6.03, Z:1.17 [[ 9.88239611e-01 -1.52366076e-01 -1.29247898e-02 1.59927957e+02] [ 1.52358310e-01 9.88324046e-01 -1.58915738e-03 6.03030985e+00] [ 1.30160142e-02 -3.98730869e-04 9.99915209e-01 1.17012538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.554391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.96, Y:6.04, Z:1.17 [[ 9.88514478e-01 -1.50665988e-01 -1.17850487e-02 1.59955137e+02] [ 1.50659383e-01 9.88584667e-01 -1.45135672e-03 6.03701572e+00] [ 1.18691885e-02 -3.40841036e-04 9.99929501e-01 1.17106293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.584391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.98, Y:6.05, Z:1.17 [[ 9.88703833e-01 -1.49504514e-01 -1.06363300e-02 1.59983049e+02] [ 1.49499047e-01 9.88761000e-01 -1.31169909e-03 6.04730679e+00] [ 1.07128933e-02 -2.93239286e-04 9.99942572e-01 1.17228988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.614391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.01, Y:6.06, Z:1.17 [[ 9.88957474e-01 -1.47864835e-01 -9.95512007e-03 1.60009926e+02] [ 1.47859940e-01 9.89007546e-01 -1.23001290e-03 6.05855627e+00] [ 1.00275645e-02 -2.55533003e-04 9.99949690e-01 1.17214709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.644391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.04, Y:6.06, Z:1.17 [[ 9.89035519e-01 -1.47311165e-01 -1.04000927e-02 1.60037239e+02] [ 1.47305780e-01 9.89090164e-01 -1.28614480e-03 6.06498150e+00] [ 1.04760929e-02 -2.59950873e-04 9.99945090e-01 1.17121487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.674391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.07, Y:6.07, Z:1.17 [[ 9.89126155e-01 -1.46659472e-01 -1.09749256e-02 1.60065138e+02] [ 1.46653413e-01 9.89187004e-01 -1.35920028e-03 6.07337845e+00] [ 1.10555934e-02 -2.65089762e-04 9.99938850e-01 1.17032054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.704391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.09, Y:6.08, Z:1.17 [[ 9.89177579e-01 -1.46218402e-01 -1.21612910e-02 1.60093235e+02] [ 1.46210882e-01 9.89252292e-01 -1.50999306e-03 6.08217653e+00] [ 1.22513737e-02 -2.84461799e-04 9.99924909e-01 1.16905966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.734391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.12, Y:6.09, Z:1.17 [[ 9.89434688e-01 -1.44271720e-01 -1.43062671e-02 1.60121141e+02] [ 1.44261042e-01 9.89538064e-01 -1.78104182e-03 6.09387202e+00] [ 1.44135499e-02 -3.01612440e-04 9.99896074e-01 1.16693794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.764391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.15, Y:6.10, Z:1.17 [[ 9.89624867e-01 -1.42949795e-01 -1.44214900e-02 1.60149295e+02] [ 1.42938740e-01 9.89729901e-01 -1.79975370e-03 6.10222632e+00] [ 1.45306543e-02 -2.80308599e-04 9.99894385e-01 1.16699707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.794391418 meters Centerline goodness [0,1] 0.999832165484832 Centerline is valid? [True, True] Translation: X:160.18, Y:6.12, Z:1.17 [[ 9.90038149e-01 -1.40146141e-01 -1.35470320e-02 1.60177405e+02] [ 1.40136092e-01 9.90130804e-01 -1.69288393e-03 6.11513693e+00] [ 1.36505848e-02 -2.22408445e-04 9.99906802e-01 1.16846172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.824391418 meters Centerline goodness [0,1] 0.9998954149933066 Centerline is valid? [True, True] Translation: X:160.21, Y:6.12, Z:1.17 [[ 9.90252983e-01 -1.38670474e-01 -1.30203235e-02 1.60206201e+02] [ 1.38661059e-01 9.90338559e-01 -1.62749556e-03 6.12197487e+00] [ 1.31202140e-02 -1.93779504e-04 9.99913908e-01 1.16953447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.854391418 meters Centerline goodness [0,1] 0.9998113365755492 Centerline is valid? [True, True] Translation: X:160.23, Y:6.13, Z:1.17 [[ 9.90373907e-01 -1.37885135e-01 -1.21331502e-02 1.60234864e+02] [ 1.37876897e-01 9.90448212e-01 -1.51685741e-03 6.12855257e+00] [ 1.22264090e-02 -1.70625098e-04 9.99925240e-01 1.17030406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.884391418 meters Centerline goodness [0,1] 0.9999161601341437 Centerline is valid? [True, True] Translation: X:160.27, Y:6.13, Z:1.17 [[ 9.90426546e-01 -1.37583149e-01 -1.12309601e-02 1.60265032e+02] [ 1.37576070e-01 9.90490209e-01 -1.40420806e-03 6.13466451e+00] [ 1.13173514e-02 -1.54346423e-04 9.99935945e-01 1.17139744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.914391418 meters Centerline goodness [0,1] 0.999874461229443 Centerline is valid? [True, True] Translation: X:160.29, Y:6.14, Z:1.17 [[ 9.90260149e-01 -1.38827494e-01 -1.05719011e-02 1.60294811e+02] [ 1.38821294e-01 9.90316566e-01 -1.32157054e-03 6.14085633e+00] [ 1.06529992e-02 -1.58906363e-04 9.99943243e-01 1.17157271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.944391418 meters Centerline goodness [0,1] 0.9995609633718013 Centerline is valid? [True, True] Translation: X:160.33, Y:6.15, Z:1.17 [[ 9.90064186e-01 -1.40221848e-01 -1.05233583e-02 1.60326061e+02] [ 1.40215790e-01 9.90120095e-01 -1.31489611e-03 6.14596178e+00] [ 1.06037657e-02 -1.73709454e-04 9.99943763e-01 1.17146713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.974391418 meters Centerline goodness [0,1] 0.9997280448516799 Centerline is valid? [True, True] Translation: X:160.36, Y:6.15, Z:1.17 [[ 9.89780702e-01 -1.42205857e-01 -1.05667780e-02 1.60356671e+02] [ 1.42199866e-01 9.89837085e-01 -1.31993875e-03 6.14834476e+00] [ 1.06470918e-02 -1.96144520e-04 9.99943299e-01 1.17135189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.004391418 meters Centerline goodness [0,1] 0.9996855214055097 Centerline is valid? [True, True] Translation: X:160.39, Y:6.15, Z:1.17 [[ 9.89552182e-01 -1.43808380e-01 -1.02776293e-02 1.60388087e+02] [ 1.43802804e-01 9.89605531e-01 -1.28337651e-03 6.15385427e+00] [ 1.03553591e-02 -2.07983894e-04 9.99946360e-01 1.17181807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.034391418 meters Centerline goodness [0,1] 0.9996661868102064 Centerline is valid? [True, True] Translation: X:160.42, Y:6.15, Z:1.17 [[ 9.88930674e-01 -1.48023244e-01 -1.02586718e-02 1.60418507e+02] [ 1.48017922e-01 9.88983850e-01 -1.28031392e-03 6.15478690e+00] [ 1.03351770e-02 -2.52325579e-04 9.99946559e-01 1.17158383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.064391418 meters Centerline goodness [0,1] 0.9996661868102064 Centerline is valid? [True, True] Translation: X:160.45, Y:6.16, Z:1.17 [[ 9.88930674e-01 -1.48023243e-01 -1.02586907e-02 1.60448285e+02] [ 1.48017923e-01 9.88983850e-01 -1.28016250e-03 6.15850270e+00] [ 1.03351733e-02 -2.52478130e-04 9.99946559e-01 1.17179415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09439141800001 meters Centerline goodness [0,1] 0.9994787648812626 Centerline is valid? [True, True] Translation: X:160.48, Y:6.16, Z:1.17 [[ 9.88612310e-01 -1.50156902e-01 -9.93006113e-03 1.60479469e+02] [ 1.50152026e-01 9.88662143e-01 -1.23902464e-03 6.16194055e+00] [ 1.00035236e-02 -2.66103792e-04 9.99949928e-01 1.17225440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12439141800002 meters Centerline goodness [0,1] 0.9996874804675292 Centerline is valid? [True, True] Translation: X:160.51, Y:6.16, Z:1.17 [[ 9.88329496e-01 -1.52019589e-01 -9.73922010e-03 1.60510501e+02] [ 1.52014993e-01 9.88377441e-01 -1.21479758e-03 6.16451174e+00] [ 9.81069847e-03 -2.79887198e-04 9.99951835e-01 1.17288201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15439141800002 meters Centerline goodness [0,1] 0.9992085806518797 Centerline is valid? [True, True] Translation: X:160.54, Y:6.17, Z:1.17 [[ 9.87795190e-01 -1.55523228e-01 -8.55496456e-03 1.60540955e+02] [ 1.55519816e-01 9.87832197e-01 -1.06678618e-03 6.16622303e+00] [ 8.61677947e-03 -2.76700249e-04 9.99962837e-01 1.17428091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18439141800002 meters Centerline goodness [0,1] 0.9993963489519369 Centerline is valid? [True, True] Translation: X:160.57, Y:6.17, Z:1.18 [[ 9.87661735e-01 -1.56393187e-01 -8.09122433e-03 1.60570761e+02] [ 1.56390165e-01 9.87694841e-01 -1.00879515e-03 6.16938073e+00] [ 8.14942922e-03 -2.69039535e-04 9.99966757e-01 1.17500965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21439141800002 meters Centerline goodness [0,1] 0.9995621716287215 Centerline is valid? [True, True] Translation: X:160.60, Y:6.17, Z:1.18 [[ 9.87630109e-01 -1.56605275e-01 -7.84579248e-03 1.60602147e+02] [ 1.56602442e-01 9.87661237e-01 -9.78016350e-04 6.17356340e+00] [ 7.90214762e-03 -2.62751866e-04 9.99968743e-01 1.17547106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.244391418 meters Centerline goodness [0,1] 0.9992904249102597 Centerline is valid? [True, True] Translation: X:160.63, Y:6.18, Z:1.18 [[ 9.87699128e-01 -1.56203202e-01 -7.14088145e-03 1.60633517e+02] [ 1.56200846e-01 9.87724913e-01 -8.89873639e-04 6.17813377e+00] [ 7.19222762e-03 -2.36484306e-04 9.99974108e-01 1.17587257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.274391418 meters Centerline goodness [0,1] 0.9995816687234621 Centerline is valid? [True, True] Translation: X:160.66, Y:6.19, Z:1.18 [[ 9.88143435e-01 -1.53363702e-01 -7.21985005e-03 1.60663851e+02] [ 1.53361221e-01 9.88169787e-01 -8.99412666e-04 6.18988952e+00] [ 7.27237494e-03 -2.18496295e-04 9.99973532e-01 1.17548643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.304391418 meters Centerline goodness [0,1] 0.9995190397524101 Centerline is valid? [True, True] Translation: X:160.69, Y:6.20, Z:1.17 [[ 9.88551763e-01 -1.50664993e-01 -8.09143404e-03 1.60694400e+02] [ 1.50661789e-01 9.88584852e-01 -1.00759337e-03 6.19519269e+00] [ 8.15087817e-03 -2.23011726e-04 9.99966756e-01 1.17447090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.334391418 meters Centerline goodness [0,1] 0.9994355833350753 Centerline is valid? [True, True] Translation: X:160.73, Y:6.20, Z:1.17 [[ 9.89062622e-01 -1.47210231e-01 -9.18030127e-03 1.60725801e+02] [ 1.47205962e-01 9.89105201e-01 -1.14267836e-03 6.20165958e+00] [ 9.24849768e-03 -2.21214623e-04 9.99957207e-01 1.17338088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.364391418 meters Centerline goodness [0,1] 0.9993944835362162 Centerline is valid? [True, True] Translation: X:160.76, Y:6.21, Z:1.17 [[ 9.89669145e-01 -1.42997452e-01 -1.03301965e-02 1.60755327e+02] [ 1.42991822e-01 9.89723035e-01 -1.28534657e-03 6.20992023e+00] [ 1.04078348e-02 -2.05065785e-04 9.99945816e-01 1.17241120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.394391418 meters Centerline goodness [0,1] 0.9995622902640848 Centerline is valid? [True, True] Translation: X:160.78, Y:6.22, Z:1.17 [[ 9.90953048e-01 -1.33676493e-01 -1.19436922e-02 1.60784151e+02] [ 1.33668305e-01 9.91025015e-01 -1.48482804e-03 6.22421599e+00] [ 1.20349844e-02 -1.25098223e-04 9.99927569e-01 1.17080657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.424391418 meters Centerline goodness [0,1] 0.9996443589046254 Centerline is valid? [True, True] Translation: X:160.81, Y:6.23, Z:1.17 [[ 9.91518917e-01 -1.29406453e-01 -1.20085946e-02 1.60813404e+02] [ 1.29397873e-01 9.91591632e-01 -1.49204777e-03 6.23247575e+00] [ 1.21007025e-02 -7.44930045e-05 9.99926781e-01 1.17072044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.454391418 meters Centerline goodness [0,1] 0.9996241700421765 Centerline is valid? [True, True] Translation: X:160.84, Y:6.24, Z:1.17 [[ 9.92066400e-01 -1.25173166e-01 -1.16591405e-02 1.60844355e+02] [ 1.25164789e-01 9.92134909e-01 -1.44830091e-03 6.24086834e+00] [ 1.17487287e-02 -2.25031929e-05 9.99930981e-01 1.17179405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.484391418 meters Centerline goodness [0,1] 0.9997485172999141 Centerline is valid? [True, True] Translation: X:160.88, Y:6.25, Z:1.17 [[ 9.92847150e-01 -1.18996237e-01 -9.71767050e-03 1.60875617e+02] [ 1.18990126e-01 9.92894704e-01 -1.20666024e-03 6.25071519e+00] [ 9.79221160e-03 4.17223371e-05 9.99952054e-01 1.17422894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.514391418 meters Centerline goodness [0,1] 0.9997490956990821 Centerline is valid? [True, True] Translation: X:160.91, Y:6.26, Z:1.18 [[ 9.93156835e-01 -1.16449128e-01 -8.89392609e-03 1.60905992e+02] [ 1.16443913e-01 9.93196656e-01 -1.10370848e-03 6.25713641e+00] [ 8.96194354e-03 6.05120661e-05 9.99959839e-01 1.17512065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.544391418 meters Centerline goodness [0,1] 0.999790777470918 Centerline is valid? [True, True] Translation: X:160.94, Y:6.26, Z:1.18 [[ 9.93408865e-01 -1.14321727e-01 -8.32883609e-03 1.60937828e+02] [ 1.14317083e-01 9.93443777e-01 -1.03305481e-03 6.26165589e+00] [ 8.39233099e-03 7.41175574e-05 9.99964781e-01 1.17592955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.574391418 meters Centerline goodness [0,1] 0.9997493839020927 Centerline is valid? [True, True] Translation: X:160.97, Y:6.27, Z:1.18 [[ 9.93607965e-01 -1.12586583e-01 -8.21418897e-03 1.60969876e+02] [ 1.12582012e-01 9.93641914e-01 -1.01815310e-03 6.26638425e+00] [ 8.27659283e-03 8.68751032e-05 9.99965745e-01 1.17604310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.604391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.00, Y:6.27, Z:1.17 [[ 9.93817790e-01 -1.10677679e-01 -8.75514084e-03 1.61001241e+02] [ 1.10672420e-01 9.93856347e-01 -1.08447569e-03 6.26977659e+00] [ 8.82137955e-03 1.08818612e-04 9.99961085e-01 1.17462401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.634391418 meters Centerline goodness [0,1] 0.9999372109085581 Centerline is valid? [True, True] Translation: X:161.03, Y:6.27, Z:1.17 [[ 9.93805061e-01 -1.10739389e-01 -9.39615640e-03 1.61032213e+02] [ 1.10733339e-01 9.93849473e-01 -1.16326380e-03 6.27153179e+00] [ 9.46718420e-03 1.15589678e-04 9.99955179e-01 1.17362295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.664391418 meters Centerline goodness [0,1] 0.9999790825611312 Centerline is valid? [True, True] Translation: X:161.06, Y:6.27, Z:1.17 [[ 9.93665330e-01 -1.11923693e-01 -1.01142487e-02 1.61064283e+02] [ 1.11916752e-01 9.93716798e-01 -1.25144696e-03 6.27225096e+00] [ 1.01907654e-02 1.11565594e-04 9.99948067e-01 1.17255906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.694391418 meters Centerline goodness [0,1] 0.9999166718746745 Centerline is valid? [True, True] Translation: X:161.10, Y:6.27, Z:1.17 [[ 9.93459165e-01 -1.13606866e-01 -1.15051169e-02 1.61096445e+02] [ 1.13598010e-01 9.93525777e-01 -1.42252900e-03 6.27238627e+00] [ 1.15922393e-02 1.06266085e-04 9.99932802e-01 1.17121749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.724391418 meters Centerline goodness [0,1] 0.9998326044652759 Centerline is valid? [True, True] Translation: X:161.13, Y:6.27, Z:1.17 [[ 9.93189563e-01 -1.15857691e-01 -1.23080301e-02 1.61127720e+02] [ 1.15847738e-01 9.93265820e-01 -1.52098877e-03 6.27133986e+00] [ 1.24013639e-02 8.47727270e-05 9.99923097e-01 1.17063360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.754391418 meters Centerline goodness [0,1] 0.9998951935774625 Centerline is valid? [True, True] Translation: X:161.16, Y:6.27, Z:1.17 [[ 9.92656404e-01 -1.20342633e-01 -1.22846971e-02 1.61159216e+02] [ 1.20333065e-01 9.92732416e-01 -1.51772220e-03 6.26568713e+00] [ 1.23780637e-02 2.83214062e-05 9.99923388e-01 1.17151046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.784391418 meters Centerline goodness [0,1] 0.9998954456108068 Centerline is valid? [True, True] Translation: X:161.19, Y:6.27, Z:1.17 [[ 9.92442915e-01 -1.22124024e-01 -1.19491535e-02 1.61190096e+02] [ 1.22115103e-01 9.92514848e-01 -1.47613323e-03 6.26508938e+00] [ 1.20399836e-02 5.80586327e-06 9.99927517e-01 1.17258360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.814391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.22, Y:6.26, Z:1.17 [[ 9.92235295e-01 -1.23911041e-01 -1.07318447e-02 1.61220675e+02] [ 1.23903949e-01 9.92293331e-01 -1.32575355e-03 6.26444303e+00] [ 1.08134134e-02 -1.42584752e-05 9.99941533e-01 1.17414140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84439141800001 meters Centerline goodness [0,1] 0.9999790904338735 Centerline is valid? [True, True] Translation: X:161.25, Y:6.26, Z:1.18 [[ 9.92130609e-01 -1.24781875e-01 -1.03120686e-02 1.61251266e+02] [ 1.24775374e-01 9.92184198e-01 -1.27389669e-03 6.26449719e+00] [ 1.03904307e-02 -2.28203105e-05 9.99946018e-01 1.17528492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.28, Y:6.26, Z:1.18 [[ 9.92036787e-01 -1.25631065e-01 -8.93580080e-03 1.61281195e+02] [ 1.25626218e-01 9.92077031e-01 -1.10387086e-03 6.26231301e+00] [ 9.00368319e-03 -2.74903619e-05 9.99959466e-01 1.17733785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.31, Y:6.26, Z:1.18 [[ 9.92090479e-01 -1.25219613e-01 -8.74813711e-03 1.61311422e+02] [ 1.25214952e-01 9.92129048e-01 -1.08065637e-03 6.26363996e+00] [ 8.81460031e-03 -2.32886735e-05 9.99961150e-01 1.17758412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.34, Y:6.26, Z:1.18 [[ 9.92088078e-01 -1.25245193e-01 -8.65376540e-03 1.61341527e+02] [ 1.25240633e-01 9.92125819e-01 -1.06906289e-03 6.26456410e+00] [ 8.71951908e-03 -2.31985048e-05 9.99961984e-01 1.17741666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.37, Y:6.26, Z:1.18 [[ 9.91988936e-01 -1.25967773e-01 -9.49052921e-03 1.61371981e+02] [ 1.25962317e-01 9.92034334e-01 -1.17281825e-03 6.26175999e+00] [ 9.56266813e-03 -3.20263224e-05 9.99954276e-01 1.17594028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.994391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.40, Y:6.26, Z:1.18 [[ 9.91803091e-01 -1.27414407e-01 -9.60196949e-03 1.61400596e+02] [ 1.27408880e-01 9.91849569e-01 -1.18754647e-03 6.26144967e+00] [ 9.67501982e-03 -4.55639227e-05 9.99953195e-01 1.17581818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.024391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.43, Y:6.26, Z:1.18 [[ 9.91590726e-01 -1.29034050e-01 -9.90187089e-03 1.61428766e+02] [ 1.29028232e-01 9.91640162e-01 -1.22678879e-03 6.26037078e+00] [ 9.97739038e-03 -6.11485080e-05 9.99950223e-01 1.17574093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.054391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.46, Y:6.26, Z:1.18 [[ 9.91269032e-01 -1.31525534e-01 -9.31342999e-03 1.61457858e+02] [ 1.31520486e-01 9.91312780e-01 -1.15509740e-03 6.25880739e+00] [ 9.38444698e-03 -7.98945574e-05 9.99955962e-01 1.17637081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.084391418 meters Centerline goodness [0,1] 0.9999791753436068 Centerline is valid? [True, True] Translation: X:161.49, Y:6.25, Z:1.18 [[ 9.90620510e-01 -1.36406021e-01 -8.02517115e-03 1.61486675e+02] [ 1.36402420e-01 9.90653010e-01 -9.97011166e-04 6.25085005e+00] [ 8.08615828e-03 -1.06993054e-04 9.99967301e-01 1.17854498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.114391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.52, Y:6.25, Z:1.18 [[ 9.90242486e-01 -1.39185433e-01 -6.87269978e-03 1.61515398e+02] [ 1.39182853e-01 9.90266329e-01 -8.54623017e-04 6.25246594e+00] [ 6.92475426e-03 -1.10277945e-04 9.99976018e-01 1.17999559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.144391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.54, Y:6.25, Z:1.18 [[ 9.89905144e-01 -1.41583379e-01 -6.47702773e-03 1.61544477e+02] [ 1.41581127e-01 9.89926327e-01 -8.07161542e-04 6.25157449e+00] [ 6.52606093e-03 -1.18011523e-04 9.99978698e-01 1.18055278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.174391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.57, Y:6.25, Z:1.18 [[ 9.89623360e-01 -1.43564494e-01 -5.90263508e-03 1.61572885e+02] [ 1.43562650e-01 9.89640956e-01 -7.37285315e-04 6.25226795e+00] [ 5.94733742e-03 -1.17763160e-04 9.99982307e-01 1.18068772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.204391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.60, Y:6.25, Z:1.18 [[ 9.89205019e-01 -1.46383774e-01 -6.72470437e-03 1.61601304e+02] [ 1.46381439e-01 9.89227864e-01 -8.40787462e-04 6.24736510e+00] [ 6.77534258e-03 -1.52660725e-04 9.99977035e-01 1.17928028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.234391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.63, Y:6.25, Z:1.18 [[ 9.89071586e-01 -1.47236531e-01 -7.66819254e-03 1.61630183e+02] [ 1.47233513e-01 9.89101295e-01 -9.59796794e-04 6.25074669e+00] [ 7.72593632e-03 -1.79707185e-04 9.99970138e-01 1.17813184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.264391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.66, Y:6.25, Z:1.18 [[ 9.89009821e-01 -1.47600458e-01 -8.58363010e-03 1.61657727e+02] [ 1.47596665e-01 9.89047048e-01 -1.07723548e-03 6.25469873e+00] [ 8.64861447e-03 -2.01518703e-04 9.99962580e-01 1.17695385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.294391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.69, Y:6.26, Z:1.17 [[ 9.89107318e-01 -1.46781331e-01 -1.10433095e-02 1.61685275e+02] [ 1.46774961e-01 9.89168934e-01 -1.38949768e-03 6.25545597e+00] [ 1.11276510e-02 -2.46518994e-04 9.99938055e-01 1.17432633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.324391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.71, Y:6.26, Z:1.17 [[ 9.89229803e-01 -1.45903988e-01 -1.16799962e-02 1.61714064e+02] [ 1.45896776e-01 9.89298724e-01 -1.47175913e-03 6.25968712e+00] [ 1.17697409e-02 -2.48165796e-04 9.99930703e-01 1.17379276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.354391418 meters Centerline goodness [0,1] 0.9999790711789205 Centerline is valid? [True, True] Translation: X:161.74, Y:6.26, Z:1.17 [[ 9.89417689e-01 -1.44606977e-01 -1.18936619e-02 1.61741940e+02] [ 1.44599364e-01 9.89489145e-01 -1.50212324e-03 6.26431739e+00] [ 1.19858669e-02 -2.33588647e-04 9.99928140e-01 1.17409272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.384391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.77, Y:6.27, Z:1.18 [[ 9.89889419e-01 -1.41303613e-01 -1.23380524e-02 1.61769366e+02] [ 1.41295118e-01 9.89966287e-01 -1.56195775e-03 6.27394096e+00] [ 1.24349662e-02 -1.97141111e-04 9.99922663e-01 1.17563517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.414391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.80, Y:6.28, Z:1.18 [[ 9.90119727e-01 -1.39738155e-01 -1.16693494e-02 1.61797277e+02] [ 1.39730406e-01 9.90188477e-01 -1.48076053e-03 6.27903807e+00] [ 1.17617741e-02 -1.64432718e-04 9.99930814e-01 1.17628020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.444391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.82, Y:6.28, Z:1.18 [[ 9.90267467e-01 -1.38711977e-01 -1.13723499e-02 1.61824517e+02] [ 1.38704521e-01 9.90332755e-01 -1.44561659e-03 6.28282636e+00] [ 1.14629349e-02 -1.45849257e-04 9.99934288e-01 1.17693943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.474391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.85, Y:6.29, Z:1.18 [[ 9.90413963e-01 -1.37693539e-01 -1.09850653e-02 1.61851724e+02] [ 1.37686506e-01 9.90474872e-01 -1.39752663e-03 6.28693201e+00] [ 1.10728615e-02 -1.28365373e-04 9.99938686e-01 1.17764115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.504391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.88, Y:6.29, Z:1.18 [[ 9.90487892e-01 -1.37246412e-01 -9.85687161e-03 1.61879527e+02] [ 1.37240712e-01 9.90536930e-01 -1.25563097e-03 6.29210811e+00] [ 9.93592620e-03 -1.09076801e-04 9.99950632e-01 1.17919233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.534391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.91, Y:6.30, Z:1.18 [[ 9.90356443e-01 -1.38184953e-01 -9.95165264e-03 1.61907596e+02] [ 1.38179155e-01 9.90406434e-01 -1.27111671e-03 6.29540207e+00] [ 1.00318300e-02 -1.16252335e-04 9.99949673e-01 1.17923583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.564391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.94, Y:6.30, Z:1.18 [[ 9.90213369e-01 -1.39184173e-01 -1.02591432e-02 1.61936639e+02] [ 1.39178030e-01 9.90266504e-01 -1.31382026e-03 6.29903673e+00] [ 1.03421489e-02 -1.26884952e-04 9.99946510e-01 1.17906824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59439141800001 meters Centerline goodness [0,1] 0.9999790829986613 Centerline is valid? [True, True] Translation: X:161.96, Y:6.30, Z:1.18 [[ 9.90064160e-01 -1.40218227e-01 -1.05739083e-02 1.61964887e+02] [ 1.40211725e-01 9.90120614e-01 -1.35738534e-03 6.30207593e+00] [ 1.06597747e-02 -1.38687345e-04 9.99943173e-01 1.17899881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.99, Y:6.31, Z:1.18 [[ 9.89765247e-01 -1.42281094e-01 -1.09929867e-02 1.61993721e+02] [ 1.42274156e-01 9.89826279e-01 -1.41458903e-03 6.30541671e+00] [ 1.10824164e-02 -1.63906833e-04 9.99938575e-01 1.17992503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.02, Y:6.31, Z:1.18 [[ 9.89666742e-01 -1.42995931e-01 -1.05784510e-02 1.62021622e+02] [ 1.42989511e-01 9.89723263e-01 -1.36460844e-03 6.30980500e+00] [ 1.06648725e-02 -1.62099943e-04 9.99943115e-01 1.18102256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.05, Y:6.31, Z:1.18 [[ 9.89591742e-01 -1.43543574e-01 -1.01698961e-02 1.62049589e+02] [ 1.43537642e-01 9.89643985e-01 -1.31468839e-03 6.31113691e+00] [ 1.02532916e-02 -1.58758139e-04 9.99947421e-01 1.18150308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.08, Y:6.32, Z:1.18 [[ 9.89479320e-01 -1.44356395e-01 -9.58677500e-03 1.62077695e+02] [ 1.44351146e-01 9.89525748e-01 -1.24087718e-03 6.31754249e+00] [ 9.66548926e-03 -1.56039648e-04 9.99953276e-01 1.18353400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.744391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.11, Y:6.32, Z:1.18 [[ 9.89375944e-01 -1.45080391e-01 -9.32317943e-03 1.62105056e+02] [ 1.45075431e-01 9.89419858e-01 -1.20975589e-03 6.32170337e+00] [ 9.40005073e-03 -1.55660891e-04 9.99955806e-01 1.18439828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.774391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.13, Y:6.33, Z:1.19 [[ 9.89307651e-01 -1.45546396e-01 -9.30694016e-03 1.62132683e+02] [ 1.45541443e-01 9.89351415e-01 -1.21098872e-03 6.32600357e+00] [ 9.38408946e-03 -1.56505092e-04 9.99955956e-01 1.18500140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.804391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.16, Y:6.33, Z:1.19 [[ 9.89238783e-01 -1.46034449e-01 -8.97606387e-03 1.62160601e+02] [ 1.46029833e-01 9.89279494e-01 -1.17104718e-03 6.33046877e+00] [ 9.05084915e-03 -1.52327820e-04 9.99959029e-01 1.18529546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.834391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.19, Y:6.34, Z:1.19 [[ 9.89193137e-01 -1.46314921e-01 -9.42767960e-03 1.62187922e+02] [ 1.46309809e-01 9.89238049e-01 -1.23342781e-03 6.33569552e+00] [ 9.50668827e-03 -1.59263680e-04 9.99954798e-01 1.18531761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.864391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.22, Y:6.34, Z:1.18 [[ 9.89152003e-01 -1.46566707e-01 -9.82424167e-03 1.62215827e+02] [ 1.46561133e-01 9.89200775e-01 -1.28887799e-03 6.34040200e+00] [ 9.90705407e-03 -1.64955747e-04 9.99950910e-01 1.18475067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.894391418 meters Centerline goodness [0,1] 0.9999790934938954 Centerline is valid? [True, True] Translation: X:162.24, Y:6.35, Z:1.18 [[ 9.89098713e-01 -1.46877249e-01 -1.05265798e-02 1.62243841e+02] [ 1.46870826e-01 9.89154711e-01 -1.38478372e-03 6.34542334e+00] [ 1.06158093e-02 -1.76359687e-04 9.99943635e-01 1.18452656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.924391418 meters Centerline goodness [0,1] 0.9999790934938954 Centerline is valid? [True, True] Translation: X:162.27, Y:6.35, Z:1.18 [[ 9.89046737e-01 -1.47226877e-01 -1.05261303e-02 1.62271028e+02] [ 1.47220439e-01 9.89102732e-01 -1.38819361e-03 6.34921202e+00] [ 1.06158037e-02 -1.76673162e-04 9.99943635e-01 1.18471919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.954391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.30, Y:6.35, Z:1.18 [[ 9.89000210e-01 -1.47501762e-01 -1.10369408e-02 1.62298550e+02] [ 1.47494666e-01 9.89061776e-01 -1.45863377e-03 6.35279407e+00] [ 1.11313673e-02 -1.85300791e-04 9.99938027e-01 1.18434813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.984391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.33, Y:6.36, Z:1.18 [[ 9.88759357e-01 -1.48991017e-01 -1.25144600e-02 1.62326857e+02] [ 1.48981980e-01 9.88838524e-01 -1.65649988e-03 6.35883267e+00] [ 1.26215838e-02 -2.26549285e-04 9.99920319e-01 1.18327532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.014391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.35, Y:6.36, Z:1.18 [[ 9.88482399e-01 -1.50777156e-01 -1.29921496e-02 1.62354822e+02] [ 1.50767528e-01 9.88567744e-01 -1.72300068e-03 6.35998768e+00] [ 1.31034092e-02 -2.55638434e-04 9.99914114e-01 1.18210133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.044391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.38, Y:6.36, Z:1.18 [[ 9.88075056e-01 -1.53424836e-01 -1.29809060e-02 1.62383676e+02] [ 1.53415412e-01 9.88160279e-01 -1.72455365e-03 6.36445991e+00] [ 1.30918051e-02 -2.87482604e-04 9.99914257e-01 1.18286353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.074391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.41, Y:6.37, Z:1.18 [[ 9.87172149e-01 -1.59182647e-01 -1.23301566e-02 1.62413194e+02] [ 1.59174564e-01 9.87249091e-01 -1.64047969e-03 6.36530717e+00] [ 1.24340718e-02 -3.43211447e-04 9.99922635e-01 1.18400871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.104391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.44, Y:6.37, Z:1.18 [[ 9.86728534e-01 -1.61948216e-01 -1.18142005e-02 1.62441458e+02] [ 1.61940982e-01 9.86799192e-01 -1.57279472e-03 6.36781320e+00] [ 1.19129548e-02 -3.61281799e-04 9.99928973e-01 1.18473049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.134391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.47, Y:6.37, Z:1.19 [[ 9.86411752e-01 -1.63911614e-01 -1.11731192e-02 1.62469073e+02] [ 1.63905256e-01 9.86474962e-01 -1.48861159e-03 6.37066879e+00] [ 1.12660031e-02 -3.62949001e-04 9.99936471e-01 1.18574856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.164391418 meters Centerline goodness [0,1] 0.9998740686325952 Centerline is valid? [True, True] Translation: X:162.50, Y:6.38, Z:1.19 [[ 9.86173395e-01 -1.65372206e-01 -1.06803278e-02 1.62497187e+02] [ 1.65366462e-01 9.86231161e-01 -1.42477454e-03 6.37514482e+00] [ 1.07688902e-02 -3.61093277e-04 9.99941949e-01 1.18682700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.194391418 meters Centerline goodness [0,1] 0.9999580703997988 Centerline is valid? [True, True] Translation: X:162.52, Y:6.38, Z:1.19 [[ 9.86321561e-01 -1.64550053e-01 -9.64666878e-03 1.62523708e+02] [ 1.64545307e-01 9.86368684e-01 -1.28902599e-03 6.38333044e+00] [ 9.72728128e-03 -3.15919953e-04 9.99952639e-01 1.18869866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.224391418 meters Centerline goodness [0,1] 0.9999372371806942 Centerline is valid? [True, True] Translation: X:162.55, Y:6.39, Z:1.19 [[ 9.86638257e-01 -1.62702033e-01 -8.54393744e-03 1.62551873e+02] [ 1.62698231e-01 9.86675215e-01 -1.14277983e-03 6.39106737e+00] [ 8.61602391e-03 -2.62573210e-04 9.99962847e-01 1.18956125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.254391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.58, Y:6.40, Z:1.19 [[ 9.87024796e-01 -1.60342327e-01 -8.50826250e-03 1.62579746e+02] [ 1.60338449e-01 9.87061437e-01 -1.14045286e-03 6.39940494e+00] [ 8.58104068e-03 -2.38546356e-04 9.99963154e-01 1.18991765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.284391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.61, Y:6.41, Z:1.19 [[ 9.87464868e-01 -1.57629325e-01 -8.13204751e-03 1.62607559e+02] [ 1.57625671e-01 9.87498331e-01 -1.09226912e-03 6.40839337e+00] [ 8.20255699e-03 -2.03242070e-04 9.99966338e-01 1.19028523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.314391418 meters Centerline goodness [0,1] 0.999853473719465 Centerline is valid? [True, True] Translation: X:162.63, Y:6.42, Z:1.19 [[ 9.88361598e-01 -1.51905796e-01 -8.12283496e-03 1.62634234e+02] [ 1.51901941e-01 9.88394964e-01 -1.09310674e-03 6.42234532e+00] [ 8.19461841e-03 -1.53489672e-04 9.99966412e-01 1.18997588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34439141800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.66, Y:6.43, Z:1.19 [[ 9.88643886e-01 -1.50067733e-01 -7.93359090e-03 1.62662707e+02] [ 1.50063991e-01 9.88675709e-01 -1.06822250e-03 6.43035080e+00] [ 8.00405433e-03 -1.34454668e-04 9.99967958e-01 1.18986211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37439141800002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.69, Y:6.44, Z:1.19 [[ 9.88961610e-01 -1.47947553e-01 -8.15207908e-03 1.62692872e+02] [ 1.47943529e-01 9.88995201e-01 -1.09787355e-03 6.44318678e+00] [ 8.22479479e-03 -1.20292551e-04 9.99966169e-01 1.18955004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40439141800002 meters Centerline goodness [0,1] 0.9998745452264459 Centerline is valid? [True, True] Translation: X:162.72, Y:6.45, Z:1.19 [[ 9.88878103e-01 -1.48498555e-01 -8.26297677e-03 1.62722837e+02] [ 1.48494443e-01 9.88912616e-01 -1.11240876e-03 6.44593225e+00] [ 8.33655307e-03 -1.26969466e-04 9.99965242e-01 1.18910216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43439141800002 meters Centerline goodness [0,1] 0.9998330446396895 Centerline is valid? [True, True] Translation: X:162.75, Y:6.45, Z:1.19 [[ 9.88708532e-01 -1.49622726e-01 -8.27518662e-03 1.62753887e+02] [ 1.49618646e-01 9.88743152e-01 -1.11347040e-03 6.45403423e+00] [ 8.34863458e-03 -1.37224533e-04 9.99965140e-01 1.18941457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46439141800002 meters Centerline goodness [0,1] 0.999603745646416 Centerline is valid? [True, True] Translation: X:162.78, Y:6.45, Z:1.19 [[ 9.88426200e-01 -1.51469658e-01 -8.40181415e-03 1.62784225e+02] [ 1.51465524e-01 9.88461895e-01 -1.12984832e-03 6.45381578e+00] [ 8.47601088e-03 -1.55813506e-04 9.99964066e-01 1.18892857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.494391418 meters Centerline goodness [0,1] 0.9997486437234243 Centerline is valid? [True, True] Translation: X:162.82, Y:6.46, Z:1.19 [[ 9.87692162e-01 -1.56153477e-01 -8.96022760e-03 1.62815207e+02] [ 1.56148970e-01 9.87732782e-01 -1.20469066e-03 6.46011798e+00] [ 9.03842717e-03 -2.09266786e-04 9.99959131e-01 1.18853235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.524391418 meters Centerline goodness [0,1] 0.9995186774092288 Centerline is valid? [True, True] Translation: X:162.84, Y:6.46, Z:1.19 [[ 9.87291215e-01 -1.58634260e-01 -9.55134817e-03 1.62844460e+02] [ 1.58629258e-01 9.87337384e-01 -1.28386610e-03 6.46298442e+00] [ 9.63406827e-03 -2.47573551e-04 9.99953561e-01 1.18795831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.554391418 meters Centerline goodness [0,1] 0.9995590180802587 Centerline is valid? [True, True] Translation: X:162.87, Y:6.47, Z:1.19 [[ 9.86897196e-01 -1.61034653e-01 -1.00879139e-02 1.62874980e+02] [ 1.61029197e-01 9.86948711e-01 -1.35605970e-03 6.46728579e+00] [ 1.01746262e-02 -2.86157158e-04 9.99948196e-01 1.18750632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.584391418 meters Centerline goodness [0,1] 0.9995596007046389 Centerline is valid? [True, True] Translation: X:162.90, Y:6.47, Z:1.19 [[ 9.86627433e-01 -1.62640764e-01 -1.06906889e-02 1.62904673e+02] [ 1.62634731e-01 9.86685299e-01 -1.43716957e-03 6.47137383e+00] [ 1.07820879e-02 -3.20726382e-04 9.99941820e-01 1.18688070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.614391418 meters Centerline goodness [0,1] 0.9993544087633804 Centerline is valid? [True, True] Translation: X:162.93, Y:6.47, Z:1.19 [[ 9.86166505e-01 -1.65401956e-01 -1.08543874e-02 1.62933715e+02] [ 1.65395903e-01 9.86226174e-01 -1.45921879e-03 6.47344035e+00] [ 1.09462386e-02 -3.56238518e-04 9.99940025e-01 1.18632056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.644391418 meters Centerline goodness [0,1] 0.9994983697015299 Centerline is valid? [True, True] Translation: X:162.96, Y:6.48, Z:1.19 [[ 9.86114727e-01 -1.65713096e-01 -1.08127483e-02 1.62962570e+02] [ 1.65707109e-01 9.86173941e-01 -1.45358253e-03 6.47895638e+00] [ 1.09041282e-02 -3.58350116e-04 9.99940484e-01 1.18673875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.674391418 meters Centerline goodness [0,1] 0.9997908474859868 Centerline is valid? [True, True] Translation: X:162.99, Y:6.49, Z:1.19 [[ 9.86185541e-01 -1.65303305e-01 -1.06252812e-02 1.62992185e+02] [ 1.65297497e-01 9.86242717e-01 -1.42866377e-03 6.48659400e+00] [ 1.07152690e-02 -3.47404825e-04 9.99942530e-01 1.18761710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.704391418 meters Centerline goodness [0,1] 0.9996446488294315 Centerline is valid? [True, True] Translation: X:163.02, Y:6.50, Z:1.19 [[ 9.86403313e-01 -1.64106097e-01 -8.81438352e-03 1.63021654e+02] [ 1.64102051e-01 9.86442655e-01 -1.18517244e-03 6.49683274e+00] [ 8.88937791e-03 -2.77400398e-04 9.99960450e-01 1.18971874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.734391418 meters Centerline goodness [0,1] 0.999456589892572 Centerline is valid? [True, True] Translation: X:163.05, Y:6.50, Z:1.19 [[ 9.86567501e-01 -1.63163953e-01 -7.87968567e-03 1.63052707e+02] [ 1.63160691e-01 9.86598939e-01 -1.05945405e-03 6.50358440e+00] [ 7.94695423e-03 -2.40432023e-04 9.99968394e-01 1.19132852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.764391418 meters Centerline goodness [0,1] 0.9994976872684652 Centerline is valid? [True, True] Translation: X:163.08, Y:6.51, Z:1.19 [[ 9.86739012e-01 -1.62165784e-01 -6.95566863e-03 1.63082754e+02] [ 1.62163219e-01 9.86763506e-01 -9.34953738e-04 6.50811647e+00] [ 7.01521747e-03 -2.05398287e-04 9.99975372e-01 1.19276165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.794391418 meters Centerline goodness [0,1] 0.9994968447975848 Centerline is valid? [True, True] Translation: X:163.11, Y:6.52, Z:1.19 [[ 9.86917564e-01 -1.61108883e-01 -6.13595524e-03 1.63113894e+02] [ 1.61106867e-01 9.86936623e-01 -8.24690774e-04 6.51503514e+00] [ 6.18866395e-03 -1.74642717e-04 9.99980835e-01 1.19405141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.824391418 meters Centerline goodness [0,1] 0.9995802287753175 Centerline is valid? [True, True] Translation: X:163.14, Y:6.53, Z:1.19 [[ 9.87377396e-01 -1.58272954e-01 -5.96245934e-03 1.63144550e+02] [ 1.58271000e-01 9.87395386e-01 -8.01042715e-04 6.52932080e+00] [ 6.01408824e-03 -1.52752934e-04 9.99981904e-01 1.19426970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.854391418 meters Centerline goodness [0,1] 0.9993521421107628 Centerline is valid? [True, True] Translation: X:163.18, Y:6.53, Z:1.19 [[ 9.87612464e-01 -1.56763115e-01 -6.85174862e-03 1.63175791e+02] [ 1.56760504e-01 9.87636218e-01 -9.19848050e-04 6.53230724e+00] [ 6.91123333e-03 -1.65630166e-04 9.99976103e-01 1.19392255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.884391418 meters Centerline goodness [0,1] 0.9992032039588182 Centerline is valid? [True, True] Translation: X:163.21, Y:6.54, Z:1.19 [[ 9.87969207e-01 -1.54458272e-01 -7.71286094e-03 1.63207239e+02] [ 1.54454898e-01 9.87999298e-01 -1.03472551e-03 6.54357398e+00] [ 7.78012311e-03 -1.69012210e-04 9.99969720e-01 1.19291040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.914391418 meters Centerline goodness [0,1] 0.9993289435054313 Centerline is valid? [True, True] Translation: X:163.24, Y:6.55, Z:1.19 [[ 9.88075980e-01 -1.53705674e-01 -8.96789187e-03 1.63238453e+02] [ 1.53701091e-01 9.88116658e-01 -1.20208477e-03 6.55224001e+00] [ 9.04609060e-03 -1.90623681e-04 9.99959065e-01 1.19284683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.944391418 meters Centerline goodness [0,1] 0.9995383097941282 Centerline is valid? [True, True] Translation: X:163.27, Y:6.56, Z:1.19 [[ 9.88506611e-01 -1.50796556e-01 -1.07274777e-02 1.63269256e+02] [ 1.50789838e-01 9.88564798e-01 -1.43694808e-03 6.56154799e+00] [ 1.08214937e-02 -1.97161950e-04 9.99941426e-01 1.19175776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.974391418 meters Centerline goodness [0,1] 0.999539777838211 Centerline is valid? [True, True] Translation: X:163.30, Y:6.57, Z:1.19 [[ 9.88672239e-01 -1.49670107e-01 -1.12277733e-02 1.63300325e+02] [ 1.49662687e-01 9.88735971e-01 -1.50298954e-03 6.56541828e+00] [ 1.13262559e-02 -1.94414681e-04 9.99935837e-01 1.19122974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.004391418 meters Centerline goodness [0,1] 0.9994561579651942 Centerline is valid? [True, True] Translation: X:163.33, Y:6.57, Z:1.19 [[ 9.88933505e-01 -1.47893487e-01 -1.17490087e-02 1.63332362e+02] [ 1.47885249e-01 9.89003278e-01 -1.57171682e-03 6.57153159e+00] [ 1.18522547e-02 -1.83181643e-04 9.99929743e-01 1.19107620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.034391418 meters Centerline goodness [0,1] 0.9994572138368719 Centerline is valid? [True, True] Translation: X:163.36, Y:6.58, Z:1.19 [[ 9.89108410e-01 -1.46688936e-01 -1.21205875e-02 1.63362903e+02] [ 1.46680095e-01 9.89182655e-01 -1.62004406e-03 6.57881923e+00] [ 1.22271175e-02 -1.75449717e-04 9.99925231e-01 1.19123643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.064391418 meters Centerline goodness [0,1] 0.9995192910588137 Centerline is valid? [True, True] Translation: X:163.39, Y:6.59, Z:1.19 [[ 9.89204105e-01 -1.46016903e-01 -1.24218332e-02 1.63394978e+02] [ 1.46007583e-01 9.89282080e-01 -1.65879699e-03 6.58518249e+00] [ 1.25309094e-02 -1.72793047e-04 9.99921470e-01 1.19160273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09439141800001 meters Centerline goodness [0,1] 0.9994567829011972 Centerline is valid? [True, True] Translation: X:163.43, Y:6.59, Z:1.19 [[ 9.89245229e-01 -1.45721560e-01 -1.26136654e-02 1.63425377e+02] [ 1.45711938e-01 9.89325627e-01 -1.68345605e-03 6.59025224e+00] [ 1.27243383e-02 -1.72610774e-04 9.99919027e-01 1.19116666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12439141800002 meters Centerline goodness [0,1] 0.9992674452676964 Centerline is valid? [True, True] Translation: X:163.46, Y:6.60, Z:1.19 [[ 9.89218841e-01 -1.45840829e-01 -1.32867032e-02 1.63456668e+02] [ 1.45830177e-01 9.89308050e-01 -1.77227830e-03 6.59659130e+00] [ 1.34031130e-02 -1.84431204e-04 9.99910157e-01 1.19085019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15439141800002 meters Centerline goodness [0,1] 0.9992871071226386 Centerline is valid? [True, True] Translation: X:163.49, Y:6.60, Z:1.19 [[ 9.89040764e-01 -1.47066084e-01 -1.30358902e-02 1.63488346e+02] [ 1.47055951e-01 9.89126649e-01 -1.73771622e-03 6.60282400e+00] [ 1.31497056e-02 -1.98333058e-04 9.99913519e-01 1.19208210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18439141800002 meters Centerline goodness [0,1] 0.9993504180374243 Centerline is valid? [True, True] Translation: X:163.52, Y:6.60, Z:1.19 [[ 9.88924796e-01 -1.47858392e-01 -1.28702770e-02 1.63519900e+02] [ 1.47848596e-01 9.89008520e-01 -1.71454408e-03 6.60455963e+00] [ 1.29823233e-02 -2.07297233e-04 9.99915705e-01 1.19161735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21439141800002 meters Centerline goodness [0,1] 0.9993499821769306 Centerline is valid? [True, True] Translation: X:163.55, Y:6.61, Z:1.19 [[ 9.88811319e-01 -1.48690492e-01 -1.19713571e-02 1.63551783e+02] [ 1.48682090e-01 9.88883763e-01 -1.59381813e-03 6.60810165e+00] [ 1.20752662e-02 -2.03940980e-04 9.99927071e-01 1.19266125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.244391418 meters Centerline goodness [0,1] 0.999286583574636 Centerline is valid? [True, True] Translation: X:163.58, Y:6.61, Z:1.20 [[ 9.88546872e-01 -1.50564472e-01 -1.02674983e-02 1.63583360e+02] [ 1.50558400e-01 9.88600173e-01 -1.36618299e-03 6.61462794e+00] [ 1.03561492e-02 -1.95322201e-04 9.99946355e-01 1.19596414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.274391418 meters Centerline goodness [0,1] 0.9994970240590159 Centerline is valid? [True, True] Translation: X:163.62, Y:6.62, Z:1.20 [[ 9.88441245e-01 -1.51314802e-01 -9.36673501e-03 1.63615467e+02] [ 1.51309790e-01 9.88485607e-01 -1.24559256e-03 6.61858720e+00] [ 9.44735934e-03 -1.86083638e-04 9.99955355e-01 1.19727937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.304391418 meters Centerline goodness [0,1] 0.9993518576595789 Centerline is valid? [True, True] Translation: X:163.65, Y:6.62, Z:1.20 [[ 9.88288001e-01 -1.52359112e-01 -8.57489701e-03 1.63646866e+02] [ 1.52354957e-01 9.88325184e-01 -1.13958521e-03 6.62172111e+00] [ 8.64841285e-03 -1.80189671e-04 9.99962586e-01 1.19800043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.334391418 meters Centerline goodness [0,1] 0.9994127393611443 Centerline is valid? [True, True] Translation: X:163.68, Y:6.63, Z:1.20 [[ 9.88095483e-01 -1.53636048e-01 -7.95493575e-03 1.63679031e+02] [ 1.53632520e-01 9.88127488e-01 -1.05630661e-03 6.62504464e+00] [ 8.02277746e-03 -1.78405042e-04 9.99967801e-01 1.19889303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.364391418 meters Centerline goodness [0,1] 0.999371214185408 Centerline is valid? [True, True] Translation: X:163.71, Y:6.63, Z:1.20 [[ 9.87764064e-01 -1.55782707e-01 -7.34178377e-03 1.63711045e+02] [ 1.55779765e-01 9.87791332e-01 -9.74354895e-04 6.62702068e+00] [ 7.40393801e-03 -1.81268601e-04 9.99972574e-01 1.19937923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.394391418 meters Centerline goodness [0,1] 0.9991605456453305 Centerline is valid? [True, True] Translation: X:163.74, Y:6.63, Z:1.20 [[ 9.87629881e-01 -1.56636244e-01 -7.23222492e-03 1.63742569e+02] [ 1.56633417e-01 9.87656343e-01 -9.59245579e-04 6.62961503e+00] [ 7.29320544e-03 -1.85428503e-04 9.99973387e-01 1.19930127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.424391418 meters Centerline goodness [0,1] 0.999120345159804 Centerline is valid? [True, True] Translation: X:163.77, Y:6.63, Z:1.20 [[ 9.87578989e-01 -1.56948541e-01 -7.40924873e-03 1.63774643e+02] [ 1.56945589e-01 9.87606763e-01 -9.81828493e-04 6.63345592e+00] [ 7.47152070e-03 -1.93215712e-04 9.99972069e-01 1.19943372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.454391418 meters Centerline goodness [0,1] 0.999310373652094 Centerline is valid? [True, True] Translation: X:163.81, Y:6.64, Z:1.20 [[ 9.87628045e-01 -1.56609317e-01 -8.02290523e-03 1.63806643e+02] [ 1.56605850e-01 9.87660609e-01 -1.06247565e-03 6.63900999e+00] [ 8.09030105e-03 -2.07103147e-04 9.99967252e-01 1.19901503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.484391418 meters Centerline goodness [0,1] 0.9993507853403142 Centerline is valid? [True, True] Translation: X:163.84, Y:6.64, Z:1.20 [[ 9.87756255e-01 -1.55782440e-01 -8.33140188e-03 1.63838495e+02] [ 1.55778677e-01 9.87791369e-01 -1.10264521e-03 6.64356258e+00] [ 8.40145962e-03 -2.08710065e-04 9.99964685e-01 1.19875277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.514391418 meters Centerline goodness [0,1] 0.9995615774859601 Centerline is valid? [True, True] Translation: X:163.87, Y:6.65, Z:1.20 [[ 9.87929513e-01 -1.54624346e-01 -9.30532708e-03 1.63870025e+02] [ 1.54619608e-01 9.87973310e-01 -1.23074161e-03 6.64895256e+00] [ 9.38371742e-03 -2.22900064e-04 9.99955947e-01 1.19830721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.544391418 meters Centerline goodness [0,1] 0.9997498697238145 Centerline is valid? [True, True] Translation: X:163.90, Y:6.65, Z:1.20 [[ 9.88204600e-01 -1.52827182e-01 -9.77344889e-03 1.63902274e+02] [ 1.52821876e-01 9.88252906e-01 -1.29185638e-03 6.65380029e+00] [ 9.85607003e-03 -2.16978377e-04 9.99951404e-01 1.19762658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.574391418 meters Centerline goodness [0,1] 0.9994350991714788 Centerline is valid? [True, True] Translation: X:163.93, Y:6.66, Z:1.20 [[ 9.88718074e-01 -1.49396098e-01 -1.08340199e-02 1.63933150e+02] [ 1.49389384e-01 9.88777409e-01 -1.43088911e-03 6.66081834e+00] [ 1.09262034e-02 -2.03741634e-04 9.99940287e-01 1.19608660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.604391418 meters Centerline goodness [0,1] 0.9993324293313862 Centerline is valid? [True, True] Translation: X:163.96, Y:6.67, Z:1.20 [[ 9.88971353e-01 -1.47684376e-01 -1.11798222e-02 1.63964315e+02] [ 1.47677132e-01 9.89034523e-01 -1.47530585e-03 6.66613015e+00] [ 1.12751098e-02 -1.91968859e-04 9.99936416e-01 1.19558137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.634391418 meters Centerline goodness [0,1] 0.999372857262313 Centerline is valid? [True, True] Translation: X:164.00, Y:6.67, Z:1.20 [[ 9.89225360e-01 -1.45979156e-01 -1.11028553e-02 1.63996150e+02] [ 1.45971913e-01 9.89287651e-01 -1.46431986e-03 6.67076157e+00] [ 1.11976778e-02 -1.72162687e-04 9.99937289e-01 1.19556442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.664391418 meters Centerline goodness [0,1] 0.9996229655851364 Centerline is valid? [True, True] Translation: X:164.03, Y:6.68, Z:1.20 [[ 9.89519322e-01 -1.44017631e-01 -1.05086921e-02 1.64028173e+02] [ 1.44011042e-01 9.89575112e-01 -1.38497484e-03 6.67693358e+00] [ 1.05986010e-02 -1.42908347e-04 9.99943823e-01 1.19613914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.694391418 meters Centerline goodness [0,1] 0.9993130867384109 Centerline is valid? [True, True] Translation: X:164.06, Y:6.69, Z:1.20 [[ 9.90201066e-01 -1.39330978e-01 -9.41953558e-03 1.64058979e+02] [ 1.39325479e-01 9.90245864e-01 -1.24069893e-03 6.68639942e+00] [ 9.50052394e-03 -8.38399008e-05 9.99954865e-01 1.19730280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.724391418 meters Centerline goodness [0,1] 0.9994792751510102 Centerline is valid? [True, True] Translation: X:164.09, Y:6.69, Z:1.20 [[ 9.90594942e-01 -1.36542618e-01 -8.81898272e-03 1.64089238e+02] [ 1.36537694e-01 9.90634196e-01 -1.16092499e-03 6.69197667e+00] [ 8.89490159e-03 -5.41171321e-05 9.99960438e-01 1.19794239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.754391418 meters Centerline goodness [0,1] 0.9994575309311691 Centerline is valid? [True, True] Translation: X:164.12, Y:6.70, Z:1.20 [[ 9.91310228e-01 -1.31311845e-01 -7.82502087e-03 1.64120229e+02] [ 1.31307809e-01 9.91341111e-01 -1.02961633e-03 6.70101217e+00] [ 7.89246571e-03 -6.81714961e-06 9.99968854e-01 1.19953424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.784391418 meters Centerline goodness [0,1] 0.9994785365650161 Centerline is valid? [True, True] Translation: X:164.15, Y:6.71, Z:1.20 [[ 9.91648412e-01 -1.28730378e-01 -7.86872676e-03 1.64151965e+02] [ 1.28726220e-01 9.91679631e-01 -1.03468189e-03 6.70707919e+00] [ 7.93645104e-03 1.31291935e-05 9.99968506e-01 1.19992378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.814391418 meters Centerline goodness [0,1] 0.9994593582998897 Centerline is valid? [True, True] Translation: X:164.18, Y:6.71, Z:1.20 [[ 9.91897201e-01 -1.26795948e-01 -7.92029793e-03 1.64184261e+02] [ 1.26791681e-01 9.91928821e-01 -1.04060962e-03 6.71263114e+00] [ 7.98831688e-03 2.79498857e-05 9.99968092e-01 1.20020030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84439141800001 meters Centerline goodness [0,1] 0.9996662494785148 Centerline is valid? [True, True] Translation: X:164.22, Y:6.72, Z:1.20 [[ 9.92013621e-01 -1.25863246e-01 -8.21095232e-03 1.64217279e+02] [ 1.25858636e-01 9.92047601e-01 -1.07775079e-03 6.71687737e+00] [ 8.28130476e-03 3.57242017e-05 9.99965709e-01 1.20070829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87439141800002 meters Centerline goodness [0,1] 0.9996662494785148 Centerline is valid? [True, True] Translation: X:164.25, Y:6.72, Z:1.20 [[ 9.92029440e-01 -1.25738495e-01 -8.21108793e-03 1.64249555e+02] [ 1.25733890e-01 9.92063420e-01 -1.07671673e-03 6.72096840e+00] [ 8.28130471e-03 3.57226660e-05 9.99965709e-01 1.20093614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90439141800002 meters Centerline goodness [0,1] 0.9995196524790109 Centerline is valid? [True, True] Translation: X:164.28, Y:6.72, Z:1.20 [[ 9.92017717e-01 -1.25826425e-01 -8.28008689e-03 1.64281544e+02] [ 1.25821755e-01 9.92052272e-01 -1.08458821e-03 6.72293387e+00] [ 8.35074887e-03 3.41156519e-05 9.99965131e-01 1.20097084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93439141800002 meters Centerline goodness [0,1] 0.999436160882095 Centerline is valid? [True, True] Translation: X:164.31, Y:6.72, Z:1.20 [[ 9.91892375e-01 -1.26817456e-01 -8.17614656e-03 1.64314660e+02] [ 1.26812950e-01 9.91926072e-01 -1.06937737e-03 6.72448050e+00] [ 8.24574866e-03 2.38659945e-05 9.99966003e-01 1.20136711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.964391418 meters Centerline goodness [0,1] 0.9994977398292315 Centerline is valid? [True, True] Translation: X:164.35, Y:6.73, Z:1.20 [[ 9.91663159e-01 -1.28604839e-01 -8.06068735e-03 1.64348301e+02] [ 1.28600526e-01 9.91695919e-01 -1.05328871e-03 6.72510970e+00] [ 8.12920877e-03 7.89897206e-06 9.99966957e-01 1.20172816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.994391418 meters Centerline goodness [0,1] 0.9994588068773157 Centerline is valid? [True, True] Translation: X:164.38, Y:6.73, Z:1.20 [[ 9.91391183e-01 -1.30665804e-01 -8.36478572e-03 1.64381518e+02] [ 1.30661242e-01 9.91426471e-01 -1.09194896e-03 6.72516701e+00] [ 8.43575038e-03 -1.04047154e-05 9.99964418e-01 1.20183331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.024391418 meters Centerline goodness [0,1] 0.9995613027220122 Centerline is valid? [True, True] Translation: X:164.41, Y:6.73, Z:1.20 [[ 9.91044551e-01 -1.33285073e-01 -8.11091276e-03 1.64413903e+02] [ 1.33280878e-01 9.91077741e-01 -1.05787441e-03 6.72506645e+00] [ 8.17954396e-03 -3.26289046e-05 9.99966546e-01 1.20200080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.054391418 meters Centerline goodness [0,1] 0.9995193011056075 Centerline is valid? [True, True] Translation: X:164.45, Y:6.72, Z:1.20 [[ 9.90208526e-01 -1.39295215e-01 -9.16070475e-03 1.64447260e+02] [ 1.39290130e-01 9.90250895e-01 -1.19394081e-03 6.72081598e+00] [ 9.23770631e-03 -9.37453916e-05 9.99957327e-01 1.20156473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.084391418 meters Centerline goodness [0,1] 0.9996651388627279 Centerline is valid? [True, True] Translation: X:164.48, Y:6.72, Z:1.20 [[ 9.89759699e-01 -1.42415253e-01 -9.67647831e-03 1.64478888e+02] [ 1.42409736e-01 9.89806991e-01 -1.26036547e-03 6.72032367e+00] [ 9.75734115e-03 -1.30565767e-04 9.99952387e-01 1.20150869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.114391418 meters Centerline goodness [0,1] 0.9995385034926895 Centerline is valid? [True, True] Translation: X:164.51, Y:6.72, Z:1.20 [[ 9.89303404e-01 -1.45496364e-01 -1.04682022e-02 1.64510092e+02] [ 1.45490086e-01 9.89358771e-01 -1.36286584e-03 6.71868825e+00] [ 1.05550997e-02 -1.74731832e-04 9.99944278e-01 1.20072312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.144391418 meters Centerline goodness [0,1] 0.999581948537865 Centerline is valid? [True, True] Translation: X:164.54, Y:6.72, Z:1.20 [[ 9.88442043e-01 -1.51220248e-01 -1.07128327e-02 1.64542814e+02] [ 1.51214016e-01 9.88500065e-01 -1.39409814e-03 6.71697793e+00] [ 1.08004517e-02 -2.41945238e-04 9.99941644e-01 1.20081468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.174391418 meters Centerline goodness [0,1] 0.9993744917745668 Centerline is valid? [True, True] Translation: X:164.58, Y:6.72, Z:1.20 [[ 9.88068635e-01 -1.53638209e-01 -1.07551220e-02 1.64575548e+02] [ 1.53632080e-01 9.88127131e-01 -1.39868777e-03 6.71739843e+00] [ 1.08423198e-02 -2.70332253e-04 9.99941184e-01 1.20097749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.204391418 meters Centerline goodness [0,1] 0.9993735382559304 Centerline is valid? [True, True] Translation: X:164.61, Y:6.72, Z:1.20 [[ 9.87709417e-01 -1.55950154e-01 -1.04717250e-02 1.64606157e+02] [ 1.55944481e-01 9.87764884e-01 -1.36107767e-03 6.71783370e+00] [ 1.05558625e-02 -2.88658490e-04 9.99944244e-01 1.20157162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.234391418 meters Centerline goodness [0,1] 0.9993938000376262 Centerline is valid? [True, True] Translation: X:164.64, Y:6.72, Z:1.20 [[ 9.87127978e-01 -1.59661018e-01 -9.31205729e-03 1.64637244e+02] [ 1.59656701e-01 9.87171856e-01 -1.20991874e-03 6.71562644e+00] [ 9.38577774e-03 -2.92387709e-04 9.99955910e-01 1.20309071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.264391418 meters Centerline goodness [0,1] 0.9993935338157179 Centerline is valid? [True, True] Translation: X:164.67, Y:6.72, Z:1.20 [[ 9.86875860e-01 -1.61238790e-01 -8.83678894e-03 1.64668286e+02] [ 1.61234969e-01 9.86915380e-01 -1.14780039e-03 6.71770539e+00] [ 8.90623286e-03 -2.92062895e-04 9.99960296e-01 1.20370780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.294391418 meters Centerline goodness [0,1] 0.999395039322444 Centerline is valid? [True, True] Translation: X:164.70, Y:6.72, Z:1.20 [[ 9.86644576e-01 -1.62661096e-01 -8.59347872e-03 1.64699322e+02] [ 1.62657540e-01 9.86681955e-01 -1.11585510e-03 6.72071616e+00] [ 8.66053660e-03 -2.96841720e-04 9.99962453e-01 1.20390885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.324391418 meters Centerline goodness [0,1] 0.9991016587974763 Centerline is valid? [True, True] Translation: X:164.73, Y:6.72, Z:1.20 [[ 9.86476405e-01 -1.63704225e-01 -8.07648055e-03 1.64729409e+02] [ 1.63701122e-01 9.86509424e-01 -1.04838380e-03 6.72149316e+00] [ 8.13914903e-03 -2.87923047e-04 9.99966835e-01 1.20442681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.354391418 meters Centerline goodness [0,1] 0.9992709244677749 Centerline is valid? [True, True] Translation: X:164.76, Y:6.73, Z:1.21 [[ 9.86253278e-01 -1.65091025e-01 -7.03032691e-03 1.64760798e+02] [ 1.65088711e-01 9.86278300e-01 -9.12204797e-04 6.72611701e+00] [ 7.08445570e-03 -2.60962639e-04 9.99974871e-01 1.20500927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.384391418 meters Centerline goodness [0,1] 0.9992065480664829 Centerline is valid? [True, True] Translation: X:164.79, Y:6.73, Z:1.21 [[ 9.86218576e-01 -1.65318244e-01 -6.54205147e-03 1.64791783e+02] [ 1.65316247e-01 9.86240244e-01 -8.48596287e-04 6.72931177e+00] [ 6.59232289e-03 -2.44605975e-04 9.99978240e-01 1.20523205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.414391418 meters Centerline goodness [0,1] 0.9992044883604086 Centerline is valid? [True, True] Translation: X:164.82, Y:6.74, Z:1.21 [[ 9.86118224e-01 -1.65921876e-01 -6.38590464e-03 1.64822939e+02] [ 1.65919987e-01 9.86138871e-01 -8.28082414e-04 6.73622488e+00] [ 6.43478577e-03 -2.42962058e-04 9.99979267e-01 1.20503876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.444391418 meters Centerline goodness [0,1] 0.9990009782088372 Centerline is valid? [True, True] Translation: X:164.85, Y:6.74, Z:1.20 [[ 9.86079364e-01 -1.66125039e-01 -7.06815794e-03 1.64853749e+02] [ 1.66122733e-01 9.86104659e-01 -9.16228198e-04 6.73626963e+00] [ 7.12215192e-03 -2.70707992e-04 9.99974601e-01 1.20401002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.474391418 meters Centerline goodness [0,1] 0.9990412671946645 Centerline is valid? [True, True] Translation: X:164.88, Y:6.74, Z:1.20 [[ 9.86120906e-01 -1.65870301e-01 -7.25267342e-03 1.64884945e+02] [ 1.65867868e-01 9.86147538e-01 -9.39845528e-04 6.74114095e+00] [ 7.30809850e-03 -2.76184151e-04 9.99973257e-01 1.20424264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.504391418 meters Centerline goodness [0,1] 0.9992068627246352 Centerline is valid? [True, True] Translation: X:164.92, Y:6.75, Z:1.21 [[ 9.86264932e-01 -1.65028412e-01 -6.86341951e-03 1.64916051e+02] [ 1.65026215e-01 9.86288780e-01 -8.89143637e-04 6.74871545e+00] [ 6.91604762e-03 -2.55712955e-04 9.99976051e-01 1.20506137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.534391418 meters Centerline goodness [0,1] 0.9989558098738618 Centerline is valid? [True, True] Translation: X:164.95, Y:6.75, Z:1.21 [[ 9.86411536e-01 -1.64159232e-01 -6.63545689e-03 1.64946767e+02] [ 1.64157161e-01 9.86433824e-01 -8.59208049e-04 6.75420789e+00] [ 6.68648604e-03 -2.41725033e-04 9.99977616e-01 1.20550746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.564391418 meters Centerline goodness [0,1] 0.9992673072494714 Centerline is valid? [True, True] Translation: X:164.98, Y:6.77, Z:1.21 [[ 9.86775671e-01 -1.61952363e-01 -6.72370046e-03 1.64978221e+02] [ 1.61950189e-01 9.86798550e-01 -8.70217281e-04 6.76604408e+00] [ 6.77587161e-03 -2.30195317e-04 9.99977017e-01 1.20545383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59439141800001 meters Centerline goodness [0,1] 0.9992681345795956 Centerline is valid? [True, True] Translation: X:165.01, Y:6.77, Z:1.21 [[ 9.86923631e-01 -1.61037259e-01 -6.98195561e-03 1.65008998e+02] [ 1.61034897e-01 9.86948300e-01 -9.02845997e-04 6.77349615e+00] [ 7.03622107e-03 -2.33298456e-04 9.99975218e-01 1.20603769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62439141800002 meters Centerline goodness [0,1] 0.9992256984409333 Centerline is valid? [True, True] Translation: X:165.04, Y:6.78, Z:1.21 [[ 9.87002501e-01 -1.60526510e-01 -7.56982662e-03 1.65039321e+02] [ 1.60523723e-01 9.87031498e-01 -9.78332120e-04 6.77884555e+00] [ 7.62870555e-03 -2.49520499e-04 9.99970870e-01 1.20590483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65439141800002 meters Centerline goodness [0,1] 0.9991849018747256 Centerline is valid? [True, True] Translation: X:165.07, Y:6.79, Z:1.21 [[ 9.87068764e-01 -1.60080241e-01 -8.34097931e-03 1.65070425e+02] [ 1.60076846e-01 9.87103967e-01 -1.07742651e-03 6.78765127e+00] [ 8.40588847e-03 -2.71703611e-04 9.99964633e-01 1.20606788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68439141800002 meters Centerline goodness [0,1] 0.9993084370677732 Centerline is valid? [True, True] Translation: X:165.10, Y:6.79, Z:1.21 [[ 9.87044868e-01 -1.60235793e-01 -8.18039920e-03 1.65101936e+02] [ 1.60232537e-01 9.87078730e-01 -1.05603558e-03 6.79284490e+00] [ 8.24391275e-03 -2.68411623e-04 9.99965982e-01 1.20660352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.714391418 meters Centerline goodness [0,1] 0.999017599598679 Centerline is valid? [True, True] Translation: X:165.13, Y:6.80, Z:1.21 [[ 9.86959054e-01 -1.60744633e-01 -8.54332621e-03 1.65133837e+02] [ 1.60741108e-01 9.86995989e-01 -1.10217821e-03 6.79785467e+00] [ 8.60939793e-03 -2.85458958e-04 9.99962898e-01 1.20697304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.744391418 meters Centerline goodness [0,1] 0.9992873910127431 Centerline is valid? [True, True] Translation: X:165.17, Y:6.80, Z:1.21 [[ 9.86802884e-01 -1.61671406e-01 -9.07876086e-03 1.65166037e+02] [ 1.61667471e-01 9.86844597e-01 -1.17049597e-03 6.80273700e+00] [ 9.14856183e-03 -3.12691513e-04 9.99958102e-01 1.20703711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.774391418 meters Centerline goodness [0,1] 0.999018563762033 Centerline is valid? [True, True] Translation: X:165.20, Y:6.81, Z:1.21 [[ 9.86399252e-01 -1.64040980e-01 -1.03476274e-02 1.65196993e+02] [ 1.64036009e-01 9.86453451e-01 -1.33307773e-03 6.80752499e+00] [ 1.04261322e-02 -3.82436634e-04 9.99945573e-01 1.20663934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.804391418 meters Centerline goodness [0,1] 0.9990555147444643 Centerline is valid? [True, True] Translation: X:165.23, Y:6.81, Z:1.21 [[ 9.86194467e-01 -1.65223581e-01 -1.10291309e-02 1.65228652e+02] [ 1.65218020e-01 9.86256047e-01 -1.41972244e-03 6.81292503e+00] [ 1.11121186e-02 -4.22088752e-04 9.99938169e-01 1.20649952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.834391418 meters Centerline goodness [0,1] 0.9988926497012244 Centerline is valid? [True, True] Translation: X:165.26, Y:6.81, Z:1.21 [[ 9.85927955e-01 -1.66726095e-01 -1.21851069e-02 1.65259338e+02] [ 1.66719432e-01 9.86003130e-01 -1.56769948e-03 6.81476653e+00] [ 1.22759299e-02 -4.85855362e-04 9.99924530e-01 1.20571065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.864391418 meters Centerline goodness [0,1] 0.998996004936309 Centerline is valid? [True, True] Translation: X:165.29, Y:6.82, Z:1.21 [[ 9.85460311e-01 -1.69385514e-01 -1.32861960e-02 1.65290823e+02] [ 1.69377844e-01 9.85549708e-01 -1.70855810e-03 6.82162448e+00] [ 1.33836116e-02 -5.66671041e-04 9.99910275e-01 1.20614564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.894391418 meters Centerline goodness [0,1] 0.9988092004930328 Centerline is valid? [True, True] Translation: X:165.32, Y:6.83, Z:1.21 [[ 9.85376681e-01 -1.69870906e-01 -1.32918008e-02 1.65321597e+02] [ 1.69863292e-01 9.85466156e-01 -1.70793928e-03 6.82517146e+00] [ 1.33887491e-02 -5.74825516e-04 9.99910201e-01 1.20665827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.924391418 meters Centerline goodness [0,1] 0.9990602092600714 Centerline is valid? [True, True] Translation: X:165.35, Y:6.83, Z:1.21 [[ 9.85302216e-01 -1.70287421e-01 -1.34809689e-02 1.65353735e+02] [ 1.70279647e-01 9.85394259e-01 -1.73085624e-03 6.83106187e+00] [ 1.35788124e-02 -5.90118125e-04 9.99907630e-01 1.20712706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.954391418 meters Centerline goodness [0,1] 0.9992648294404302 Centerline is valid? [True, True] Translation: X:165.38, Y:6.84, Z:1.21 [[ 9.85393192e-01 -1.69701187e-01 -1.42043759e-02 1.65384499e+02] [ 1.69692510e-01 9.85495373e-01 -1.82273764e-03 6.83814847e+00] [ 1.43076674e-02 -6.14262927e-04 9.99897451e-01 1.20775382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.984391418 meters Centerline goodness [0,1] 0.9990345261832302 Centerline is valid? [True, True] Translation: X:165.42, Y:6.84, Z:1.21 [[ 9.85472540e-01 -1.69228038e-01 -1.43437516e-02 1.65415947e+02] [ 1.69219153e-01 9.85576732e-01 -1.83964233e-03 6.84393877e+00] [ 1.44481868e-02 -6.14320489e-04 9.99895431e-01 1.20830219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.014391418 meters Centerline goodness [0,1] 0.9991402990081986 Centerline is valid? [True, True] Translation: X:165.45, Y:6.85, Z:1.21 [[ 9.85681376e-01 -1.68015958e-01 -1.42429651e-02 1.65447661e+02] [ 1.68007087e-01 9.85784097e-01 -1.82562276e-03 6.85075327e+00] [ 1.43472222e-02 -5.93436723e-04 9.99896897e-01 1.20887306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.044391418 meters Centerline goodness [0,1] 0.999015438758196 Centerline is valid? [True, True] Translation: X:165.48, Y:6.86, Z:1.21 [[ 9.85907756e-01 -1.66631759e-01 -1.48241011e-02 1.65478620e+02] [ 1.66622009e-01 9.86019016e-01 -1.89910389e-03 6.85756360e+00] [ 1.49332966e-02 -5.97680250e-04 9.99888313e-01 1.20905555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.074391418 meters Centerline goodness [0,1] 0.9989697657794038 Centerline is valid? [True, True] Translation: X:165.51, Y:6.87, Z:1.21 [[ 9.86483849e-01 -1.63239064e-01 -1.42345873e-02 1.65508085e+02] [ 1.63229728e-01 9.86586404e-01 -1.82306075e-03 6.86762982e+00] [ 1.43412450e-02 -5.25087821e-04 9.99897021e-01 1.21051207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.104391418 meters Centerline goodness [0,1] 0.9989252976504056 Centerline is valid? [True, True] Translation: X:165.54, Y:6.87, Z:1.21 [[ 9.86828831e-01 -1.61181015e-01 -1.37672912e-02 1.65539640e+02] [ 1.61172091e-01 9.86924744e-01 -1.76257805e-03 6.87479386e+00] [ 1.38713745e-02 -4.79540279e-04 9.99903673e-01 1.21130579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.134391418 meters Centerline goodness [0,1] 0.9989905575066771 Centerline is valid? [True, True] Translation: X:165.57, Y:6.88, Z:1.21 [[ 9.87221359e-01 -1.58814040e-01 -1.31182762e-02 1.65571010e+02] [ 1.58805741e-01 9.87308421e-01 -1.67854028e-03 6.88298068e+00] [ 1.32183604e-02 -4.26166762e-04 9.99912543e-01 1.21186345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.164391418 meters Centerline goodness [0,1] 0.9988861334117943 Centerline is valid? [True, True] Translation: X:165.60, Y:6.90, Z:1.21 [[ 9.88061767e-01 -1.53433408e-01 -1.38612734e-02 1.65600118e+02] [ 1.53423622e-01 9.88158919e-01 -1.77294110e-03 6.89561295e+00] [ 1.39691693e-02 -3.74871459e-04 9.99902356e-01 1.21157295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.194391418 meters Centerline goodness [0,1] 0.9989086635325722 Centerline is valid? [True, True] Translation: X:165.63, Y:6.90, Z:1.21 [[ 9.88355275e-01 -1.51548815e-01 -1.36677122e-02 1.65631749e+02] [ 1.51539129e-01 9.88449715e-01 -1.74756873e-03 6.90332108e+00] [ 1.37746881e-02 -3.43974422e-04 9.99905065e-01 1.21183480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.224391418 meters Centerline goodness [0,1] 0.9990132062398959 Centerline is valid? [True, True] Translation: X:165.66, Y:6.91, Z:1.21 [[ 9.88680208e-01 -1.49354117e-01 -1.43106196e-02 1.65662669e+02] [ 1.49343289e-01 9.88783717e-01 -1.82832185e-03 6.91045163e+00] [ 1.44231751e-02 -3.29569383e-04 9.99895926e-01 1.21099267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.254391418 meters Centerline goodness [0,1] 0.9992234558314269 Centerline is valid? [True, True] Translation: X:165.69, Y:6.92, Z:1.21 [[ 9.89151220e-01 -1.46116769e-01 -1.51576260e-02 1.65693228e+02] [ 1.46104263e-01 9.89267304e-01 -1.93517419e-03 6.91984004e+00] [ 1.52777052e-02 -3.00413854e-04 9.99883244e-01 1.20985782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.284391418 meters Centerline goodness [0,1] 0.9989934363663053 Centerline is valid? [True, True] Translation: X:165.72, Y:6.93, Z:1.21 [[ 9.89312474e-01 -1.44974103e-01 -1.55993111e-02 1.65724806e+02] [ 1.44960731e-01 9.89435407e-01 -1.99056945e-03 6.92601060e+00] [ 1.57230917e-02 -2.91992347e-04 9.99876342e-01 1.20958148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.314391418 meters Centerline goodness [0,1] 0.9991198289953477 Centerline is valid? [True, True] Translation: X:165.76, Y:6.94, Z:1.21 [[ 9.89498327e-01 -1.43649581e-01 -1.60580019e-02 1.65755414e+02] [ 1.43635256e-01 9.89628576e-01 -2.04787671e-03 6.93669156e+00] [ 1.61856342e-02 -2.80124647e-04 9.99868965e-01 1.21122549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34439141800001 meters Centerline goodness [0,1] 0.9990974350363125 Centerline is valid? [True, True] Translation: X:165.79, Y:6.94, Z:1.21 [[ 9.89474232e-01 -1.43757683e-01 -1.65671922e-02 1.65786777e+02] [ 1.43742469e-01 9.89612876e-01 -2.11168306e-03 6.93774920e+00] [ 1.66986774e-02 -2.91953134e-04 9.99860525e-01 1.20927748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37439141800002 meters Centerline goodness [0,1] 0.9990139308492783 Centerline is valid? [True, True] Translation: X:165.82, Y:6.95, Z:1.21 [[ 9.89515838e-01 -1.43449807e-01 -1.67499128e-02 1.65819162e+02] [ 1.43434238e-01 9.89657551e-01 -2.13340764e-03 6.94649907e+00] [ 1.68827146e-02 -2.91470324e-04 9.99857434e-01 1.21168390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40439141800002 meters Centerline goodness [0,1] 0.9990151911995809 Centerline is valid? [True, True] Translation: X:165.85, Y:6.95, Z:1.21 [[ 9.89455389e-01 -1.43810521e-01 -1.72211071e-02 1.65849912e+02] [ 1.43794144e-01 9.89605194e-01 -2.19198398e-03 6.95061394e+00] [ 1.73573274e-02 -3.07423992e-04 9.99849303e-01 1.21163997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43439141800002 meters Centerline goodness [0,1] 0.9990346882672655 Centerline is valid? [True, True] Translation: X:165.88, Y:6.96, Z:1.21 [[ 9.89373921e-01 -1.44320766e-01 -1.76283923e-02 1.65881468e+02] [ 1.44303707e-01 9.89530904e-01 -2.24257167e-03 6.95653381e+00] [ 1.77674887e-02 -3.25100440e-04 9.99842093e-01 1.21241861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.464391418 meters Centerline goodness [0,1] 0.9986161781356145 Centerline is valid? [True, True] Translation: X:165.91, Y:6.96, Z:1.21 [[ 9.89315569e-01 -1.44703080e-01 -1.77686116e-02 1.65913237e+02] [ 1.44685836e-01 9.89475066e-01 -2.25901279e-03 6.96069619e+00] [ 1.79084842e-02 -3.35989901e-04 9.99839574e-01 1.21249852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.494391418 meters Centerline goodness [0,1] 0.9987006182542177 Centerline is valid? [True, True] Translation: X:165.94, Y:6.96, Z:1.21 [[ 9.89240715e-01 -1.45248450e-01 -1.74841557e-02 1.65944053e+02] [ 1.45231859e-01 9.89395154e-01 -2.22169981e-03 6.96355546e+00] [ 1.76214374e-02 -3.41460527e-04 9.99844672e-01 1.21219999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.524391418 meters Centerline goodness [0,1] 0.9989518039454099 Centerline is valid? [True, True] Translation: X:165.98, Y:6.97, Z:1.21 [[ 9.89164169e-01 -1.45773678e-01 -1.74436513e-02 1.65975590e+02] [ 1.45757267e-01 9.89317902e-01 -2.21533751e-03 6.96826502e+00] [ 1.75802545e-02 -3.51206447e-04 9.99845394e-01 1.21266357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.554391418 meters Centerline goodness [0,1] 0.9988273479216836 Centerline is valid? [True, True] Translation: X:166.01, Y:6.97, Z:1.21 [[ 9.88903011e-01 -1.47567023e-01 -1.71699739e-02 1.66007261e+02] [ 1.47551415e-01 9.89051986e-01 -2.17925689e-03 6.97175579e+00] [ 1.73035832e-02 -3.78380252e-04 9.99850210e-01 1.21343253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.584391418 meters Centerline goodness [0,1] 0.9985956233755345 Centerline is valid? [True, True] Translation: X:166.04, Y:6.97, Z:1.21 [[ 9.88737418e-01 -1.48696534e-01 -1.69605118e-02 1.66038601e+02] [ 1.48681490e-01 9.88882797e-01 -2.15155634e-03 6.97479364e+00] [ 1.70918873e-02 -3.94389901e-04 9.99853845e-01 1.21339168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.614391418 meters Centerline goodness [0,1] 0.9990548005629187 Centerline is valid? [True, True] Translation: X:166.07, Y:6.98, Z:1.21 [[ 9.88580959e-01 -1.49728282e-01 -1.70038207e-02 1.66070132e+02] [ 1.49713335e-01 9.88727096e-01 -2.15586427e-03 6.97857272e+00] [ 1.71349322e-02 -4.14452341e-04 9.99853100e-01 1.21373328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.644391418 meters Centerline goodness [0,1] 0.9984485072123449 Centerline is valid? [True, True] Translation: X:166.10, Y:6.98, Z:1.21 [[ 9.88282932e-01 -1.51687397e-01 -1.69640790e-02 1.66100845e+02] [ 1.51672826e-01 9.88428415e-01 -2.14970728e-03 6.98135361e+00] [ 1.70938613e-02 -4.48470798e-04 9.99853789e-01 1.21356484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.674391418 meters Centerline goodness [0,1] 0.9989283012524166 Centerline is valid? [True, True] Translation: X:166.13, Y:6.98, Z:1.21 [[ 9.88136206e-01 -1.52637478e-01 -1.69893767e-02 1.66132273e+02] [ 1.52623021e-01 9.88282137e-01 -2.15193659e-03 6.98389384e+00] [ 1.71187637e-02 -4.66563554e-04 9.99853354e-01 1.21347001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.704391418 meters Centerline goodness [0,1] 0.9988836935001474 Centerline is valid? [True, True] Translation: X:166.16, Y:6.99, Z:1.21 [[ 9.88064404e-01 -1.53146685e-01 -1.65778981e-02 1.66164021e+02] [ 1.53133010e-01 9.88203358e-01 -2.09870028e-03 6.98782762e+00] [ 1.67037435e-02 -4.64972393e-04 9.99860375e-01 1.21381786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.734391418 meters Centerline goodness [0,1] 0.9988836935001474 Centerline is valid? [True, True] Translation: X:166.20, Y:6.99, Z:1.21 [[ 9.88081632e-01 -1.53035472e-01 -1.65781007e-02 1.66196326e+02] [ 1.53021808e-01 9.88220587e-01 -2.09709871e-03 6.99179000e+00] [ 1.67037509e-02 -4.64706237e-04 9.99860375e-01 1.21404587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.764391418 meters Centerline goodness [0,1] 0.9987996714890391 Centerline is valid? [True, True] Translation: X:166.23, Y:7.00, Z:1.21 [[ 9.88136406e-01 -1.52695583e-01 -1.64469520e-02 1.66227062e+02] [ 1.52682109e-01 9.88273166e-01 -2.07918256e-03 6.99626733e+00] [ 1.65715633e-02 -4.56639341e-04 9.99862578e-01 1.21391859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.794391418 meters Centerline goodness [0,1] 0.9987134058888045 Centerline is valid? [True, True] Translation: X:166.26, Y:7.00, Z:1.22 [[ 9.88256838e-01 -1.51911792e-01 -1.64690192e-02 1.66258409e+02] [ 1.51898193e-01 9.88393954e-01 -2.08082146e-03 7.00428552e+00] [ 1.65939803e-02 -4.45228223e-04 9.99862211e-01 1.21515731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.824391418 meters Centerline goodness [0,1] 0.9989436322149919 Centerline is valid? [True, True] Translation: X:166.29, Y:7.01, Z:1.22 [[ 9.88775364e-01 -1.48602566e-01 -1.55099138e-02 1.66289610e+02] [ 1.48590117e-01 9.88896932e-01 -1.95843202e-03 7.01258509e+00] [ 1.56287341e-02 -3.68170557e-04 9.99877796e-01 1.21613134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.854391418 meters Centerline goodness [0,1] 0.9988597732215629 Centerline is valid? [True, True] Translation: X:166.32, Y:7.02, Z:1.22 [[ 9.89166452e-01 -1.46069406e-01 -1.46102312e-02 1.66321336e+02] [ 1.46058099e-01 9.89274296e-01 -1.84368121e-03 7.01902417e+00] [ 1.47228316e-02 -3.10235006e-04 9.99891565e-01 1.21656687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.884391418 meters Centerline goodness [0,1] 0.9988993777250984 Centerline is valid? [True, True] Translation: X:166.35, Y:7.03, Z:1.22 [[ 9.89546896e-01 -1.43526839e-01 -1.40351892e-02 1.66353330e+02] [ 1.43516167e-01 9.89646390e-01 -1.76984865e-03 7.02596740e+00] [ 1.41438951e-02 -2.62928316e-04 9.99899936e-01 1.21717657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.914391418 meters Centerline goodness [0,1] 0.9989273094396769 Centerline is valid? [True, True] Translation: X:166.38, Y:7.03, Z:1.22 [[ 9.89926554e-01 -1.40875491e-01 -1.41249399e-02 1.66384324e+02] [ 1.40864429e-01 9.90027295e-01 -1.78001174e-03 7.03149946e+00] [ 1.42348361e-02 -2.27620715e-04 9.99898654e-01 1.21670739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.944391418 meters Centerline goodness [0,1] 0.9988173677986146 Centerline is valid? [True, True] Translation: X:166.42, Y:7.04, Z:1.22 [[ 9.90499433e-01 -1.36784061e-01 -1.41772211e-02 1.66416328e+02] [ 1.36772514e-01 9.90600874e-01 -1.78545961e-03 7.03870871e+00] [ 1.42881901e-02 -1.70557450e-04 9.99897904e-01 1.21562162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.974391418 meters Centerline goodness [0,1] 0.9989240279330788 Centerline is valid? [True, True] Translation: X:166.45, Y:7.04, Z:1.22 [[ 9.90723923e-01 -1.35124897e-01 -1.44003835e-02 1.66448081e+02] [ 1.35112827e-01 9.90828562e-01 -1.81227115e-03 7.04406917e+00] [ 1.45131943e-02 -1.50216141e-04 9.99894667e-01 1.21531080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.004391418 meters Centerline goodness [0,1] 0.9989877688738928 Centerline is valid? [True, True] Translation: X:166.48, Y:7.05, Z:1.21 [[ 9.90894482e-01 -1.33801149e-01 -1.50125781e-02 1.66479618e+02] [ 1.33787897e-01 9.91008191e-01 -1.88809470e-03 7.04904896e+00] [ 1.51302171e-02 -1.37598632e-04 9.99885522e-01 1.21471248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.034391418 meters Centerline goodness [0,1] 0.9991341991341991 Centerline is valid? [True, True] Translation: X:166.51, Y:7.05, Z:1.21 [[ 9.91057343e-01 -1.32567074e-01 -1.52090028e-02 1.66511332e+02] [ 1.32553347e-01 9.91174029e-01 -1.91156016e-03 7.05473252e+00] [ 1.53281785e-02 -1.21538491e-04 9.99882509e-01 1.21455550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.064391418 meters Centerline goodness [0,1] 0.999051333403605 Centerline is valid? [True, True] Translation: X:166.54, Y:7.06, Z:1.21 [[ 9.91121563e-01 -1.32046936e-01 -1.55452524e-02 1.66543321e+02] [ 1.32032581e-01 9.91243458e-01 -1.95062415e-03 7.05833785e+00] [ 1.56667037e-02 -1.19174140e-04 9.99877263e-01 1.21409299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09439141800001 meters Centerline goodness [0,1] 0.9988821159646496 Centerline is valid? [True, True] Translation: X:166.58, Y:7.06, Z:1.21 [[ 9.91123063e-01 -1.31994999e-01 -1.58869441e-02 1.66576181e+02] [ 1.31980052e-01 9.91250374e-01 -1.99024494e-03 7.06201484e+00] [ 1.60106417e-02 -1.24182052e-04 9.99871814e-01 1.21399851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12439141800002 meters Centerline goodness [0,1] 0.9993458259474972 Centerline is valid? [True, True] Translation: X:166.61, Y:7.07, Z:1.21 [[ 9.91099531e-01 -1.32163383e-01 -1.59549106e-02 1.66609229e+02] [ 1.32148361e-01 9.91227937e-01 -1.99681437e-03 7.06527017e+00] [ 1.60788589e-02 -1.29373500e-04 9.99870718e-01 1.21362550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15439141800002 meters Centerline goodness [0,1] 0.999242631435003 Centerline is valid? [True, True] Translation: X:166.64, Y:7.07, Z:1.21 [[ 9.91054878e-01 -1.32416553e-01 -1.66157999e-02 1.66641534e+02] [ 1.32400324e-01 9.91194147e-01 -2.07786085e-03 7.06813560e+00] [ 1.67446268e-02 -1.40663157e-04 9.99859789e-01 1.21362717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18439141800002 meters Centerline goodness [0,1] 0.9992847526085493 Centerline is valid? [True, True] Translation: X:166.67, Y:7.07, Z:1.21 [[ 9.91116051e-01 -1.31918657e-01 -1.69245612e-02 1.66674824e+02] [ 1.31901777e-01 9.91260536e-01 -2.11468219e-03 7.07160421e+00] [ 1.70556156e-02 -1.36484235e-04 9.99854533e-01 1.21359837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.214391418 meters Centerline goodness [0,1] 0.9994746795545283 Centerline is valid? [True, True] Translation: X:166.71, Y:7.08, Z:1.21 [[ 9.91124381e-01 -1.31982154e-01 -1.59113809e-02 1.66706499e+02] [ 1.31967268e-01 9.91252084e-01 -1.98657125e-03 7.07527426e+00] [ 1.60343814e-02 -1.30842263e-04 9.99871432e-01 1.21434819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.244391418 meters Centerline goodness [0,1] 0.9993929498450975 Centerline is valid? [True, True] Translation: X:166.74, Y:7.08, Z:1.21 [[ 9.91271778e-01 -1.30924481e-01 -1.54609982e-02 1.66738015e+02] [ 1.30910315e-01 9.91392338e-01 -1.92911683e-03 7.07850586e+00] [ 1.55804838e-02 -1.11725074e-04 9.99878611e-01 1.21464166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.274391418 meters Centerline goodness [0,1] 0.9993914977548365 Centerline is valid? [True, True] Translation: X:166.77, Y:7.08, Z:1.22 [[ 9.91371026e-01 -1.30208169e-01 -1.51433920e-02 1.66769788e+02] [ 1.30194514e-01 9.91486673e-01 -1.88829780e-03 7.08204155e+00] [ 1.52603431e-02 -9.95828249e-05 9.99883549e-01 1.21508910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.304391418 meters Centerline goodness [0,1] 0.9992443800768214 Centerline is valid? [True, True] Translation: X:166.80, Y:7.09, Z:1.22 [[ 9.91471341e-01 -1.29446431e-01 -1.51063403e-02 1.66801646e+02] [ 1.29432773e-01 9.91586413e-01 -1.88248090e-03 7.08525373e+00] [ 1.52229223e-02 -8.88296490e-05 9.99884121e-01 1.21519746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.334391418 meters Centerline goodness [0,1] 0.9993489856776849 Centerline is valid? [True, True] Translation: X:166.83, Y:7.09, Z:1.22 [[ 9.91607214e-01 -1.28530860e-01 -1.39625153e-02 1.66833773e+02] [ 1.28519116e-01 9.91705507e-01 -1.73887436e-03 7.08762275e+00] [ 1.40702023e-02 -7.01697616e-05 9.99901007e-01 1.21646038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.364391418 meters Centerline goodness [0,1] 0.99966395732258 Centerline is valid? [True, True] Translation: X:166.87, Y:7.09, Z:1.22 [[ 9.91657355e-01 -1.28181168e-01 -1.36117286e-02 1.66867105e+02] [ 1.28169993e-01 9.91750767e-01 -1.69382587e-03 7.09094867e+00] [ 1.37165589e-02 -6.49202813e-05 9.99905921e-01 1.21739398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.394391418 meters Centerline goodness [0,1] 0.9992445862011079 Centerline is valid? [True, True] Translation: X:166.90, Y:7.09, Z:1.22 [[ 9.91690393e-01 -1.27941836e-01 -1.34555020e-02 1.66899598e+02] [ 1.27930923e-01 9.91781671e-01 -1.67221528e-03 7.09348136e+00] [ 1.35588665e-02 -6.30549574e-05 9.99908072e-01 1.21740048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.424391418 meters Centerline goodness [0,1] 0.9993081180811808 Centerline is valid? [True, True] Translation: X:166.93, Y:7.09, Z:1.22 [[ 9.91576874e-01 -1.28760687e-01 -1.39995824e-02 1.66931536e+02] [ 1.28748984e-01 9.91675693e-01 -1.73781085e-03 7.09404405e+00] [ 1.41068073e-02 -7.92589617e-05 9.99900491e-01 1.21726533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.454391418 meters Centerline goodness [0,1] 0.9993912933965828 Centerline is valid? [True, True] Translation: X:166.96, Y:7.10, Z:1.22 [[ 9.91482740e-01 -1.29420313e-01 -1.45725118e-02 1.66963586e+02] [ 1.29407720e-01 9.91589821e-01 -1.80776829e-03 7.09568333e+00] [ 1.46839163e-02 -9.34244615e-05 9.99892181e-01 1.21690847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.484391418 meters Centerline goodness [0,1] 0.9994125791969118 Centerline is valid? [True, True] Translation: X:167.00, Y:7.10, Z:1.22 [[ 9.91300801e-01 -1.30773911e-01 -1.48629272e-02 1.66996098e+02] [ 1.30760981e-01 9.91412210e-01 -1.84261976e-03 7.09689153e+00] [ 1.49762541e-02 -1.16900499e-04 9.99887843e-01 1.21644785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.514391418 meters Centerline goodness [0,1] 0.9994121475509647 Centerline is valid? [True, True] Translation: X:167.03, Y:7.10, Z:1.22 [[ 9.91126467e-01 -1.32041106e-01 -1.52797853e-02 1.67028254e+02] [ 1.32027610e-01 9.91244231e-01 -1.89306886e-03 7.09792090e+00] [ 1.53959620e-02 -1.41082884e-04 9.99881465e-01 1.21638578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.544391418 meters Centerline goodness [0,1] 0.9992021332437483 Centerline is valid? [True, True] Translation: X:167.06, Y:7.10, Z:1.22 [[ 9.90663904e-01 -1.35459997e-01 -1.53498946e-02 1.67060054e+02] [ 1.35446803e-01 9.90782797e-01 -1.90069217e-03 7.09525307e+00] [ 1.54658792e-02 -1.96147026e-04 9.99880377e-01 1.21600425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.574391418 meters Centerline goodness [0,1] 0.9994329041608032 Centerline is valid? [True, True] Translation: X:167.09, Y:7.10, Z:1.22 [[ 9.90462807e-01 -1.36928089e-01 -1.53012039e-02 1.67091861e+02] [ 1.36915180e-01 9.90580966e-01 -1.89299406e-03 7.09565190e+00] [ 1.54162854e-02 -2.20026864e-04 9.99881138e-01 1.21590691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.604391418 meters Centerline goodness [0,1] 0.9992846773684543 Centerline is valid? [True, True] Translation: X:167.12, Y:7.10, Z:1.22 [[ 9.90237713e-01 -1.38579037e-01 -1.50040552e-02 1.67124465e+02] [ 1.38566839e-01 9.90351348e-01 -1.85457611e-03 7.09743834e+00] [ 1.51162917e-02 -2.42593299e-04 9.99885713e-01 1.21665203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.634391418 meters Centerline goodness [0,1] 0.9992425676955122 Centerline is valid? [True, True] Translation: X:167.16, Y:7.10, Z:1.22 [[ 9.89845778e-01 -1.41386236e-01 -1.46720386e-02 1.67156427e+02] [ 1.41374895e-01 9.89954471e-01 -1.81255381e-03 7.09634498e+00] [ 1.47809203e-02 -2.80109176e-04 9.99890717e-01 1.21705578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.664391418 meters Centerline goodness [0,1] 0.9990956507108606 Centerline is valid? [True, True] Translation: X:167.19, Y:7.10, Z:1.22 [[ 9.89644036e-01 -1.42831131e-01 -1.42811095e-02 1.67187857e+02] [ 1.42820548e-01 9.89747029e-01 -1.76344205e-03 7.09771387e+00] [ 1.43865601e-02 -2.94455987e-04 9.99896465e-01 1.21722637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.694391418 meters Centerline goodness [0,1] 0.9992221988648308 Centerline is valid? [True, True] Translation: X:167.22, Y:7.10, Z:1.22 [[ 9.89538950e-01 -1.43620850e-01 -1.36278359e-02 1.67219618e+02] [ 1.43611300e-01 9.89632743e-01 -1.68188249e-03 7.09956510e+00] [ 1.37281060e-02 -2.92823002e-04 9.99905722e-01 1.21774705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.724391418 meters Centerline goodness [0,1] 0.9990076013513514 Centerline is valid? [True, True] Translation: X:167.25, Y:7.10, Z:1.22 [[ 9.89249865e-01 -1.45708182e-01 -1.24028344e-02 1.67250957e+02] [ 1.45700446e-01 9.89327569e-01 -1.52990398e-03 7.09951757e+00] [ 1.24933856e-02 -2.93641201e-04 9.99921911e-01 1.21887285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.754391418 meters Centerline goodness [0,1] 0.9984400033729657 Centerline is valid? [True, True] Translation: X:167.28, Y:7.10, Z:1.22 [[ 9.89100443e-01 -1.46723838e-01 -1.23462482e-02 1.67281838e+02] [ 1.46716265e-01 9.89177447e-01 -1.52180623e-03 7.10134407e+00] [ 1.24359155e-02 -3.06176212e-04 9.99922624e-01 1.21905282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.784391418 meters Centerline goodness [0,1] 0.9987763196759357 Centerline is valid? [True, True] Translation: X:167.31, Y:7.10, Z:1.22 [[ 9.88990344e-01 -1.47506729e-01 -1.18264206e-02 1.67314372e+02] [ 1.47499851e-01 9.89061005e-01 -1.45647532e-03 7.10355610e+00] [ 1.19118913e-02 -3.03955249e-04 9.99929005e-01 1.21952999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.814391418 meters Centerline goodness [0,1] 0.9989870425864179 Centerline is valid? [True, True] Translation: X:167.35, Y:7.10, Z:1.22 [[ 9.88665325e-01 -1.49667697e-01 -1.18513932e-02 1.67345764e+02] [ 1.49660958e-01 9.88736300e-01 -1.45850298e-03 7.10412985e+00] [ 1.19361935e-02 -3.31719538e-04 9.99928706e-01 1.21959867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84439141800001 meters Centerline goodness [0,1] 0.9989086864362317 Centerline is valid? [True, True] Translation: X:167.38, Y:7.11, Z:1.22 [[ 9.88465902e-01 -1.50981447e-01 -1.18221603e-02 1.67377823e+02] [ 1.50974849e-01 9.88536535e-01 -1.45380048e-03 7.10586227e+00] [ 1.19061343e-02 -3.47816660e-04 9.99929059e-01 1.21956225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87439141800002 meters Centerline goodness [0,1] 0.9987399722793902 Centerline is valid? [True, True] Translation: X:167.41, Y:7.11, Z:1.22 [[ 9.88169273e-01 -1.52932102e-01 -1.15438515e-02 1.67410425e+02] [ 1.52925953e-01 9.88236632e-01 -1.41874710e-03 7.10703519e+00] [ 1.16250289e-02 -3.63392206e-04 9.99932361e-01 1.21960135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90439141800002 meters Centerline goodness [0,1] 0.9986338797814208 Centerline is valid? [True, True] Translation: X:167.44, Y:7.11, Z:1.22 [[ 9.87879953e-01 -1.54802161e-01 -1.13793661e-02 1.67442923e+02] [ 1.54796319e-01 9.87945417e-01 -1.39771437e-03 7.10800301e+00] [ 1.14585618e-02 -3.80709973e-04 9.99934276e-01 1.21995300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93439141800002 meters Centerline goodness [0,1] 0.99869851798984 Centerline is valid? [True, True] Translation: X:167.47, Y:7.11, Z:1.22 [[ 9.87211107e-01 -1.59011420e-01 -1.13841004e-02 1.67474004e+02] [ 1.59005860e-01 9.87276650e-01 -1.39761708e-03 7.11363525e+00] [ 1.14614936e-02 -4.30395570e-04 9.99934222e-01 1.22064839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.964391418 meters Centerline goodness [0,1] 0.9989909182643795 Centerline is valid? [True, True] Translation: X:167.51, Y:7.12, Z:1.22 [[ 9.86902659e-01 -1.60934180e-01 -1.11054239e-02 1.67506019e+02] [ 1.60929018e-01 9.86965042e-01 -1.36278148e-03 7.11949727e+00] [ 1.11799833e-02 -4.42252298e-04 9.99937404e-01 1.22122459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.994391418 meters Centerline goodness [0,1] 0.9989285714285714 Centerline is valid? [True, True] Translation: X:167.54, Y:7.12, Z:1.22 [[ 9.86572449e-01 -1.62937721e-01 -1.12294689e-02 1.67537241e+02] [ 1.62932582e-01 9.86636244e-01 -1.37713573e-03 7.11961712e+00] [ 1.13037884e-02 -4.71002190e-04 9.99935999e-01 1.22110163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.024391418 meters Centerline goodness [0,1] 0.9989119973218396 Centerline is valid? [True, True] Translation: X:167.57, Y:7.12, Z:1.22 [[ 9.86084248e-01 -1.65844242e-01 -1.15561048e-02 1.67568380e+02] [ 1.65839006e-01 9.86151823e-01 -1.41655640e-03 7.11748007e+00] [ 1.16310015e-02 -5.19608971e-04 9.99932223e-01 1.22101148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.054391418 meters Centerline goodness [0,1] 0.998571638624572 Centerline is valid? [True, True] Translation: X:167.60, Y:7.12, Z:1.22 [[ 9.85884244e-01 -1.67042998e-01 -1.13532043e-02 1.67600213e+02] [ 1.67038031e-01 9.85949472e-01 -1.39106192e-03 7.12250001e+00] [ 1.14260529e-02 -5.24990856e-04 9.99934583e-01 1.22135793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.084391418 meters Centerline goodness [0,1] 0.9985539744745059 Centerline is valid? [True, True] Translation: X:167.63, Y:7.13, Z:1.22 [[ 9.85757352e-01 -1.67767981e-01 -1.16767866e-02 1.67631876e+02] [ 1.67762788e-01 9.85826355e-01 -1.42976668e-03 7.12599801e+00] [ 1.17511530e-02 -5.49527256e-04 9.99930802e-01 1.22118983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.114391418 meters Centerline goodness [0,1] 0.9984094761735345 Centerline is valid? [True, True] Translation: X:167.66, Y:7.13, Z:1.22 [[ 9.85637549e-01 -1.68468355e-01 -1.17062065e-02 1.67663733e+02] [ 1.68463196e-01 9.85706904e-01 -1.43242493e-03 7.13220334e+00] [ 1.17802069e-02 -5.60213174e-04 9.99930454e-01 1.22160866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.144391418 meters Centerline goodness [0,1] 0.9990982489252386 Centerline is valid? [True, True] Translation: X:167.70, Y:7.14, Z:1.22 [[ 9.85544603e-01 -1.68989600e-01 -1.20146061e-02 1.67695512e+02] [ 1.68984217e-01 9.85617662e-01 -1.46915682e-03 7.13792587e+00] [ 1.20900802e-02 -5.82359239e-04 9.99926743e-01 1.22198424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.174391418 meters Centerline goodness [0,1] 0.9987471026749358 Centerline is valid? [True, True] Translation: X:167.73, Y:7.14, Z:1.22 [[ 9.85543193e-01 -1.69007176e-01 -1.18823371e-02 1.67727937e+02] [ 1.69001925e-01 9.85614652e-01 -1.45190375e-03 7.13583840e+00] [ 1.19567877e-02 -5.77223982e-04 9.99928348e-01 1.22144432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.204391418 meters Centerline goodness [0,1] 0.9985316020221938 Centerline is valid? [True, True] Translation: X:167.76, Y:7.15, Z:1.22 [[ 9.85544982e-01 -1.69006689e-01 -1.17399836e-02 1.67759918e+02] [ 1.69001579e-01 9.85614738e-01 -1.43321493e-03 7.14536086e+00] [ 1.18133238e-02 -5.71577981e-04 9.99930057e-01 1.22230255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.234391418 meters Centerline goodness [0,1] 0.9986390284757118 Centerline is valid? [True, True] Translation: X:167.79, Y:7.15, Z:1.22 [[ 9.85508518e-01 -1.69212697e-01 -1.18332049e-02 1.67791559e+02] [ 1.69207535e-01 9.85579386e-01 -1.44333388e-03 7.15217798e+00] [ 1.19067933e-02 -5.79849606e-04 9.99928943e-01 1.22304410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.264391418 meters Centerline goodness [0,1] 0.9984298126243065 Centerline is valid? [True, True] Translation: X:167.82, Y:7.16, Z:1.22 [[ 9.85518226e-01 -1.69169050e-01 -1.16472270e-02 1.67823708e+02] [ 1.69164060e-01 9.85586884e-01 -1.41949914e-03 7.15825749e+00] [ 1.17194895e-02 -5.71349926e-04 9.99931161e-01 1.22321472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.294391418 meters Centerline goodness [0,1] 0.9989512982927137 Centerline is valid? [True, True] Translation: X:167.85, Y:7.16, Z:1.22 [[ 9.85554948e-01 -1.68970974e-01 -1.14128870e-02 1.67854986e+02] [ 1.68966183e-01 9.85620869e-01 -1.38972318e-03 7.16391900e+00] [ 1.14836024e-02 -5.58743385e-04 9.99933905e-01 1.22390351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.324391418 meters Centerline goodness [0,1] 0.9987405805923469 Centerline is valid? [True, True] Translation: X:167.89, Y:7.17, Z:1.22 [[ 9.85617054e-01 -1.68648766e-01 -1.07989545e-02 1.67886815e+02] [ 1.68644466e-01 9.85676071e-01 -1.31410641e-03 7.16849194e+00] [ 1.08658935e-02 -5.25978241e-04 9.99940826e-01 1.22408435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.354391418 meters Centerline goodness [0,1] 0.9982996053404988 Centerline is valid? [True, True] Translation: X:167.92, Y:7.17, Z:1.22 [[ 9.85643686e-01 -1.68535556e-01 -1.01139027e-02 1.67919333e+02] [ 1.68531787e-01 9.85695452e-01 -1.22988646e-03 7.17024774e+00] [ 1.01765075e-02 -4.92284275e-04 9.99948097e-01 1.22474907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.384391418 meters Centerline goodness [0,1] 0.9984694091499979 Centerline is valid? [True, True] Translation: X:167.95, Y:7.18, Z:1.23 [[ 9.85675050e-01 -1.68381427e-01 -9.61205792e-03 1.67950815e+02] [ 1.68378024e-01 9.85721805e-01 -1.16798033e-03 7.17534325e+00] [ 9.67148128e-03 -4.67210255e-04 9.99953121e-01 1.22527701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.414391418 meters Centerline goodness [0,1] 0.9985934711871522 Centerline is valid? [True, True] Translation: X:167.98, Y:7.18, Z:1.23 [[ 9.85640604e-01 -1.68597677e-01 -9.34997845e-03 1.67982201e+02] [ 1.68594474e-01 9.85684845e-01 -1.13541929e-03 7.18476781e+00] [ 9.40756112e-03 -4.57239346e-04 9.99955643e-01 1.22613008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.444391418 meters Centerline goodness [0,1] 0.9989080447701644 Centerline is valid? [True, True] Translation: X:168.01, Y:7.19, Z:1.23 [[ 9.85603885e-01 -1.68826576e-01 -9.08672575e-03 1.68013489e+02] [ 1.68823567e-01 9.85645670e-01 -1.10272478e-03 7.19181510e+00] [ 9.14246114e-03 -4.47203625e-04 9.99958107e-01 1.22680965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.474391418 meters Centerline goodness [0,1] 0.9988475158728496 Centerline is valid? [True, True] Translation: X:168.05, Y:7.20, Z:1.23 [[ 9.85443765e-01 -1.69725925e-01 -9.67964594e-03 1.68045730e+02] [ 1.69722562e-01 9.85491184e-01 -1.17383768e-03 7.19645251e+00] [ 9.73843642e-03 -4.86103284e-04 9.99952462e-01 1.22651865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.504391418 meters Centerline goodness [0,1] 0.9984679636508637 Centerline is valid? [True, True] Translation: X:168.08, Y:7.20, Z:1.23 [[ 9.85303058e-01 -1.70517828e-01 -1.00774414e-02 1.68077078e+02] [ 1.70514235e-01 9.85354457e-01 -1.22100695e-03 7.19985439e+00] [ 1.01380553e-02 -5.15285329e-04 9.99948476e-01 1.22585177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.534391418 meters Centerline goodness [0,1] 0.9983436071623265 Centerline is valid? [True, True] Translation: X:168.11, Y:7.20, Z:1.23 [[ 9.85179126e-01 -1.71177944e-01 -1.09636059e-02 1.68108772e+02] [ 1.71173748e-01 9.85239964e-01 -1.32689918e-03 7.20459868e+00] [ 1.10289185e-02 -5.69448133e-04 9.99939017e-01 1.22527784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.564391418 meters Centerline goodness [0,1] 0.9986983813742574 Centerline is valid? [True, True] Translation: X:168.14, Y:7.21, Z:1.22 [[ 9.84957616e-01 -1.72374252e-01 -1.20669497e-02 1.68139041e+02] [ 1.72369275e-01 9.85031321e-01 -1.45908372e-03 7.20956888e+00] [ 1.21378319e-02 -6.42835751e-04 9.99926127e-01 1.22465237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59439141800001 meters Centerline goodness [0,1] 0.998444037931832 Centerline is valid? [True, True] Translation: X:168.17, Y:7.21, Z:1.22 [[ 9.84927210e-01 -1.72530523e-01 -1.23129604e-02 1.68170677e+02] [ 1.72525372e-01 9.85003951e-01 -1.48739268e-03 7.21450673e+00] [ 1.23849353e-02 -6.59324542e-04 9.99923086e-01 1.22476493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62439141800002 meters Centerline goodness [0,1] 0.9987170049426859 Centerline is valid? [True, True] Translation: X:168.20, Y:7.22, Z:1.23 [[ 9.84955681e-01 -1.72362556e-01 -1.23877220e-02 1.68202879e+02] [ 1.72357343e-01 9.85033355e-01 -1.49519094e-03 7.22168228e+00] [ 1.24600343e-02 -6.62418035e-04 9.99922151e-01 1.22540040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65439141800002 meters Centerline goodness [0,1] 0.9982157476017549 Centerline is valid? [True, True] Translation: X:168.23, Y:7.23, Z:1.23 [[ 9.85250315e-01 -1.70732910e-01 -1.14930122e-02 1.68233747e+02] [ 1.70728325e-01 9.85317166e-01 -1.38612860e-03 7.22755635e+00] [ 1.15609200e-02 -5.96499087e-04 9.99932992e-01 1.22645083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68439141800002 meters Centerline goodness [0,1] 0.9982157476017549 Centerline is valid? [True, True] Translation: X:168.27, Y:7.23, Z:1.23 [[ 9.85270219e-01 -1.70618007e-01 -1.14931263e-02 1.68266105e+02] [ 1.70613426e-01 9.85337069e-01 -1.38518215e-03 7.23133424e+00] [ 1.15609404e-02 -5.96102933e-04 9.99932992e-01 1.22667908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.714391418 meters Centerline goodness [0,1] 0.9985105936647787 Centerline is valid? [True, True] Translation: X:168.30, Y:7.24, Z:1.23 [[ 9.85494733e-01 -1.69345662e-01 -1.10534080e-02 1.68297562e+02] [ 1.69341357e-01 9.85556560e-01 -1.33107524e-03 7.23749978e+00] [ 1.11191706e-02 -5.60031474e-04 9.99938023e-01 1.22741015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.744391418 meters Centerline goodness [0,1] 0.9983413118333754 Centerline is valid? [True, True] Translation: X:168.33, Y:7.24, Z:1.23 [[ 9.85773467e-01 -1.67749622e-01 -1.05230731e-02 1.68329557e+02] [ 1.67745639e-01 9.85829497e-01 -1.26635041e-03 7.24416460e+00] [ 1.05863856e-02 -5.16864975e-04 9.99943829e-01 1.22821129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.774391418 meters Centerline goodness [0,1] 0.9982950239959586 Centerline is valid? [True, True] Translation: X:168.36, Y:7.25, Z:1.23 [[ 9.86056064e-01 -1.66097587e-01 -1.02484638e-02 1.68361217e+02] [ 1.66093729e-01 9.86109200e-01 -1.23239523e-03 7.25128595e+00] [ 1.03108023e-02 -4.86994772e-04 9.99946724e-01 1.22897307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.804391418 meters Centerline goodness [0,1] 0.9980269095946769 Centerline is valid? [True, True] Translation: X:168.39, Y:7.26, Z:1.23 [[ 9.86328773e-01 -1.64445492e-01 -1.06410092e-02 1.68391633e+02] [ 1.64441245e-01 9.86386051e-01 -1.27883136e-03 7.25791245e+00] [ 1.07064410e-02 -4.88472622e-04 9.99942565e-01 1.22882994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.834391418 meters Centerline goodness [0,1] 0.9987151673441877 Centerline is valid? [True, True] Translation: X:168.42, Y:7.27, Z:1.23 [[ 9.86732647e-01 -1.62006741e-01 -1.06065456e-02 1.68421409e+02] [ 1.62002387e-01 9.86789544e-01 -1.27415335e-03 7.26681204e+00] [ 1.06728497e-02 -4.61036987e-04 9.99942937e-01 1.22931497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.864391418 meters Centerline goodness [0,1] 0.9981245785569791 Centerline is valid? [True, True] Translation: X:168.45, Y:7.27, Z:1.23 [[ 9.86812222e-01 -1.61493084e-01 -1.10282578e-02 1.68453547e+02] [ 1.61488351e-01 9.86873730e-01 -1.32423298e-03 7.27224410e+00] [ 1.10973524e-02 -4.74165874e-04 9.99938310e-01 1.22891847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.894391418 meters Centerline goodness [0,1] 0.9986888574026688 Centerline is valid? [True, True] Translation: X:168.48, Y:7.28, Z:1.23 [[ 9.86873048e-01 -1.61098064e-01 -1.13578351e-02 1.68484370e+02] [ 1.61093026e-01 9.86938285e-01 -1.36302343e-03 7.27836719e+00] [ 1.14290627e-02 -4.84536934e-04 9.99934569e-01 1.22911633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.924391418 meters Centerline goodness [0,1] 0.9988797057642309 Centerline is valid? [True, True] Translation: X:168.52, Y:7.29, Z:1.23 [[ 9.86846157e-01 -1.61211684e-01 -1.20604753e-02 1.68515156e+02] [ 1.61206022e-01 9.86919716e-01 -1.44652707e-03 7.28805359e+00] [ 1.21359179e-02 -5.16721574e-04 9.99926224e-01 1.22950280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.954391418 meters Centerline goodness [0,1] 0.998625095185718 Centerline is valid? [True, True] Translation: X:168.55, Y:7.30, Z:1.23 [[ 9.86816607e-01 -1.61381173e-01 -1.22107101e-02 1.68546709e+02] [ 1.61375395e-01 9.86892010e-01 -1.46354419e-03 7.29719008e+00] [ 1.22868407e-02 -5.26258451e-04 9.99924375e-01 1.22999433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.984391418 meters Centerline goodness [0,1] 0.9986028493405872 Centerline is valid? [True, True] Translation: X:168.58, Y:7.30, Z:1.23 [[ 9.86849559e-01 -1.61136426e-01 -1.27671256e-02 1.68579572e+02] [ 1.61130122e-01 9.86931989e-01 -1.52766469e-03 7.30224099e+00] [ 1.28464471e-02 -5.49593273e-04 9.99917330e-01 1.23013254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.014391418 meters Centerline goodness [0,1] 0.9984538156863576 Centerline is valid? [True, True] Translation: X:168.61, Y:7.31, Z:1.23 [[ 9.86918832e-01 -1.60631788e-01 -1.37348867e-02 1.68610955e+02] [ 1.60624507e-01 9.87014226e-01 -1.63881575e-03 7.30849979e+00] [ 1.38197744e-02 -5.88781271e-04 9.99904329e-01 1.23018662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.044391418 meters Centerline goodness [0,1] 0.9984512898845893 Centerline is valid? [True, True] Translation: X:168.64, Y:7.31, Z:1.23 [[ 9.86972879e-01 -1.60257408e-01 -1.42161489e-02 1.68642296e+02] [ 1.60249610e-01 9.87075071e-01 -1.69337981e-03 7.31325188e+00] [ 1.43037828e-02 -6.06812368e-04 9.99897512e-01 1.23041360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.074391418 meters Centerline goodness [0,1] 0.9986429752767059 Centerline is valid? [True, True] Translation: X:168.67, Y:7.32, Z:1.23 [[ 9.87076101e-01 -1.59589971e-01 -1.45537415e-02 1.68674386e+02] [ 1.59581744e-01 9.87183198e-01 -1.73237770e-03 7.31858584e+00] [ 1.46436792e-02 -6.12522825e-04 9.99892588e-01 1.23066286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.104391418 meters Centerline goodness [0,1] 0.9984290415030251 Centerline is valid? [True, True] Translation: X:168.71, Y:7.32, Z:1.23 [[ 9.87217938e-01 -1.58700046e-01 -1.46642001e-02 1.68706314e+02] [ 1.58691613e-01 9.87326658e-01 -1.74431657e-03 7.32376830e+00] [ 1.47551788e-02 -6.05064971e-04 9.99890953e-01 1.23067028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.134391418 meters Centerline goodness [0,1] 0.9986434354995972 Centerline is valid? [True, True] Translation: X:168.74, Y:7.33, Z:1.23 [[ 9.87540567e-01 -1.56639774e-01 -1.50867496e-02 1.68737515e+02] [ 1.56630649e-01 9.87655623e-01 -1.79185529e-03 7.32916148e+00] [ 1.51811889e-02 -5.93517592e-04 9.99884583e-01 1.23062571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.164391418 meters Centerline goodness [0,1] 0.9984720512711684 Centerline is valid? [True, True] Translation: X:168.77, Y:7.34, Z:1.23 [[ 9.87756233e-01 -1.55276665e-01 -1.50592363e-02 1.68769428e+02] [ 1.55267453e-01 9.87870856e-01 -1.78611012e-03 7.33634640e+00] [ 1.51539219e-02 -5.73967863e-04 9.99885008e-01 1.23136177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.194391418 meters Centerline goodness [0,1] 0.9988542815921242 Centerline is valid? [True, True] Translation: X:168.80, Y:7.34, Z:1.23 [[ 9.88030668e-01 -1.53549755e-01 -1.47604686e-02 1.68799995e+02] [ 1.53540750e-01 9.88140770e-01 -1.74811642e-03 7.34172976e+00] [ 1.48538437e-02 -5.39140787e-04 9.99889530e-01 1.23197806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.224391418 meters Centerline goodness [0,1] 0.9985554658622594 Centerline is valid? [True, True] Translation: X:168.83, Y:7.35, Z:1.23 [[ 9.88574943e-01 -1.49997297e-01 -1.48456198e-02 1.68830944e+02] [ 1.49987822e-01 9.88686285e-01 -1.75593240e-03 7.35099017e+00] [ 1.49410458e-02 -4.90791409e-04 9.99888256e-01 1.23292023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.254391418 meters Centerline goodness [0,1] 0.9986594033280844 Centerline is valid? [True, True] Translation: X:168.86, Y:7.36, Z:1.23 [[ 9.88895192e-01 -1.47864903e-01 -1.49087177e-02 1.68862239e+02] [ 1.47855120e-01 9.89007461e-01 -1.76235420e-03 7.35820376e+00] [ 1.50054234e-02 -4.61546656e-04 9.99887306e-01 1.23353849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.284391418 meters Centerline goodness [0,1] 0.998745988225042 Centerline is valid? [True, True] Translation: X:168.89, Y:7.36, Z:1.23 [[ 9.89200955e-01 -1.45793059e-01 -1.50284902e-02 1.68894257e+02] [ 1.45782898e-01 9.89315013e-01 -1.77531321e-03 7.36476071e+00] [ 1.51267393e-02 -4.34755321e-04 9.99885490e-01 1.23406822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.314391418 meters Centerline goodness [0,1] 0.9986139542818151 Centerline is valid? [True, True] Translation: X:168.93, Y:7.37, Z:1.23 [[ 9.89448415e-01 -1.44054001e-01 -1.55009198e-02 1.68925820e+02] [ 1.44042997e-01 9.89569738e-01 -1.82986475e-03 7.37120647e+00] [ 1.56028405e-02 -4.22242166e-04 9.99878179e-01 1.23443291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34439141800001 meters Centerline goodness [0,1] 0.9990616536222303 Centerline is valid? [True, True] Translation: X:168.96, Y:7.38, Z:1.24 [[ 9.89956376e-01 -1.40388504e-01 -1.66565946e-02 1.68956865e+02] [ 1.40375336e-01 9.90096415e-01 -1.96292292e-03 7.38059601e+00] [ 1.67672064e-02 -3.94967012e-04 9.99859343e-01 1.23513665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37439141800002 meters Centerline goodness [0,1] 0.9988283663165968 Centerline is valid? [True, True] Translation: X:168.99, Y:7.39, Z:1.23 [[ 9.90175417e-01 -1.38800568e-01 -1.69424525e-02 1.68987370e+02] [ 1.38786791e-01 9.90320281e-01 -1.99197298e-03 7.38526218e+00] [ 1.70549413e-02 -3.78985932e-04 9.99854482e-01 1.23493684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40439141800002 meters Centerline goodness [0,1] 0.9987650640889154 Centerline is valid? [True, True] Translation: X:169.02, Y:7.39, Z:1.24 [[ 9.90390921e-01 -1.37167801e-01 -1.76300143e-02 1.69019194e+02] [ 1.37152712e-01 9.90547756e-01 -2.06786882e-03 7.39093506e+00] [ 1.77470161e-02 -3.70005758e-04 9.99842441e-01 1.23535462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43439141800002 meters Centerline goodness [0,1] 0.9986346666666667 Centerline is valid? [True, True] Translation: X:169.05, Y:7.40, Z:1.24 [[ 9.90704709e-01 -1.34856778e-01 -1.78277547e-02 1.69050158e+02] [ 1.34841062e-01 9.90865044e-01 -2.08619847e-03 7.39616143e+00] [ 1.79462370e-02 -3.37106733e-04 9.99838896e-01 1.23517313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.464391418 meters Centerline goodness [0,1] 0.9986994435323967 Centerline is valid? [True, True] Translation: X:169.08, Y:7.40, Z:1.24 [[ 9.90826260e-01 -1.33923793e-01 -1.81036186e-02 1.69081703e+02] [ 1.33907481e-01 9.90991579e-01 -2.11573523e-03 7.40064598e+00] [ 1.82238808e-02 -3.27883936e-04 9.99833878e-01 1.23575621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.494391418 meters Centerline goodness [0,1] 0.9990409615958399 Centerline is valid? [True, True] Translation: X:169.11, Y:7.41, Z:1.24 [[ 9.90994317e-01 -1.32737183e-01 -1.76381238e-02 1.69113175e+02] [ 1.32721536e-01 9.91151225e-01 -2.05994395e-03 7.40503592e+00] [ 1.77554792e-02 -2.99566141e-04 9.99842314e-01 1.23619981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.524391418 meters Centerline goodness [0,1] 0.9987426744805541 Centerline is valid? [True, True] Translation: X:169.15, Y:7.41, Z:1.24 [[ 9.91176466e-01 -1.31287634e-01 -1.82419745e-02 1.69145257e+02] [ 1.31270721e-01 9.91344277e-01 -2.12672341e-03 7.40959526e+00] [ 1.83632895e-02 -2.86678942e-04 9.99831339e-01 1.23655015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.554391418 meters Centerline goodness [0,1] 0.9989110242777529 Centerline is valid? [True, True] Translation: X:169.18, Y:7.41, Z:1.24 [[ 9.91196481e-01 -1.31095431e-01 -1.85343806e-02 1.69177844e+02] [ 1.31078046e-01 9.91369710e-01 -2.15501552e-03 7.41371558e+00] [ 1.86569362e-02 -2.93406587e-04 9.99825901e-01 1.23789709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.584391418 meters Centerline goodness [0,1] 0.9987836886242878 Centerline is valid? [True, True] Translation: X:169.21, Y:7.42, Z:1.24 [[ 9.91249140e-01 -1.30725783e-01 -1.83278808e-02 1.69210632e+02] [ 1.30708831e-01 9.91418522e-01 -2.12496415e-03 7.41715040e+00] [ 1.84483881e-02 -2.89246994e-04 9.99829772e-01 1.23823451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.614391418 meters Centerline goodness [0,1] 0.998975344220301 Centerline is valid? [True, True] Translation: X:169.24, Y:7.42, Z:1.24 [[ 9.91203528e-01 -1.31000347e-01 -1.88275325e-02 1.69242116e+02] [ 1.30982588e-01 9.91382275e-01 -2.17863210e-03 7.41802751e+00] [ 1.89506835e-02 -3.06611114e-04 9.99820373e-01 1.23717058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.644391418 meters Centerline goodness [0,1] 0.9991044012282497 Centerline is valid? [True, True] Translation: X:169.27, Y:7.42, Z:1.24 [[ 9.90983468e-01 -1.32644963e-01 -1.88965420e-02 1.69274573e+02] [ 1.32627413e-01 9.91163557e-01 -2.18452182e-03 7.42063781e+00] [ 1.90193296e-02 -3.41374455e-04 9.99819058e-01 1.23846965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.674391418 meters Centerline goodness [0,1] 0.9987880591937405 Centerline is valid? [True, True] Translation: X:169.31, Y:7.42, Z:1.24 [[ 9.90832036e-01 -1.33720506e-01 -1.92536616e-02 1.69306202e+02] [ 1.33702563e-01 9.91019015e-01 -2.22196839e-03 7.42050730e+00] [ 1.93778674e-02 -3.72666432e-04 9.99812162e-01 1.23725051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.704391418 meters Centerline goodness [0,1] 0.9990208182553536 Centerline is valid? [True, True] Translation: X:169.34, Y:7.42, Z:1.24 [[ 9.90648648e-01 -1.35012967e-01 -1.96660966e-02 1.69337943e+02] [ 1.34994560e-01 9.90843747e-01 -2.26664218e-03 7.42376298e+00] [ 1.97920549e-02 -4.09370039e-04 9.99804034e-01 1.23829341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.734391418 meters Centerline goodness [0,1] 0.9989582890429015 Centerline is valid? [True, True] Translation: X:169.37, Y:7.42, Z:1.24 [[ 9.90433581e-01 -1.36583647e-01 -1.96527018e-02 1.69370380e+02] [ 1.36565606e-01 9.90628443e-01 -2.26349276e-03 7.42490075e+00] [ 1.97776815e-02 -4.42043884e-04 9.99804305e-01 1.23816964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.764391418 meters Centerline goodness [0,1] 0.9986419674496573 Centerline is valid? [True, True] Translation: X:169.40, Y:7.42, Z:1.24 [[ 9.89870685e-01 -1.40600967e-01 -1.96823384e-02 1.69401634e+02] [ 1.40583711e-01 9.90066206e-01 -2.26453998e-03 7.42244094e+00] [ 1.98052146e-02 -5.25414427e-04 9.99803719e-01 1.23746050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.794391418 meters Centerline goodness [0,1] 0.9988131318483352 Centerline is valid? [True, True] Translation: X:169.43, Y:7.42, Z:1.24 [[ 9.89570322e-01 -1.42670690e-01 -1.98910015e-02 1.69433735e+02] [ 1.42653525e-01 9.89770046e-01 -2.28649754e-03 7.42418327e+00] [ 2.00137337e-02 -5.74871374e-04 9.99799540e-01 1.23798704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.824391418 meters Centerline goodness [0,1] 0.9991942836545598 Centerline is valid? [True, True] Translation: X:169.46, Y:7.42, Z:1.24 [[ 9.89285278e-01 -1.44653299e-01 -1.97499832e-02 1.69464518e+02] [ 1.44636793e-01 9.89482212e-01 -2.26920299e-03 7.42447434e+00] [ 1.98705047e-02 -6.11685118e-04 9.99802375e-01 1.23801909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.854391418 meters Centerline goodness [0,1] 0.9989442567567568 Centerline is valid? [True, True] Translation: X:169.50, Y:7.43, Z:1.24 [[ 9.89004100e-01 -1.46592294e-01 -1.95343389e-02 1.69497052e+02] [ 1.46576550e-01 9.89196787e-01 -2.24311444e-03 7.42677633e+00] [ 1.96521285e-02 -6.44826620e-04 9.99806670e-01 1.23847321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.884391418 meters Centerline goodness [0,1] 0.9987930632900671 Centerline is valid? [True, True] Translation: X:169.53, Y:7.42, Z:1.24 [[ 9.88379166e-01 -1.50673848e-01 -2.01001515e-02 1.69527887e+02] [ 1.50658038e-01 9.88583245e-01 -2.30723204e-03 7.42426347e+00] [ 2.02183126e-02 -7.47829320e-04 9.99795309e-01 1.23758021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.914391418 meters Centerline goodness [0,1] 0.9988150906667231 Centerline is valid? [True, True] Translation: X:169.56, Y:7.42, Z:1.24 [[ 9.88077098e-01 -1.52649920e-01 -2.00412195e-02 1.69559695e+02] [ 1.52634627e-01 9.88280012e-01 -2.29953710e-03 7.42308421e+00] [ 2.01573608e-02 -7.86864126e-04 9.99796510e-01 1.23680944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.944391418 meters Centerline goodness [0,1] 0.9988561745392925 Centerline is valid? [True, True] Translation: X:169.59, Y:7.43, Z:1.24 [[ 9.87774991e-01 -1.54620222e-01 -1.98281345e-02 1.69591387e+02] [ 1.54605678e-01 9.87973641e-01 -2.27361737e-03 7.42747520e+00] [ 1.99412214e-02 -8.19719795e-04 9.99800818e-01 1.23810407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.974391418 meters Centerline goodness [0,1] 0.9992597605854237 Centerline is valid? [True, True] Translation: X:169.62, Y:7.43, Z:1.24 [[ 9.87141718e-01 -1.58659240e-01 -1.94544007e-02 1.69622400e+02] [ 1.58646045e-01 9.87333004e-01 -2.22954573e-03 7.42563770e+00] [ 1.95617099e-02 -8.85486123e-04 9.99808259e-01 1.23838728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.004391418 meters Centerline goodness [0,1] 0.9992183869195995 Centerline is valid? [True, True] Translation: X:169.65, Y:7.42, Z:1.24 [[ 9.86866013e-01 -1.60440399e-01 -1.88242280e-02 1.69653505e+02] [ 1.60428407e-01 9.87045126e-01 -2.15530559e-03 7.42356650e+00] [ 1.89261606e-02 -8.92943067e-04 9.99820485e-01 1.23810574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.034391418 meters Centerline goodness [0,1] 0.999134016263597 Centerline is valid? [True, True] Translation: X:169.69, Y:7.43, Z:1.24 [[ 9.86549675e-01 -1.62436761e-01 -1.82766689e-02 1.69685076e+02] [ 1.62425832e-01 9.86718540e-01 -2.09073273e-03 7.42974504e+00] [ 1.83735399e-02 -9.05991461e-04 9.99830782e-01 1.23994394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.064391418 meters Centerline goodness [0,1] 0.9991745332938238 Centerline is valid? [True, True] Translation: X:169.72, Y:7.43, Z:1.24 [[ 9.86251211e-01 -1.64316725e-01 -1.75659579e-02 1.69717699e+02] [ 1.64306952e-01 9.86407215e-01 -2.00801702e-03 7.43110095e+00] [ 1.76571384e-02 -9.05799774e-04 9.99843690e-01 1.24031387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09439141800001 meters Centerline goodness [0,1] 0.998965349775122 Centerline is valid? [True, True] Translation: X:169.75, Y:7.43, Z:1.24 [[ 9.85590646e-01 -1.68288275e-01 -1.70333444e-02 1.69748149e+02] [ 1.68279699e-01 9.85737367e-01 -1.94577384e-03 7.42979015e+00] [ 1.71178550e-02 -9.48629583e-04 9.99853029e-01 1.24022436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12439141800002 meters Centerline goodness [0,1] 0.9989059080962801 Centerline is valid? [True, True] Translation: X:169.78, Y:7.43, Z:1.24 [[ 9.85297566e-01 -1.69998074e-01 -1.70106449e-02 1.69779391e+02] [ 1.69989796e-01 9.85443909e-01 -1.94202088e-03 7.42974172e+00] [ 1.70931762e-02 -9.78167598e-04 9.99853423e-01 1.23973068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15439141800002 meters Centerline goodness [0,1] 0.9988419589842927 Centerline is valid? [True, True] Translation: X:169.81, Y:7.43, Z:1.24 [[ 9.85005471e-01 -1.71679723e-01 -1.70380364e-02 1.69810886e+02] [ 1.71671685e-01 9.85152299e-01 -1.94412737e-03 7.43262528e+00] [ 1.71188280e-02 -1.00997233e-03 9.99852952e-01 1.23969830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18439141800002 meters Centerline goodness [0,1] 0.9978244798817193 Centerline is valid? [True, True] Translation: X:169.84, Y:7.43, Z:1.24 [[ 9.84682093e-01 -1.73482049e-01 -1.74686632e-02 1.69843121e+02] [ 1.73473902e-01 9.84836452e-01 -1.99221440e-03 7.42554342e+00] [ 1.75493897e-02 -1.06865932e-03 9.99845426e-01 1.23772292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.214391418 meters Centerline goodness [0,1] 0.9987745615888443 Centerline is valid? [True, True] Translation: X:169.87, Y:7.44, Z:1.24 [[ 9.84132795e-01 -1.76487364e-01 -1.82989936e-02 1.69873097e+02] [ 1.76478957e-01 9.84302203e-01 -2.08601158e-03 7.44050376e+00] [ 1.83798944e-02 -1.17647490e-03 9.99830383e-01 1.23925633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.244391418 meters Centerline goodness [0,1] 0.9989454591470873 Centerline is valid? [True, True] Translation: X:169.90, Y:7.44, Z:1.24 [[ 9.83942932e-01 -1.77538038e-01 -1.83453212e-02 1.69904208e+02] [ 1.77529788e-01 9.84113207e-01 -2.09030574e-03 7.44009010e+00] [ 1.84249816e-02 -1.20009942e-03 9.99829525e-01 1.23835013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.274391418 meters Centerline goodness [0,1] 0.9984777369021945 Centerline is valid? [True, True] Translation: X:169.94, Y:7.44, Z:1.24 [[ 9.83683838e-01 -1.78913932e-01 -1.88655990e-02 1.69935179e+02] [ 1.78905500e-01 9.83863919e-01 -2.14750301e-03 7.43993579e+00] [ 1.89454004e-02 -1.26269542e-03 9.99819722e-01 1.23753676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.304391418 meters Centerline goodness [0,1] 0.9986046216621915 Centerline is valid? [True, True] Translation: X:169.97, Y:7.45, Z:1.24 [[ 9.83690170e-01 -1.78915977e-01 -1.85127453e-02 1.69967418e+02] [ 1.78907901e-01 9.83863574e-01 -2.10499017e-03 7.44909314e+00] [ 1.85906322e-02 -1.24141827e-03 9.99826409e-01 1.23877991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.334391418 meters Centerline goodness [0,1] 0.9986228813559322 Centerline is valid? [True, True] Translation: X:170.00, Y:7.45, Z:1.24 [[ 9.83812507e-01 -1.78305450e-01 -1.78918538e-02 1.69998357e+02] [ 1.78297833e-01 9.83974466e-01 -2.03291736e-03 7.45026719e+00] [ 1.79676075e-02 -1.19006922e-03 9.99837861e-01 1.23897349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.364391418 meters Centerline goodness [0,1] 0.998793574195187 Centerline is valid? [True, True] Translation: X:170.03, Y:7.46, Z:1.24 [[ 9.84036100e-01 -1.77181328e-01 -1.67251605e-02 1.70030015e+02] [ 1.77174530e-01 9.84177616e-01 -1.89919127e-03 7.45704011e+00] [ 1.67970298e-02 -1.09439968e-03 9.99858321e-01 1.24041491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.394391418 meters Centerline goodness [0,1] 0.9988323957117079 Centerline is valid? [True, True] Translation: X:170.06, Y:7.47, Z:1.24 [[ 9.84763641e-01 -1.73271242e-01 -1.47528967e-02 1.70059069e+02] [ 1.73265525e-01 9.84873725e-01 -1.67458730e-03 7.47247168e+00] [ 1.48198982e-02 -9.07095704e-04 9.99889768e-01 1.24323074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.424391418 meters Centerline goodness [0,1] 0.998787930337891 Centerline is valid? [True, True] Translation: X:170.09, Y:7.48, Z:1.24 [[ 9.85255396e-01 -1.70521008e-01 -1.39423707e-02 1.70089689e+02] [ 1.70515633e-01 9.85353701e-01 -1.58215975e-03 7.47567118e+00] [ 1.40079581e-02 -8.18560738e-04 9.99901549e-01 1.24369462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.454391418 meters Centerline goodness [0,1] 0.9985749228969478 Centerline is valid? [True, True] Translation: X:170.12, Y:7.48, Z:1.24 [[ 9.85742716e-01 -1.67743308e-01 -1.31711874e-02 1.70120218e+02] [ 1.67738270e-01 9.85830432e-01 -1.49412871e-03 7.48341305e+00] [ 1.32351875e-02 -7.36485692e-04 9.99912140e-01 1.24454091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.484391418 meters Centerline goodness [0,1] 0.9987224256877608 Centerline is valid? [True, True] Translation: X:170.15, Y:7.49, Z:1.25 [[ 9.86301305e-01 -1.64482172e-01 -1.24639666e-02 1.70150068e+02] [ 1.64477405e-01 9.86379838e-01 -1.41364115e-03 7.49118934e+00] [ 1.25267241e-02 -6.55764771e-04 9.99921322e-01 1.24511617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.514391418 meters Centerline goodness [0,1] 0.9988718843787914 Centerline is valid? [True, True] Translation: X:170.18, Y:7.50, Z:1.25 [[ 9.87305332e-01 -1.58398634e-01 -1.17496021e-02 1.70178307e+02] [ 1.58393967e-01 9.87375094e-01 -1.33269839e-03 7.50192963e+00] [ 1.18123620e-02 -5.45285852e-04 9.99930083e-01 1.24516587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.544391418 meters Centerline goodness [0,1] 0.9988718843787914 Centerline is valid? [True, True] Translation: X:170.21, Y:7.51, Z:1.25 [[ 9.87323527e-01 -1.58285180e-01 -1.17496515e-02 1.70210687e+02] [ 1.58280509e-01 9.87393288e-01 -1.33226235e-03 7.50547873e+00] [ 1.18124044e-02 -5.44366855e-04 9.99930083e-01 1.24539423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.574391418 meters Centerline goodness [0,1] 0.9988036233122544 Centerline is valid? [True, True] Translation: X:170.24, Y:7.52, Z:1.25 [[ 9.87804952e-01 -1.55317413e-01 -1.08571388e-02 1.70240894e+02] [ 1.55313256e-01 9.87864505e-01 -1.23015499e-03 7.51617120e+00] [ 1.09164465e-02 -4.71104384e-04 9.99940303e-01 1.24625411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.604391418 meters Centerline goodness [0,1] 0.9987651429666375 Centerline is valid? [True, True] Translation: X:170.27, Y:7.52, Z:1.25 [[ 9.88195786e-01 -1.52825801e-01 -1.06471947e-02 1.70271320e+02] [ 1.52821662e-01 9.88253047e-01 -1.20601534e-03 7.51857390e+00] [ 1.07064329e-02 -4.35342723e-04 9.99942590e-01 1.24604252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.634391418 meters Centerline goodness [0,1] 0.9986965254925424 Centerline is valid? [True, True] Translation: X:170.30, Y:7.53, Z:1.25 [[ 9.88910453e-01 -1.48148612e-01 -1.03973747e-02 1.70301801e+02] [ 1.48144412e-01 9.88965038e-01 -1.17727022e-03 7.53391621e+00] [ 1.04570510e-02 -3.76098130e-04 9.99945253e-01 1.24648086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.664391418 meters Centerline goodness [0,1] 0.9988271670753812 Centerline is valid? [True, True] Translation: X:170.33, Y:7.54, Z:1.25 [[ 9.89288345e-01 -1.45584773e-01 -1.06603788e-02 1.70333179e+02] [ 1.45580222e-01 9.89345716e-01 -1.20579557e-03 7.53723965e+00] [ 1.07223456e-02 -3.59060809e-04 9.99942450e-01 1.24579464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.694391418 meters Centerline goodness [0,1] 0.9988237810094097 Centerline is valid? [True, True] Translation: X:170.36, Y:7.55, Z:1.25 [[ 9.89693019e-01 -1.42804124e-01 -1.07103093e-02 1.70364863e+02] [ 1.42799392e-01 9.89750914e-01 -1.20925396e-03 7.54521540e+00] [ 1.07732249e-02 -3.32635453e-04 9.99941912e-01 1.24567212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.724391418 meters Centerline goodness [0,1] 0.9989743589743589 Centerline is valid? [True, True] Translation: X:170.40, Y:7.55, Z:1.24 [[ 9.90111386e-01 -1.39802730e-01 -1.16034717e-02 1.70396206e+02] [ 1.39797008e-01 9.90179322e-01 -1.30671998e-03 7.54989683e+00] [ 1.16722008e-02 -3.28332301e-04 9.99931824e-01 1.24482185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.754391418 meters Centerline goodness [0,1] 0.9988643668309406 Centerline is valid? [True, True] Translation: X:170.43, Y:7.56, Z:1.24 [[ 9.90924002e-01 -1.33856983e-01 -1.23259746e-02 1.70425991e+02] [ 1.33850095e-01 9.91000621e-01 -1.38582474e-03 7.56293767e+00] [ 1.24005509e-02 -2.76585879e-04 9.99923072e-01 1.24412455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.784391418 meters Centerline goodness [0,1] 0.9991212277091907 Centerline is valid? [True, True] Translation: X:170.46, Y:7.57, Z:1.24 [[ 9.91340985e-01 -1.30681912e-01 -1.28564670e-02 1.70458087e+02] [ 1.30674163e-01 9.91424317e-01 -1.44456837e-03 7.56950262e+00] [ 1.29349929e-02 -2.47948233e-04 9.99916309e-01 1.24368707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.814391418 meters Centerline goodness [0,1] 0.9990539262062441 Centerline is valid? [True, True] Translation: X:170.49, Y:7.58, Z:1.24 [[ 9.91801692e-01 -1.27161316e-01 -1.26254892e-02 1.70489400e+02] [ 1.27153587e-01 9.91882029e-01 -1.41628352e-03 7.57655722e+00] [ 1.27030923e-02 -2.00703845e-04 9.99919292e-01 1.24398550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84439141800001 meters Centerline goodness [0,1] 0.9989478656703599 Centerline is valid? [True, True] Translation: X:170.52, Y:7.59, Z:1.24 [[ 9.92583007e-01 -1.20925721e-01 -1.24877867e-02 1.70519789e+02] [ 1.20917710e-01 9.92661551e-01 -1.39737895e-03 7.58554964e+00] [ 1.25651247e-02 -1.22979961e-04 9.99921048e-01 1.24443595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87439141800002 meters Centerline goodness [0,1] 0.9989228084537992 Centerline is valid? [True, True] Translation: X:170.55, Y:7.59, Z:1.24 [[ 9.92922759e-01 -1.18173037e-01 -1.18122402e-02 1.70551809e+02] [ 1.18165711e-01 9.92993014e-01 -1.31865899e-03 7.59171798e+00] [ 1.18853020e-02 -8.64752360e-05 9.99929364e-01 1.24491088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90439141800002 meters Centerline goodness [0,1] 0.9991830241007891 Centerline is valid? [True, True] Translation: X:170.58, Y:7.60, Z:1.25 [[ 9.93215981e-01 -1.15719573e-01 -1.14452960e-02 1.70583118e+02] [ 1.15712568e-01 9.93281922e-01 -1.27460955e-03 7.59710702e+00] [ 1.15159029e-02 -5.84020215e-05 9.99933688e-01 1.24536700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93439141800002 meters Centerline goodness [0,1] 0.9990959965561773 Centerline is valid? [True, True] Translation: X:170.61, Y:7.60, Z:1.25 [[ 9.93580174e-01 -1.12669366e-01 -1.02006189e-02 1.70614998e+02] [ 1.12663666e-01 9.93632534e-01 -1.13346237e-03 7.60309450e+00] [ 1.02633733e-02 -2.30533872e-05 9.99947330e-01 1.24639961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.964391418 meters Centerline goodness [0,1] 0.9992451365224518 Centerline is valid? [True, True] Translation: X:170.65, Y:7.61, Z:1.25 [[ 9.93656573e-01 -1.12025918e-01 -9.83913763e-03 1.70647225e+02] [ 1.12020612e-01 9.93705285e-01 -1.09054071e-03 7.60644743e+00] [ 9.89937188e-03 -1.85632649e-05 9.99951000e-01 1.24681715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.994391418 meters Centerline goodness [0,1] 0.9992032215690074 Centerline is valid? [True, True] Translation: X:170.68, Y:7.61, Z:1.25 [[ 9.93643397e-01 -1.12146192e-01 -9.79953375e-03 1.70680429e+02] [ 1.12140963e-01 9.93691718e-01 -1.08318627e-03 7.60929314e+00] [ 9.85919074e-03 -2.26282633e-05 9.99951397e-01 1.24685214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.024391418 meters Centerline goodness [0,1] 0.9992033759634845 Centerline is valid? [True, True] Translation: X:170.71, Y:7.61, Z:1.25 [[ 9.93278298e-01 -1.15349696e-01 -9.62659592e-03 1.70712384e+02] [ 1.15344825e-01 9.93324944e-01 -1.06152900e-03 7.60903748e+00] [ 9.68478490e-03 -5.59843033e-05 9.99953100e-01 1.24728944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.054391418 meters Centerline goodness [0,1] 0.9993345497477729 Centerline is valid? [True, True] Translation: X:170.74, Y:7.61, Z:1.25 [[ 9.93007902e-01 -1.17660302e-01 -9.55819570e-03 1.70743862e+02] [ 1.17655624e-01 9.93053899e-01 -1.05226465e-03 7.60863851e+00] [ 9.61561328e-03 -7.96683623e-05 9.99953766e-01 1.24697512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.084391418 meters Centerline goodness [0,1] 0.9990980931111493 Centerline is valid? [True, True] Translation: X:170.78, Y:7.61, Z:1.25 [[ 9.92672690e-01 -1.20463673e-01 -9.45693864e-03 1.70775988e+02] [ 1.20459244e-01 9.92717730e-01 -1.03865563e-03 7.60938341e+00] [ 9.51319093e-03 -1.08130594e-04 9.99954743e-01 1.24711259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.114391418 meters Centerline goodness [0,1] 0.9992282958199357 Centerline is valid? [True, True] Translation: X:170.81, Y:7.61, Z:1.25 [[ 9.92251255e-01 -1.23846134e-01 -9.97906531e-03 1.70807799e+02] [ 1.23841398e-01 9.92301422e-01 -1.09348325e-03 7.60821904e+00] [ 1.00376644e-02 -1.50811270e-04 9.99949610e-01 1.24640483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.144391418 meters Centerline goodness [0,1] 0.9991650788893408 Centerline is valid? [True, True] Translation: X:170.84, Y:7.60, Z:1.25 [[ 9.91262573e-01 -1.31471598e-01 -1.06644188e-02 1.70839357e+02] [ 1.31466643e-01 9.91319907e-01 -1.16740470e-03 7.60313533e+00] [ 1.07253313e-02 -2.44810756e-04 9.99942452e-01 1.24555376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.174391418 meters Centerline goodness [0,1] 0.9994214574985536 Centerline is valid? [True, True] Translation: X:170.87, Y:7.60, Z:1.25 [[ 9.90738370e-01 -1.35340527e-01 -1.09737464e-02 1.70872158e+02] [ 1.35335523e-01 9.90799099e-01 -1.20080689e-03 7.60224595e+00] [ 1.10352959e-02 -2.95452244e-04 9.99939066e-01 1.24543235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.204391418 meters Centerline goodness [0,1] 0.9991226193023753 Centerline is valid? [True, True] Translation: X:170.90, Y:7.60, Z:1.25 [[ 9.90274102e-01 -1.38673297e-01 -1.12658754e-02 1.70904399e+02] [ 1.38668249e-01 9.90338124e-01 -1.23185535e-03 7.60342997e+00] [ 1.13278513e-02 -3.42344764e-04 9.99935779e-01 1.24543834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.234391418 meters Centerline goodness [0,1] 0.9993996569468268 Centerline is valid? [True, True] Translation: X:170.94, Y:7.60, Z:1.25 [[ 9.89808392e-01 -1.41936873e-01 -1.15443177e-02 1.70936077e+02] [ 1.41931807e-01 9.89875635e-01 -1.26108686e-03 7.60101215e+00] [ 1.16064335e-02 -3.90271506e-04 9.99932567e-01 1.24521708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.264391418 meters Centerline goodness [0,1] 0.9991435973194596 Centerline is valid? [True, True] Translation: X:170.97, Y:7.60, Z:1.25 [[ 9.89012350e-01 -1.47402805e-01 -1.12687882e-02 1.70967155e+02] [ 1.47398343e-01 9.89076446e-01 -1.22996619e-03 7.60006453e+00] [ 1.13269934e-02 -4.44548955e-04 9.99935749e-01 1.24602230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.294391418 meters Centerline goodness [0,1] 0.9990817655726153 Centerline is valid? [True, True] Translation: X:171.00, Y:7.60, Z:1.25 [[ 9.88789317e-01 -1.48887803e-01 -1.13185053e-02 1.70999447e+02] [ 1.48883415e-01 9.88853986e-01 -1.23402185e-03 7.60107990e+00] [ 1.13760799e-02 -4.64950107e-04 9.99935182e-01 1.24662646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.324391418 meters Centerline goodness [0,1] 0.99931395249121 Centerline is valid? [True, True] Translation: X:171.03, Y:7.60, Z:1.25 [[ 9.88617230e-01 -1.50041065e-01 -1.11198397e-02 1.71031605e+02] [ 1.50036937e-01 9.88679653e-01 -1.20923679e-03 7.60413292e+00] [ 1.11753944e-02 -4.72914357e-04 9.99937441e-01 1.24719673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.354391418 meters Centerline goodness [0,1] 0.9993145843596719 Centerline is valid? [True, True] Translation: X:171.06, Y:7.60, Z:1.25 [[ 9.88486785e-01 -1.50899339e-01 -1.11025021e-02 1.71062815e+02] [ 1.50895313e-01 9.88549015e-01 -1.20426271e-03 7.60336402e+00] [ 1.11570900e-02 -4.84917765e-04 9.99937640e-01 1.24735419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.384391418 meters Centerline goodness [0,1] 0.999207199485751 Centerline is valid? [True, True] Translation: X:171.09, Y:7.61, Z:1.25 [[ 9.88441509e-01 -1.51170385e-01 -1.14410766e-02 1.71094495e+02] [ 1.51166154e-01 9.88507592e-01 -1.23872963e-03 7.60772303e+00] [ 1.14968503e-02 -5.05091758e-04 9.99933781e-01 1.24769240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.414391418 meters Centerline goodness [0,1] 0.9991651682507064 Centerline is valid? [True, True] Translation: X:171.13, Y:7.61, Z:1.25 [[ 9.88490292e-01 -1.50841778e-01 -1.15628757e-02 1.71126892e+02] [ 1.50837456e-01 9.88557788e-01 -1.24997380e-03 7.60980639e+00] [ 1.16191191e-02 -5.08527784e-04 9.99932366e-01 1.24733948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.444391418 meters Centerline goodness [0,1] 0.9986088222074782 Centerline is valid? [True, True] Translation: X:171.16, Y:7.61, Z:1.25 [[ 9.88495932e-01 -1.50756908e-01 -1.21715376e-02 1.71160111e+02] [ 1.50752147e-01 9.88570719e-01 -1.31295940e-03 7.61333717e+00] [ 1.22303633e-02 -5.37030389e-04 9.99925062e-01 1.24716001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.474391418 meters Centerline goodness [0,1] 0.9988869624777927 Centerline is valid? [True, True] Translation: X:171.19, Y:7.62, Z:1.25 [[ 9.88563618e-01 -1.50213067e-01 -1.33419507e-02 1.71192194e+02] [ 1.50207316e-01 9.88653476e-01 -1.43780023e-03 7.61865949e+00] [ 1.34065423e-02 -5.82701604e-04 9.99909958e-01 1.24652522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.504391418 meters Centerline goodness [0,1] 0.9990814321114244 Centerline is valid? [True, True] Translation: X:171.22, Y:7.62, Z:1.25 [[ 9.88650780e-01 -1.49596554e-01 -1.38024250e-02 1.71224003e+02] [ 1.49590374e-01 9.88746942e-01 -1.48489470e-03 7.62453108e+00] [ 1.38692406e-02 -5.96667611e-04 9.99903639e-01 1.24653194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.534391418 meters Centerline goodness [0,1] 0.9988899799342527 Centerline is valid? [True, True] Translation: X:171.26, Y:7.63, Z:1.25 [[ 9.88730244e-01 -1.49047061e-01 -1.40526883e-02 1.71256307e+02] [ 1.49040659e-01 9.88829919e-01 -1.50763580e-03 7.62565703e+00] [ 1.41204274e-02 -6.03776815e-04 9.99900120e-01 1.24608597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.564391418 meters Centerline goodness [0,1] 0.9987821553713357 Centerline is valid? [True, True] Translation: X:171.29, Y:7.63, Z:1.25 [[ 9.88850664e-01 -1.48192815e-01 -1.46032117e-02 1.71288056e+02] [ 1.48185850e-01 9.88958294e-01 -1.56389499e-03 7.63028058e+00] [ 1.46737253e-02 -6.17530734e-04 9.99892144e-01 1.24590855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59439141800001 meters Centerline goodness [0,1] 0.9986163441684228 Centerline is valid? [True, True] Translation: X:171.32, Y:7.63, Z:1.25 [[ 9.88908402e-01 -1.47759535e-01 -1.50762122e-02 1.71320369e+02] [ 1.47752079e-01 9.89023114e-01 -1.61333987e-03 7.63486594e+00] [ 1.51491087e-02 -6.32096345e-04 9.99885046e-01 1.24586573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62439141800002 meters Centerline goodness [0,1] 0.9989563142984941 Centerline is valid? [True, True] Translation: X:171.35, Y:7.64, Z:1.25 [[ 9.89004488e-01 -1.47076715e-01 -1.54454900e-02 1.71352649e+02] [ 1.47068826e-01 9.89124882e-01 -1.65161144e-03 7.63967741e+00] [ 1.55204321e-02 -6.38098959e-04 9.99879347e-01 1.24591363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65439141800002 meters Centerline goodness [0,1] 0.9990379887551575 Centerline is valid? [True, True] Translation: X:171.38, Y:7.65, Z:1.25 [[ 9.89197942e-01 -1.45664881e-01 -1.64065105e-02 1.71384400e+02] [ 1.45655840e-01 9.89333771e-01 -1.75109368e-03 7.64699588e+00] [ 1.64865877e-02 -6.57525789e-04 9.99863871e-01 1.24595818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68439141800002 meters Centerline goodness [0,1] 0.9991474669110595 Centerline is valid? [True, True] Translation: X:171.42, Y:7.65, Z:1.25 [[ 9.89417449e-01 -1.44139756e-01 -1.66386086e-02 1.71415442e+02] [ 1.44130317e-01 9.89557130e-01 -1.77131685e-03 7.64944701e+00] [ 1.67201710e-02 -6.45556140e-04 9.99860000e-01 1.24571085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.714391418 meters Centerline goodness [0,1] 0.9994025264595425 Centerline is valid? [True, True] Translation: X:171.45, Y:7.65, Z:1.25 [[ 9.89687737e-01 -1.42256790e-01 -1.67686941e-02 1.71447386e+02] [ 1.42246978e-01 9.89829591e-01 -1.78255601e-03 7.65483275e+00] [ 1.68517303e-02 -6.21122230e-04 9.99857807e-01 1.24606786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.744391418 meters Centerline goodness [0,1] 0.9990792488383546 Centerline is valid? [True, True] Translation: X:171.48, Y:7.66, Z:1.25 [[ 9.89961366e-01 -1.40314509e-01 -1.69803638e-02 1.71478753e+02] [ 1.40304220e-01 9.90106802e-01 -1.80164184e-03 7.66336171e+00] [ 1.70651702e-02 -5.98860883e-04 9.99854200e-01 1.24730231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.774391418 meters Centerline goodness [0,1] 0.9992498446106693 Centerline is valid? [True, True] Translation: X:171.51, Y:7.67, Z:1.25 [[ 9.90713116e-01 -1.34977898e-01 -1.63856235e-02 1.71508554e+02] [ 1.34967626e-01 9.90848488e-01 -1.73624053e-03 7.67142944e+00] [ 1.64700243e-02 -4.91412428e-04 9.99864239e-01 1.24811370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.804391418 meters Centerline goodness [0,1] 0.9994220890410959 Centerline is valid? [True, True] Translation: X:171.54, Y:7.68, Z:1.25 [[ 9.91158653e-01 -1.31743691e-01 -1.57519407e-02 1.71540461e+02] [ 1.31733832e-01 9.91283724e-01 -1.66638640e-03 7.67843474e+00] [ 1.58341783e-02 -4.23410205e-04 9.99874542e-01 1.24917848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.834391418 meters Centerline goodness [0,1] 0.9992299465240642 Centerline is valid? [True, True] Translation: X:171.57, Y:7.69, Z:1.25 [[ 9.92041295e-01 -1.25140400e-01 -1.39265606e-02 1.71570956e+02] [ 1.25132071e-01 9.92139002e-01 -1.47128759e-03 7.68934416e+00] [ 1.40012015e-02 -2.83081322e-04 9.99901938e-01 1.25124031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.864391418 meters Centerline goodness [0,1] 0.9992914197371812 Centerline is valid? [True, True] Translation: X:171.60, Y:7.70, Z:1.25 [[ 9.92470302e-01 -1.21715430e-01 -1.37132812e-02 1.71602320e+02] [ 1.21707057e-01 9.92565010e-01 -1.44661171e-03 7.69501708e+00] [ 1.37873980e-02 -2.33283931e-04 9.99904922e-01 1.25192126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.894391418 meters Centerline goodness [0,1] 0.9991412623443539 Centerline is valid? [True, True] Translation: X:171.63, Y:7.70, Z:1.25 [[ 9.92836744e-01 -1.18732642e-01 -1.33326414e-02 1.71634399e+02] [ 1.18724492e-01 9.92926243e-01 -1.40394546e-03 7.70239371e+00] [ 1.34050237e-02 -1.89022435e-04 9.99910131e-01 1.25293869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.924391418 meters Centerline goodness [0,1] 0.9991622631782446 Centerline is valid? [True, True] Translation: X:171.67, Y:7.71, Z:1.25 [[ 9.93166904e-01 -1.15950685e-01 -1.32264721e-02 1.71666621e+02] [ 1.15942439e-01 9.93254960e-01 -1.39113220e-03 7.70843298e+00] [ 1.32985617e-02 -1.51882966e-04 9.99911559e-01 1.25311795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.954391418 meters Centerline goodness [0,1] 0.9992026033921683 Centerline is valid? [True, True] Translation: X:171.70, Y:7.72, Z:1.25 [[ 9.93618480e-01 -1.11958896e-01 -1.36938450e-02 1.71697839e+02] [ 1.11949719e-01 9.93712833e-01 -1.43729822e-03 7.71619725e+00] [ 1.37686678e-02 -1.04896020e-04 9.99905202e-01 1.25259919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.984391418 meters Centerline goodness [0,1] 0.9994414247964423 Centerline is valid? [True, True] Translation: X:171.73, Y:7.72, Z:1.25 [[ 9.93805655e-01 -1.10218881e-01 -1.42167989e-02 1.71729519e+02] [ 1.10208872e-01 9.93907335e-01 -1.48795541e-03 7.71996119e+00] [ 1.42941815e-02 -8.80788705e-05 9.99897829e-01 1.25176662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.014391418 meters Centerline goodness [0,1] 0.9995274508119254 Centerline is valid? [True, True] Translation: X:171.76, Y:7.72, Z:1.25 [[ 9.93886637e-01 -1.09396520e-01 -1.48913911e-02 1.71762379e+02] [ 1.09385516e-01 9.93998186e-01 -1.55389574e-03 7.72399656e+00] [ 1.49720065e-02 -8.45062834e-05 9.99887910e-01 1.25133825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.044391418 meters Centerline goodness [0,1] 0.9991590659162947 Centerline is valid? [True, True] Translation: X:171.80, Y:7.73, Z:1.25 [[ 9.93933319e-01 -1.08815091e-01 -1.59948015e-02 1.71795639e+02] [ 1.08802405e-01 9.94062004e-01 -1.66378308e-03 7.72782693e+00] [ 1.60808691e-02 -8.65834259e-05 9.99870691e-01 1.25103589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.074391418 meters Centerline goodness [0,1] 0.9993330608205503 Centerline is valid? [True, True] Translation: X:171.83, Y:7.73, Z:1.25 [[ 9.93853462e-01 -1.09405359e-01 -1.69045600e-02 1.71826952e+02] [ 1.09391341e-01 9.93997211e-01 -1.75449281e-03 7.72996714e+00] [ 1.69950364e-02 -1.05503740e-04 9.99855568e-01 1.24968181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.104391418 meters Centerline goodness [0,1] 0.9993101069334254 Centerline is valid? [True, True] Translation: X:171.86, Y:7.73, Z:1.25 [[ 9.93744851e-01 -1.10238310e-01 -1.78517909e-02 1.71858668e+02] [ 1.10222847e-01 9.93905176e-01 -1.85080520e-03 7.73210146e+00] [ 1.79470170e-02 -1.28447073e-04 9.99838931e-01 1.24933005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.134391418 meters Centerline goodness [0,1] 0.9993529602070528 Centerline is valid? [True, True] Translation: X:171.89, Y:7.73, Z:1.25 [[ 9.93633771e-01 -1.11177636e-01 -1.82060856e-02 1.71890867e+02] [ 1.11161737e-01 9.93800539e-01 -1.88608171e-03 7.73422783e+00] [ 1.83029078e-02 -1.49745613e-04 9.99832477e-01 1.24949854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.164391418 meters Centerline goodness [0,1] 0.999503893358642 Centerline is valid? [True, True] Translation: X:171.92, Y:7.74, Z:1.25 [[ 9.93394951e-01 -1.13299989e-01 -1.81544653e-02 1.71923502e+02] [ 1.13284561e-01 9.93560807e-01 -1.87928266e-03 7.73516994e+00] [ 1.82504879e-02 -1.89750725e-04 9.99833428e-01 1.25006550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.194391418 meters Centerline goodness [0,1] 0.9995486491714488 Centerline is valid? [True, True] Translation: X:171.96, Y:7.74, Z:1.25 [[ 9.93338240e-01 -1.13900371e-01 -1.74884772e-02 1.71955125e+02] [ 1.13886212e-01 9.93492157e-01 -1.80666435e-03 7.73725083e+00] [ 1.75804447e-02 -1.97067640e-04 9.99845433e-01 1.25044559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.224391418 meters Centerline goodness [0,1] 0.9992246225419458 Centerline is valid? [True, True] Translation: X:171.99, Y:7.74, Z:1.25 [[ 9.93254239e-01 -1.14682658e-01 -1.71436391e-02 1.71987570e+02] [ 1.14669255e-01 9.93402156e-01 -1.76601975e-03 7.73917372e+00] [ 1.72330599e-02 -2.11741724e-04 9.99851477e-01 1.25097837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.254391418 meters Centerline goodness [0,1] 0.9990316958233814 Centerline is valid? [True, True] Translation: X:172.02, Y:7.74, Z:1.25 [[ 9.93095706e-01 -1.16222905e-01 -1.59108716e-02 1.72019509e+02] [ 1.16211600e-01 9.93223130e-01 -1.63644473e-03 7.74094874e+00] [ 1.59932380e-02 -2.23881605e-04 9.99872075e-01 1.25253822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.284391418 meters Centerline goodness [0,1] 0.999138376701706 Centerline is valid? [True, True] Translation: X:172.05, Y:7.74, Z:1.25 [[ 9.93067909e-01 -1.16535160e-01 -1.53520193e-02 1.72052636e+02] [ 1.16524721e-01 9.93186542e-01 -1.57577531e-03 7.74426984e+00] [ 1.54310522e-02 -2.24037865e-04 9.99880909e-01 1.25351757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.314391418 meters Centerline goodness [0,1] 0.9990776292927777 Centerline is valid? [True, True] Translation: X:172.09, Y:7.75, Z:1.25 [[ 9.92987060e-01 -1.17300979e-01 -1.47369859e-02 1.72085089e+02] [ 1.17291510e-01 9.93096383e-01 -1.50820945e-03 7.74630892e+00] [ 1.48121619e-02 -2.30890874e-04 9.99890267e-01 1.25391235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34439141800001 meters Centerline goodness [0,1] 0.9991391369848273 Centerline is valid? [True, True] Translation: X:172.12, Y:7.75, Z:1.25 [[ 9.92719643e-01 -1.19576682e-01 -1.44612382e-02 1.72117585e+02] [ 1.19567864e-01 9.92824933e-01 -1.47591308e-03 7.74648917e+00] [ 1.45339627e-02 -2.63931469e-04 9.99894342e-01 1.25434617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37439141800002 meters Centerline goodness [0,1] 0.9991191320227737 Centerline is valid? [True, True] Translation: X:172.15, Y:7.75, Z:1.25 [[ 9.92549781e-01 -1.21006629e-01 -1.42242035e-02 1.72149610e+02] [ 1.20998301e-01 9.92651658e-01 -1.44783631e-03 7.74829688e+00] [ 1.42948770e-02 -2.84054839e-04 9.99897783e-01 1.25469101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40439141800002 meters Centerline goodness [0,1] 0.9993536850722795 Centerline is valid? [True, True] Translation: X:172.18, Y:7.75, Z:1.25 [[ 9.92330744e-01 -1.22782400e-01 -1.42890678e-02 1.72181530e+02] [ 1.22774237e-01 9.92433566e-01 -1.45045380e-03 7.74969689e+00] [ 1.43590407e-02 -3.14999496e-04 9.99896854e-01 1.25482404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43439141800002 meters Centerline goodness [0,1] 0.9991824440619621 Centerline is valid? [True, True] Translation: X:172.21, Y:7.75, Z:1.25 [[ 9.91849779e-01 -1.26505348e-01 -1.51793786e-02 1.72213734e+02] [ 1.26496636e-01 9.91965846e-01 -1.53659358e-03 7.74880888e+00] [ 1.52518124e-02 -3.96070330e-04 9.99883606e-01 1.25386134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.464391418 meters Centerline goodness [0,1] 0.9991824440619621 Centerline is valid? [True, True] Translation: X:172.25, Y:7.75, Z:1.25 [[ 9.91890445e-01 -1.26186045e-01 -1.51798293e-02 1.72246216e+02] [ 1.26177363e-01 9.92006515e-01 -1.53213132e-03 7.75195111e+00] [ 1.52518232e-02 -3.95644428e-04 9.99883606e-01 1.25408949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.494391418 meters Centerline goodness [0,1] 0.9991628026790315 Centerline is valid? [True, True] Translation: X:172.28, Y:7.75, Z:1.25 [[ 9.91678012e-01 -1.27756591e-01 -1.59051692e-02 1.72277178e+02] [ 1.27747332e-01 9.91805453e-01 -1.60097772e-03 7.75199719e+00] [ 1.59793690e-02 -4.44188525e-04 9.99872223e-01 1.25318499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.524391418 meters Centerline goodness [0,1] 0.999248136452493 Centerline is valid? [True, True] Translation: X:172.31, Y:7.75, Z:1.25 [[ 9.91505729e-01 -1.29046039e-01 -1.62329415e-02 1.72309790e+02] [ 1.29036634e-01 9.91638488e-01 -1.62980517e-03 7.75331229e+00] [ 1.63075294e-02 -4.78682965e-04 9.99866909e-01 1.25276366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.554391418 meters Centerline goodness [0,1] 0.9991401917372426 Centerline is valid? [True, True] Translation: X:172.34, Y:7.76, Z:1.25 [[ 9.91421799e-01 -1.29623156e-01 -1.67527066e-02 1.72341625e+02] [ 1.29613301e-01 9.91563200e-01 -1.67726038e-03 7.75531588e+00] [ 1.68287792e-02 -5.08501112e-04 9.99858257e-01 1.25254628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.584391418 meters Centerline goodness [0,1] 0.9991630182848313 Centerline is valid? [True, True] Translation: X:172.37, Y:7.76, Z:1.25 [[ 9.91493008e-01 -1.29048391e-01 -1.69743435e-02 1.72374799e+02] [ 1.29038278e-01 9.91638166e-01 -1.69428641e-03 7.75885448e+00] [ 1.70510518e-02 -5.10466933e-04 9.99854490e-01 1.25234580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.614391418 meters Centerline goodness [0,1] 0.9991608211042734 Centerline is valid? [True, True] Translation: X:172.41, Y:7.76, Z:1.25 [[ 9.91607810e-01 -1.28117103e-01 -1.73193407e-02 1.72406838e+02] [ 1.28106523e-01 9.91758916e-01 -1.72356866e-03 7.76247179e+00] [ 1.73974292e-02 -5.09616359e-04 9.99848523e-01 1.25225611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.644391418 meters Centerline goodness [0,1] 0.9989439882761147 Centerline is valid? [True, True] Translation: X:172.44, Y:7.77, Z:1.25 [[ 9.92071548e-01 -1.24476492e-01 -1.73103007e-02 1.72438538e+02] [ 1.24465452e-01 9.92222455e-01 -1.71787465e-03 7.76799975e+00] [ 1.73895040e-02 -4.50279838e-04 9.99848690e-01 1.25196876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.674391418 meters Centerline goodness [0,1] 0.9988992251408344 Centerline is valid? [True, True] Translation: X:172.47, Y:7.77, Z:1.25 [[ 9.92427118e-01 -1.21611310e-01 -1.72946191e-02 1.72470397e+02] [ 1.21599939e-01 9.92577718e-01 -1.71151422e-03 7.77357084e+00] [ 1.73743930e-02 -4.04471504e-04 9.99848972e-01 1.25223978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.704391418 meters Centerline goodness [0,1] 0.9990074227515967 Centerline is valid? [True, True] Translation: X:172.50, Y:7.78, Z:1.25 [[ 9.92797313e-01 -1.18532752e-01 -1.74207584e-02 1.72502681e+02] [ 1.18520793e-01 9.92950079e-01 -1.72098962e-03 7.77977019e+00] [ 1.75019371e-02 -3.56128235e-04 9.99846766e-01 1.25269343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.734391418 meters Centerline goodness [0,1] 0.9991577765300393 Centerline is valid? [True, True] Translation: X:172.53, Y:7.79, Z:1.25 [[ 9.93216827e-01 -1.14998060e-01 -1.71982827e-02 1.72534792e+02] [ 1.14985904e-01 9.93365673e-01 -1.69727026e-03 7.78674408e+00] [ 1.72793664e-02 -2.91802693e-04 9.99850658e-01 1.25372743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.764391418 meters Centerline goodness [0,1] 0.9992863939105614 Centerline is valid? [True, True] Translation: X:172.57, Y:7.80, Z:1.25 [[ 9.93965374e-01 -1.08268433e-01 -1.76289797e-02 1.72565607e+02] [ 1.08254665e-01 9.94121679e-01 -1.73622637e-03 7.79560146e+00] [ 1.77133294e-02 -1.82670382e-04 9.99843090e-01 1.25423973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.794391418 meters Centerline goodness [0,1] 0.9991986138184968 Centerline is valid? [True, True] Translation: X:172.60, Y:7.80, Z:1.25 [[ 9.94294159e-01 -1.05164971e-01 -1.78733092e-02 1.72597097e+02] [ 1.05150366e-01 9.94454781e-01 -1.75754508e-03 7.80144151e+00] [ 1.79590300e-02 -1.31868203e-04 9.99838715e-01 1.25439776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.824391418 meters Centerline goodness [0,1] 0.9993724166287953 Centerline is valid? [True, True] Translation: X:172.63, Y:7.81, Z:1.25 [[ 9.94614006e-01 -1.02098787e-01 -1.78554350e-02 1.72627641e+02] [ 1.02083778e-01 9.94774262e-01 -1.75241329e-03 7.80633686e+00] [ 1.79410464e-02 -7.97754457e-05 9.99839043e-01 1.25423040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.854391418 meters Centerline goodness [0,1] 0.999330062887645 Centerline is valid? [True, True] Translation: X:172.66, Y:7.81, Z:1.25 [[ 9.94854666e-01 -9.97368320e-02 -1.77976784e-02 1.72659789e+02] [ 9.97215892e-02 9.95013851e-01 -1.74409844e-03 7.81074914e+00] [ 1.78828874e-02 -3.96883070e-05 9.99840088e-01 1.25417894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.884391418 meters Centerline goodness [0,1] 0.9991785382303984 Centerline is valid? [True, True] Translation: X:172.69, Y:7.81, Z:1.25 [[ 9.95125460e-01 -9.70415800e-02 -1.75570850e-02 1.72691753e+02] [ 9.70263515e-02 9.95280328e-01 -1.71912818e-03 7.81498128e+00] [ 1.76410483e-02 7.24831968e-06 9.99844385e-01 1.25450851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.914391418 meters Centerline goodness [0,1] 0.9993322275596148 Centerline is valid? [True, True] Translation: X:172.72, Y:7.82, Z:1.25 [[ 9.95216104e-01 -9.61594096e-02 -1.72706184e-02 1.72723630e+02] [ 9.61445865e-02 9.95365947e-01 -1.68846889e-03 7.81781477e+00] [ 1.73529476e-02 1.99149675e-05 9.99849426e-01 1.25343576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.944391418 meters Centerline goodness [0,1] 0.9993307426597582 Centerline is valid? [True, True] Translation: X:172.76, Y:7.82, Z:1.25 [[ 9.95230311e-01 -9.59943890e-02 -1.73696686e-02 1.72756816e+02] [ 9.59794165e-02 9.95381875e-01 -1.69550379e-03 7.82027338e+00] [ 1.74522122e-02 2.02861006e-05 9.99847698e-01 1.25418059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.974391418 meters Centerline goodness [0,1] 0.9993736771629735 Centerline is valid? [True, True] Translation: X:172.79, Y:7.82, Z:1.25 [[ 9.95165605e-01 -9.65915197e-02 -1.77622595e-02 1.72790174e+02] [ 9.65759963e-02 9.95324107e-01 -1.73167259e-03 7.82121357e+00] [ 1.78464700e-02 7.89309101e-06 9.99840739e-01 1.25389450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.004391418 meters Centerline goodness [0,1] 0.999245283018868 Centerline is valid? [True, True] Translation: X:172.82, Y:7.82, Z:1.25 [[ 9.95115579e-01 -9.71367839e-02 -1.75906281e-02 1.72822558e+02] [ 9.71217146e-02 9.95271041e-01 -1.71096149e-03 7.82275945e+00] [ 1.76736401e-02 -5.82752770e-06 9.99843809e-01 1.25331564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.034391418 meters Centerline goodness [0,1] 0.9991617409994626 Centerline is valid? [True, True] Translation: X:172.86, Y:7.82, Z:1.25 [[ 9.95065102e-01 -9.77154734e-02 -1.72374190e-02 1.72856032e+02] [ 9.77011462e-02 9.95214392e-01 -1.67335876e-03 7.82412217e+00] [ 1.73184405e-02 -1.90146882e-05 9.99850024e-01 1.25376810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.064391418 meters Centerline goodness [0,1] 0.9990312789270875 Centerline is valid? [True, True] Translation: X:172.89, Y:7.82, Z:1.26 [[ 9.94896226e-01 -9.94719092e-02 -1.69363092e-02 1.72889121e+02] [ 9.94583671e-02 9.95040369e-01 -1.64210307e-03 7.82354937e+00] [ 1.70156545e-02 -5.07355188e-05 9.99855222e-01 1.25502768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09439141800001 meters Centerline goodness [0,1] 0.9991614706514728 Centerline is valid? [True, True] Translation: X:172.92, Y:7.82, Z:1.26 [[ 9.94833418e-01 -1.00252381e-01 -1.59978455e-02 1.72920884e+02] [ 1.00240423e-01 9.94962038e-01 -1.54959023e-03 7.82432715e+00] [ 1.60725991e-02 -6.20466610e-05 9.99870826e-01 1.25506918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12439141800002 meters Centerline goodness [0,1] 0.9990338993967238 Centerline is valid? [True, True] Translation: X:172.95, Y:7.82, Z:1.26 [[ 9.94641396e-01 -1.02276049e-01 -1.51030656e-02 1.72954580e+02] [ 1.02265648e-01 9.94756051e-01 -1.46141315e-03 7.82327202e+00] [ 1.51733335e-02 -9.09427794e-05 9.99884874e-01 1.25662394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15439141800002 meters Centerline goodness [0,1] 0.9992465664958884 Centerline is valid? [True, True] Translation: X:172.99, Y:7.82, Z:1.26 [[ 9.94554714e-01 -1.03173567e-01 -1.47015317e-02 1.72987600e+02] [ 1.03163836e-01 9.94663362e-01 -1.42078930e-03 7.82411781e+00] [ 1.47696628e-02 -1.03613702e-04 9.99890917e-01 1.25722646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18439141800002 meters Centerline goodness [0,1] 0.999121039317412 Centerline is valid? [True, True] Translation: X:173.02, Y:7.82, Z:1.26 [[ 9.94464273e-01 -1.04107827e-01 -1.42256643e-02 1.73019855e+02] [ 1.04098855e-01 9.94566009e-01 -1.37176952e-03 7.82442309e+00] [ 1.42911741e-02 -1.16699584e-04 9.99897869e-01 1.25726010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.214391418 meters Centerline goodness [0,1] 0.9990562800274537 Centerline is valid? [True, True] Translation: X:173.05, Y:7.83, Z:1.26 [[ 9.94366169e-01 -1.05099003e-01 -1.37884539e-02 1.73052586e+02] [ 1.05090705e-01 9.94461755e-01 -1.32700679e-03 7.82537389e+00] [ 1.38515572e-02 -1.29507687e-04 9.99904054e-01 1.25792230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.244391418 meters Centerline goodness [0,1] 0.9991862780787597 Centerline is valid? [True, True] Translation: X:173.09, Y:7.82, Z:1.26 [[ 9.94073560e-01 -1.07851683e-01 -1.36298252e-02 1.73085350e+02] [ 1.07843848e-01 9.94166981e-01 -1.31064782e-03 7.82276389e+00] [ 1.36916777e-02 -1.67012462e-04 9.99906251e-01 1.25766194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.274391418 meters Centerline goodness [0,1] 0.9992515450249129 Centerline is valid? [True, True] Translation: X:173.12, Y:7.82, Z:1.26 [[ 9.93922844e-01 -1.09241052e-01 -1.35562817e-02 1.73116756e+02] [ 1.09233452e-01 9.94015270e-01 -1.30201459e-03 7.82101131e+00] [ 1.36173844e-02 -1.86697396e-04 9.99907262e-01 1.25690667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.304391418 meters Centerline goodness [0,1] 0.9990808430592963 Centerline is valid? [True, True] Translation: X:173.15, Y:7.82, Z:1.26 [[ 9.93721524e-01 -1.11067647e-01 -1.34725742e-02 1.73148768e+02] [ 1.11060329e-01 9.93812826e-01 -1.29240301e-03 7.82143229e+00] [ 1.35327612e-02 -2.11979838e-04 9.99908406e-01 1.25726739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.334391418 meters Centerline goodness [0,1] 0.9989126958746403 Centerline is valid? [True, True] Translation: X:173.18, Y:7.82, Z:1.26 [[ 9.93521942e-01 -1.12827814e-01 -1.35659604e-02 1.73180195e+02] [ 1.12820589e-01 9.93614526e-01 -1.29913321e-03 7.82057126e+00] [ 1.36259136e-02 -2.39802289e-04 9.99907134e-01 1.25737420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.364391418 meters Centerline goodness [0,1] 0.9989560919491255 Centerline is valid? [True, True] Translation: X:173.21, Y:7.82, Z:1.26 [[ 9.93098710e-01 -1.16423006e-01 -1.41646159e-02 1.73212639e+02] [ 1.16415529e-01 9.93199673e-01 -1.35405178e-03 7.81719200e+00] [ 1.42259347e-02 -3.04274178e-04 9.99898760e-01 1.25737824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.394391418 meters Centerline goodness [0,1] 0.9987225888865233 Centerline is valid? [True, True] Translation: X:173.24, Y:7.82, Z:1.26 [[ 9.92891501e-01 -1.18104761e-01 -1.47557508e-02 1.73244603e+02] [ 1.18096851e-01 9.93001081e-01 -1.40936859e-03 7.81830366e+00] [ 1.48189296e-02 -3.43257597e-04 9.99890135e-01 1.25761357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.424391418 meters Centerline goodness [0,1] 0.9989151013635686 Centerline is valid? [True, True] Translation: X:173.28, Y:7.82, Z:1.26 [[ 9.92673051e-01 -1.19860948e-01 -1.52829270e-02 1.73276605e+02] [ 1.19852712e-01 9.92790615e-01 -1.45700407e-03 7.81608785e+00] [ 1.53473844e-02 -3.85371574e-04 9.99882148e-01 1.25693998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.454391418 meters Centerline goodness [0,1] 0.9987671378467424 Centerline is valid? [True, True] Translation: X:173.31, Y:7.82, Z:1.26 [[ 9.92650504e-01 -1.19975362e-01 -1.58394827e-02 1.73308922e+02] [ 1.19966570e-01 9.92776787e-01 -1.50749556e-03 7.81802510e+00] [ 1.59059331e-02 -4.03792186e-04 9.99873411e-01 1.25715431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.484391418 meters Centerline goodness [0,1] 0.9987697528900201 Centerline is valid? [True, True] Translation: X:173.34, Y:7.82, Z:1.26 [[ 9.92850594e-01 -1.18314532e-01 -1.57914345e-02 1.73341180e+02] [ 1.18305603e-01 9.92976097e-01 -1.50166447e-03 7.82007348e+00] [ 1.58581857e-02 -3.77286717e-04 9.99874180e-01 1.25721047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.514391418 meters Centerline goodness [0,1] 0.9986637821328582 Centerline is valid? [True, True] Translation: X:173.37, Y:7.82, Z:1.26 [[ 9.93004739e-01 -1.17002801e-01 -1.58723983e-02 1.73372813e+02] [ 1.16993633e-01 9.93131520e-01 -1.50808366e-03 7.82386218e+00] [ 1.59398290e-02 -3.59435318e-04 9.99872888e-01 1.25769829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.544391418 meters Centerline goodness [0,1] 0.9985578554462164 Centerline is valid? [True, True] Translation: X:173.40, Y:7.83, Z:1.26 [[ 9.93226366e-01 -1.15076291e-01 -1.60882701e-02 1.73403733e+02] [ 1.15066668e-01 9.93356600e-01 -1.52565943e-03 7.82620319e+00] [ 1.61569565e-02 -3.35898460e-04 9.99869411e-01 1.25743520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.574391418 meters Centerline goodness [0,1] 0.9987699094398846 Centerline is valid? [True, True] Translation: X:173.43, Y:7.83, Z:1.26 [[ 9.93451162e-01 -1.13084907e-01 -1.63276440e-02 1.73434387e+02] [ 1.13074765e-01 9.93585279e-01 -1.54597702e-03 7.82927189e+00] [ 1.63977334e-02 -3.10391854e-04 9.99865500e-01 1.25728371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.604391418 meters Centerline goodness [0,1] 0.9988779981793933 Centerline is valid? [True, True] Translation: X:173.47, Y:7.84, Z:1.26 [[ 9.93902573e-01 -1.09016300e-01 -1.65264170e-02 1.73466038e+02] [ 1.09005367e-01 9.94039931e-01 -1.56361594e-03 7.83524396e+00] [ 1.65983781e-02 -2.47386245e-04 9.99862207e-01 1.25790457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.634391418 meters Centerline goodness [0,1] 0.9989204521400449 Centerline is valid? [True, True] Translation: X:173.50, Y:7.84, Z:1.26 [[ 9.94091761e-01 -1.07264560e-01 -1.66097568e-02 1.73498101e+02] [ 1.07253294e-01 9.94230489e-01 -1.57015572e-03 7.83896871e+00] [ 1.66823487e-02 -2.20572267e-04 9.99860816e-01 1.25832892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.664391418 meters Centerline goodness [0,1] 0.9989398918689706 Centerline is valid? [True, True] Translation: X:173.53, Y:7.84, Z:1.26 [[ 9.94256653e-01 -1.05688754e-01 -1.68402905e-02 1.73530342e+02] [ 1.05676970e-01 9.94399240e-01 -1.59057284e-03 7.84238100e+00] [ 1.69140777e-02 -1.98193239e-04 9.99856927e-01 1.25877414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.694391418 meters Centerline goodness [0,1] 0.9988171679621494 Centerline is valid? [True, True] Translation: X:173.56, Y:7.85, Z:1.26 [[ 9.94516413e-01 -1.03264569e-01 -1.65388075e-02 1.73561898e+02] [ 1.03252890e-01 9.94653912e-01 -1.56076812e-03 7.84503206e+00] [ 1.66115616e-02 -1.55470164e-04 9.99862006e-01 1.25913488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.724391418 meters Centerline goodness [0,1] 0.998943877658788 Centerline is valid? [True, True] Translation: X:173.59, Y:7.85, Z:1.26 [[ 9.94588538e-01 -1.02545074e-01 -1.66777405e-02 1.73594143e+02] [ 1.02533120e-01 9.94728348e-01 -1.57253241e-03 7.84811316e+00] [ 1.67510767e-02 -1.45998043e-04 9.99859680e-01 1.25977383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.754391418 meters Centerline goodness [0,1] 0.9991761897720791 Centerline is valid? [True, True] Translation: X:173.63, Y:7.85, Z:1.26 [[ 9.94643629e-01 -1.02002012e-01 -1.67224718e-02 1.73626312e+02] [ 1.01989942e-01 9.94784183e-01 -1.57521447e-03 7.85008372e+00] [ 1.67959255e-02 -1.38746894e-04 9.99858929e-01 1.25959587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.784391418 meters Centerline goodness [0,1] 0.9991335587489434 Centerline is valid? [True, True] Translation: X:173.66, Y:7.85, Z:1.26 [[ 9.94655226e-01 -1.01809902e-01 -1.71966841e-02 1.73659026e+02] [ 1.01797143e-01 9.94803862e-01 -1.61794709e-03 7.85143360e+00] [ 1.72720508e-02 -1.41273783e-04 9.99850817e-01 1.26018447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.814391418 meters Centerline goodness [0,1] 0.9992187005089005 Centerline is valid? [True, True] Translation: X:173.69, Y:7.85, Z:1.26 [[ 9.94597242e-01 -1.02409364e-01 -1.69896490e-02 1.73691599e+02] [ 1.02397032e-01 9.94742328e-01 -1.59645348e-03 7.85272948e+00] [ 1.70638148e-02 -1.51861406e-04 9.99854391e-01 1.26031660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84439141800001 meters Centerline goodness [0,1] 0.9993669416953301 Centerline is valid? [True, True] Translation: X:173.72, Y:7.85, Z:1.26 [[ 9.94476881e-01 -1.03544822e-01 -1.71523445e-02 1.73722995e+02] [ 1.03532447e-01 9.94624773e-01 -1.61030340e-03 7.85347279e+00] [ 1.72268853e-02 -1.74414696e-04 9.99851591e-01 1.26024087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87439141800002 meters Centerline goodness [0,1] 0.9988829641494721 Centerline is valid? [True, True] Translation: X:173.75, Y:7.85, Z:1.26 [[ 9.94078988e-01 -1.07195181e-01 -1.77808745e-02 1.73754847e+02] [ 1.07182485e-01 9.94237965e-01 -1.66825481e-03 7.85155380e+00] [ 1.78572493e-02 -2.47421251e-04 9.99840516e-01 1.25958345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90439141800002 meters Centerline goodness [0,1] 0.999113025848961 Centerline is valid? [True, True] Translation: X:173.79, Y:7.85, Z:1.26 [[ 9.93837771e-01 -1.09341597e-01 -1.81906546e-02 1.73785806e+02] [ 1.09328688e-01 9.94004190e-01 -1.70563747e-03 7.85146566e+00] [ 1.82680840e-02 -2.93633459e-04 9.99833082e-01 1.25931187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.93439141800002 meters Centerline goodness [0,1] 0.9990090659919882 Centerline is valid? [True, True] Translation: X:173.82, Y:7.85, Z:1.26 [[ 9.93578436e-01 -1.11549996e-01 -1.89338523e-02 1.73818201e+02] [ 1.11536436e-01 9.93758762e-01 -1.77398516e-03 7.85174360e+00] [ 1.90135696e-02 -3.49221001e-04 9.99819165e-01 1.25938573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.964391418 meters Centerline goodness [0,1] 0.998818266227737 Centerline is valid? [True, True] Translation: X:173.85, Y:7.85, Z:1.26 [[ 9.92981947e-01 -1.16674192e-01 -1.93387387e-02 1.73849262e+02] [ 1.16661036e-01 9.93170138e-01 -1.81089996e-03 7.84815186e+00] [ 1.94179430e-02 -4.57886322e-04 9.99811349e-01 1.25911667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.994391418 meters Centerline goodness [0,1] 0.9988620079237966 Centerline is valid? [True, True] Translation: X:173.88, Y:7.85, Z:1.26 [[ 9.92677253e-01 -1.19264344e-01 -1.91803940e-02 1.73880376e+02] [ 1.19251921e-01 9.92862407e-01 -1.79421428e-03 7.84640839e+00] [ 1.92574780e-02 -5.06223142e-04 9.99814429e-01 1.25894809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.024391418 meters Centerline goodness [0,1] 0.9990074127262359 Centerline is valid? [True, True] Translation: X:173.91, Y:7.85, Z:1.26 [[ 9.92362572e-01 -1.21856824e-01 -1.91687508e-02 1.73912099e+02] [ 1.21844947e-01 9.92547532e-01 -1.79067756e-03 7.84779853e+00] [ 1.92441026e-02 -5.58614041e-04 9.99814659e-01 1.26047032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.054391418 meters Centerline goodness [0,1] 0.9986255603484733 Centerline is valid? [True, True] Translation: X:173.94, Y:7.85, Z:1.26 [[ 9.91990570e-01 -1.24889724e-01 -1.89014795e-02 1.73944024e+02] [ 1.24878754e-01 9.92170441e-01 -1.76417343e-03 7.84762741e+00] [ 1.89738164e-02 -6.10349805e-04 9.99819795e-01 1.26113019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.084391418 meters Centerline goodness [0,1] 0.9983094900999514 Centerline is valid? [True, True] Translation: X:173.97, Y:7.84, Z:1.26 [[ 9.91192001e-01 -1.31124704e-01 -1.85668933e-02 1.73974382e+02] [ 1.31115219e-01 9.91365623e-01 -1.73256012e-03 7.84265190e+00] [ 1.86337611e-02 -7.17102537e-04 9.99826119e-01 1.26168800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.114391418 meters Centerline goodness [0,1] 0.9983303745033393 Centerline is valid? [True, True] Translation: X:174.01, Y:7.84, Z:1.26 [[ 9.90749724e-01 -1.34413783e-01 -1.86525721e-02 1.74005893e+02] [ 1.34404799e-01 9.90924983e-01 -1.74012965e-03 7.84178711e+00] [ 1.87171971e-02 -7.82962235e-04 9.99824511e-01 1.26213471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.144391418 meters Centerline goodness [0,1] 0.9980559136149441 Centerline is valid? [True, True] Translation: X:174.04, Y:7.84, Z:1.26 [[ 9.89822991e-01 -1.41006326e-01 -1.91745092e-02 1.74035745e+02] [ 1.40998073e-01 9.90008255e-01 -1.78843494e-03 7.83706317e+00] [ 1.92351030e-02 -9.33334834e-04 9.99814553e-01 1.26204572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.174391418 meters Centerline goodness [0,1] 0.9979382744619527 Centerline is valid? [True, True] Translation: X:174.07, Y:7.84, Z:1.26 [[ 9.89425091e-01 -1.43736980e-01 -1.94337551e-02 1.74067447e+02] [ 1.43729037e-01 9.89615420e-01 -1.81209550e-03 7.83681101e+00] [ 1.94924089e-02 -1.00026216e-03 9.99809505e-01 1.26191138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.204391418 meters Centerline goodness [0,1] 0.9977926801067922 Centerline is valid? [True, True] Translation: X:174.10, Y:7.84, Z:1.26 [[ 9.89073271e-01 -1.46129496e-01 -1.94996345e-02 1.74099099e+02] [ 1.46121977e-01 9.89264911e-01 -1.81753897e-03 7.83736833e+00] [ 1.95559003e-02 -1.05164593e-03 9.99808212e-01 1.26161091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.234391418 meters Centerline goodness [0,1] 0.9978133344547003 Centerline is valid? [True, True] Translation: X:174.13, Y:7.84, Z:1.26 [[ 9.88751297e-01 -1.48268050e-01 -1.96839694e-02 1.74130027e+02] [ 1.48260820e-01 9.88946593e-01 -1.83424180e-03 7.83832152e+00] [ 1.97383539e-02 -1.10475249e-03 9.99804569e-01 1.26189129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.264391418 meters Centerline goodness [0,1] 0.995980893462113 Centerline is valid? [True, True] Translation: X:174.16, Y:7.84, Z:1.26 [[ 9.88262671e-01 -1.51541134e-01 -1.92919237e-02 1.74160370e+02] [ 1.51534829e-01 9.88450286e-01 -1.79674526e-03 7.83759581e+00] [ 1.93413883e-02 -1.14774210e-03 9.99812279e-01 1.26213088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.294391418 meters Centerline goodness [0,1] 0.9937735333094933 Centerline is valid? [True, True] Translation: X:174.19, Y:7.84, Z:1.26 [[ 9.88045408e-01 -1.52916446e-01 -1.95660853e-02 1.74192572e+02] [ 1.52910256e-01 9.88238401e-01 -1.82090648e-03 7.83919218e+00] [ 1.96144035e-02 -1.19271683e-03 9.99806908e-01 1.26227092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.324391418 meters Centerline goodness [0,1] 0.9848002529777591 Centerline is valid? [True, True] Translation: X:174.22, Y:7.84, Z:1.26 [[ 9.87773618e-01 -1.54694690e-01 -1.93088562e-02 1.74222609e+02] [ 1.54689009e-01 9.87961580e-01 -1.79648136e-03 7.83976830e+00] [ 1.93543142e-02 -1.21235095e-03 9.99811953e-01 1.26238008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.354391418 meters Centerline goodness [0,1] 0.9821925314001517 Centerline is valid? [True, True] Translation: X:174.25, Y:7.84, Z:1.26 [[ 9.87742143e-01 -1.54867743e-01 -1.95305119e-02 1.74254486e+02] [ 1.54861982e-01 9.87934445e-01 -1.81623065e-03 7.84300184e+00] [ 1.95761410e-02 -1.23056624e-03 9.99807612e-01 1.26234977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.384391418 meters Centerline goodness [0,1] 0.9821925314001517 Centerline is valid? [True, True] Translation: X:174.29, Y:7.85, Z:1.26 [[ 9.87752807e-01 -1.54799700e-01 -1.95306370e-02 1.74286109e+02] [ 1.54793952e-01 9.87945109e-01 -1.81488473e-03 7.84585106e+00] [ 1.95761410e-02 -1.23056701e-03 9.99807612e-01 1.26257222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.414391418 meters Centerline goodness [0,1] 0.980025678263981 Centerline is valid? [True, True] Translation: X:174.32, Y:7.85, Z:1.26 [[ 9.87803615e-01 -1.54437289e-01 -1.98278312e-02 1.74317790e+02] [ 1.54431319e-01 9.88001811e-01 -1.84111952e-03 7.84962246e+00] [ 1.98742707e-02 -1.24337362e-03 9.99801714e-01 1.26225179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.444391418 meters Centerline goodness [0,1] 0.9809262580440975 Centerline is valid? [True, True] Translation: X:174.35, Y:7.86, Z:1.26 [[ 9.88212949e-01 -1.51783613e-01 -1.99223833e-02 1.74347179e+02] [ 1.51777059e-01 9.88413023e-01 -1.84941361e-03 7.85667170e+00] [ 1.99722538e-02 -1.19614628e-03 9.99799819e-01 1.26146633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.474391418 meters Centerline goodness [0,1] 0.9881658052948001 Centerline is valid? [True, True] Translation: X:174.38, Y:7.86, Z:1.26 [[ 9.88605594e-01 -1.49145428e-01 -2.03622426e-02 1.74377956e+02] [ 1.49138033e-01 9.88814581e-01 -1.88978934e-03 7.86413496e+00] [ 2.04163358e-02 -1.16852850e-03 9.99790882e-01 1.26098533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.504391418 meters Centerline goodness [0,1] 0.9938932910723719 Centerline is valid? [True, True] Translation: X:174.41, Y:7.87, Z:1.26 [[ 9.89120281e-01 -1.45714513e-01 -2.02076669e-02 1.74407821e+02] [ 1.45706520e-01 9.89326081e-01 -1.87520700e-03 7.87232097e+00] [ 2.02652167e-02 -1.08958354e-03 9.99794046e-01 1.26116438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.534391418 meters Centerline goodness [0,1] 0.9970455408770523 Centerline is valid? [True, True] Translation: X:174.44, Y:7.88, Z:1.26 [[ 9.89694530e-01 -1.41789542e-01 -2.00115528e-02 1.74438378e+02] [ 1.41780910e-01 9.89896321e-01 -1.85671442e-03 7.88125557e+00] [ 2.00726252e-02 -9.99676058e-04 9.99798025e-01 1.26135680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.564391418 meters Centerline goodness [0,1] 0.9985139897253004 Centerline is valid? [True, True] Translation: X:174.47, Y:7.91, Z:1.27 [[ 9.91056473e-01 -1.32155444e-01 -1.84934261e-02 1.74466831e+02] [ 1.32146401e-01 9.91228725e-01 -1.71554755e-03 7.91019651e+00] [ 1.85579341e-02 -7.43635191e-04 9.99827510e-01 1.26616922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.59439141800001 meters Centerline goodness [0,1] 0.9984907745939972 Centerline is valid? [True, True] Translation: X:174.50, Y:7.92, Z:1.27 [[ 9.91751473e-01 -1.26945169e-01 -1.77183423e-02 1.74497313e+02] [ 1.26936043e-01 9.91909542e-01 -1.64331110e-03 7.91922687e+00] [ 1.77836033e-02 -6.19340062e-04 9.99841667e-01 1.26709425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62439141800002 meters Centerline goodness [0,1] 0.9987413333333334 Centerline is valid? [True, True] Translation: X:174.53, Y:7.94, Z:1.27 [[ 9.93083228e-01 -1.16298078e-01 -1.61387391e-02 1.74525032e+02] [ 1.16289100e-01 9.93214279e-01 -1.49684302e-03 7.93549203e+00] [ 1.62033061e-02 -3.90269744e-04 9.99868642e-01 1.26889585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65439141800002 meters Centerline goodness [0,1] 0.9989095807230977 Centerline is valid? [True, True] Translation: X:174.56, Y:7.95, Z:1.27 [[ 9.93729746e-01 -1.10756474e-01 -1.53034701e-02 1.74556223e+02] [ 1.10747752e-01 9.93847535e-01 -1.41881820e-03 7.94555595e+00] [ 1.53664593e-02 -2.84903062e-04 9.99881888e-01 1.26991847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68439141800002 meters Centerline goodness [0,1] 0.9988239570637415 Centerline is valid? [True, True] Translation: X:174.59, Y:7.96, Z:1.27 [[ 9.94298859e-01 -1.05631468e-01 -1.45523535e-02 1.74587675e+02] [ 1.05623049e-01 9.94405327e-01 -1.34805212e-03 7.95569516e+00] [ 1.46133345e-02 -1.96697257e-04 9.99893200e-01 1.27094200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.714391418 meters Centerline goodness [0,1] 0.9990153898842012 Centerline is valid? [True, True] Translation: X:174.62, Y:7.97, Z:1.27 [[ 9.95247168e-01 -9.63038305e-02 -1.44445800e-02 1.74619316e+02] [ 9.62945709e-02 9.95351982e-01 -1.33680930e-03 7.96959159e+00] [ 1.45061812e-02 -6.04789618e-05 9.99894778e-01 1.27066661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.744391418 meters Centerline goodness [0,1] 0.9991005460970125 Centerline is valid? [True, True] Translation: X:174.65, Y:7.98, Z:1.27 [[ 9.95617028e-01 -9.24334177e-02 -1.42406793e-02 1.74650797e+02] [ 9.24240392e-02 9.95718868e-01 -1.31670639e-03 7.97668633e+00] [ 1.43014208e-02 -5.24580288e-06 9.99897729e-01 1.27053601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.774391418 meters Centerline goodness [0,1] 0.9989932310855968 Centerline is valid? [True, True] Translation: X:174.68, Y:7.98, Z:1.27 [[ 9.95927114e-01 -8.90968874e-02 -1.38177035e-02 1.74683649e+02] [ 8.90877550e-02 9.96022963e-01 -1.27626950e-03 7.98316314e+00] [ 1.38764617e-02 4.00832077e-05 9.99903716e-01 1.27047537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.804391418 meters Centerline goodness [0,1] 0.9991633953278847 Centerline is valid? [True, True] Translation: X:174.71, Y:7.99, Z:1.27 [[ 9.96333596e-01 -8.44430309e-02 -1.37382461e-02 1.74714397e+02] [ 8.44335856e-02 9.96428304e-01 -1.26712067e-03 7.99172224e+00] [ 1.37961767e-02 1.02505522e-04 9.99904823e-01 1.26958335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.834391418 meters Centerline goodness [0,1] 0.999141059503103 Centerline is valid? [True, True] Translation: X:174.75, Y:8.00, Z:1.27 [[ 9.96438444e-01 -8.32231424e-02 -1.35770398e-02 1.74746006e+02] [ 8.32138254e-02 9.96530930e-01 -1.25070492e-03 7.99580255e+00] [ 1.36340277e-02 1.16453043e-04 9.99907046e-01 1.27025743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.864391418 meters Centerline goodness [0,1] 0.9994195420831989 Centerline is valid? [True, True] Translation: X:174.78, Y:8.00, Z:1.27 [[ 9.96526868e-01 -8.22095231e-02 -1.32587876e-02 1.74778096e+02] [ 8.22005803e-02 9.96615060e-01 -1.21896570e-03 8.00098768e+00] [ 1.33141180e-02 1.24852040e-04 9.99911355e-01 1.26978445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.894391418 meters Centerline goodness [0,1] 0.999505376344086 Centerline is valid? [True, True] Translation: X:174.81, Y:8.00, Z:1.27 [[ 9.96540764e-01 -8.22199835e-02 -1.20987625e-02 1.74810252e+02] [ 8.22125659e-02 9.96614199e-01 -1.11001420e-03 8.00411996e+00] [ 1.21490639e-02 1.11504087e-04 9.99926191e-01 1.27042763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.924391418 meters Centerline goodness [0,1] 0.9993988320164892 Centerline is valid? [True, True] Translation: X:174.84, Y:8.01, Z:1.27 [[ 9.96474231e-01 -8.30719000e-02 -1.17544300e-02 1.74842697e+02] [ 8.30649686e-02 9.96543551e-01 -1.07751775e-03 8.00645616e+00] [ 1.18033129e-02 9.73373078e-05 9.99930334e-01 1.27031352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.954391418 meters Centerline goodness [0,1] 0.999292194839457 Centerline is valid? [True, True] Translation: X:174.87, Y:8.01, Z:1.27 [[ 9.96372453e-01 -8.43779596e-02 -1.10587132e-02 1.74874799e+02] [ 8.43719141e-02 9.96433818e-01 -1.01291125e-03 8.00809386e+00] [ 1.11047432e-02 7.61920680e-05 9.99938338e-01 1.27079949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.984391418 meters Centerline goodness [0,1] 0.9991414282341325 Centerline is valid? [True, True] Translation: X:174.91, Y:8.01, Z:1.27 [[ 9.96024895e-01 -8.85449265e-02 -9.70588075e-03 1.74907065e+02] [ 8.85404741e-02 9.96072184e-01 -8.88310346e-04 8.00681038e+00] [ 9.74641321e-03 2.54159361e-05 9.99952502e-01 1.27147104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.014391418 meters Centerline goodness [0,1] 0.9989936191169543 Centerline is valid? [True, True] Translation: X:174.94, Y:8.01, Z:1.27 [[ 9.95801522e-01 -9.10878518e-02 -9.07368655e-03 1.74939740e+02] [ 9.10840763e-02 9.95842861e-01 -8.29335902e-04 8.00680824e+00] [ 9.11150840e-03 -6.14404555e-07 9.99958489e-01 1.27170000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.044391418 meters Centerline goodness [0,1] 0.9989723607870004 Centerline is valid? [True, True] Translation: X:174.97, Y:8.00, Z:1.27 [[ 9.95206550e-01 -9.74568605e-02 -8.12918619e-03 1.74972285e+02] [ 9.74540580e-02 9.95239749e-01 -7.41106234e-04 8.00327930e+00] [ 8.16271511e-03 -5.46684046e-05 9.99966683e-01 1.27246940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.074391418 meters Centerline goodness [0,1] 0.9989976540840264 Centerline is valid? [True, True] Translation: X:175.00, Y:8.00, Z:1.27 [[ 9.94919709e-01 -1.00349773e-01 -8.04341814e-03 1.75003778e+02] [ 1.00347131e-01 9.94952218e-01 -7.32459152e-04 8.00244083e+00] [ 8.07631884e-03 -7.83958859e-05 9.99967383e-01 1.27273222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.104391418 meters Centerline goodness [0,1] 0.9987804617129165 Centerline is valid? [True, True] Translation: X:175.04, Y:8.00, Z:1.27 [[ 9.94527707e-01 -1.04200431e-01 -7.54382370e-03 1.75035797e+02] [ 1.04198231e-01 9.94556313e-01 -6.85133455e-04 8.00112211e+00] [ 7.57414868e-03 -1.04668880e-04 9.99971310e-01 1.27281353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.134391418 meters Centerline goodness [0,1] 0.9987015751383568 Centerline is valid? [True, True] Translation: X:175.07, Y:7.99, Z:1.27 [[ 9.93683133e-01 -1.11984430e-01 -7.30195638e-03 1.75067216e+02] [ 1.11982592e-01 9.93709948e-01 -6.61436326e-04 7.99218987e+00] [ 7.33009727e-03 -1.60433879e-04 9.99973122e-01 1.27196951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.164391418 meters Centerline goodness [0,1] 0.9984190061103277 Centerline is valid? [True, True] Translation: X:175.10, Y:7.99, Z:1.27 [[ 9.93173929e-01 -1.16426444e-01 -7.10139922e-03 1.75099704e+02] [ 1.16424819e-01 9.93199299e-01 -6.43128123e-04 7.98976268e+00] [ 7.12798185e-03 -1.88041037e-04 9.99974578e-01 1.27169152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.194391418 meters Centerline goodness [0,1] 0.9985712457883738 Centerline is valid? [True, True] Translation: X:175.13, Y:7.99, Z:1.27 [[ 9.92712409e-01 -1.20301956e-01 -7.03655432e-03 1.75131201e+02] [ 1.20300462e-01 9.92737323e-01 -6.36730294e-04 7.98627167e+00] [ 7.06205000e-03 -2.14410673e-04 9.99975040e-01 1.27172946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.224391418 meters Centerline goodness [0,1] 0.9985531607055469 Centerline is valid? [True, True] Translation: X:175.16, Y:7.99, Z:1.27 [[ 9.92249776e-01 -1.24046108e-01 -7.27639635e-03 1.75163685e+02] [ 1.24044624e-01 9.92276423e-01 -6.56691696e-04 7.98661276e+00] [ 7.30165659e-03 -2.50995661e-04 9.99973311e-01 1.27152492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.254391418 meters Centerline goodness [0,1] 0.9987202457128231 Centerline is valid? [True, True] Translation: X:175.19, Y:7.98, Z:1.27 [[ 9.91396485e-01 -1.30710686e-01 -6.90842592e-03 1.75194798e+02] [ 1.30709513e-01 9.91420514e-01 -6.22984227e-04 7.98271359e+00] [ 6.93058587e-03 -2.85372612e-04 9.99975942e-01 1.27148417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.284391418 meters Centerline goodness [0,1] 0.9982300130083381 Centerline is valid? [True, True] Translation: X:175.23, Y:7.98, Z:1.27 [[ 9.91053914e-01 -1.33309107e-01 -6.38913767e-03 1.75225792e+02] [ 1.33308158e-01 9.91074469e-01 -5.76106824e-04 7.97907514e+00] [ 6.40891151e-03 -2.80771252e-04 9.99979423e-01 1.27202470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.314391418 meters Centerline goodness [0,1] 0.9980644886847031 Centerline is valid? [True, True] Translation: X:175.26, Y:7.98, Z:1.27 [[ 9.90559277e-01 -1.36970418e-01 -5.60572101e-03 1.75256210e+02] [ 1.36969748e-01 9.90575102e-01 -5.05226637e-04 7.97535890e+00] [ 5.62208876e-03 -2.67357258e-04 9.99984160e-01 1.27249940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34439141800001 meters Centerline goodness [0,1] 0.9982505547021676 Centerline is valid? [True, True] Translation: X:175.29, Y:7.98, Z:1.27 [[ 9.90395699e-01 -1.38157446e-01 -5.37392437e-03 1.75287506e+02] [ 1.38156844e-01 9.90410244e-01 -4.84753480e-04 7.98327410e+00] [ 5.38936205e-03 -2.62346672e-04 9.99985443e-01 1.27248942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.37439141800002 meters Centerline goodness [0,1] 0.9980440929481047 Centerline is valid? [True, True] Translation: X:175.32, Y:7.98, Z:1.27 [[ 9.90252551e-01 -1.39175447e-01 -5.48444805e-03 1.75319109e+02] [ 1.39174846e-01 9.90267701e-01 -4.93087694e-04 7.98358054e+00] [ 5.49969747e-03 -2.75015864e-04 9.99984839e-01 1.27216444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40439141800002 meters Centerline goodness [0,1] 0.9981498809118747 Centerline is valid? [True, True] Translation: X:175.35, Y:7.99, Z:1.27 [[ 9.90140307e-01 -1.39950786e-01 -5.99576442e-03 1.75351505e+02] [ 1.39950086e-01 9.90158413e-01 -5.38220787e-04 7.98512858e+00] [ 6.01208101e-03 -3.06193652e-04 9.99981880e-01 1.27186301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.43439141800002 meters Centerline goodness [0,1] 0.9983835290114004 Centerline is valid? [True, True] Translation: X:175.38, Y:7.99, Z:1.27 [[ 9.89856230e-01 -1.41946560e-01 -5.98481604e-03 1.75383262e+02] [ 1.41945909e-01 9.89874271e-01 -5.35579138e-04 7.98741587e+00] [ 6.00023903e-03 -3.19373804e-04 9.99981947e-01 1.27089865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.464391418 meters Centerline goodness [0,1] 0.9981931424441468 Centerline is valid? [True, True] Translation: X:175.41, Y:7.99, Z:1.27 [[ 9.89729640e-01 -1.42818016e-01 -6.18498185e-03 1.75414920e+02] [ 1.42817348e-01 9.89748908e-01 -5.51820571e-04 7.98684400e+00] [ 6.20038895e-03 -3.37169531e-04 9.99980721e-01 1.27040206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.494391418 meters Centerline goodness [0,1] 0.99796117742004 Centerline is valid? [True, True] Translation: X:175.45, Y:7.99, Z:1.27 [[ 9.89556421e-01 -1.44010552e-01 -6.24907125e-03 1.75446327e+02] [ 1.44009905e-01 9.89576090e-01 -5.55762554e-04 7.98674446e+00] [ 6.26396717e-03 -3.49969754e-04 9.99980320e-01 1.27028312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.524391418 meters Centerline goodness [0,1] 0.9981468464438622 Centerline is valid? [True, True] Translation: X:175.48, Y:7.99, Z:1.27 [[ 9.89275663e-01 -1.45921082e-01 -6.37960946e-03 1.75478199e+02] [ 1.45920450e-01 9.89296164e-01 -5.67006403e-04 7.99351543e+00] [ 6.39406136e-03 -3.69989847e-04 9.99979489e-01 1.26991894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.554391418 meters Centerline goodness [0,1] 0.9980401346342295 Centerline is valid? [True, True] Translation: X:175.51, Y:7.99, Z:1.27 [[ 9.89144780e-01 -1.46804220e-01 -6.41292046e-03 1.75510657e+02] [ 1.46803603e-01 9.89165496e-01 -5.69444585e-04 7.99490996e+00] [ 6.42703652e-03 -3.78176690e-04 9.99979275e-01 1.26974920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.584391418 meters Centerline goodness [0,1] 0.9980383795309169 Centerline is valid? [True, True] Translation: X:175.54, Y:8.00, Z:1.27 [[ 9.88960492e-01 -1.48021867e-01 -6.83172828e-03 1.75541461e+02] [ 1.48021199e-01 9.88984003e-01 -6.06041818e-04 7.99627428e+00] [ 6.84617742e-03 -4.11889200e-04 9.99976480e-01 1.26918713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.614391418 meters Centerline goodness [0,1] 0.9981678738815509 Centerline is valid? [True, True] Translation: X:175.57, Y:8.00, Z:1.27 [[ 9.88969411e-01 -1.47946823e-01 -7.15827964e-03 1.75573915e+02] [ 1.47946090e-01 9.88995223e-01 -6.34696366e-04 8.00001121e+00] [ 7.17340568e-03 -4.31344194e-04 9.99974178e-01 1.26916219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.644391418 meters Centerline goodness [0,1] 0.998167483486043 Centerline is valid? [True, True] Translation: X:175.60, Y:8.00, Z:1.27 [[ 9.89168749e-01 -1.46608638e-01 -7.14795343e-03 1.75604918e+02] [ 1.46607879e-01 9.89194485e-01 -6.32907251e-04 8.00247486e+00] [ 7.16350578e-03 -4.21894216e-04 9.99974253e-01 1.26891365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.674391418 meters Centerline goodness [0,1] 0.9983135513619674 Centerline is valid? [True, True] Translation: X:175.64, Y:8.01, Z:1.27 [[ 9.89375383e-01 -1.45226633e-01 -6.75107905e-03 1.75637335e+02] [ 1.45225935e-01 9.89398339e-01 -5.96109918e-04 8.00726460e+00] [ 6.76607743e-03 -3.90655286e-04 9.99977034e-01 1.26946941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.704391418 meters Centerline goodness [0,1] 0.9983346499562312 Centerline is valid? [True, True] Translation: X:175.67, Y:8.01, Z:1.27 [[ 9.89654551e-01 -1.43331223e-01 -6.32691524e-03 1.75668982e+02] [ 1.43330575e-01 9.89674712e-01 -5.58070263e-04 8.01235955e+00] [ 6.34157691e-03 -3.54543626e-04 9.99979829e-01 1.27007117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.734391418 meters Centerline goodness [0,1] 0.9981430888756083 Centerline is valid? [True, True] Translation: X:175.70, Y:8.02, Z:1.27 [[ 9.89983504e-01 -1.41070665e-01 -5.63290056e-03 1.75699537e+02] [ 1.41070117e-01 9.89999483e-01 -4.96552830e-04 8.02203036e+00] [ 5.64661767e-03 -3.03054829e-04 9.99984012e-01 1.27065038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.764391418 meters Centerline goodness [0,1] 0.9984593657722429 Centerline is valid? [True, True] Translation: X:175.73, Y:8.03, Z:1.27 [[ 9.90804650e-01 -1.35230662e-01 -4.33740854e-03 1.75728614e+02] [ 1.35230283e-01 9.90814122e-01 -3.82100648e-04 8.03215936e+00] [ 4.34923735e-03 -2.07961883e-04 9.99990520e-01 1.27238078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.794391418 meters Centerline goodness [0,1] 0.9985061886470337 Centerline is valid? [True, True] Translation: X:175.76, Y:8.04, Z:1.27 [[ 9.91245903e-01 -1.31964658e-01 -4.10960389e-03 1.75760010e+02] [ 1.31964288e-01 9.91254405e-01 -3.62297130e-04 8.03921272e+00] [ 4.12147338e-03 -1.83195405e-04 9.99991490e-01 1.27329534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.824391418 meters Centerline goodness [0,1] 0.9987346115900999 Centerline is valid? [True, True] Translation: X:175.79, Y:8.06, Z:1.27 [[ 9.92208961e-01 -1.24548685e-01 -3.00042673e-03 1.75789676e+02] [ 1.24548455e-01 9.92213491e-01 -2.64251186e-04 8.05531074e+00] [ 3.00997602e-03 -1.11506120e-04 9.99995464e-01 1.27440094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.854391418 meters Centerline goodness [0,1] 0.9989305956582184 Centerline is valid? [True, True] Translation: X:175.82, Y:8.06, Z:1.28 [[ 9.92672958e-01 -1.20802068e-01 -2.69438985e-03 1.75819986e+02] [ 1.20801868e-01 9.92676610e-01 -2.37418871e-04 8.06106841e+00] [ 2.70333847e-03 -8.98080331e-05 9.99996342e-01 1.27507168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.884391418 meters Centerline goodness [0,1] 0.9987552045327724 Centerline is valid? [True, True] Translation: X:175.85, Y:8.07, Z:1.28 [[ 9.93104950e-01 -1.17194226e-01 -2.84106642e-03 1.75851068e+02] [ 1.17193990e-01 9.93109010e-01 -2.50210776e-04 8.06834988e+00] [ 2.85081191e-03 -8.44703485e-05 9.99995933e-01 1.27509829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.914391418 meters Centerline goodness [0,1] 0.9989903980409426 Centerline is valid? [True, True] Translation: X:175.88, Y:8.08, Z:1.27 [[ 9.93902669e-01 -1.10194869e-01 -3.81783815e-03 1.75881172e+02] [ 1.10194391e-01 9.93909998e-01 -3.35917569e-04 8.07872676e+00] [ 3.83160390e-03 -8.68349812e-05 9.99992656e-01 1.27434519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.944391418 meters Centerline goodness [0,1] 0.9987960096319229 Centerline is valid? [True, True] Translation: X:175.91, Y:8.09, Z:1.27 [[ 9.94279102e-01 -1.06735342e-01 -4.07841851e-03 1.75913530e+02] [ 1.06734767e-01 9.94287464e-01 -3.58985846e-04 8.08512113e+00] [ 4.09343687e-03 -7.83769248e-05 9.99991619e-01 1.27402352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.974391418 meters Centerline goodness [0,1] 0.998859160083518 Centerline is valid? [True, True] Translation: X:175.95, Y:8.09, Z:1.27 [[ 9.94659941e-01 -1.03093974e-01 -4.82018817e-03 1.75945418e+02] [ 1.03093129e-01 9.94671618e-01 -4.24075392e-04 8.09226199e+00] [ 4.83822398e-03 -7.51174744e-05 9.99988293e-01 1.27339837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.004391418 meters Centerline goodness [0,1] 0.9993745956437352 Centerline is valid? [True, True] Translation: X:175.98, Y:8.10, Z:1.27 [[ 9.95020648e-01 -9.95222523e-02 -5.40654854e-03 1.75977628e+02] [ 9.95211481e-02 9.95035334e-01 -4.73562244e-04 8.09835178e+00] [ 5.42683681e-03 -6.68617062e-05 9.99985272e-01 1.27354027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.034391418 meters Centerline goodness [0,1] 0.9995474430532508 Centerline is valid? [True, True] Translation: X:176.01, Y:8.11, Z:1.27 [[ 9.95667952e-01 -9.27740470e-02 -6.18915437e-03 1.76007889e+02] [ 9.27724733e-02 9.95687187e-01 -5.41497615e-04 8.10678633e+00] [ 6.21269863e-03 -3.50313371e-05 9.99980700e-01 1.27300070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.064391418 meters Centerline goodness [0,1] 0.9992874416997755 Centerline is valid? [True, True] Translation: X:176.04, Y:8.11, Z:1.27 [[ 9.95995653e-01 -8.91691757e-02 -6.44336830e-03 1.76039978e+02] [ 8.91674060e-02 9.96016495e-01 -5.61970514e-04 8.11287075e+00] [ 6.46781156e-03 -1.48182486e-05 9.99979083e-01 1.27281222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09439141800001 meters Centerline goodness [0,1] 0.9990727562858498 Centerline is valid? [True, True] Translation: X:176.07, Y:8.12, Z:1.27 [[ 9.96498005e-01 -8.33185489e-02 -7.05311409e-03 1.76071248e+02] [ 8.33162973e-02 9.96522965e-01 -6.12958877e-04 8.12079633e+00] [ 7.07966101e-03 2.31729469e-05 9.99974939e-01 1.27205589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12439141800002 meters Centerline goodness [0,1] 0.9993296282680622 Centerline is valid? [True, True] Translation: X:176.10, Y:8.13, Z:1.27 [[ 9.96685042e-01 -8.10517496e-02 -7.03851678e-03 1.76103501e+02] [ 8.10494608e-02 9.96709894e-01 -6.10277824e-04 8.12556120e+00] [ 7.06482339e-03 3.77867886e-05 9.99975043e-01 1.27236360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15439141800002 meters Centerline goodness [0,1] 0.9992211838006231 Centerline is valid? [True, True] Translation: X:176.13, Y:8.13, Z:1.27 [[ 9.96897854e-01 -7.84089358e-02 -6.83424407e-03 1.76134677e+02] [ 7.84067193e-02 9.96921279e-01 -5.92059398e-04 8.13105179e+00] [ 6.85962609e-03 5.43720869e-05 9.99976471e-01 1.27301812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18439141800002 meters Centerline goodness [0,1] 0.9990495117946946 Centerline is valid? [True, True] Translation: X:176.17, Y:8.13, Z:1.27 [[ 9.96930674e-01 -7.79978011e-02 -6.75091759e-03 1.76167163e+02] [ 7.79956408e-02 9.96953530e-01 -5.83084858e-04 8.13343225e+00] [ 6.77583045e-03 5.47530370e-05 9.99977042e-01 1.27345669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.214391418 meters Centerline goodness [0,1] 0.999288915704189 Centerline is valid? [True, True] Translation: X:176.20, Y:8.13, Z:1.27 [[ 9.96894004e-01 -7.84662196e-02 -6.73777535e-03 1.76199339e+02] [ 7.84640836e-02 9.96916772e-01 -5.81192516e-04 8.13426640e+00] [ 6.76260523e-03 5.07139666e-05 9.99977132e-01 1.27411169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.244391418 meters Centerline goodness [0,1] 0.9994188299108873 Centerline is valid? [True, True] Translation: X:176.23, Y:8.14, Z:1.27 [[ 9.96825336e-01 -7.93788841e-02 -6.18397866e-03 1.76231894e+02] [ 7.93771051e-02 9.96844517e-01 -5.32982497e-04 8.13534829e+00] [ 6.20677277e-03 4.04241334e-05 9.99980737e-01 1.27487733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.274391418 meters Centerline goodness [0,1] 0.9994188299108873 Centerline is valid? [True, True] Translation: X:176.26, Y:8.14, Z:1.28 [[ 9.96834739e-01 -7.92607217e-02 -6.18401792e-03 1.76264331e+02] [ 7.92589432e-02 9.96853919e-01 -5.32526512e-04 8.13802493e+00] [ 6.20677094e-03 4.07022011e-05 9.99980737e-01 1.27510528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.304391418 meters Centerline goodness [0,1] 0.9990549219236635 Centerline is valid? [True, True] Translation: X:176.30, Y:8.14, Z:1.28 [[ 9.96534833e-01 -8.29515756e-02 -6.11243224e-03 1.76296395e+02] [ 8.29499121e-02 9.96553579e-01 -5.25608340e-04 8.13572920e+00] [ 6.13496626e-03 1.67613023e-05 9.99981181e-01 1.27543420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.334391418 meters Centerline goodness [0,1] 0.9993773082538865 Centerline is valid? [True, True] Translation: X:176.33, Y:8.14, Z:1.28 [[ 9.96322261e-01 -8.54341678e-02 -6.55401578e-03 1.76329780e+02] [ 8.54323125e-02 9.96343818e-01 -5.63026935e-04 8.13544754e+00] [ 6.57815484e-03 1.03154448e-06 9.99978364e-01 1.27553742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.364391418 meters Centerline goodness [0,1] 0.9990792094049123 Centerline is valid? [True, True] Translation: X:176.36, Y:8.13, Z:1.27 [[ 9.95744621e-01 -9.18431434e-02 -7.58202505e-03 1.76362368e+02] [ 9.18408551e-02 9.95773486e-01 -6.50157042e-04 8.13059060e+00] [ 7.60969198e-03 -4.89492874e-05 9.99971045e-01 1.27485673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.394391418 meters Centerline goodness [0,1] 0.999121359535392 Centerline is valid? [True, True] Translation: X:176.39, Y:8.13, Z:1.27 [[ 9.95397971e-01 -9.55019616e-02 -7.89019198e-03 1.76394035e+02] [ 9.54996171e-02 9.95429238e-01 -6.74229059e-04 8.12847304e+00] [ 7.91851799e-03 -8.23840760e-05 9.99968645e-01 1.27463518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.424391418 meters Centerline goodness [0,1] 0.9989970551833042 Centerline is valid? [True, True] Translation: X:176.43, Y:8.13, Z:1.27 [[ 9.95033456e-01 -9.91738226e-02 -8.54246276e-03 1.76426003e+02] [ 9.91712306e-02 9.95070117e-01 -7.27530460e-04 8.12600363e+00] [ 8.57250140e-03 -1.23249396e-04 9.99963248e-01 1.27434317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.454391418 meters Centerline goodness [0,1] 0.9988292392183575 Centerline is valid? [True, True] Translation: X:176.46, Y:8.12, Z:1.27 [[ 9.94236480e-01 -1.06787527e-01 -9.49981687e-03 1.76456662e+02] [ 1.06784691e-01 9.94281841e-01 -8.06756204e-04 8.11874685e+00] [ 9.53164690e-03 -2.12328558e-04 9.99954550e-01 1.27390514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.484391418 meters Centerline goodness [0,1] 0.998725004781232 Centerline is valid? [True, True] Translation: X:176.49, Y:8.12, Z:1.27 [[ 9.93893629e-01 -1.09922645e-01 -9.61597829e-03 1.76488842e+02] [ 1.09919894e-01 9.93940115e-01 -8.15697678e-04 8.11676160e+00] [ 9.64737021e-03 -2.46270590e-04 9.99953433e-01 1.27399331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.514391418 meters Centerline goodness [0,1] 0.9987226704702702 Centerline is valid? [True, True] Translation: X:176.52, Y:8.12, Z:1.27 [[ 9.93575089e-01 -1.12713126e-01 -1.02124406e-02 1.76521416e+02] [ 1.12710185e-01 9.93627529e-01 -8.64818871e-04 8.11571078e+00] [ 1.02448386e-02 -2.91783591e-04 9.99947478e-01 1.27408693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.544391418 meters Centerline goodness [0,1] 0.9985754379996598 Centerline is valid? [True, True] Translation: X:176.55, Y:8.11, Z:1.27 [[ 9.92979106e-01 -1.17783496e-01 -1.09335995e-02 1.76552272e+02] [ 1.17780456e-01 9.93039229e-01 -9.23771524e-04 8.11061103e+00] [ 1.09662982e-02 -3.70478507e-04 9.99939800e-01 1.27426185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.574391418 meters Centerline goodness [0,1] 0.9987480637426528 Centerline is valid? [True, True] Translation: X:176.58, Y:8.11, Z:1.27 [[ 9.92746711e-01 -1.19693731e-01 -1.12862233e-02 1.76584904e+02] [ 1.19690621e-01 9.92810781e-01 -9.53080854e-04 8.11013367e+00] [ 1.13191620e-02 -4.04687193e-04 9.99935854e-01 1.27447409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.604391418 meters Centerline goodness [0,1] 0.9985375468938767 Centerline is valid? [True, True] Translation: X:176.62, Y:8.11, Z:1.27 [[ 9.92386868e-01 -1.22567622e-01 -1.20615862e-02 1.76617521e+02] [ 1.22564293e-01 9.92460054e-01 -1.01756669e-03 8.10827204e+00] [ 1.20953632e-02 -4.68499962e-04 9.99926739e-01 1.27420554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.634391418 meters Centerline goodness [0,1] 0.9988793978349121 Centerline is valid? [True, True] Translation: X:176.65, Y:8.11, Z:1.27 [[ 9.92253664e-01 -1.23640809e-01 -1.20671640e-02 1.76649701e+02] [ 1.23637568e-01 9.92326921e-01 -1.01708427e-03 8.10884618e+00] [ 1.21003248e-02 -4.82749216e-04 9.99926672e-01 1.27410933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.664391418 meters Centerline goodness [0,1] 0.9986237560872326 Centerline is valid? [True, True] Translation: X:176.68, Y:8.11, Z:1.27 [[ 9.92119758e-01 -1.24628778e-01 -1.28861349e-02 1.76681811e+02] [ 1.24625180e-01 9.92203299e-01 -1.08505170e-03 8.11096808e+00] [ 1.29208943e-02 -5.29435646e-04 9.99916382e-01 1.27375060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.694391418 meters Centerline goodness [0,1] 0.9985833298092781 Centerline is valid? [True, True] Translation: X:176.71, Y:8.11, Z:1.27 [[ 9.91860159e-01 -1.26551552e-01 -1.40758507e-02 1.76714025e+02] [ 1.26547467e-01 9.91959846e-01 -1.18405682e-03 8.11019622e+00] [ 1.41125229e-02 -6.06844470e-04 9.99900229e-01 1.27249628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.724391418 meters Centerline goodness [0,1] 0.9986688078434687 Centerline is valid? [True, True] Translation: X:176.75, Y:8.11, Z:1.27 [[ 9.91729751e-01 -1.27523434e-01 -1.44870275e-02 1.76746414e+02] [ 1.27519228e-01 9.91835351e-01 -1.21748383e-03 8.11093984e+00] [ 1.45240037e-02 -6.39959628e-04 9.99894316e-01 1.27202130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.754391418 meters Centerline goodness [0,1] 0.9985389713511339 Centerline is valid? [True, True] Translation: X:176.78, Y:8.11, Z:1.27 [[ 9.91593646e-01 -1.28436098e-01 -1.56910973e-02 1.76777472e+02] [ 1.28431322e-01 9.91717532e-01 -1.31587262e-03 8.11094659e+00] [ 1.57301418e-02 -7.10417442e-04 9.99876021e-01 1.27096235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.784391418 meters Centerline goodness [0,1] 0.9986902976404233 Centerline is valid? [True, True] Translation: X:176.81, Y:8.11, Z:1.27 [[ 9.91291141e-01 -1.30498591e-01 -1.76632857e-02 1.76809502e+02] [ 1.30492916e-01 9.91448139e-01 -1.47841446e-03 8.11382843e+00] [ 1.77051627e-02 -8.39394506e-04 9.99842899e-01 1.27049730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.814391418 meters Centerline goodness [0,1] 0.9987521942347144 Centerline is valid? [True, True] Translation: X:176.84, Y:8.12, Z:1.27 [[ 9.91166021e-01 -1.31359865e-01 -1.82894732e-02 1.76841178e+02] [ 1.31353950e-01 9.91334353e-01 -1.52956561e-03 8.11537274e+00] [ 1.83319066e-02 -8.86341086e-04 9.99831564e-01 1.27023742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84439141800001 meters Centerline goodness [0,1] 0.9986666948847643 Centerline is valid? [True, True] Translation: X:176.87, Y:8.12, Z:1.27 [[ 9.91084535e-01 -1.31947486e-01 -1.84744719e-02 1.76873333e+02] [ 1.31941577e-01 9.91256292e-01 -1.54368729e-03 8.11820196e+00] [ 1.85166222e-02 -9.07626359e-04 9.99828141e-01 1.27113838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.87439141800002 meters Centerline goodness [0,1] 0.9985392187996189 Centerline is valid? [True, True] Translation: X:176.90, Y:8.12, Z:1.27 [[ 9.91151273e-01 -1.31567534e-01 -1.75823007e-02 1.76904692e+02] [ 1.31562162e-01 9.91306837e-01 -1.46692016e-03 8.11859857e+00] [ 1.76224540e-02 -8.59225714e-04 9.99844343e-01 1.27190334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90439141800002 meters Centerline goodness [0,1] 0.9986889405794037 Centerline is valid? [True, True] Translation: X:176.94, Y:8.12, Z:1.27 [[ 9.91236785e-01 -1.30962048e-01 -1.72794000e-02 1.76936689e+02] [ 1.30956800e-01 9.91387030e-01 -1.43976127e-03 8.12219402e+00] [ 1.73191271e-02 -8.35710590e-04 9.99849663e-01 1.27266782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93439141800002 meters Centerline goodness [0,1] 0.9985366784722075 Centerline is valid? [True, True] Translation: X:176.97, Y:8.13, Z:1.27 [[ 9.91602111e-01 -1.28179119e-01 -1.71862283e-02 1.76968033e+02] [ 1.28173530e-01 9.91750724e-01 -1.43084988e-03 8.13103813e+00] [ 1.72278594e-02 -7.83985787e-04 9.99851282e-01 1.27379935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.964391418 meters Centerline goodness [0,1] 0.9984710454226923 Centerline is valid? [True, True] Translation: X:177.00, Y:8.13, Z:1.27 [[ 9.91875831e-01 -1.25966659e-01 -1.77408072e-02 1.76998415e+02] [ 1.25960362e-01 9.92034177e-01 -1.47637842e-03 8.13350963e+00] [ 1.77854615e-02 -7.70254434e-04 9.99841529e-01 1.27312111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.994391418 meters Centerline goodness [0,1] 0.998721908616466 Centerline is valid? [True, True] Translation: X:177.03, Y:8.14, Z:1.27 [[ 9.92195372e-01 -1.23324282e-01 -1.84245958e-02 1.77029379e+02] [ 1.23317046e-01 9.92366141e-01 -1.53269251e-03 8.14054239e+00] [ 1.84729632e-02 -7.51336325e-04 9.99829078e-01 1.27337428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.024391418 meters Centerline goodness [0,1] 0.998913899951019 Centerline is valid? [True, True] Translation: X:177.06, Y:8.15, Z:1.27 [[ 9.92551237e-01 -1.20351964e-01 -1.89062739e-02 1.77060877e+02] [ 1.20343825e-01 9.92731028e-01 -1.57178310e-03 8.14671119e+00] [ 1.89580119e-02 -7.15178056e-04 9.99820025e-01 1.27353282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.054391418 meters Centerline goodness [0,1] 0.999060351087003 Centerline is valid? [True, True] Translation: X:177.09, Y:8.16, Z:1.27 [[ 9.93376637e-01 -1.13367396e-01 -1.87267231e-02 1.77089542e+02] [ 1.13358174e-01 9.93552968e-01 -1.55667702e-03 8.15672085e+00] [ 1.87824678e-02 -5.76460554e-04 9.99823428e-01 1.27376952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.084391418 meters Centerline goodness [0,1] 0.9989121624504074 Centerline is valid? [True, True] Translation: X:177.12, Y:8.16, Z:1.27 [[ 9.93823905e-01 -1.09371533e-01 -1.87593701e-02 1.77120685e+02] [ 1.09361577e-01 9.94000813e-01 -1.55884714e-03 8.16491266e+00] [ 1.88173226e-02 -5.02334754e-04 9.99822812e-01 1.27492223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.114391418 meters Centerline goodness [0,1] 0.9991853185833119 Centerline is valid? [True, True] Translation: X:177.15, Y:8.18, Z:1.28 [[ 9.94695800e-01 -1.01130961e-01 -1.87828152e-02 1.77149415e+02] [ 1.01119518e-01 9.94873061e-01 -1.56039233e-03 8.17698931e+00] [ 1.88443208e-02 -3.47193531e-04 9.99822370e-01 1.27562504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.144391418 meters Centerline goodness [0,1] 0.9987992624040481 Centerline is valid? [True, True] Translation: X:177.18, Y:8.18, Z:1.28 [[ 9.95129550e-01 -9.68378961e-02 -1.84282357e-02 1.77180490e+02] [ 9.68261771e-02 9.95300132e-01 -1.52921628e-03 8.18427762e+00] [ 1.84897115e-02 -2.62567308e-04 9.99829016e-01 1.27594729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.174391418 meters Centerline goodness [0,1] 0.9990554494128759 Centerline is valid? [True, True] Translation: X:177.21, Y:8.19, Z:1.28 [[ 9.95514825e-01 -9.27912666e-02 -1.84394614e-02 1.77212193e+02] [ 9.27788742e-02 9.95685565e-01 -1.52824758e-03 8.19172609e+00] [ 1.85017136e-02 -1.89399352e-04 9.99828811e-01 1.27649761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.204391418 meters Centerline goodness [0,1] 0.9993126704899371 Centerline is valid? [True, True] Translation: X:177.24, Y:8.20, Z:1.28 [[ 9.96142616e-01 -8.59187502e-02 -1.78285698e-02 1.77244095e+02] [ 8.59060920e-02 9.96302145e-01 -1.47605903e-03 8.20316166e+00] [ 1.78894635e-02 -6.12174526e-05 9.99839969e-01 1.27823139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.234391418 meters Centerline goodness [0,1] 0.9993119759191572 Centerline is valid? [True, True] Translation: X:177.27, Y:8.21, Z:1.28 [[ 9.96385319e-01 -8.31178248e-02 -1.75420162e-02 1.77274806e+02] [ 8.31051762e-02 9.96539727e-01 -1.45005690e-03 8.20837452e+00] [ 1.76018416e-02 -1.30169426e-05 9.99845076e-01 1.27736692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.264391418 meters Centerline goodness [0,1] 0.9991162650342716 Centerline is valid? [True, True] Translation: X:177.31, Y:8.21, Z:1.28 [[ 9.96535352e-01 -8.12639156e-02 -1.77050109e-02 1.77308036e+02] [ 8.12507807e-02 9.96692618e-01 -1.46113598e-03 8.21326935e+00] [ 1.77651913e-02 1.75277032e-05 9.99842186e-01 1.27920110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.294391418 meters Centerline goodness [0,1] 0.9992480072191307 Centerline is valid? [True, True] Translation: X:177.34, Y:8.22, Z:1.28 [[ 9.96702033e-01 -7.91844580e-02 -1.77448474e-02 1.77339850e+02] [ 7.91709692e-02 9.96859980e-01 -1.46246574e-03 8.21832494e+00] [ 1.78049328e-02 5.27658017e-05 9.99841478e-01 1.27868389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.324391418 meters Centerline goodness [0,1] 0.9993549080744006 Centerline is valid? [True, True] Translation: X:177.37, Y:8.22, Z:1.28 [[ 9.96710734e-01 -7.90236852e-02 -1.79713533e-02 1.77373235e+02] [ 7.90098611e-02 9.96872737e-01 -1.47906189e-03 8.22105351e+00] [ 1.80320330e-02 5.42827354e-05 9.99837408e-01 1.27913024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.354391418 meters Centerline goodness [0,1] 0.9992237698908966 Centerline is valid? [True, True] Translation: X:177.40, Y:8.22, Z:1.28 [[ 9.96540644e-01 -8.10524010e-02 -1.83644655e-02 1.77404926e+02] [ 8.10383684e-02 9.96709841e-01 -1.50823292e-03 8.22228725e+00] [ 1.84262894e-02 1.47890843e-05 9.99830221e-01 1.27804570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.384391418 meters Centerline goodness [0,1] 0.9991396369267831 Centerline is valid? [True, True] Translation: X:177.44, Y:8.22, Z:1.28 [[ 9.96387013e-01 -8.28881577e-02 -1.85060444e-02 1.77436574e+02] [ 8.28742720e-02 9.96558856e-01 -1.51730193e-03 8.22322597e+00] [ 1.85681288e-02 -2.18550219e-05 9.99827597e-01 1.27781869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.414391418 meters Centerline goodness [0,1] 0.9992255566311713 Centerline is valid? [True, True] Translation: X:177.47, Y:8.22, Z:1.28 [[ 9.96194342e-01 -8.51987789e-02 -1.83848266e-02 1.77469268e+02] [ 8.51855058e-02 9.96363971e-01 -1.50530999e-03 8.22342596e+00] [ 1.84462294e-02 -6.65394533e-05 9.99829852e-01 1.27848634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.444391418 meters Centerline goodness [0,1] 0.9990956851261734 Centerline is valid? [True, True] Translation: X:177.50, Y:8.22, Z:1.28 [[ 9.95709198e-01 -9.08366515e-02 -1.76605502e-02 1.77500750e+02] [ 9.08253327e-02 9.95865792e-01 -1.44359422e-03 8.22052431e+00] [ 1.77186691e-02 -1.66625300e-04 9.99842998e-01 1.27859985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.474391418 meters Centerline goodness [0,1] 0.9989903980409426 Centerline is valid? [True, True] Translation: X:177.53, Y:8.22, Z:1.28 [[ 9.95421602e-01 -9.39753576e-02 -1.74489447e-02 1.77532537e+02] [ 9.39648196e-02 9.95574499e-01 -1.42462510e-03 8.22068333e+00] [ 1.75056040e-02 -2.21484338e-04 9.99846741e-01 1.27935492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.504391418 meters Centerline goodness [0,1] 0.9991199828289332 Centerline is valid? [True, True] Translation: X:177.57, Y:8.22, Z:1.28 [[ 9.95131533e-01 -9.70883585e-02 -1.69435181e-02 1.77565267e+02] [ 9.70788937e-02 9.95275730e-01 -1.38215215e-03 8.22039521e+00] [ 1.69976633e-02 -2.69434807e-04 9.99855493e-01 1.27998322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.534391418 meters Centerline goodness [0,1] 0.9991194725425767 Centerline is valid? [True, True] Translation: X:177.60, Y:8.22, Z:1.28 [[ 9.94840329e-01 -1.00117155e-01 -1.64096057e-02 1.77597265e+02] [ 1.00108710e-01 9.94975607e-01 -1.33728937e-03 8.22072084e+00] [ 1.64610430e-02 -3.12355070e-04 9.99864459e-01 1.28094097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.564391418 meters Centerline goodness [0,1] 0.9989728225979029 Centerline is valid? [True, True] Translation: X:177.63, Y:8.22, Z:1.28 [[ 9.94256290e-01 -1.05929274e-01 -1.52780524e-02 1.77628642e+02] [ 1.05922656e-01 9.94373593e-01 -1.24403972e-03 8.21680186e+00] [ 1.53238721e-02 -3.81397565e-04 9.99882510e-01 1.28159217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.59439141800001 meters Centerline goodness [0,1] 0.999101315930245 Centerline is valid? [True, True] Translation: X:177.66, Y:8.22, Z:1.28 [[ 9.93966143e-01 -1.08628160e-01 -1.52062194e-02 1.77660800e+02] [ 1.08621935e-01 9.94082363e-01 -1.23711148e-03 8.21681668e+00] [ 1.52506196e-02 -4.22082046e-04 9.99883613e-01 1.28214623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62439141800002 meters Centerline goodness [0,1] 0.9989745123592625 Centerline is valid? [True, True] Translation: X:177.69, Y:8.21, Z:1.28 [[ 9.93432018e-01 -1.13474889e-01 -1.47063289e-02 1.77691892e+02] [ 1.13469607e-01 9.93540748e-01 -1.19575039e-03 8.21424788e+00] [ 1.47470247e-02 -4.80824655e-04 9.99891141e-01 1.28229175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65439141800002 meters Centerline goodness [0,1] 0.9987360754070266 Centerline is valid? [True, True] Translation: X:177.72, Y:8.21, Z:1.28 [[ 9.93151584e-01 -1.15857346e-01 -1.50667353e-02 1.77722781e+02] [ 1.15852083e-01 9.93265722e-01 -1.22459275e-03 8.21268791e+00] [ 1.51071498e-02 -5.29306429e-04 9.99885740e-01 1.28129183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68439141800002 meters Centerline goodness [0,1] 0.9988236049023592 Centerline is valid? [True, True] Translation: X:177.75, Y:8.21, Z:1.28 [[ 9.92913071e-01 -1.17830263e-01 -1.54810401e-02 1.77754844e+02] [ 1.17824961e-01 9.93033583e-01 -1.25732924e-03 8.21260371e+00] [ 1.55213441e-02 -5.75634301e-04 9.99879371e-01 1.28106785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.714391418 meters Centerline goodness [0,1] 0.998777742039241 Centerline is valid? [True, True] Translation: X:177.79, Y:8.21, Z:1.28 [[ 9.92480445e-01 -1.21287623e-01 -1.64887643e-02 1.77786515e+02] [ 1.21282099e-01 9.92617178e-01 -1.33823137e-03 8.21327920e+00] [ 1.65293416e-02 -6.71623481e-04 9.99863156e-01 1.28040451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.744391418 meters Centerline goodness [0,1] 0.9990579973880837 Centerline is valid? [True, True] Translation: X:177.82, Y:8.21, Z:1.28 [[ 9.92365195e-01 -1.22191282e-01 -1.67514295e-02 1.77817582e+02] [ 1.22185756e-01 9.92506323e-01 -1.35681482e-03 8.21391742e+00] [ 1.67916906e-02 -7.00330263e-04 9.99858764e-01 1.28035561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.774391418 meters Centerline goodness [0,1] 0.9987354252400549 Centerline is valid? [True, True] Translation: X:177.85, Y:8.21, Z:1.28 [[ 9.92240779e-01 -1.23138925e-01 -1.71768004e-02 1.77849685e+02] [ 1.23133301e-01 9.92389168e-01 -1.38868307e-03 8.21500000e+00] [ 1.72170716e-02 -7.37128161e-04 9.99851504e-01 1.27970381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.804391418 meters Centerline goodness [0,1] 0.9987837664831648 Centerline is valid? [True, True] Translation: X:177.88, Y:8.22, Z:1.28 [[ 9.92250675e-01 -1.22996003e-01 -1.76233125e-02 1.77882641e+02] [ 1.22990091e-01 9.92406879e-01 -1.42300245e-03 8.21776263e+00] [ 1.76645201e-02 -7.55517664e-04 9.99843685e-01 1.27937067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.834391418 meters Centerline goodness [0,1] 0.9986926983990914 Centerline is valid? [True, True] Translation: X:177.91, Y:8.22, Z:1.28 [[ 9.92341859e-01 -1.22224011e-01 -1.78584829e-02 1.77914797e+02] [ 1.22217846e-01 9.92502254e-01 -1.44031853e-03 8.22305942e+00] [ 1.79006260e-02 -7.53336939e-04 9.99839487e-01 1.27982149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.864391418 meters Centerline goodness [0,1] 0.9990144828177222 Centerline is valid? [True, True] Translation: X:177.95, Y:8.23, Z:1.28 [[ 9.92460845e-01 -1.21306685e-01 -1.74974119e-02 1.77946698e+02] [ 1.21300648e-01 9.92614812e-01 -1.40982330e-03 8.22759588e+00] [ 1.75392112e-02 -7.23252977e-04 9.99845915e-01 1.28046176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.894391418 meters Centerline goodness [0,1] 0.9990781236600634 Centerline is valid? [True, True] Translation: X:177.98, Y:8.23, Z:1.28 [[ 9.92637188e-01 -1.19858187e-01 -1.74764785e-02 1.77978272e+02] [ 1.19851965e-01 9.92790777e-01 -1.40675559e-03 8.23122194e+00] [ 1.75190978e-02 -6.98192362e-04 9.99846285e-01 1.28039846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.924391418 meters Centerline goodness [0,1] 0.9988178144613533 Centerline is valid? [True, True] Translation: X:178.01, Y:8.24, Z:1.28 [[ 9.93061744e-01 -1.16203789e-01 -1.80291951e-02 1.78008420e+02] [ 1.16196580e-01 9.93225176e-01 -1.45046074e-03 8.23729211e+00] [ 1.80755996e-02 -6.54533736e-04 9.99836409e-01 1.27988298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.954391418 meters Centerline goodness [0,1] 0.9989067524115756 Centerline is valid? [True, True] Translation: X:178.04, Y:8.24, Z:1.28 [[ 9.93302278e-01 -1.14037225e-01 -1.86036549e-02 1.78039360e+02] [ 1.14029185e-01 9.93476274e-01 -1.49586416e-03 8.23900131e+00] [ 1.86528740e-02 -6.35514328e-04 9.99825818e-01 1.27853968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.984391418 meters Centerline goodness [0,1] 0.999225523309597 Centerline is valid? [True, True] Translation: X:178.07, Y:8.25, Z:1.28 [[ 9.93849734e-01 -1.09001558e-01 -1.95286083e-02 1.78070282e+02] [ 1.08991750e-01 9.94041416e-01 -1.56906972e-03 8.25196549e+00] [ 1.95832764e-02 -5.69037661e-04 9.99808067e-01 1.28015643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.014391418 meters Centerline goodness [0,1] 0.9989876580438107 Centerline is valid? [True, True] Translation: X:178.10, Y:8.26, Z:1.28 [[ 9.94163351e-01 -1.06119696e-01 -1.94381350e-02 1.78101626e+02] [ 1.06109498e-01 9.94353230e-01 -1.55823193e-03 8.25626001e+00] [ 1.94937314e-02 -5.13433653e-04 9.99809847e-01 1.27994726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.044391418 meters Centerline goodness [0,1] 0.9990754278833749 Centerline is valid? [True, True] Translation: X:178.13, Y:8.26, Z:1.28 [[ 9.94475000e-01 -1.03095505e-01 -1.97684210e-02 1.78132664e+02] [ 1.03084457e-01 9.94671352e-01 -1.57974360e-03 8.26108578e+00] [ 1.98259465e-02 -4.66801436e-04 9.99803338e-01 1.27978345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.074391418 meters Centerline goodness [0,1] 0.9991387106498428 Centerline is valid? [True, True] Translation: X:178.16, Y:8.27, Z:1.28 [[ 9.95020907e-01 -9.77089197e-02 -1.96560650e-02 1.78163016e+02] [ 9.76969905e-02 9.95214971e-01 -1.56854732e-03 8.27144844e+00] [ 1.97152712e-02 -3.59601021e-04 9.99805570e-01 1.28173185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.104391418 meters Centerline goodness [0,1] 0.999266292619767 Centerline is valid? [True, True] Translation: X:178.20, Y:8.28, Z:1.28 [[ 9.95309889e-01 -9.46747450e-02 -1.98725114e-02 1.78195082e+02] [ 9.46619724e-02 9.95508212e-01 -1.58454110e-03 8.27681907e+00] [ 1.99332643e-02 -3.04061693e-04 9.99801267e-01 1.28186778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.134391418 meters Centerline goodness [0,1] 0.9991346112240924 Centerline is valid? [True, True] Translation: X:178.23, Y:8.28, Z:1.28 [[ 9.95559550e-01 -9.19464572e-02 -2.01750080e-02 1.78227010e+02] [ 9.19327643e-02 9.95763920e-01 -1.60709127e-03 8.28222451e+00] [ 2.02373114e-02 -2.54789187e-04 9.99795172e-01 1.28188812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.164391418 meters Centerline goodness [0,1] 0.9991566108732322 Centerline is valid? [True, True] Translation: X:178.26, Y:8.29, Z:1.28 [[ 9.96046431e-01 -8.63962265e-02 -2.06687844e-02 1.78259113e+02] [ 8.63807002e-02 9.96260845e-01 -1.64447855e-03 8.29164326e+00] [ 2.07335773e-02 -1.47407075e-04 9.99785025e-01 1.28355622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.194391418 meters Centerline goodness [0,1] 0.9991566108732322 Centerline is valid? [True, True] Translation: X:178.29, Y:8.29, Z:1.28 [[ 9.96056946e-01 -8.62748757e-02 -2.06689731e-02 1.78291571e+02] [ 8.62593726e-02 9.96271361e-01 -1.64210513e-03 8.29411070e+00] [ 2.07335783e-02 -1.47262425e-04 9.99785025e-01 1.28378415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.224391418 meters Centerline goodness [0,1] 0.9992188517120166 Centerline is valid? [True, True] Translation: X:178.32, Y:8.30, Z:1.28 [[ 9.96300861e-01 -8.33877774e-02 -2.07623003e-02 1.78322988e+02] [ 8.33715481e-02 9.96517170e-01 -1.64754457e-03 8.29947726e+00] [ 2.08273738e-02 -8.95350384e-05 9.99783083e-01 1.28419348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.254391418 meters Centerline goodness [0,1] 0.9991540130151844 Centerline is valid? [True, True] Translation: X:178.36, Y:8.30, Z:1.28 [[ 9.96543779e-01 -8.03559864e-02 -2.10573313e-02 1.78355384e+02] [ 8.03386576e-02 9.96766229e-01 -1.66896977e-03 8.30470269e+00] [ 2.11233484e-02 -2.85162852e-05 9.99776877e-01 1.28458735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.284391418 meters Centerline goodness [0,1] 0.9992171530465794 Centerline is valid? [True, True] Translation: X:178.39, Y:8.31, Z:1.29 [[ 9.97004712e-01 -7.44322331e-02 -2.10106401e-02 1.78386439e+02] [ 7.44137517e-02 9.97226070e-01 -1.66116975e-03 8.31275164e+00] [ 2.10760026e-02 9.27135107e-05 9.99777872e-01 1.28514443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.314391418 meters Centerline goodness [0,1] 0.9994351509884858 Centerline is valid? [True, True] Translation: X:178.42, Y:8.32, Z:1.29 [[ 9.97203145e-01 -7.18355305e-02 -2.06287204e-02 1.78418753e+02] [ 7.18172159e-02 9.97416481e-01 -1.62823519e-03 8.31765373e+00] [ 2.06923909e-02 1.42183988e-04 9.99785879e-01 1.28616110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34439141800001 meters Centerline goodness [0,1] 0.9993043478260869 Centerline is valid? [True, True] Translation: X:178.45, Y:8.32, Z:1.29 [[ 9.97349317e-01 -6.97907214e-02 -2.05814438e-02 1.78450276e+02] [ 6.97720886e-02 9.97561638e-01 -1.62288836e-03 8.32194904e+00] [ 2.06445213e-02 1.82576277e-04 9.99786862e-01 1.28661653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.37439141800002 meters Centerline goodness [0,1] 0.9993256911665542 Centerline is valid? [True, True] Translation: X:178.48, Y:8.33, Z:1.29 [[ 9.97461181e-01 -6.80703534e-02 -2.09193652e-02 1.78481053e+02] [ 6.80507541e-02 9.97680499e-01 -1.64816432e-03 8.32606295e+00] [ 2.09830338e-02 2.20401352e-04 9.99779808e-01 1.28697755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40439141800002 meters Centerline goodness [0,1] 0.9993690988991863 Centerline is valid? [True, True] Translation: X:178.51, Y:8.33, Z:1.29 [[ 9.97599132e-01 -6.60516344e-02 -2.08123299e-02 1.78512877e+02] [ 6.60318267e-02 9.97816172e-01 -1.63826063e-03 8.33054724e+00] [ 2.08750892e-02 2.60051224e-04 9.99782058e-01 1.28771557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43439141800002 meters Centerline goodness [0,1] 0.9993910130932185 Centerline is valid? [True, True] Translation: X:178.55, Y:8.33, Z:1.29 [[ 9.97650002e-01 -6.53923102e-02 -2.04528652e-02 1.78546262e+02] [ 6.53730850e-02 9.97859597e-01 -1.60788844e-03 8.33365112e+00] [ 2.05142313e-02 2.67043011e-04 9.99789525e-01 1.28805437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.464391418 meters Centerline goodness [0,1] 0.999564421987978 Centerline is valid? [True, True] Translation: X:178.58, Y:8.34, Z:1.29 [[ 9.97691853e-01 -6.47643955e-02 -2.04092889e-02 1.78578667e+02] [ 6.47451581e-02 9.97900544e-01 -1.60263942e-03 8.33621895e+00] [ 2.04702345e-02 2.77537654e-04 9.99790424e-01 1.28865675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.494391418 meters Centerline goodness [0,1] 0.9996517272153415 Centerline is valid? [True, True] Translation: X:178.61, Y:8.34, Z:1.29 [[ 9.97774021e-01 -6.36131691e-02 -2.00091696e-02 1.78609685e+02] [ 6.35944951e-02 9.97974588e-01 -1.56883808e-03 8.33891079e+00] [ 2.00684416e-02 2.92872841e-04 9.99798566e-01 1.28901288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.524391418 meters Centerline goodness [0,1] 0.999411007613272 Centerline is valid? [True, True] Translation: X:178.64, Y:8.34, Z:1.29 [[ 9.97804952e-01 -6.31397495e-02 -1.99662406e-02 1.78642327e+02] [ 6.31211009e-02 9.98004650e-01 -1.56346911e-03 8.34028622e+00] [ 2.00251180e-02 2.99746131e-04 9.99799432e-01 1.29000428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.554391418 meters Centerline goodness [0,1] 0.9996949425838363 Centerline is valid? [True, True] Translation: X:178.67, Y:8.34, Z:1.29 [[ 9.97821246e-01 -6.30108606e-02 -1.95548538e-02 1.78674689e+02] [ 6.29929774e-02 9.98012798e-01 -1.52975108e-03 8.34054066e+00] [ 1.96123852e-02 2.94599667e-04 9.99807615e-01 1.29036470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.584391418 meters Centerline goodness [0,1] 0.9995861377943323 Centerline is valid? [True, True] Translation: X:178.71, Y:8.34, Z:1.29 [[ 9.97803331e-01 -6.32772438e-02 -1.96087687e-02 1.78705524e+02] [ 6.32593383e-02 9.97995945e-01 -1.53269850e-03 8.34180699e+00] [ 1.96664566e-02 2.88893936e-04 9.99806555e-01 1.29028134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.614391418 meters Centerline goodness [0,1] 0.9993689890769833 Centerline is valid? [True, True] Translation: X:178.74, Y:8.34, Z:1.29 [[ 9.97747883e-01 -6.41837056e-02 -1.94836855e-02 1.78736315e+02] [ 6.41662222e-02 9.97938064e-01 -1.52181413e-03 8.34261573e+00] [ 1.95411871e-02 2.68192329e-04 9.99809017e-01 1.29026735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.644391418 meters Centerline goodness [0,1] 0.9995011278847822 Centerline is valid? [True, True] Translation: X:178.77, Y:8.34, Z:1.29 [[ 9.97614537e-01 -6.62329800e-02 -1.94532181e-02 1.78768789e+02] [ 6.62159679e-02 9.97804160e-01 -1.51804014e-03 8.33882886e+00] [ 1.95110463e-02 2.26305245e-04 9.99809616e-01 1.29170970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.674391418 meters Centerline goodness [0,1] 0.9995227972756062 Centerline is valid? [True, True] Translation: X:178.80, Y:8.34, Z:1.29 [[ 9.97532753e-01 -6.74329272e-02 -1.95245455e-02 1.78801134e+02] [ 6.74160506e-02 9.97723789e-01 -1.52203867e-03 8.33856105e+00] [ 1.95827390e-02 2.02015678e-04 9.99808219e-01 1.29172941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.704391418 meters Centerline goodness [0,1] 0.9997836340819594 Centerline is valid? [True, True] Translation: X:178.83, Y:8.34, Z:1.29 [[ 9.97292244e-01 -7.08976343e-02 -1.95372808e-02 1.78833042e+02] [ 7.08814259e-02 9.97483588e-01 -1.52172137e-03 8.33558215e+00] [ 1.95960034e-02 1.32770596e-04 9.99807971e-01 1.29150029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.734391418 meters Centerline goodness [0,1] 0.9996101280079707 Centerline is valid? [True, True] Translation: X:178.87, Y:8.33, Z:1.29 [[ 9.97160887e-01 -7.25969014e-02 -1.99964077e-02 1.78865162e+02] [ 7.25802939e-02 9.97361359e-01 -1.55598173e-03 8.33443513e+00] [ 2.00566038e-02 1.00218971e-04 9.99798841e-01 1.29263317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.764391418 meters Centerline goodness [0,1] 0.9994388569948633 Centerline is valid? [True, True] Translation: X:178.90, Y:8.33, Z:1.29 [[ 9.97026842e-01 -7.45468878e-02 -1.94996720e-02 1.78897231e+02] [ 7.45314991e-02 9.97217508e-01 -1.51574212e-03 8.33391150e+00] [ 1.95584082e-02 5.78957955e-05 9.99808714e-01 1.29289865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.794391418 meters Centerline goodness [0,1] 0.9993965257123152 Centerline is valid? [True, True] Translation: X:178.93, Y:8.33, Z:1.29 [[ 9.96918386e-01 -7.59977413e-02 -1.94441519e-02 1.78930911e+02] [ 7.59827618e-02 9.97107989e-01 -1.50907926e-03 8.33354012e+00] [ 1.95026058e-02 2.70085057e-05 9.99809806e-01 1.29310428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.824391418 meters Centerline goodness [0,1] 0.9990778864299193 Centerline is valid? [True, True] Translation: X:178.96, Y:8.33, Z:1.29 [[ 9.96716529e-01 -7.87186939e-02 -1.89612301e-02 1.78963644e+02] [ 7.87049786e-02 9.96896869e-01 -1.46965121e-03 8.33103839e+00] [ 1.90180800e-02 -2.75175626e-05 9.99819140e-01 1.29418772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.854391418 meters Centerline goodness [0,1] 0.9992268207297953 Centerline is valid? [True, True] Translation: X:179.00, Y:8.33, Z:1.29 [[ 9.96681264e-01 -7.91635058e-02 -1.89630549e-02 1.78997144e+02] [ 7.91499071e-02 9.96861644e-01 -1.46775856e-03 8.33153106e+00] [ 1.90197350e-02 -3.80365763e-05 9.99819108e-01 1.29452975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.884391418 meters Centerline goodness [0,1] 0.9989284642749989 Centerline is valid? [True, True] Translation: X:179.03, Y:8.33, Z:1.29 [[ 9.96675873e-01 -7.91620996e-02 -1.92501109e-02 1.79028966e+02] [ 7.91481501e-02 9.96861756e-01 -1.48663964e-03 8.33231045e+00] [ 1.93073849e-02 -4.19128069e-05 9.99813594e-01 1.29452843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.914391418 meters Centerline goodness [0,1] 0.9994412687497314 Centerline is valid? [True, True] Translation: X:179.06, Y:8.33, Z:1.29 [[ 9.96717053e-01 -7.85448542e-02 -1.96423361e-02 1.79062420e+02] [ 7.85302692e-02 9.96910580e-01 -1.51395704e-03 8.33241018e+00] [ 1.97005662e-02 -3.35311464e-05 9.99805924e-01 1.29447179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.944391418 meters Centerline goodness [0,1] 0.9992487819535962 Centerline is valid? [True, True] Translation: X:179.09, Y:8.33, Z:1.29 [[ 9.96769126e-01 -7.78876586e-02 -1.96168657e-02 1.79094559e+02] [ 7.78730506e-02 9.96962142e-01 -1.50861801e-03 8.33394726e+00] [ 1.96747752e-02 -2.38813189e-05 9.99806433e-01 1.29421739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.974391418 meters Centerline goodness [0,1] 0.9992277660989317 Centerline is valid? [True, True] Translation: X:179.13, Y:8.33, Z:1.29 [[ 9.96924599e-01 -7.58591514e-02 -1.96655435e-02 1.79126469e+02] [ 7.58441529e-02 9.97118543e-01 -1.50846671e-03 8.33498236e+00] [ 1.97233091e-02 1.23110794e-05 9.99805477e-01 1.29430274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.004391418 meters Centerline goodness [0,1] 0.9991024490319271 Centerline is valid? [True, True] Translation: X:179.16, Y:8.34, Z:1.29 [[ 9.97016164e-01 -7.45767124e-02 -1.99269234e-02 1.79159810e+02] [ 7.45611146e-02 9.97215279e-01 -1.52560403e-03 8.33675800e+00] [ 1.99852070e-02 3.52782543e-05 9.99800275e-01 1.29436009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.034391418 meters Centerline goodness [0,1] 0.9991030815555129 Centerline is valid? [True, True] Translation: X:179.19, Y:8.34, Z:1.29 [[ 9.97110788e-01 -7.32488804e-02 -2.01166023e-02 1.79192701e+02] [ 7.32327620e-02 9.97313691e-01 -1.53774562e-03 8.33841297e+00] [ 2.01752010e-02 6.01083976e-05 9.99796458e-01 1.29453542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.064391418 meters Centerline goodness [0,1] 0.9990170730143807 Centerline is valid? [True, True] Translation: X:179.22, Y:8.34, Z:1.30 [[ 9.97218425e-01 -7.17559419e-02 -2.01618098e-02 1.79224772e+02] [ 7.17394843e-02 9.97422216e-01 -1.53930019e-03 8.33995297e+00] [ 2.02202909e-02 8.86206790e-05 9.99795545e-01 1.29564129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.09439141800001 meters Centerline goodness [0,1] 0.9989115588185078 Centerline is valid? [True, True] Translation: X:179.26, Y:8.34, Z:1.30 [[ 9.97299443e-01 -7.06005271e-02 -2.02333244e-02 1.79255673e+02] [ 7.05837426e-02 9.97504663e-01 -1.54338575e-03 8.34193846e+00] [ 2.02917993e-02 1.11073984e-04 9.99794094e-01 1.29521672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12439141800002 meters Centerline goodness [0,1] 0.9990424309486318 Centerline is valid? [True, True] Translation: X:179.29, Y:8.34, Z:1.30 [[ 9.97453404e-01 -6.85784607e-02 -1.95883157e-02 1.79288024e+02] [ 6.85623721e-02 9.97645715e-01 -1.49252608e-03 8.34299931e+00] [ 1.96445544e-02 1.45703825e-04 9.99807017e-01 1.29604463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.15439141800002 meters Centerline goodness [0,1] 0.9991245302357362 Centerline is valid? [True, True] Translation: X:179.32, Y:8.34, Z:1.30 [[ 9.97516591e-01 -6.77542323e-02 -1.92357414e-02 1.79321199e+02] [ 6.77386065e-02 9.97702029e-01 -1.46348075e-03 8.34393517e+00] [ 1.92906953e-02 1.56844005e-04 9.99813905e-01 1.29722035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18439141800002 meters Centerline goodness [0,1] 0.9994672235956014 Centerline is valid? [True, True] Translation: X:179.35, Y:8.34, Z:1.30 [[ 9.97619797e-01 -6.62571038e-02 -1.90980788e-02 1.79352752e+02] [ 6.62414570e-02 9.97802567e-01 -1.45142314e-03 8.34373416e+00] [ 1.91522792e-02 1.82883891e-04 9.99816562e-01 1.29680964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.214391418 meters Centerline goodness [0,1] 0.9994260814114146 Centerline is valid? [True, True] Translation: X:179.39, Y:8.34, Z:1.30 [[ 9.97667374e-01 -6.55393261e-02 -1.90894800e-02 1.79385105e+02] [ 6.55235887e-02 9.97849968e-01 -1.44937678e-03 8.34447231e+00] [ 1.91434281e-02 1.95184696e-04 9.99816729e-01 1.29693353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.244391418 meters Centerline goodness [0,1] 0.9994263496717445 Centerline is valid? [True, True] Translation: X:179.42, Y:8.35, Z:1.30 [[ 9.97730144e-01 -6.45878526e-02 -1.90517567e-02 1.79417751e+02] [ 6.45720329e-02 9.97912002e-01 -1.44499270e-03 8.34553678e+00] [ 1.91053056e-02 2.11502119e-04 9.99817455e-01 1.29684403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.274391418 meters Centerline goodness [0,1] 0.9994693721611411 Centerline is valid? [True, True] Translation: X:179.45, Y:8.34, Z:1.30 [[ 9.97785907e-01 -6.37370642e-02 -1.89965697e-02 1.79450384e+02] [ 6.37212111e-02 9.97966701e-01 -1.43927333e-03 8.34489213e+00] [ 1.90496790e-02 2.25602223e-04 9.99818513e-01 1.29753091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.304391418 meters Centerline goodness [0,1] 0.9995131553880998 Centerline is valid? [True, True] Translation: X:179.48, Y:8.35, Z:1.30 [[ 9.97822181e-01 -6.32118890e-02 -1.88454977e-02 1.79482611e+02] [ 6.31962268e-02 9.98000102e-01 -1.42605922e-03 8.34636798e+00] [ 1.88979526e-02 2.31989169e-04 9.99821391e-01 1.29725071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.334391418 meters Centerline goodness [0,1] 0.9993632601082458 Centerline is valid? [True, True] Translation: X:179.51, Y:8.35, Z:1.30 [[ 9.97843572e-01 -6.29464918e-02 -1.85996014e-02 1.79514262e+02] [ 6.29312241e-02 9.98016876e-01 -1.40560443e-03 8.34695028e+00] [ 1.86511940e-02 2.32077659e-04 9.99826024e-01 1.29738342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.364391418 meters Centerline goodness [0,1] 0.9991952562473528 Centerline is valid? [True, True] Translation: X:179.55, Y:8.35, Z:1.30 [[ 9.97851355e-01 -6.28847637e-02 -1.83896628e-02 1.79546993e+02] [ 6.28698576e-02 9.98020768e-01 -1.38814906e-03 8.34699343e+00] [ 1.84405589e-02 2.29010933e-04 9.99829932e-01 1.29762781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.394391418 meters Centerline goodness [0,1] 0.9993863862381245 Centerline is valid? [True, True] Translation: X:179.58, Y:8.34, Z:1.30 [[ 9.97792174e-01 -6.39120577e-02 -1.80561838e-02 1.79578937e+02] [ 6.38978773e-02 9.97955513e-01 -1.36177208e-03 8.34432242e+00] [ 1.81063018e-02 2.05013706e-04 9.99836046e-01 1.29741601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.424391418 meters Centerline goodness [0,1] 0.9993862044150952 Centerline is valid? [True, True] Translation: X:179.61, Y:8.34, Z:1.30 [[ 9.97717277e-01 -6.50706485e-02 -1.80567305e-02 1.79611763e+02] [ 6.50566809e-02 9.97880643e-01 -1.36049066e-03 8.34284126e+00] [ 1.81069898e-02 1.82674085e-04 9.99836038e-01 1.29838534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.454391418 meters Centerline goodness [0,1] 0.9993875007920249 Centerline is valid? [True, True] Translation: X:179.64, Y:8.34, Z:1.30 [[ 9.97556576e-01 -6.76363519e-02 -1.74986195e-02 1.79643132e+02] [ 6.76236500e-02 9.97710031e-01 -1.31724984e-03 8.33870230e+00] [ 1.75476421e-02 1.30710726e-04 9.99846020e-01 1.29820220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.484391418 meters Centerline goodness [0,1] 0.9993872031104725 Centerline is valid? [True, True] Translation: X:179.68, Y:8.34, Z:1.30 [[ 9.97470191e-01 -6.89987344e-02 -1.70994941e-02 1.79675486e+02] [ 6.89868266e-02 9.97616742e-01 -1.28597610e-03 8.33755685e+00] [ 1.71474723e-02 1.03082997e-04 9.99852966e-01 1.29869782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.514391418 meters Centerline goodness [0,1] 0.9993468871800274 Centerline is valid? [True, True] Translation: X:179.71, Y:8.34, Z:1.30 [[ 9.97412515e-01 -6.99328541e-02 -1.66634412e-02 1.79706403e+02] [ 6.99216951e-02 9.97551697e-01 -1.25205348e-03 8.33671238e+00] [ 1.67102037e-02 8.36777573e-05 9.99860371e-01 1.29838946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.544391418 meters Centerline goodness [0,1] 0.9990064685240773 Centerline is valid? [True, True] Translation: X:179.74, Y:8.34, Z:1.30 [[ 9.97356234e-01 -7.09319107e-02 -1.57863048e-02 1.79738453e+02] [ 7.09220384e-02 9.97481158e-01 -1.18503495e-03 8.33549786e+00] [ 1.58305984e-02 6.23050831e-05 9.99874686e-01 1.29968909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.574391418 meters Centerline goodness [0,1] 0.9993047215725934 Centerline is valid? [True, True] Translation: X:179.77, Y:8.33, Z:1.30 [[ 9.97252557e-01 -7.27394770e-02 -1.40109612e-02 1.79770308e+02] [ 7.27318919e-02 9.97350975e-01 -1.05083452e-03 8.33211414e+00] [ 1.40502830e-02 2.89036946e-05 9.99901289e-01 1.29972862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.604391418 meters Centerline goodness [0,1] 0.9995799995799995 Centerline is valid? [True, True] Translation: X:179.80, Y:8.33, Z:1.30 [[ 9.97195676e-01 -7.36070826e-02 -1.35196890e-02 1.79802649e+02] [ 7.36001126e-02 9.97287319e-01 -1.01304782e-03 8.33148265e+00] [ 1.35575819e-02 1.51562663e-05 9.99908092e-01 1.30092844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.634391418 meters Centerline goodness [0,1] 0.9994127147261782 Centerline is valid? [True, True] Translation: X:179.83, Y:8.33, Z:1.30 [[ 9.96994134e-01 -7.65625990e-02 -1.18686855e-02 1.79834474e+02] [ 7.65574462e-02 9.97064776e-01 -8.88539315e-04 8.32760273e+00] [ 1.19018772e-02 -2.27677701e-05 9.99929170e-01 1.30147645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.664391418 meters Centerline goodness [0,1] 0.9994320691613554 Centerline is valid? [True, True] Translation: X:179.87, Y:8.33, Z:1.30 [[ 9.96852516e-01 -7.85603172e-02 -1.06460125e-02 1.79867903e+02] [ 7.85562943e-02 9.96909361e-01 -7.96169582e-04 8.32644852e+00] [ 1.06756569e-02 -4.26476389e-05 9.99943013e-01 1.30203009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.694391418 meters Centerline goodness [0,1] 0.9994329875257255 Centerline is valid? [True, True] Translation: X:179.90, Y:8.32, Z:1.30 [[ 9.96703377e-01 -8.05351588e-02 -9.82173855e-03 1.79899497e+02] [ 8.05318402e-02 9.96751767e-01 -7.33550855e-04 8.32422022e+00] [ 9.84891188e-03 -5.98300649e-05 9.99951497e-01 1.30175097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.724391418 meters Centerline goodness [0,1] 0.9990794208720395 Centerline is valid? [True, True] Translation: X:179.93, Y:8.32, Z:1.30 [[ 9.96296982e-01 -8.54751026e-02 -9.29142272e-03 1.79931936e+02] [ 8.54723530e-02 9.96340301e-01 -6.93350168e-04 8.31999064e+00] [ 9.31668309e-03 -1.03377082e-04 9.99956593e-01 1.30143964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.754391418 meters Centerline goodness [0,1] 0.9991824927682053 Centerline is valid? [True, True] Translation: X:179.96, Y:8.32, Z:1.30 [[ 9.96091060e-01 -8.78919886e-02 -8.80899420e-03 1.79964643e+02] [ 8.78896177e-02 9.96130004e-01 -6.56659951e-04 8.31851301e+00] [ 8.83261857e-03 -1.20126025e-04 9.99960984e-01 1.30100629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.784391418 meters Centerline goodness [0,1] 0.9990159541057745 Centerline is valid? [True, True] Translation: X:180.00, Y:8.32, Z:1.30 [[ 9.95884282e-01 -9.01954551e-02 -8.90377200e-03 1.79996877e+02] [ 9.01931314e-02 9.95924073e-01 -6.62993957e-04 8.31704456e+00] [ 8.92727991e-03 -1.42793817e-04 9.99960141e-01 1.30074780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.814391418 meters Centerline goodness [0,1] 0.9989950380001256 Centerline is valid? [True, True] Translation: X:180.03, Y:8.32, Z:1.30 [[ 9.95674901e-01 -9.24852772e-02 -8.82977221e-03 1.80029283e+02] [ 9.24830882e-02 9.95714039e-01 -6.56771142e-04 8.31627536e+00] [ 8.85266981e-03 -1.62674060e-04 9.99960801e-01 1.30053317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84439141800001 meters Centerline goodness [0,1] 0.9988919088438218 Centerline is valid? [True, True] Translation: X:180.06, Y:8.31, Z:1.30 [[ 9.95215122e-01 -9.73214717e-02 -8.68286087e-03 1.80061151e+02] [ 9.73195447e-02 9.95252978e-01 -6.45174563e-04 8.31170899e+00] [ 8.70443248e-03 -2.02924585e-04 9.99962095e-01 1.29980430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87439141800002 meters Centerline goodness [0,1] 0.9993939647245674 Centerline is valid? [True, True] Translation: X:180.09, Y:8.31, Z:1.30 [[ 9.95016032e-01 -9.92937151e-02 -9.15717748e-03 1.80093098e+02] [ 9.92916624e-02 9.95058141e-01 -6.79645057e-04 8.31102036e+00] [ 9.17940848e-03 -2.32973647e-04 9.99957841e-01 1.29952681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90439141800002 meters Centerline goodness [0,1] 0.9994564649315355 Centerline is valid? [True, True] Translation: X:180.12, Y:8.31, Z:1.30 [[ 9.94846274e-01 -1.00980905e-01 -9.15137737e-03 1.80124618e+02] [ 1.00978937e-01 9.94888333e-01 -6.78046165e-04 8.30908989e+00] [ 9.17306829e-03 -2.49544653e-04 9.99957895e-01 1.29926722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93439141800002 meters Centerline goodness [0,1] 0.9991411274273624 Centerline is valid? [True, True] Translation: X:180.16, Y:8.31, Z:1.30 [[ 9.94525359e-01 -1.04150295e-01 -8.48678124e-03 1.80157281e+02] [ 1.04148722e-01 9.94561536e-01 -6.28294076e-04 8.30822537e+00] [ 8.50606320e-03 -2.59033028e-04 9.99963789e-01 1.29914877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.964391418 meters Centerline goodness [0,1] 0.9990589711417817 Centerline is valid? [True, True] Translation: X:180.19, Y:8.31, Z:1.30 [[ 9.94425499e-01 -1.05075075e-01 -8.78378453e-03 1.80189079e+02] [ 1.05073432e-01 9.94464254e-01 -6.49564758e-04 8.30905596e+00] [ 8.80341279e-03 -2.76998627e-04 9.99961211e-01 1.29951655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.994391418 meters Centerline goodness [0,1] 0.9990566037735849 Centerline is valid? [True, True] Translation: X:180.22, Y:8.31, Z:1.30 [[ 9.94328928e-01 -1.06047190e-01 -7.99851226e-03 1.80221642e+02] [ 1.06045864e-01 9.94361064e-01 -5.90910788e-04 8.30955408e+00] [ 8.01607359e-03 -2.60649449e-04 9.99967837e-01 1.30007385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.024391418 meters Centerline goodness [0,1] 0.9990798059227037 Centerline is valid? [True, True] Translation: X:180.25, Y:8.31, Z:1.30 [[ 9.94370815e-01 -1.05673199e-01 -7.73672131e-03 1.80253904e+02] [ 1.05671952e-01 9.94400881e-01 -5.70976749e-04 8.31149328e+00] [ 7.75373943e-03 -2.49791827e-04 9.99969908e-01 1.30041019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.054391418 meters Centerline goodness [0,1] 0.9988696070837956 Centerline is valid? [True, True] Translation: X:180.29, Y:8.31, Z:1.30 [[ 9.94433547e-01 -1.05134191e-01 -6.98018343e-03 1.80285630e+02] [ 1.05133166e-01 9.94458020e-01 -5.14647816e-04 8.31393851e+00] [ 6.99560647e-03 -2.22065728e-04 9.99975506e-01 1.30086062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.084391418 meters Centerline goodness [0,1] 0.9988696070837956 Centerline is valid? [True, True] Translation: X:180.32, Y:8.32, Z:1.30 [[ 9.94445868e-01 -1.05017582e-01 -6.98022344e-03 1.80318098e+02] [ 1.05016558e-01 9.94470341e-01 -5.14104524e-04 8.31620942e+00] [ 6.99561520e-03 -2.21789917e-04 9.99975506e-01 1.30108865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.114391418 meters Centerline goodness [0,1] 0.9991208239135896 Centerline is valid? [True, True] Translation: X:180.35, Y:8.32, Z:1.30 [[ 9.94618551e-01 -1.03449020e-01 -5.67788564e-03 1.80350183e+02] [ 1.03448320e-01 9.94634742e-01 -4.17619615e-04 8.32095939e+00] [ 5.69062466e-03 -1.71995512e-04 9.99983793e-01 1.30251781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.144391418 meters Centerline goodness [0,1] 0.9989726601811473 Centerline is valid? [True, True] Translation: X:180.38, Y:8.32, Z:1.30 [[ 9.94722832e-01 -1.02488517e-01 -4.75307324e-03 1.80381893e+02] [ 1.02488017e-01 9.94734178e-01 -3.49309332e-04 8.32420821e+00] [ 4.76384459e-03 -1.39667084e-04 9.99988643e-01 1.30349167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.174391418 meters Centerline goodness [0,1] 0.9989088696309042 Centerline is valid? [True, True] Translation: X:180.41, Y:8.33, Z:1.30 [[ 9.94810218e-01 -1.01667313e-01 -4.04825444e-03 1.80413135e+02] [ 1.01666943e-01 9.94818448e-01 -2.97498559e-04 8.32675652e+00] [ 4.05752408e-03 -1.15619047e-04 9.99991762e-01 1.30409607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.204391418 meters Centerline goodness [0,1] 0.9988882829215086 Centerline is valid? [True, True] Translation: X:180.45, Y:8.33, Z:1.30 [[ 9.94892771e-01 -1.00862526e-01 -3.88901857e-03 1.80445445e+02] [ 1.00862182e-01 9.94900366e-01 -2.84986168e-04 8.32973419e+00] [ 3.89793042e-03 -1.08724218e-04 9.99992397e-01 1.30451196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.234391418 meters Centerline goodness [0,1] 0.9987667224080268 Centerline is valid? [True, True] Translation: X:180.48, Y:8.33, Z:1.31 [[ 9.95001071e-01 -9.98051530e-02 -3.43514420e-03 1.80476664e+02] [ 9.98048793e-02 9.95006996e-01 -2.51449579e-04 8.33284323e+00] [ 3.44308847e-03 -9.26515516e-05 9.99994068e-01 1.30502164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.264391418 meters Centerline goodness [0,1] 0.9987237425726002 Centerline is valid? [True, True] Translation: X:180.51, Y:8.34, Z:1.31 [[ 9.94999870e-01 -9.98140811e-02 -3.52245995e-03 1.80509822e+02] [ 9.98137934e-02 9.95006101e-01 -2.57823174e-04 8.33554477e+00] [ 3.53060353e-03 -9.50560653e-05 9.99993763e-01 1.30508577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.294391418 meters Centerline goodness [0,1] 0.9989116785265801 Centerline is valid? [True, True] Translation: X:180.54, Y:8.34, Z:1.31 [[ 9.95017063e-01 -9.96299488e-02 -3.86238746e-03 1.80542490e+02] [ 9.96296035e-02 9.95024554e-01 -2.82177022e-04 8.33791629e+00] [ 3.87128364e-03 -1.04037180e-04 9.99992501e-01 1.30507761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.324391418 meters Centerline goodness [0,1] 0.9989341247283063 Centerline is valid? [True, True] Translation: X:180.57, Y:8.34, Z:1.30 [[ 9.95056441e-01 -9.92207667e-02 -4.23294359e-03 1.80573416e+02] [ 9.92203502e-02 9.95065438e-01 -3.08781243e-04 8.34089601e+00] [ 4.24269338e-03 -1.12739381e-04 9.99990993e-01 1.30448850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.354391418 meters Centerline goodness [0,1] 0.9993286196840316 Centerline is valid? [True, True] Translation: X:180.60, Y:8.35, Z:1.30 [[ 9.95100023e-01 -9.87986000e-02 -3.84462915e-03 1.80604938e+02] [ 9.87982560e-02 9.95107445e-01 -2.79769339e-04 8.34843705e+00] [ 3.85345991e-03 -1.01444179e-04 9.99992570e-01 1.30429788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.384391418 meters Centerline goodness [0,1] 0.9989543249121633 Centerline is valid? [True, True] Translation: X:180.64, Y:8.35, Z:1.30 [[ 9.95241984e-01 -9.73569227e-02 -3.87584360e-03 1.80635931e+02] [ 9.73565624e-02 9.95249527e-01 -2.81969698e-04 8.34834093e+00] [ 3.88488321e-03 -9.67107270e-05 9.99992449e-01 1.30493192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.414391418 meters Centerline goodness [0,1] 0.9988299206017551 Centerline is valid? [True, True] Translation: X:180.67, Y:8.35, Z:1.30 [[ 9.95321392e-01 -9.65229114e-02 -4.31899700e-03 1.80668164e+02] [ 9.65224609e-02 9.95330757e-01 -3.13128376e-04 8.35480687e+00] [ 4.32905461e-03 -1.05216848e-04 9.99990624e-01 1.30438845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.444391418 meters Centerline goodness [0,1] 0.9988704819277109 Centerline is valid? [True, True] Translation: X:180.70, Y:8.36, Z:1.30 [[ 9.95439358e-01 -9.52913378e-02 -4.47732028e-03 1.80700553e+02] [ 9.52908429e-02 9.95449421e-01 -3.24233034e-04 8.35863538e+00] [ 4.48784248e-03 -1.03893300e-04 9.99989924e-01 1.30454160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.474391418 meters Centerline goodness [0,1] 0.999059502163145 Centerline is valid? [True, True] Translation: X:180.73, Y:8.36, Z:1.30 [[ 9.95696430e-01 -9.25226544e-02 -5.30827292e-03 1.80731822e+02] [ 9.25219221e-02 9.95710574e-01 -3.83886824e-04 8.36435121e+00] [ 5.32102171e-03 -1.08896873e-04 9.99985837e-01 1.30457722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.504391418 meters Centerline goodness [0,1] 0.9989948065002513 Centerline is valid? [True, True] Translation: X:180.76, Y:8.37, Z:1.30 [[ 9.95851990e-01 -9.08346473e-02 -5.28023319e-03 1.80763210e+02] [ 9.08339011e-02 9.95865983e-01 -3.81457471e-04 8.37101954e+00] [ 5.29305417e-03 -9.97489974e-05 9.99985987e-01 1.30469852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.534391418 meters Centerline goodness [0,1] 0.9988884461315828 Centerline is valid? [True, True] Translation: X:180.79, Y:8.38, Z:1.31 [[ 9.96012530e-01 -8.90691894e-02 -5.07137493e-03 1.80794830e+02] [ 8.90684803e-02 9.96025437e-01 -3.65972563e-04 8.37513884e+00] [ 5.08381531e-03 -8.71863984e-05 9.99987074e-01 1.30519204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.564391418 meters Centerline goodness [0,1] 0.9987838121199413 Centerline is valid? [True, True] Translation: X:180.83, Y:8.38, Z:1.31 [[ 9.96148585e-01 -8.75301663e-02 -5.14450461e-03 1.80825832e+02] [ 8.75294185e-02 9.96161866e-01 -3.70778858e-04 8.37847695e+00] [ 5.15721365e-03 -8.09446619e-05 9.99986698e-01 1.30581059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.59439141800001 meters Centerline goodness [0,1] 0.9990574337061706 Centerline is valid? [True, True] Translation: X:180.86, Y:8.38, Z:1.31 [[ 9.96346577e-01 -8.52707333e-02 -4.73289600e-03 1.80856762e+02] [ 8.52700760e-02 9.96357816e-01 -3.40853335e-04 8.38208330e+00] [ 4.74472274e-03 -6.39663487e-05 9.99988742e-01 1.30637174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62439141800002 meters Centerline goodness [0,1] 0.9990357202750293 Centerline is valid? [True, True] Translation: X:180.89, Y:8.39, Z:1.31 [[ 9.96368777e-01 -8.50095358e-02 -4.75802389e-03 1.80889775e+02] [ 8.50088693e-02 9.96380136e-01 -3.42519992e-04 8.38529977e+00] [ 4.76991796e-03 -6.31980060e-05 9.99988622e-01 1.30653367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.65439141800002 meters Centerline goodness [0,1] 0.9989541936833298 Centerline is valid? [True, True] Translation: X:180.92, Y:8.39, Z:1.31 [[ 9.96368350e-01 -8.50108491e-02 -4.82346325e-03 1.80921359e+02] [ 8.50101673e-02 9.96380024e-01 -3.46578768e-04 8.38672872e+00] [ 4.83546539e-03 -6.47233023e-05 9.99988307e-01 1.30660642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68439141800002 meters Centerline goodness [0,1] 0.9992030368490594 Centerline is valid? [True, True] Translation: X:180.95, Y:8.39, Z:1.31 [[ 9.96239423e-01 -8.65113266e-02 -4.77524033e-03 1.80953664e+02] [ 8.65106781e-02 9.96250865e-01 -3.42589677e-04 8.38749535e+00] [ 4.78697520e-03 -7.18079373e-05 9.99988540e-01 1.30697601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.714391418 meters Centerline goodness [0,1] 0.9993089005235603 Centerline is valid? [True, True] Translation: X:180.99, Y:8.39, Z:1.31 [[ 9.96100819e-01 -8.80712825e-02 -5.15818050e-03 1.80985424e+02] [ 8.80705490e-02 9.96114171e-01 -3.69598446e-04 8.38876191e+00] [ 5.17068770e-03 -8.61264733e-05 9.99986628e-01 1.30692822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.744391418 meters Centerline goodness [0,1] 0.9988936205744823 Centerline is valid? [True, True] Translation: X:181.02, Y:8.39, Z:1.31 [[ 9.95940472e-01 -8.98450315e-02 -5.51791651e-03 1.81016727e+02] [ 8.98442216e-02 9.95955752e-01 -3.94977695e-04 8.38723512e+00] [ 5.53108747e-03 -1.02378642e-04 9.99984698e-01 1.30670805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.774391418 meters Centerline goodness [0,1] 0.9991421696830213 Centerline is valid? [True, True] Translation: X:181.05, Y:8.38, Z:1.31 [[ 9.95479327e-01 -9.47597149e-02 -6.44247624e-03 1.81048571e+02] [ 9.47587218e-02 9.95500162e-01 -4.59915042e-04 8.38327609e+00] [ 6.45706756e-03 -1.52644897e-04 9.99979141e-01 1.30669601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.804391418 meters Centerline goodness [0,1] 0.9989929295260475 Centerline is valid? [True, True] Translation: X:181.08, Y:8.38, Z:1.31 [[ 9.95213234e-01 -9.75070605e-02 -6.55682006e-03 1.81081147e+02] [ 9.75060939e-02 9.95234818e-01 -4.67694239e-04 8.38232622e+00] [ 6.57117911e-03 -1.73874416e-04 9.99978394e-01 1.30674052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.834391418 meters Centerline goodness [0,1] 0.9988680431820564 Centerline is valid? [True, True] Translation: X:181.11, Y:8.38, Z:1.31 [[ 9.94933816e-01 -1.00307718e-01 -6.71298749e-03 1.81113279e+02] [ 1.00306772e-01 9.94956443e-01 -4.78308843e-04 8.38297722e+00] [ 6.72710822e-03 -1.97472462e-04 9.99977353e-01 1.30674937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.864391418 meters Centerline goodness [0,1] 0.9988902150470088 Centerline is valid? [True, True] Translation: X:181.14, Y:8.38, Z:1.31 [[ 9.94296626e-01 -1.06408424e-01 -7.17409896e-03 1.81143955e+02] [ 1.06407506e-01 9.94322474e-01 -5.10573492e-04 8.37629704e+00] [ 7.18769714e-03 -2.55716479e-04 9.99974135e-01 1.30666669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.894391418 meters Centerline goodness [0,1] 0.9989112911668028 Centerline is valid? [True, True] Translation: X:181.18, Y:8.38, Z:1.31 [[ 9.94017335e-01 -1.08986004e-01 -7.18251399e-03 1.81175287e+02] [ 1.08985152e-01 9.94043246e-01 -5.11160635e-04 8.38075339e+00] [ 7.19543888e-03 -2.74684846e-04 9.99974075e-01 1.30691652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.924391418 meters Centerline goodness [0,1] 0.9989104471357332 Centerline is valid? [True, True] Translation: X:181.21, Y:8.38, Z:1.31 [[ 9.93814095e-01 -1.10811929e-01 -7.36621981e-03 1.81206537e+02] [ 1.10811086e-01 9.93841350e-01 -5.23740388e-04 8.37545196e+00] [ 7.37889053e-03 -2.95758238e-04 9.99972732e-01 1.30697509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.954391418 meters Centerline goodness [0,1] 0.998848914840627 Centerline is valid? [True, True] Translation: X:181.24, Y:8.37, Z:1.31 [[ 9.93569738e-01 -1.13011593e-01 -6.89601211e-03 1.81237605e+02] [ 1.13010913e-01 9.93593626e-01 -4.89393619e-04 8.37481891e+00] [ 6.90714083e-03 -2.93077935e-04 9.99976102e-01 1.30752468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.984391418 meters Centerline goodness [0,1] 0.998743639675859 Centerline is valid? [True, True] Translation: X:181.27, Y:8.38, Z:1.31 [[ 9.93555745e-01 -1.13112865e-01 -7.24308264e-03 1.81269398e+02] [ 1.13112124e-01 9.93582097e-01 -5.13162886e-04 8.38397270e+00] [ 7.25464256e-03 -3.09424527e-04 9.99973637e-01 1.30776221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.014391418 meters Centerline goodness [0,1] 0.9985745430152608 Centerline is valid? [True, True] Translation: X:181.30, Y:8.39, Z:1.31 [[ 9.93611428e-01 -1.12619992e-01 -7.28475805e-03 1.81300694e+02] [ 1.12619234e-01 9.93638084e-01 -5.15521553e-04 8.38617270e+00] [ 7.29647107e-03 -3.08175766e-04 9.99973333e-01 1.30756083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.044391418 meters Centerline goodness [0,1] 0.9986218129424294 Centerline is valid? [True, True] Translation: X:181.33, Y:8.39, Z:1.31 [[ 9.93737608e-01 -1.11497288e-01 -7.34316115e-03 1.81332986e+02] [ 1.11496491e-01 9.93764692e-01 -5.19196022e-04 8.38986722e+00] [ 7.35526322e-03 -3.02792085e-04 9.99972904e-01 1.30739113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.074391418 meters Centerline goodness [0,1] 0.9984911670403822 Centerline is valid? [True, True] Translation: X:181.36, Y:8.40, Z:1.31 [[ 9.94087158e-01 -1.08289783e-01 -8.00282485e-03 1.81364618e+02] [ 1.08288737e-01 9.94119324e-01 -5.65155328e-04 8.39546903e+00] [ 8.01696337e-03 -3.04802140e-04 9.99967817e-01 1.30746239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.104391418 meters Centerline goodness [0,1] 0.998826315679165 Centerline is valid? [True, True] Translation: X:181.40, Y:8.40, Z:1.31 [[ 9.94304639e-01 -1.06255316e-01 -8.25178048e-03 1.81397069e+02] [ 1.06254139e-01 9.94338835e-01 -5.82168544e-04 8.40067466e+00] [ 8.26692429e-03 -2.97932945e-04 9.99965784e-01 1.30813876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.134391418 meters Centerline goodness [0,1] 0.9987625579395542 Centerline is valid? [True, True] Translation: X:181.43, Y:8.41, Z:1.31 [[ 9.94726638e-01 -1.02201176e-01 -8.59278718e-03 1.81426850e+02] [ 1.02199755e-01 9.94763712e-01 -6.05451424e-04 8.40629683e+00] [ 8.60967072e-03 -2.75922083e-04 9.99962898e-01 1.30835183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.164391418 meters Centerline goodness [0,1] 0.998888422818792 Centerline is valid? [True, True] Translation: X:181.46, Y:8.41, Z:1.31 [[ 9.94919295e-01 -1.00274245e-01 -8.98180332e-03 1.81459343e+02] [ 1.00272618e-01 9.94959799e-01 -6.32511685e-04 8.41107309e+00] [ 8.99995786e-03 -2.71330851e-04 9.99959463e-01 1.30858497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.194391418 meters Centerline goodness [0,1] 0.9990341004535528 Centerline is valid? [True, True] Translation: X:181.49, Y:8.42, Z:1.31 [[ 9.95108997e-01 -9.83094072e-02 -9.66153661e-03 1.81490955e+02] [ 9.83074405e-02 9.95155860e-01 -6.79406779e-04 8.41550796e+00] [ 9.68152685e-03 -2.73717138e-04 9.99953095e-01 1.30850150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.224391418 meters Centerline goodness [0,1] 0.998948674278265 Centerline is valid? [True, True] Translation: X:181.52, Y:8.42, Z:1.31 [[ 9.95417778e-01 -9.49817898e-02 -1.10411097e-02 1.81523172e+02] [ 9.49790285e-02 9.95478972e-01 -7.75362499e-04 8.42165471e+00] [ 1.10648378e-02 -2.76864255e-04 9.99938744e-01 1.30765682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.254391418 meters Centerline goodness [0,1] 0.9986604713466449 Centerline is valid? [True, True] Translation: X:181.55, Y:8.43, Z:1.31 [[ 9.95562737e-01 -9.34137028e-02 -1.13453320e-02 1.81554408e+02] [ 9.34106968e-02 9.95627344e-01 -7.95737085e-04 8.42515281e+00] [ 1.13700555e-02 -2.67569174e-04 9.99935323e-01 1.30715892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.284391418 meters Centerline goodness [0,1] 0.9989940270355234 Centerline is valid? [True, True] Translation: X:181.59, Y:8.43, Z:1.31 [[ 9.95844466e-01 -9.02272524e-02 -1.23629346e-02 1.81586362e+02] [ 9.02234485e-02 9.95921171e-01 -8.66217411e-04 8.43135040e+00] [ 1.23906647e-02 -2.52808779e-04 9.99923201e-01 1.30684110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.314391418 meters Centerline goodness [0,1] 0.998907448261372 Centerline is valid? [True, True] Translation: X:181.62, Y:8.44, Z:1.31 [[ 9.95981637e-01 -8.85759948e-02 -1.32238882e-02 1.81618564e+02] [ 8.85715118e-02 9.96069391e-01 -9.25430672e-04 8.43624981e+00] [ 1.32538812e-02 -2.49547810e-04 9.99912132e-01 1.30699806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34439141800001 meters Centerline goodness [0,1] 0.9988678058496698 Centerline is valid? [True, True] Translation: X:181.65, Y:8.44, Z:1.31 [[ 9.96105594e-01 -8.69924075e-02 -1.43515080e-02 1.81649197e+02] [ 8.69869784e-02 9.96208943e-01 -1.00328011e-03 8.44038808e+00] [ 1.43843784e-02 -2.49021385e-04 9.99896508e-01 1.30698843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.37439141800002 meters Centerline goodness [0,1] 0.9991778049500358 Centerline is valid? [True, True] Translation: X:181.68, Y:8.45, Z:1.31 [[ 9.96252178e-01 -8.51451328e-02 -1.52284026e-02 1.81681038e+02] [ 8.51388212e-02 9.96368531e-01 -1.06346209e-03 8.44550815e+00] [ 1.52636497e-02 -2.37051820e-04 9.99883476e-01 1.30728958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40439141800002 meters Centerline goodness [0,1] 0.9992013283171147 Centerline is valid? [True, True] Translation: X:181.71, Y:8.45, Z:1.31 [[ 9.96502112e-01 -8.20712559e-02 -1.57432594e-02 1.81712219e+02] [ 8.20641444e-02 9.96626445e-01 -1.09829845e-03 8.45176658e+00] [ 1.57802874e-02 -1.97500388e-04 9.99875464e-01 1.30733769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.43439141800002 meters Centerline goodness [0,1] 0.9993899488819236 Centerline is valid? [True, True] Translation: X:181.74, Y:8.46, Z:1.31 [[ 9.96612571e-01 -8.07194349e-02 -1.57402609e-02 1.81744367e+02] [ 8.07121752e-02 9.96736847e-01 -1.09696369e-03 8.45607808e+00] [ 1.57774443e-02 -1.77182890e-04 9.99875513e-01 1.30791023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.464391418 meters Centerline goodness [0,1] 0.999411109007929 Centerline is valid? [True, True] Translation: X:181.78, Y:8.46, Z:1.31 [[ 9.96721305e-01 -7.93743364e-02 -1.56957067e-02 1.81775618e+02] [ 7.93669777e-02 9.96844868e-01 -1.09216830e-03 8.45964106e+00] [ 1.57328748e-02 -1.57133390e-04 9.99876218e-01 1.30828002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.494391418 meters Centerline goodness [0,1] 0.9992225420772836 Centerline is valid? [True, True] Translation: X:181.81, Y:8.46, Z:1.31 [[ 9.96803404e-01 -7.83204375e-02 -1.57759912e-02 1.81807477e+02] [ 7.83128966e-02 9.96928226e-01 -1.09615321e-03 8.46314311e+00] [ 1.58133822e-02 -1.42814320e-04 9.99874950e-01 1.30867228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.524391418 meters Centerline goodness [0,1] 0.998762064624423 Centerline is valid? [True, True] Translation: X:181.84, Y:8.47, Z:1.31 [[ 9.96892691e-01 -7.73099859e-02 -1.51039147e-02 1.81839748e+02] [ 7.73029757e-02 9.97007097e-01 -1.04828316e-03 8.46765413e+00] [ 1.51397529e-02 -1.22551727e-04 9.99885380e-01 1.30984420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.554391418 meters Centerline goodness [0,1] 0.9989892396133842 Centerline is valid? [True, True] Translation: X:181.87, Y:8.47, Z:1.31 [[ 9.96933023e-01 -7.68241692e-02 -1.49195845e-02 1.81871844e+02] [ 7.68172926e-02 9.97044650e-01 -1.03428857e-03 8.47072210e+00] [ 1.49549502e-02 -1.14965658e-04 9.99888162e-01 1.31096478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.584391418 meters Centerline goodness [0,1] 0.9994529770671156 Centerline is valid? [True, True] Translation: X:181.90, Y:8.47, Z:1.31 [[ 9.96969571e-01 -7.63548503e-02 -1.48866411e-02 1.81903801e+02] [ 7.63479722e-02 9.97080701e-01 -1.03063090e-03 8.47303387e+00] [ 1.49218762e-02 -1.09057212e-04 9.99888657e-01 1.31215959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.614391418 meters Centerline goodness [0,1] 0.9991378222652143 Centerline is valid? [True, True] Translation: X:181.94, Y:8.47, Z:1.31 [[ 9.96948945e-01 -7.66092926e-02 -1.49605163e-02 1.81936901e+02] [ 7.66023999e-02 9.97061183e-01 -1.03406331e-03 8.47493354e+00] [ 1.49957689e-02 -1.15103126e-04 9.99887551e-01 1.31228730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.644391418 meters Centerline goodness [0,1] 0.999093286099865 Centerline is valid? [True, True] Translation: X:181.97, Y:8.48, Z:1.31 [[ 9.96950053e-01 -7.65302446e-02 -1.52876824e-02 1.81969797e+02] [ 7.65230668e-02 9.97067253e-01 -1.05479043e-03 8.47665765e+00] [ 1.53235709e-02 -1.18286962e-04 9.99882580e-01 1.31250628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.674391418 meters Centerline goodness [0,1] 0.9990554552705596 Centerline is valid? [True, True] Translation: X:182.00, Y:8.48, Z:1.31 [[ 9.96931048e-01 -7.68188140e-02 -1.50783316e-02 1.82001485e+02] [ 7.68118896e-02 9.97045062e-01 -1.03868188e-03 8.47786061e+00] [ 1.51135663e-02 -1.22700923e-04 9.99885776e-01 1.31248183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.704391418 meters Centerline goodness [0,1] 0.9989940481180317 Centerline is valid? [True, True] Translation: X:182.03, Y:8.48, Z:1.31 [[ 9.96878257e-01 -7.73472536e-02 -1.58475148e-02 1.82032539e+02] [ 7.73397011e-02 9.97004204e-01 -1.08980080e-03 8.47838052e+00] [ 1.58843320e-02 -1.39243335e-04 9.99873826e-01 1.31223331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.734391418 meters Centerline goodness [0,1] 0.9992228849869781 Centerline is valid? [True, True] Translation: X:182.07, Y:8.48, Z:1.31 [[ 9.96879909e-01 -7.72783887e-02 -1.60778403e-02 1.82065563e+02] [ 7.72706383e-02 9.97009544e-01 -1.10363977e-03 8.47999986e+00] [ 1.61150477e-02 -1.42148669e-04 9.99870134e-01 1.31303508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.764391418 meters Centerline goodness [0,1] 0.9991405332886131 Centerline is valid? [True, True] Translation: X:182.10, Y:8.48, Z:1.31 [[ 9.96846388e-01 -7.76760368e-02 -1.62391957e-02 1.82097680e+02] [ 7.76682087e-02 9.96978641e-01 -1.11312270e-03 8.48111620e+00] [ 1.62765942e-02 -1.51656893e-04 9.99867516e-01 1.31337174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.794391418 meters Centerline goodness [0,1] 0.9991176099836128 Centerline is valid? [True, True] Translation: X:182.13, Y:8.48, Z:1.31 [[ 9.96778769e-01 -7.84405069e-02 -1.67084462e-02 1.82128570e+02] [ 7.84323466e-02 9.96918782e-01 -1.14413601e-03 8.48073421e+00] [ 1.67467104e-02 -1.70032158e-04 9.99859750e-01 1.31276891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.824391418 meters Centerline goodness [0,1] 0.9992254715203784 Centerline is valid? [True, True] Translation: X:182.16, Y:8.48, Z:1.31 [[ 9.96736047e-01 -7.89050373e-02 -1.70659762e-02 1.82159340e+02] [ 7.88966094e-02 9.96882120e-01 -1.16760430e-03 8.48108088e+00] [ 1.71048964e-02 -1.82654366e-04 9.99853684e-01 1.31223856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.854391418 meters Centerline goodness [0,1] 0.999182029824451 Centerline is valid? [True, True] Translation: X:182.19, Y:8.48, Z:1.31 [[ 9.96683475e-01 -7.95346224e-02 -1.72132139e-02 1.82191309e+02] [ 7.95261636e-02 9.96832085e-01 -1.17644202e-03 8.48215769e+00] [ 1.72522518e-02 -1.96360545e-04 9.99851150e-01 1.31257746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.884391418 meters Centerline goodness [0,1] 0.9992671845229372 Centerline is valid? [True, True] Translation: X:182.22, Y:8.48, Z:1.31 [[ 9.96562694e-01 -8.08267023e-02 -1.81615108e-02 1.82223279e+02] [ 8.08175276e-02 9.96728143e-01 -1.23975461e-03 8.48164102e+00] [ 1.82022942e-02 -2.32275207e-04 9.99834298e-01 1.31244131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.914391418 meters Centerline goodness [0,1] 0.9990385620232 Centerline is valid? [True, True] Translation: X:182.25, Y:8.48, Z:1.31 [[ 9.96539685e-01 -8.11336478e-02 -1.80551144e-02 1.82254838e+02] [ 8.11246529e-02 9.96703203e-01 -1.23125694e-03 8.48260168e+00] [ 1.80954867e-02 -2.37718488e-04 9.99836235e-01 1.31234826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.944391418 meters Centerline goodness [0,1] 0.9990766389658357 Centerline is valid? [True, True] Translation: X:182.29, Y:8.48, Z:1.31 [[ 9.96527618e-01 -8.12994096e-02 -1.79753470e-02 1.82286680e+02] [ 8.12905447e-02 9.96689695e-01 -1.22449982e-03 8.48391944e+00] [ 1.80153942e-02 -2.40977854e-04 9.99837681e-01 1.31289721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.974391418 meters Centerline goodness [0,1] 0.9992465466722478 Centerline is valid? [True, True] Translation: X:182.32, Y:8.48, Z:1.31 [[ 9.96504051e-01 -8.16022744e-02 -1.79093413e-02 1.82319256e+02] [ 8.15935547e-02 9.96664943e-01 -1.21826409e-03 8.48383294e+00] [ 1.79490257e-02 -2.47281713e-04 9.99838873e-01 1.31330970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.004391418 meters Centerline goodness [0,1] 0.9992465466722478 Centerline is valid? [True, True] Translation: X:182.35, Y:8.49, Z:1.31 [[ 9.96510744e-01 -8.15204780e-02 -1.79094529e-02 1.82350884e+02] [ 8.15117746e-02 9.96671636e-01 -1.21662109e-03 8.48590224e+00] [ 1.79490233e-02 -2.47455300e-04 9.99838873e-01 1.31353168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.034391418 meters Centerline goodness [0,1] 0.9990972076422423 Centerline is valid? [True, True] Translation: X:182.38, Y:8.49, Z:1.31 [[ 9.96503133e-01 -8.17098503e-02 -1.74644517e-02 1.82381725e+02] [ 8.17016381e-02 9.96656129e-01 -1.18439547e-03 8.48680470e+00] [ 1.75028296e-02 -2.46620516e-04 9.99846783e-01 1.31394971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.064391418 meters Centerline goodness [0,1] 0.9990992123345065 Centerline is valid? [True, True] Translation: X:182.41, Y:8.49, Z:1.31 [[ 9.96459499e-01 -8.22476268e-02 -1.74297188e-02 1.82414048e+02] [ 8.22395605e-02 9.96611891e-01 -1.18026304e-03 8.48746455e+00] [ 1.74677388e-02 -2.57328095e-04 9.99847394e-01 1.31456875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.09439141800001 meters Centerline goodness [0,1] 0.9991419722082705 Centerline is valid? [True, True] Translation: X:182.45, Y:8.49, Z:1.32 [[ 9.96314521e-01 -8.42162519e-02 -1.62787649e-02 1.82445245e+02] [ 8.42094957e-02 9.96447464e-01 -1.10126711e-03 8.48507533e+00] [ 1.63136786e-02 -2.73618173e-04 9.99866886e-01 1.31528503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12439141800002 meters Centerline goodness [0,1] 0.9991650140903873 Centerline is valid? [True, True] Translation: X:182.48, Y:8.49, Z:1.32 [[ 9.96205867e-01 -8.56267168e-02 -1.55543129e-02 1.82476912e+02] [ 8.56207346e-02 9.96327248e-01 -1.05134934e-03 8.48601644e+00] [ 1.55872094e-02 -2.84411315e-04 9.99878472e-01 1.31638688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.15439141800002 meters Centerline goodness [0,1] 0.9990360637874312 Centerline is valid? [True, True] Translation: X:182.51, Y:8.49, Z:1.32 [[ 9.96033738e-01 -8.76391689e-02 -1.53677763e-02 1.82508526e+02] [ 8.76335828e-02 9.96152236e-01 -1.03782354e-03 8.48538745e+00] [ 1.53995988e-02 -3.13026041e-04 9.99881370e-01 1.31674681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18439141800002 meters Centerline goodness [0,1] 0.9988098966489195 Centerline is valid? [True, True] Translation: X:182.54, Y:8.48, Z:1.32 [[ 9.95853326e-01 -8.97208061e-02 -1.50442856e-02 1.82539579e+02] [ 8.97157034e-02 9.95966898e-01 -1.01509336e-03 8.48347446e+00] [ 1.50746855e-02 -3.38824569e-04 9.99886313e-01 1.31660369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.214391418 meters Centerline goodness [0,1] 0.9988483845976674 Centerline is valid? [True, True] Translation: X:182.57, Y:8.48, Z:1.32 [[ 9.95380550e-01 -9.49439603e-02 -1.42550039e-02 1.82571945e+02] [ 9.49399276e-02 9.95482540e-01 -9.60882130e-04 8.47946395e+00] [ 1.42818375e-02 -3.96925660e-04 9.99897931e-01 1.31677159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.244391418 meters Centerline goodness [0,1] 0.9989310417103333 Centerline is valid? [True, True] Translation: X:182.60, Y:8.48, Z:1.32 [[ 9.95113951e-01 -9.76816793e-02 -1.43705971e-02 1.82604236e+02] [ 9.76778825e-02 9.95217612e-01 -9.67531448e-04 8.47980719e+00] [ 1.43963814e-02 -4.40885454e-04 9.99896270e-01 1.31699472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.274391418 meters Centerline goodness [0,1] 0.9989321831619941 Centerline is valid? [True, True] Translation: X:182.64, Y:8.48, Z:1.32 [[ 9.94873883e-01 -1.00093065e-01 -1.43991627e-02 1.82635299e+02] [ 1.00089526e-01 9.94977964e-01 -9.68051494e-04 8.47824660e+00] [ 1.44237449e-02 -4.78116223e-04 9.99895858e-01 1.31680246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.304391418 meters Centerline goodness [0,1] 0.9988921636253423 Centerline is valid? [True, True] Translation: X:182.67, Y:8.48, Z:1.32 [[ 9.94609294e-01 -1.02649587e-01 -1.46770048e-02 1.82666891e+02] [ 1.02646207e-01 9.94717440e-01 -9.85468466e-04 8.47647598e+00] [ 1.47006306e-02 -5.26382773e-04 9.99891801e-01 1.31638078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.334391418 meters Centerline goodness [0,1] 0.9989535589460246 Centerline is valid? [True, True] Translation: X:182.70, Y:8.47, Z:1.32 [[ 9.94155606e-01 -1.06891742e-01 -1.51256722e-02 1.82697893e+02] [ 1.06888654e-01 9.94270479e-01 -1.01476774e-03 8.47382886e+00] [ 1.51474797e-02 -6.07925700e-04 9.99885086e-01 1.31558003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.364391418 meters Centerline goodness [0,1] 0.9985991762319931 Centerline is valid? [True, True] Translation: X:182.73, Y:8.48, Z:1.32 [[ 9.93953464e-01 -1.08756879e-01 -1.51146819e-02 1.82729886e+02] [ 1.08754025e-01 9.94068175e-01 -1.01304176e-03 8.47513293e+00] [ 1.51351995e-02 -6.36866130e-04 9.99885253e-01 1.31566600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.394391418 meters Centerline goodness [0,1] 0.9989759237585688 Centerline is valid? [True, True] Translation: X:182.76, Y:8.48, Z:1.32 [[ 9.93768270e-01 -1.10405405e-01 -1.53385992e-02 1.82761462e+02] [ 1.10402679e-01 9.93886409e-01 -1.02699053e-03 8.47506797e+00] [ 1.53582106e-02 -6.72831844e-04 9.99881829e-01 1.31566648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.424391418 meters Centerline goodness [0,1] 0.9989958369071776 Centerline is valid? [True, True] Translation: X:182.79, Y:8.48, Z:1.32 [[ 9.93541950e-01 -1.12507873e-01 -1.47096149e-02 1.82793831e+02] [ 1.12505611e-01 9.93650602e-01 -9.83848215e-04 8.47843848e+00] [ 1.47269083e-02 -6.77419734e-04 9.99891324e-01 1.31669608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.454391418 meters Centerline goodness [0,1] 0.9991201608848668 Centerline is valid? [True, True] Translation: X:182.83, Y:8.48, Z:1.32 [[ 9.93456094e-01 -1.13359348e-01 -1.39516025e-02 1.82825627e+02] [ 1.13357410e-01 9.93553838e-01 -9.32182580e-04 8.47612554e+00] [ 1.39673398e-02 -6.55435055e-04 9.99902237e-01 1.31676858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.484391418 meters Centerline goodness [0,1] 0.9991001736874046 Centerline is valid? [True, True] Translation: X:182.86, Y:8.48, Z:1.32 [[ 9.93420547e-01 -1.13685282e-01 -1.38301696e-02 1.82857125e+02] [ 1.13683420e-01 9.93516597e-01 -9.23251685e-04 8.47727466e+00] [ 1.38454631e-02 -6.55083784e-04 9.99903932e-01 1.31694040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.514391418 meters Centerline goodness [0,1] 0.9988502383142404 Centerline is valid? [True, True] Translation: X:182.89, Y:8.48, Z:1.32 [[ 9.93435919e-01 -1.13587546e-01 -1.35257155e-02 1.82888989e+02] [ 1.13585768e-01 9.93527785e-01 -9.02033843e-04 8.47993761e+00] [ 1.35406340e-02 -6.40215967e-04 9.99908116e-01 1.31733529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.544391418 meters Centerline goodness [0,1] 0.9989130434782608 Centerline is valid? [True, True] Translation: X:182.92, Y:8.48, Z:1.32 [[ 9.93475742e-01 -1.13266561e-01 -1.32904740e-02 1.82920267e+02] [ 1.13264828e-01 9.93564439e-01 -8.85462964e-04 8.48246637e+00] [ 1.33052357e-02 -6.25657275e-04 9.99911286e-01 1.31764785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.574391418 meters Centerline goodness [0,1] 0.9989749168427439 Centerline is valid? [True, True] Translation: X:182.95, Y:8.49, Z:1.32 [[ 9.93511752e-01 -1.12981471e-01 -1.30225397e-02 1.82952068e+02] [ 1.12979794e-01 9.93596908e-01 -8.66748028e-04 8.48952803e+00] [ 1.30370816e-02 -6.10159505e-04 9.99914827e-01 1.31841251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.604391418 meters Centerline goodness [0,1] 0.9987456883035434 Centerline is valid? [True, True] Translation: X:182.98, Y:8.50, Z:1.32 [[ 9.93543597e-01 -1.12691631e-01 -1.31041110e-02 1.82983509e+02] [ 1.12689922e-01 9.93629822e-01 -8.71129756e-04 8.49505358e+00] [ 1.31188045e-02 -6.11195855e-04 9.99913758e-01 1.31885046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.634391418 meters Centerline goodness [0,1] 0.9989343251770901 Centerline is valid? [True, True] Translation: X:183.01, Y:8.50, Z:1.32 [[ 9.93588385e-01 -1.12209734e-01 -1.38237736e-02 1.83014841e+02] [ 1.12207807e-01 9.93684339e-01 -9.17364558e-04 8.49861376e+00] [ 1.38394046e-02 -6.39652561e-04 9.99904026e-01 1.31837362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.664391418 meters Centerline goodness [0,1] 0.9986562244105235 Centerline is valid? [True, True] Translation: X:183.05, Y:8.50, Z:1.32 [[ 9.93564499e-01 -1.12469345e-01 -1.34250627e-02 1.83046721e+02] [ 1.12467572e-01 9.93654998e-01 -8.89383434e-04 8.50214727e+00] [ 1.34399090e-02 -6.26224396e-04 9.99909484e-01 1.31840357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.694391418 meters Centerline goodness [0,1] 0.9988281086510693 Centerline is valid? [True, True] Translation: X:183.08, Y:8.51, Z:1.32 [[ 9.93584963e-01 -1.12265282e-01 -1.36172214e-02 1.83079717e+02] [ 1.12263457e-01 9.93678069e-01 -9.00738385e-04 8.50531817e+00] [ 1.36322559e-02 -6.33756236e-04 9.99906876e-01 1.31872350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.724391418 meters Centerline goodness [0,1] 0.9987820499359527 Centerline is valid? [True, True] Translation: X:183.11, Y:8.51, Z:1.32 [[ 9.93637348e-01 -1.11879509e-01 -1.29535872e-02 1.83111562e+02] [ 1.11877842e-01 9.93721599e-01 -8.55541775e-04 8.51159091e+00] [ 1.29679769e-02 -5.99121124e-04 9.99915733e-01 1.31993534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.754391418 meters Centerline goodness [0,1] 0.9985152655792555 Centerline is valid? [True, True] Translation: X:183.14, Y:8.51, Z:1.32 [[ 9.93671778e-01 -1.11589319e-01 -1.28149219e-02 1.83142604e+02] [ 1.11587675e-01 9.93754233e-01 -8.45455605e-04 8.50990114e+00] [ 1.28292267e-02 -5.89881967e-04 9.99917528e-01 1.31950111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.784391418 meters Centerline goodness [0,1] 0.9987223793067337 Centerline is valid? [True, True] Translation: X:183.17, Y:8.52, Z:1.32 [[ 9.93770385e-01 -1.10722810e-01 -1.26839293e-02 1.83174480e+02] [ 1.10721141e-01 9.93851161e-01 -8.35920439e-04 8.51976084e+00] [ 1.26984933e-02 -5.73666141e-04 9.99919206e-01 1.32089475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.814391418 meters Centerline goodness [0,1] 0.9985516068767186 Centerline is valid? [True, True] Translation: X:183.21, Y:8.52, Z:1.32 [[ 9.93920513e-01 -1.09385769e-01 -1.25206758e-02 1.83206484e+02] [ 1.09384049e-01 9.93999221e-01 -8.24139214e-04 8.52418359e+00] [ 1.25356911e-02 -5.50433351e-04 9.99921274e-01 1.32105833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84439141800001 meters Centerline goodness [0,1] 0.9982501264968797 Centerline is valid? [True, True] Translation: X:183.24, Y:8.53, Z:1.32 [[ 9.94276948e-01 -1.06130646e-01 -1.22325974e-02 1.83236861e+02] [ 1.06128768e-01 9.94352069e-01 -8.04401851e-04 8.53017139e+00] [ 1.22488803e-02 -4.98432283e-04 9.99924855e-01 1.32103703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.87439141800002 meters Centerline goodness [0,1] 0.9982483908409834 Centerline is valid? [True, True] Translation: X:183.27, Y:8.54, Z:1.32 [[ 9.94527753e-01 -1.03754834e-01 -1.22262808e-02 1.83268806e+02] [ 1.03752788e-01 9.94602792e-01 -8.03281871e-04 8.53645005e+00] [ 1.22436374e-02 -4.69624598e-04 9.99924934e-01 1.32151720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90439141800002 meters Centerline goodness [0,1] 0.9983982465014332 Centerline is valid? [True, True] Translation: X:183.30, Y:8.54, Z:1.32 [[ 9.94810374e-01 -1.01040436e-01 -1.19645476e-02 1.83299491e+02] [ 1.01038289e-01 9.94882228e-01 -7.85336778e-04 8.54270614e+00] [ 1.19826665e-02 -4.27616243e-04 9.99928114e-01 1.32207928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.93439141800002 meters Centerline goodness [0,1] 0.9984400362586167 Centerline is valid? [True, True] Translation: X:183.33, Y:8.55, Z:1.32 [[ 9.95412610e-01 -9.49131688e-02 -1.20510106e-02 1.83329183e+02] [ 9.49105451e-02 9.95485491e-01 -7.90727231e-04 8.55456663e+00] [ 1.20716566e-02 -3.56668127e-04 9.99927071e-01 1.32289439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.964391418 meters Centerline goodness [0,1] 0.9985269670251047 Centerline is valid? [True, True] Translation: X:183.36, Y:8.56, Z:1.32 [[ 9.95739233e-01 -9.14293349e-02 -1.20023362e-02 1.83360436e+02] [ 9.14264818e-02 9.95811518e-01 -7.87330102e-04 8.56076051e+00] [ 1.20240497e-02 -3.13355898e-04 9.99927659e-01 1.32303090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.994391418 meters Centerline goodness [0,1] 0.998675802925845 Centerline is valid? [True, True] Translation: X:183.39, Y:8.57, Z:1.32 [[ 9.96023848e-01 -8.82135838e-02 -1.24441735e-02 1.83392768e+02] [ 8.82102764e-02 9.96101542e-01 -8.15468476e-04 8.56725188e+00] [ 1.24675959e-02 -2.85477939e-04 9.99922236e-01 1.32306457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.024391418 meters Centerline goodness [0,1] 0.9986516948616934 Centerline is valid? [True, True] Translation: X:183.42, Y:8.58, Z:1.32 [[ 9.96492606e-01 -8.27788333e-02 -1.22536215e-02 1.83423301e+02] [ 8.27752268e-02 9.96567920e-01 -8.02070595e-04 8.57635129e+00] [ 1.22779606e-02 -2.15038885e-04 9.99924600e-01 1.32364952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.054391418 meters Centerline goodness [0,1] 0.998841202620989 Centerline is valid? [True, True] Translation: X:183.45, Y:8.58, Z:1.32 [[ 9.96657180e-01 -8.07450069e-02 -1.24382064e-02 1.83454796e+02] [ 8.07411416e-02 9.96734772e-01 -8.13424245e-04 8.58025987e+00] [ 1.24632728e-02 -1.93569871e-04 9.99922312e-01 1.32384729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.084391418 meters Centerline goodness [0,1] 0.9988595805790796 Centerline is valid? [True, True] Translation: X:183.49, Y:8.58, Z:1.32 [[ 9.96776719e-01 -7.92750446e-02 -1.23142503e-02 1.83487194e+02] [ 7.92711560e-02 9.96852766e-01 -8.04331081e-04 8.58467377e+00] [ 1.23392579e-02 -1.74426362e-04 9.99923853e-01 1.32447618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.114391418 meters Centerline goodness [0,1] 0.9991345098370346 Centerline is valid? [True, True] Translation: X:183.52, Y:8.59, Z:1.32 [[ 9.96849232e-01 -7.83421964e-02 -1.24140869e-02 1.83519228e+02] [ 7.83381847e-02 9.96926513e-01 -8.09845368e-04 8.58856108e+00] [ 1.24393775e-02 -1.65203303e-04 9.99922614e-01 1.32462891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.144391418 meters Centerline goodness [0,1] 0.9988606152677554 Centerline is valid? [True, True] Translation: X:183.55, Y:8.59, Z:1.32 [[ 9.96819955e-01 -7.86058992e-02 -1.30801384e-02 1.83551764e+02] [ 7.86014825e-02 9.96905753e-01 -8.52199679e-04 8.59083244e+00] [ 1.31066532e-02 -1.78628625e-04 9.99914088e-01 1.32483032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.174391418 meters Centerline goodness [0,1] 0.998943341997929 Centerline is valid? [True, True] Translation: X:183.58, Y:8.59, Z:1.32 [[ 9.96756540e-01 -7.93775587e-02 -1.32515136e-02 1.83582427e+02] [ 7.93731049e-02 9.96844605e-01 -8.62525894e-04 8.59196697e+00] [ 1.32781651e-02 -1.92085456e-04 9.99911823e-01 1.32447771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.204391418 meters Centerline goodness [0,1] 0.9990927504430753 Centerline is valid? [True, True] Translation: X:183.61, Y:8.59, Z:1.32 [[ 9.96645023e-01 -8.06974134e-02 -1.36611079e-02 1.83614773e+02] [ 8.06928153e-02 9.96738622e-01 -8.88352258e-04 8.59259942e+00] [ 1.36882416e-02 -2.16981401e-04 9.99906288e-01 1.32436583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.234391418 meters Centerline goodness [0,1] 0.9987981782913047 Centerline is valid? [True, True] Translation: X:183.65, Y:8.59, Z:1.32 [[ 9.96350818e-01 -8.41582866e-02 -1.42278282e-02 1.83646132e+02] [ 8.41536663e-02 9.96452360e-01 -9.24181832e-04 8.59070370e+00] [ 1.42551306e-02 -2.76514584e-04 9.99898352e-01 1.32364899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.264391418 meters Centerline goodness [0,1] 0.9988168930767118 Centerline is valid? [True, True] Translation: X:183.68, Y:8.59, Z:1.32 [[ 9.96170629e-01 -8.62554575e-02 -1.42854775e-02 1.83678599e+02] [ 8.62510295e-02 9.96273005e-01 -9.26923648e-04 8.59087610e+00] [ 1.43121878e-02 -3.08763028e-04 9.99897528e-01 1.32382415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.294391418 meters Centerline goodness [0,1] 0.9986482205090295 Centerline is valid? [True, True] Translation: X:183.71, Y:8.59, Z:1.32 [[ 9.96003466e-01 -8.82045853e-02 -1.40373073e-02 1.83709614e+02] [ 8.82005169e-02 9.96102325e-01 -9.09855978e-04 8.58999441e+00] [ 1.40628479e-02 -3.31878050e-04 9.99901058e-01 1.32384187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.324391418 meters Centerline goodness [0,1] 0.9986296460270276 Centerline is valid? [True, True] Translation: X:183.74, Y:8.59, Z:1.32 [[ 9.95651378e-01 -9.20492215e-02 -1.43274276e-02 1.83741167e+02] [ 9.20454004e-02 9.95754380e-01 -9.27296835e-04 8.58770333e+00] [ 1.43519558e-02 -3.95509442e-04 9.99896927e-01 1.32448622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.354391418 meters Centerline goodness [0,1] 0.99858637859735 Centerline is valid? [True, True] Translation: X:183.77, Y:8.59, Z:1.32 [[ 9.95485896e-01 -9.38778909e-02 -1.39560886e-02 1.83773426e+02] [ 9.38744645e-02 9.95583634e-01 -9.01849605e-04 8.58801722e+00] [ 1.39791172e-02 -4.12341785e-04 9.99902202e-01 1.32464238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.384391418 meters Centerline goodness [0,1] 0.9983349842982696 Centerline is valid? [True, True] Translation: X:183.81, Y:8.59, Z:1.32 [[ 9.95334993e-01 -9.53856189e-02 -1.44856896e-02 1.83805951e+02] [ 9.53821036e-02 9.95440295e-01 -9.34928879e-04 8.58846636e+00] [ 1.45088179e-02 -4.51108116e-04 9.99894640e-01 1.32424662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.414391418 meters Centerline goodness [0,1] 0.9984596231351944 Centerline is valid? [True, True] Translation: X:183.84, Y:8.59, Z:1.32 [[ 9.95050318e-01 -9.82513487e-02 -1.48840973e-02 1.83838068e+02] [ 9.82479755e-02 9.95161502e-01 -9.59438199e-04 8.59082297e+00] [ 1.49063467e-02 -5.07643143e-04 9.99888765e-01 1.32487822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.444391418 meters Centerline goodness [0,1] 0.9984225802380853 Centerline is valid? [True, True] Translation: X:183.87, Y:8.59, Z:1.32 [[ 9.94953146e-01 -9.92320572e-02 -1.48740388e-02 1.83869220e+02] [ 9.92288138e-02 9.95064181e-01 -9.57734674e-04 8.58966930e+00] [ 1.48956613e-02 -5.23032104e-04 9.99888917e-01 1.32464585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.474391418 meters Centerline goodness [0,1] 0.99875372298853 Centerline is valid? [True, True] Translation: X:183.90, Y:8.59, Z:1.33 [[ 9.94860733e-01 -1.00090535e-01 -1.52972904e-02 1.83900671e+02] [ 1.00087220e-01 9.94978181e-01 -9.84029439e-04 8.59369869e+00] [ 1.53189622e-02 -5.52091020e-04 9.99882505e-01 1.32534237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.504391418 meters Centerline goodness [0,1] 0.9986944894822177 Centerline is valid? [True, True] Translation: X:183.93, Y:8.59, Z:1.33 [[ 9.94811423e-01 -1.00574331e-01 -1.53309246e-02 1.83932070e+02] [ 1.00571086e-01 9.94929388e-01 -9.84445130e-04 8.59422432e+00] [ 1.53521974e-02 -5.62510487e-04 9.99881990e-01 1.32543212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.534391418 meters Centerline goodness [0,1] 0.9985688428673654 Centerline is valid? [True, True] Translation: X:183.96, Y:8.60, Z:1.33 [[ 9.94736076e-01 -1.01256678e-01 -1.57233596e-02 1.83964635e+02] [ 1.01253379e-01 9.94860160e-01 -1.00780560e-03 8.59542972e+00] [ 1.57445911e-02 -5.89542702e-04 9.99875872e-01 1.32550402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.564391418 meters Centerline goodness [0,1] 0.9985252291161909 Centerline is valid? [True, True] Translation: X:184.00, Y:8.60, Z:1.33 [[ 9.94756161e-01 -1.00980861e-01 -1.62187127e-02 1.83996998e+02] [ 1.00977339e-01 9.94888184e-01 -1.03803115e-03 8.59676440e+00] [ 1.62406269e-02 -6.05134562e-04 9.99867929e-01 1.32539367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.59439141800001 meters Centerline goodness [0,1] 0.9985476741738581 Centerline is valid? [True, True] Translation: X:184.03, Y:8.60, Z:1.33 [[ 9.94799050e-01 -1.00530210e-01 -1.63868095e-02 1.84028574e+02] [ 1.00526578e-01 9.94933822e-01 -1.04730460e-03 8.60073127e+00] [ 1.64090768e-02 -6.05452256e-04 9.99865179e-01 1.32602607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62439141800002 meters Centerline goodness [0,1] 0.9989889202510848 Centerline is valid? [True, True] Translation: X:184.06, Y:8.60, Z:1.33 [[ 9.95059140e-01 -9.78085099e-02 -1.70529292e-02 1.84060141e+02] [ 9.78042013e-02 9.95205081e-01 -1.08846761e-03 8.60480629e+00] [ 1.70776232e-02 -5.84758473e-04 9.99853996e-01 1.32629757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.65439141800002 meters Centerline goodness [0,1] 0.9989923164126464 Centerline is valid? [True, True] Translation: X:184.09, Y:8.61, Z:1.33 [[ 9.95269475e-01 -9.56511105e-02 -1.70158189e-02 1.84091575e+02] [ 9.56465288e-02 9.95414770e-01 -1.08473724e-03 8.60827633e+00] [ 1.70415538e-02 -5.47898151e-04 9.99854632e-01 1.32670070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68439141800002 meters Centerline goodness [0,1] 0.9989071267943086 Centerline is valid? [True, True] Translation: X:184.12, Y:8.61, Z:1.33 [[ 9.95497139e-01 -9.33300038e-02 -1.65818362e-02 1.84124139e+02] [ 9.33253558e-02 9.95635106e-01 -1.05558467e-03 8.61280789e+00] [ 1.66079759e-02 -4.96674237e-04 9.99861955e-01 1.32743379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.714391418 meters Centerline goodness [0,1] 0.9988218215480423 Centerline is valid? [True, True] Translation: X:184.16, Y:8.62, Z:1.33 [[ 9.95741778e-01 -9.07756733e-02 -1.60651553e-02 1.84155848e+02] [ 9.07710007e-02 9.95871268e-01 -1.02129116e-03 8.61864479e+00] [ 1.60915349e-02 -4.41307949e-04 9.99870425e-01 1.32864128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.744391418 meters Centerline goodness [0,1] 0.999072610390979 Centerline is valid? [True, True] Translation: X:184.19, Y:8.63, Z:1.33 [[ 9.96231625e-01 -8.53928444e-02 -1.51859003e-02 1.84186620e+02] [ 8.53880574e-02 9.96347304e-01 -9.64522393e-04 8.62645261e+00] [ 1.52127941e-02 -3.35806815e-04 9.99884222e-01 1.33019995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.774391418 meters Centerline goodness [0,1] 0.9986286919831223 Centerline is valid? [True, True] Translation: X:184.22, Y:8.63, Z:1.33 [[ 9.96457004e-01 -8.26473882e-02 -1.55835957e-02 1.84217475e+02] [ 8.26420242e-02 9.96578807e-01 -9.88961138e-04 8.63010069e+00] [ 1.56120163e-02 -3.02402644e-04 9.99878079e-01 1.32961988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.804391418 meters Centerline goodness [0,1] 0.9991137183734622 Centerline is valid? [True, True] Translation: X:184.25, Y:8.63, Z:1.33 [[ 9.96646529e-01 -8.02385593e-02 -1.60458398e-02 1.84249604e+02] [ 8.02325793e-02 9.96775651e-01 -1.01712088e-03 8.63494956e+00] [ 1.60757147e-02 -2.73689118e-04 9.99870740e-01 1.32963017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.834391418 meters Centerline goodness [0,1] 0.9989654589983954 Centerline is valid? [True, True] Translation: X:184.28, Y:8.64, Z:1.33 [[ 9.96899467e-01 -7.66563474e-02 -1.77554588e-02 1.84280938e+02] [ 7.66484988e-02 9.97057544e-01 -1.12313681e-03 8.63985713e+00] [ 1.77893097e-02 -2.41274779e-04 9.99841729e-01 1.32749990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.864391418 meters Centerline goodness [0,1] 0.9987942632313745 Centerline is valid? [True, True] Translation: X:184.31, Y:8.64, Z:1.33 [[ 9.96970780e-01 -7.56212580e-02 -1.81848600e-02 1.84312867e+02] [ 7.56128903e-02 9.97136587e-01 -1.14825652e-03 8.64375115e+00] [ 1.82196219e-02 -2.30231632e-04 9.99833982e-01 1.32724430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.894391418 meters Centerline goodness [0,1] 0.9987942632313745 Centerline is valid? [True, True] Translation: X:184.35, Y:8.65, Z:1.33 [[ 9.96979823e-01 -7.55019099e-02 -1.81849796e-02 1.84345354e+02] [ 7.54935569e-02 9.97145631e-01 -1.14636073e-03 8.64568509e+00] [ 1.82196254e-02 -2.29950270e-04 9.99833982e-01 1.32747226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.924391418 meters Centerline goodness [0,1] 0.9990487464592229 Centerline is valid? [True, True] Translation: X:184.38, Y:8.65, Z:1.33 [[ 9.97023489e-01 -7.47207380e-02 -1.89993170e-02 1.84377994e+02] [ 7.47115224e-02 9.97204472e-01 -1.19537845e-03 8.64856658e+00] [ 1.90355235e-02 -2.27647506e-04 9.99818782e-01 1.32714859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.954391418 meters Centerline goodness [0,1] 0.9988385352874097 Centerline is valid? [True, True] Translation: X:184.41, Y:8.65, Z:1.33 [[ 9.96959211e-01 -7.54772923e-02 -1.93781042e-02 1.84409010e+02] [ 7.54678793e-02 9.97147490e-01 -1.21762107e-03 8.65020323e+00] [ 1.94147307e-02 -2.48505887e-04 9.99811485e-01 1.32663132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.984391418 meters Centerline goodness [0,1] 0.9990684479071835 Centerline is valid? [True, True] Translation: X:184.44, Y:8.65, Z:1.33 [[ 9.96923656e-01 -7.59908218e-02 -1.91994751e-02 1.84440036e+02] [ 7.59816984e-02 9.97108484e-01 -1.20527236e-03 8.65148657e+00] [ 1.92355492e-02 -2.57244201e-04 9.99814947e-01 1.32713115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.014391418 meters Centerline goodness [0,1] 0.9989208861429085 Centerline is valid? [True, True] Translation: X:184.47, Y:8.65, Z:1.33 [[ 9.96885969e-01 -7.66345569e-02 -1.85879116e-02 1.84472016e+02] [ 7.66261416e-02 9.97059214e-01 -1.16558002e-03 8.65322200e+00] [ 1.86225722e-02 -2.62369577e-04 9.99826550e-01 1.32819082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.044391418 meters Centerline goodness [0,1] 0.9990054173015067 Centerline is valid? [True, True] Translation: X:184.50, Y:8.66, Z:1.33 [[ 9.96805203e-01 -7.81031418e-02 -1.67118773e-02 1.84504751e+02] [ 7.80965732e-02 9.96945250e-01 -1.04630511e-03 8.65505463e+00] [ 1.67425464e-02 -2.62177973e-04 9.99859799e-01 1.33061561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.074391418 meters Centerline goodness [0,1] 0.9988605912265525 Centerline is valid? [True, True] Translation: X:184.54, Y:8.66, Z:1.33 [[ 9.96750870e-01 -7.88502474e-02 -1.64420671e-02 1.84536905e+02] [ 7.88440163e-02 9.96886435e-01 -1.02786495e-03 8.65663018e+00] [ 1.64719211e-02 -2.71833319e-04 9.99864292e-01 1.33149135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.104391418 meters Centerline goodness [0,1] 0.9990059852378234 Centerline is valid? [True, True] Translation: X:184.57, Y:8.66, Z:1.33 [[ 9.96689265e-01 -7.97616634e-02 -1.57666015e-02 1.84569227e+02] [ 7.97560668e-02 9.96813925e-01 -9.84434751e-04 8.65786825e+00] [ 1.57948880e-02 -2.76306571e-04 9.99875215e-01 1.33221010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.134391418 meters Centerline goodness [0,1] 0.9989830077545658 Centerline is valid? [True, True] Translation: X:184.60, Y:8.66, Z:1.33 [[ 9.96438970e-01 -8.29432841e-02 -1.51588707e-02 1.84600716e+02] [ 8.29384936e-02 9.96554219e-01 -9.45495388e-04 8.65667490e+00] [ 1.51850591e-02 -3.15125452e-04 9.99884651e-01 1.33232891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.164391418 meters Centerline goodness [0,1] 0.9985183617314002 Centerline is valid? [True, True] Translation: X:184.63, Y:8.66, Z:1.33 [[ 9.96293316e-01 -8.47334580e-02 -1.48280086e-02 1.84632692e+02] [ 8.47290871e-02 9.96403597e-01 -9.23868468e-04 8.65700376e+00] [ 1.48529637e-02 -3.35919656e-04 9.99889632e-01 1.33246860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.194391418 meters Centerline goodness [0,1] 0.998856029150072 Centerline is valid? [True, True] Translation: X:184.66, Y:8.66, Z:1.33 [[ 9.96122481e-01 -8.67948684e-02 -1.43754857e-02 1.84664030e+02] [ 8.67909882e-02 9.96226141e-01 -8.94741339e-04 8.65568243e+00] [ 1.43988936e-02 -3.56390651e-04 9.99896267e-01 1.33254211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.224391418 meters Centerline goodness [0,1] 0.9987724348120556 Centerline is valid? [True, True] Translation: X:184.70, Y:8.65, Z:1.33 [[ 9.95704573e-01 -9.15443315e-02 -1.38577909e-02 1.84695032e+02] [ 9.15411923e-02 9.95800917e-01 -8.62007850e-04 8.65479826e+00] [ 1.38785128e-02 -4.10253542e-04 9.99903605e-01 1.33340747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.254391418 meters Centerline goodness [0,1] 0.9989428281461434 Centerline is valid? [True, True] Translation: X:184.73, Y:8.65, Z:1.33 [[ 9.95496109e-01 -9.38122672e-02 -1.36658601e-02 1.84726594e+02] [ 9.38094347e-02 9.95589809e-01 -8.49559298e-04 8.65298354e+00] [ 1.36852902e-02 -4.36253639e-04 9.99906257e-01 1.33346645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.284391418 meters Centerline goodness [0,1] 0.9986493046029167 Centerline is valid? [True, True] Translation: X:184.76, Y:8.65, Z:1.33 [[ 9.95245012e-01 -9.64010665e-02 -1.39356046e-02 1.84757761e+02] [ 9.63983856e-02 9.95342455e-01 -8.65538452e-04 8.65195578e+00] [ 1.39541377e-02 -4.81946958e-04 9.99902520e-01 1.33323590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.314391418 meters Centerline goodness [0,1] 0.9987791529847605 Centerline is valid? [True, True] Translation: X:184.79, Y:8.65, Z:1.33 [[ 9.94756370e-01 -1.01292552e-01 -1.41273909e-02 1.84788718e+02] [ 1.01290296e-01 9.94856526e-01 -8.76924110e-04 8.65036710e+00] [ 1.41435529e-02 -5.58641762e-04 9.99899819e-01 1.33324701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34439141800001 meters Centerline goodness [0,1] 0.9986698196866687 Centerline is valid? [True, True] Translation: X:184.82, Y:8.65, Z:1.33 [[ 9.94511076e-01 -1.03608678e-01 -1.45932107e-02 1.84820079e+02] [ 1.03606535e-01 9.94617950e-01 -9.04804490e-04 8.64925438e+00] [ 1.46084149e-02 -6.12113913e-04 9.99893104e-01 1.33276828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.37439141800002 meters Centerline goodness [0,1] 0.9988593155893536 Centerline is valid? [True, True] Translation: X:184.85, Y:8.65, Z:1.33 [[ 9.94298625e-01 -1.05599559e-01 -1.47979196e-02 1.84851633e+02] [ 1.05597595e-01 9.94408522e-01 -9.16196993e-04 8.65419060e+00] [ 1.48119273e-02 -6.51651307e-04 9.99890085e-01 1.33368741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40439141800002 meters Centerline goodness [0,1] 0.9985192706350213 Centerline is valid? [True, True] Translation: X:184.88, Y:8.66, Z:1.33 [[ 9.94109774e-01 -1.07314766e-01 -1.51426134e-02 1.84883740e+02] [ 1.07312925e-01 9.94224853e-01 -9.36449451e-04 8.65827966e+00] [ 1.51556575e-02 -6.94064588e-04 9.99884906e-01 1.33402953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.43439141800002 meters Centerline goodness [0,1] 0.9987756739070779 Centerline is valid? [True, True] Translation: X:184.91, Y:8.66, Z:1.33 [[ 9.93998383e-01 -1.08360247e-01 -1.50090509e-02 1.84914422e+02] [ 1.08358582e-01 9.94111442e-01 -9.26486431e-04 8.65869826e+00] [ 1.50210635e-02 -7.05433454e-04 9.99886929e-01 1.33419066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.464391418 meters Centerline goodness [0,1] 0.998649931441831 Centerline is valid? [True, True] Translation: X:184.95, Y:8.66, Z:1.33 [[ 9.93824430e-01 -1.09927370e-01 -1.51319396e-02 1.84945933e+02] [ 1.09925882e-01 9.93939350e-01 -9.32582953e-04 8.65593792e+00] [ 1.51427466e-02 -7.36568078e-04 9.99885071e-01 1.33337921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.494391418 meters Centerline goodness [0,1] 0.9990904283447911 Centerline is valid? [True, True] Translation: X:184.98, Y:8.66, Z:1.33 [[ 9.93806373e-01 -1.10119738e-01 -1.49176290e-02 1.84977639e+02] [ 1.10118329e-01 9.93918060e-01 -9.18333366e-04 8.66184202e+00] [ 1.49280275e-02 -7.30058824e-04 9.99888304e-01 1.33428678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.524391418 meters Centerline goodness [0,1] 0.998643809200907 Centerline is valid? [True, True] Translation: X:185.01, Y:8.67, Z:1.34 [[ 9.93792420e-01 -1.10326536e-01 -1.43066820e-02 1.85009335e+02] [ 1.10325278e-01 9.93895145e-01 -8.79601792e-04 8.66627721e+00] [ 1.43163852e-02 -7.04247072e-04 9.99897267e-01 1.33507330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.554391418 meters Centerline goodness [0,1] 0.9986661585365854 Centerline is valid? [True, True] Translation: X:185.04, Y:8.67, Z:1.34 [[ 9.93776937e-01 -1.10554014e-01 -1.36091576e-02 1.85041686e+02] [ 1.10552911e-01 9.93869889e-01 -8.35640921e-04 8.67044552e+00] [ 1.36181154e-02 -6.74091313e-04 9.99907042e-01 1.33612304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.584391418 meters Centerline goodness [0,1] 0.9987555105570672 Centerline is valid? [True, True] Translation: X:185.07, Y:8.67, Z:1.34 [[ 9.93763814e-01 -1.10681756e-01 -1.35289054e-02 1.85073219e+02] [ 1.10680699e-01 9.93855671e-01 -8.29132705e-04 8.67190369e+00] [ 1.35375492e-02 -6.73426628e-04 9.99908136e-01 1.33645221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.614391418 meters Centerline goodness [0,1] 0.9985399606424173 Centerline is valid? [True, True] Translation: X:185.11, Y:8.68, Z:1.34 [[ 9.93716253e-01 -1.11099239e-01 -1.36003059e-02 1.85105603e+02] [ 1.11098232e-01 9.93809082e-01 -8.31884473e-04 8.67502877e+00] [ 1.36085292e-02 -6.84312816e-04 9.99907166e-01 1.33674418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.644391418 meters Centerline goodness [0,1] 0.9987505294366794 Centerline is valid? [True, True] Translation: X:185.14, Y:8.68, Z:1.34 [[ 9.93612277e-01 -1.12023279e-01 -1.36172319e-02 1.85137356e+02] [ 1.12022371e-01 9.93705337e-01 -8.31820096e-04 8.67809029e+00] [ 1.36246993e-02 -6.98927943e-04 9.99906935e-01 1.33660527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.674391418 meters Centerline goodness [0,1] 0.998770326711472 Centerline is valid? [True, True] Translation: X:185.17, Y:8.68, Z:1.34 [[ 9.93534163e-01 -1.12690635e-01 -1.38090020e-02 1.85168968e+02] [ 1.12689779e-01 9.93629863e-01 -8.42549219e-04 8.67629880e+00] [ 1.38159842e-02 -7.19031954e-04 9.99904296e-01 1.33626219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.704391418 meters Centerline goodness [0,1] 0.9986022871664549 Centerline is valid? [True, True] Translation: X:185.20, Y:8.68, Z:1.34 [[ 9.93461754e-01 -1.13268066e-01 -1.42859497e-02 1.85200542e+02] [ 1.13267225e-01 9.93564179e-01 -8.70610481e-04 8.68407343e+00] [ 1.42926202e-02 -7.53211659e-04 9.99897572e-01 1.33681918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.734391418 meters Centerline goodness [0,1] 0.9988977913434228 Centerline is valid? [True, True] Translation: X:185.23, Y:8.68, Z:1.34 [[ 9.93450403e-01 -1.13326180e-01 -1.46107104e-02 1.85231819e+02] [ 1.13325322e-01 9.93557538e-01 -8.89342035e-04 8.68285176e+00] [ 1.46173672e-02 -7.72246255e-04 9.99892862e-01 1.33626344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.764391418 meters Centerline goodness [0,1] 0.9991522010978996 Centerline is valid? [True, True] Translation: X:185.26, Y:8.69, Z:1.34 [[ 9.93473293e-01 -1.13084079e-01 -1.49267222e-02 1.85264538e+02] [ 1.13083176e-01 9.93585111e-01 -9.07192084e-04 8.68601242e+00] [ 1.49335579e-02 -7.86690055e-04 9.99888179e-01 1.33631581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.794391418 meters Centerline goodness [0,1] 0.9989598369703659 Centerline is valid? [True, True] Translation: X:185.29, Y:8.69, Z:1.34 [[ 9.93722591e-01 -1.10875342e-01 -1.49020198e-02 1.85294834e+02] [ 1.10874209e-01 9.93834036e-01 -9.04702786e-04 8.69034444e+00] [ 1.49104438e-02 -7.53226066e-04 9.99888549e-01 1.33588146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.824391418 meters Centerline goodness [0,1] 0.9987091859407072 Centerline is valid? [True, True] Translation: X:185.33, Y:8.70, Z:1.34 [[ 9.93939500e-01 -1.08869591e-01 -1.52211433e-02 1.85325851e+02] [ 1.08868181e-01 9.94055766e-01 -9.23617365e-04 8.69538363e+00] [ 1.52312191e-02 -7.39078404e-04 9.99883725e-01 1.33603451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.854391418 meters Centerline goodness [0,1] 0.9989355813854472 Centerline is valid? [True, True] Translation: X:185.36, Y:8.71, Z:1.34 [[ 9.94615904e-01 -1.02583069e-01 -1.46941105e-02 1.85355522e+02] [ 1.02581076e-01 9.94724247e-01 -8.91323135e-04 8.70866098e+00] [ 1.47080226e-02 -6.20813491e-04 9.99891638e-01 1.33760300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.884391418 meters Centerline goodness [0,1] 0.9986768534721926 Centerline is valid? [True, True] Translation: X:185.39, Y:8.71, Z:1.34 [[ 9.95017505e-01 -9.86175480e-02 -1.46541569e-02 1.85386049e+02] [ 9.86151407e-02 9.95125251e-01 -8.88547634e-04 8.71378156e+00] [ 1.46703480e-02 -5.61001296e-04 9.99892227e-01 1.33795291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.914391418 meters Centerline goodness [0,1] 0.9992729294527725 Centerline is valid? [True, True] Translation: X:185.42, Y:8.73, Z:1.34 [[ 9.95832383e-01 -9.00722777e-02 -1.43125435e-02 1.85415592e+02] [ 9.00691037e-02 9.95935140e-01 -8.67511124e-04 8.72643837e+00] [ 1.43325038e-02 -4.25222298e-04 9.99897194e-01 1.33956985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.944391418 meters Centerline goodness [0,1] 0.999186295503212 Centerline is valid? [True, True] Translation: X:185.45, Y:8.73, Z:1.34 [[ 9.96189909e-01 -8.60774276e-02 -1.40122174e-02 1.85445574e+02] [ 8.60739930e-02 9.96288385e-01 -8.49125220e-04 8.73275729e+00] [ 1.40333000e-02 -3.60197528e-04 9.99901464e-01 1.33984894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.974391418 meters Centerline goodness [0,1] 0.9990180801331996 Centerline is valid? [True, True] Translation: X:185.48, Y:8.74, Z:1.34 [[ 9.96510913e-01 -8.22846360e-02 -1.39727991e-02 1.85476235e+02] [ 8.22808536e-02 9.96608822e-01 -8.46334583e-04 8.73911552e+00] [ 1.39950552e-02 -3.06312190e-04 9.99902018e-01 1.34000227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.004391418 meters Centerline goodness [0,1] 0.999250583474295 Centerline is valid? [True, True] Translation: X:185.51, Y:8.75, Z:1.34 [[ 9.97017951e-01 -7.58801993e-02 -1.40499684e-02 1.85506822e+02] [ 7.58757467e-02 9.97116918e-01 -8.50462191e-04 8.74941411e+00] [ 1.40739945e-02 -2.18125776e-04 9.99900933e-01 1.34031033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.034391418 meters Centerline goodness [0,1] 0.9994200781820525 Centerline is valid? [True, True] Translation: X:185.54, Y:8.75, Z:1.34 [[ 9.97192777e-01 -7.34499895e-02 -1.45486786e-02 1.85538607e+02] [ 7.34449693e-02 9.97298883e-01 -8.79777535e-04 8.75401314e+00] [ 1.45740005e-02 -1.91219448e-04 9.99893775e-01 1.33986598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.064391418 meters Centerline goodness [0,1] 0.9989494447064877 Centerline is valid? [True, True] Translation: X:185.57, Y:8.76, Z:1.34 [[ 9.97319393e-01 -7.15377470e-02 -1.53746396e-02 1.85570674e+02] [ 7.15319323e-02 9.97437878e-01 -9.28493827e-04 8.75833520e+00] [ 1.54016703e-02 -1.73772782e-04 9.99881372e-01 1.33939913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09439141800001 meters Centerline goodness [0,1] 0.9991173114598807 Centerline is valid? [True, True] Translation: X:185.60, Y:8.76, Z:1.34 [[ 9.97393401e-01 -7.04438312e-02 -1.56227522e-02 1.85602913e+02] [ 7.04377123e-02 9.97515735e-01 -9.42254491e-04 8.76174999e+00] [ 1.56503171e-02 -1.60632512e-04 9.99877513e-01 1.33899388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12439141800002 meters Centerline goodness [0,1] 0.9990757061175358 Centerline is valid? [True, True] Translation: X:185.64, Y:8.77, Z:1.34 [[ 9.97452799e-01 -6.95553455e-02 -1.58103694e-02 1.85635274e+02] [ 6.95489866e-02 9.97578083e-01 -9.52340540e-04 8.76566154e+00] [ 1.58383184e-02 -1.49680435e-04 9.99874555e-01 1.33926321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15439141800002 meters Centerline goodness [0,1] 0.9991627667339316 Centerline is valid? [True, True] Translation: X:185.67, Y:8.77, Z:1.34 [[ 9.97437127e-01 -6.97442597e-02 -1.59660812e-02 1.85668262e+02] [ 6.97378246e-02 9.97564892e-01 -9.60131649e-04 8.76785515e+00] [ 1.59941658e-02 -1.55768817e-04 9.99872073e-01 1.33979491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18439141800002 meters Centerline goodness [0,1] 0.9992474413004214 Centerline is valid? [True, True] Translation: X:185.70, Y:8.77, Z:1.34 [[ 9.97392388e-01 -7.04960691e-02 -1.54508291e-02 1.85700285e+02] [ 7.04901700e-02 9.97512044e-01 -9.26743062e-04 8.76892600e+00] [ 1.54777199e-02 -1.64805095e-04 9.99880199e-01 1.34027027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.214391418 meters Centerline goodness [0,1] 0.9992895280744057 Centerline is valid? [True, True] Translation: X:185.73, Y:8.77, Z:1.34 [[ 9.97199039e-01 -7.32888387e-02 -1.49272437e-02 1.85732303e+02] [ 7.32836744e-02 9.97310736e-01 -8.93399408e-04 8.77035571e+00] [ 1.49525766e-02 -2.03026234e-04 9.99888183e-01 1.34170576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.244391418 meters Centerline goodness [0,1] 0.9990760636012033 Centerline is valid? [True, True] Translation: X:185.76, Y:8.77, Z:1.34 [[ 9.97072318e-01 -7.50098159e-02 -1.48432034e-02 1.85763790e+02] [ 7.50049157e-02 9.97182769e-01 -8.87326692e-04 8.77032661e+00] [ 1.48679449e-02 -2.28584342e-04 9.99889440e-01 1.34163951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.274391418 meters Centerline goodness [0,1] 0.9992049507929004 Centerline is valid? [True, True] Translation: X:185.80, Y:8.77, Z:1.34 [[ 9.96929053e-01 -7.68807225e-02 -1.48935709e-02 1.85796154e+02] [ 7.68760135e-02 9.97040264e-01 -8.89275980e-04 8.77048570e+00] [ 1.49178581e-02 -2.58413300e-04 9.99888689e-01 1.34160386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.304391418 meters Centerline goodness [0,1] 0.9991606224307513 Centerline is valid? [True, True] Translation: X:185.83, Y:8.77, Z:1.34 [[ 9.96755064e-01 -7.90678370e-02 -1.50870662e-02 1.85828643e+02] [ 7.90632737e-02 9.96869194e-01 -8.99612476e-04 8.77054056e+00] [ 1.51109619e-02 -2.96139550e-04 9.99885779e-01 1.34170155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.334391418 meters Centerline goodness [0,1] 0.9993349066723879 Centerline is valid? [True, True] Translation: X:185.86, Y:8.76, Z:1.34 [[ 9.96460799e-01 -8.26496305e-02 -1.53269496e-02 1.85860058e+02] [ 8.26453606e-02 9.96578603e-01 -9.12852369e-04 8.76427160e+00] [ 1.53499569e-02 -3.57079677e-04 9.99882119e-01 1.34006692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.364391418 meters Centerline goodness [0,1] 0.9994204391783116 Centerline is valid? [True, True] Translation: X:185.89, Y:8.77, Z:1.34 [[ 9.96320803e-01 -8.43092630e-02 -1.53885008e-02 1.85892384e+02] [ 8.43051731e-02 9.96439562e-01 -9.15443202e-04 8.76735625e+00] [ 1.54108913e-02 -3.85255117e-04 9.99881171e-01 1.34135165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.394391418 meters Centerline goodness [0,1] 0.9993343497026046 Centerline is valid? [True, True] Translation: X:185.92, Y:8.77, Z:1.34 [[ 9.96207751e-01 -8.56283879e-02 -1.54238671e-02 1.85924679e+02] [ 8.56244558e-02 9.96327061e-01 -9.16340836e-04 8.76701577e+00] [ 1.54456809e-02 -4.07794379e-04 9.99880625e-01 1.34138293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.424391418 meters Centerline goodness [0,1] 0.9990564014582887 Centerline is valid? [True, True] Translation: X:185.96, Y:8.77, Z:1.34 [[ 9.96091304e-01 -8.70799359e-02 -1.48053480e-02 1.85956351e+02] [ 8.70764876e-02 9.96201241e-01 -8.78616684e-04 8.76645962e+00] [ 1.48256160e-02 -4.14015265e-04 9.99890009e-01 1.34173926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.454391418 meters Centerline goodness [0,1] 0.9992911305393852 Centerline is valid? [True, True] Translation: X:185.99, Y:8.77, Z:1.34 [[ 9.95880336e-01 -8.94519272e-02 -1.48563043e-02 1.85988612e+02] [ 8.94487342e-02 9.95991038e-01 -8.80593769e-04 8.76773407e+00] [ 1.48755168e-02 -4.51911601e-04 9.99889251e-01 1.34241447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.484391418 meters Centerline goodness [0,1] 0.9992480395316361 Centerline is valid? [True, True] Translation: X:186.02, Y:8.77, Z:1.34 [[ 9.95770941e-01 -9.05871145e-02 -1.53038226e-02 1.86020743e+02] [ 9.05838796e-02 9.95888418e-01 -9.05857564e-04 8.76831262e+00] [ 1.53229587e-02 -4.84252984e-04 9.99882479e-01 1.34242093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.514391418 meters Centerline goodness [0,1] 0.9991626588801099 Centerline is valid? [True, True] Translation: X:186.05, Y:8.77, Z:1.34 [[ 9.95696565e-01 -9.13862009e-02 -1.53919832e-02 1.86052680e+02] [ 9.13830432e-02 9.95815400e-01 -9.09823844e-04 8.76843731e+00] [ 1.54107192e-02 -5.00657789e-04 9.99881122e-01 1.34244432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.544391418 meters Centerline goodness [0,1] 0.9992307692307693 Centerline is valid? [True, True] Translation: X:186.08, Y:8.77, Z:1.34 [[ 9.95590394e-01 -9.26055572e-02 -1.49659190e-02 1.86083789e+02] [ 9.26027249e-02 9.95702744e-01 -8.83608844e-04 8.76553856e+00] [ 1.49834338e-02 -5.06172408e-04 9.99887614e-01 1.34210285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.574391418 meters Centerline goodness [0,1] 0.9986285812244198 Centerline is valid? [True, True] Translation: X:186.12, Y:8.77, Z:1.34 [[ 9.95573540e-01 -9.28656272e-02 -1.44672876e-02 1.86116060e+02] [ 9.28630224e-02 9.95678528e-01 -8.53170083e-04 8.76775526e+00] [ 1.44839978e-02 -4.94082492e-04 9.99894979e-01 1.34255747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.604391418 meters Centerline goodness [0,1] 0.9988864142538976 Centerline is valid? [True, True] Translation: X:186.15, Y:8.77, Z:1.34 [[ 9.95610065e-01 -9.25653553e-02 -1.38655819e-02 1.86148503e+02] [ 9.25629484e-02 9.95706500e-01 -8.16615632e-04 8.76836343e+00] [ 1.38816404e-02 -4.70408403e-04 9.99903535e-01 1.34330402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.634391418 meters Centerline goodness [0,1] 0.9989063538695774 Centerline is valid? [True, True] Translation: X:186.18, Y:8.77, Z:1.34 [[ 9.95687057e-01 -9.18142795e-02 -1.33199930e-02 1.86180154e+02] [ 9.18120050e-02 9.95776050e-01 -7.83448098e-04 8.77092983e+00] [ 1.33356617e-02 -4.42866128e-04 9.99910978e-01 1.34437992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.664391418 meters Centerline goodness [0,1] 0.9987358045853868 Centerline is valid? [True, True] Translation: X:186.21, Y:8.77, Z:1.35 [[ 9.95914402e-01 -8.94912189e-02 -1.20757977e-02 1.86211511e+02] [ 8.94891886e-02 9.95987541e-01 -7.09455786e-04 8.77123161e+00] [ 1.20908341e-02 -3.74096100e-04 9.99926833e-01 1.34523415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.694391418 meters Centerline goodness [0,1] 0.9988662616582528 Centerline is valid? [True, True] Translation: X:186.24, Y:8.77, Z:1.35 [[ 9.96068798e-01 -8.77835275e-02 -1.18744187e-02 1.86243566e+02] [ 8.77814525e-02 9.96139514e-01 -6.96831959e-04 8.77462054e+00] [ 1.18897481e-02 -3.48261153e-04 9.99929254e-01 1.34587694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.724391418 meters Centerline goodness [0,1] 0.9988652907424852 Centerline is valid? [True, True] Translation: X:186.27, Y:8.78, Z:1.35 [[ 9.96214846e-01 -8.60677174e-02 -1.21789911e-02 1.86274484e+02] [ 8.60654171e-02 9.96289232e-01 -7.13840793e-04 8.77656844e+00] [ 1.21952364e-02 -3.37051155e-04 9.99925579e-01 1.34538773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.754391418 meters Centerline goodness [0,1] 0.9991024298506187 Centerline is valid? [True, True] Translation: X:186.31, Y:8.78, Z:1.34 [[ 9.96451788e-01 -8.30639109e-02 -1.35728088e-02 1.86307127e+02] [ 8.30607902e-02 9.96544166e-01 -7.94448934e-04 8.77887973e+00] [ 1.35918935e-02 -3.35738164e-04 9.99907570e-01 1.34331461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.784391418 meters Centerline goodness [0,1] 0.9988881761813128 Centerline is valid? [True, True] Translation: X:186.34, Y:8.78, Z:1.34 [[ 9.96547305e-01 -8.16959015e-02 -1.48070234e-02 1.86339040e+02] [ 8.16920564e-02 9.96657243e-01 -8.65352506e-04 8.78094667e+00] [ 1.48282229e-02 -3.47251486e-04 9.99889996e-01 1.34229053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.814391418 meters Centerline goodness [0,1] 0.9988881761813128 Centerline is valid? [True, True] Translation: X:186.37, Y:8.78, Z:1.34 [[ 9.96556778e-01 -8.15802580e-02 -1.48071078e-02 1.86371542e+02] [ 8.15764215e-02 9.96666715e-01 -8.63906418e-04 8.78272441e+00] [ 1.48282292e-02 -3.46979075e-04 9.99889996e-01 1.34251852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84439141800001 meters Centerline goodness [0,1] 0.9990385026280928 Centerline is valid? [True, True] Translation: X:186.40, Y:8.79, Z:1.34 [[ 9.96628502e-01 -8.04998352e-02 -1.58557547e-02 1.86403830e+02] [ 8.04953248e-02 9.96754558e-01 -9.23494785e-04 8.78612403e+00] [ 1.58786370e-02 -3.55932901e-04 9.99873863e-01 1.34195015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.87439141800002 meters Centerline goodness [0,1] 0.9989093475332007 Centerline is valid? [True, True] Translation: X:186.44, Y:8.79, Z:1.34 [[ 9.96701982e-01 -7.94228244e-02 -1.66485276e-02 1.86435545e+02] [ 7.94177213e-02 9.96840954e-01 -9.68484488e-04 8.78604871e+00] [ 1.66728539e-02 -3.56897717e-04 9.99860935e-01 1.34116918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90439141800002 meters Centerline goodness [0,1] 0.9989095340930959 Centerline is valid? [True, True] Translation: X:186.47, Y:8.79, Z:1.34 [[ 9.96720437e-01 -7.91987500e-02 -1.66111044e-02 1.86468890e+02] [ 7.91936650e-02 9.96858783e-01 -9.64725664e-04 8.78724701e+00] [ 1.66353304e-02 -3.53932450e-04 9.99861561e-01 1.34139829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.93439141800002 meters Centerline goodness [0,1] 0.9986764580309111 Centerline is valid? [True, True] Translation: X:186.50, Y:8.79, Z:1.34 [[ 9.96778010e-01 -7.85579584e-02 -1.61940228e-02 1.86500754e+02] [ 7.85530663e-02 9.96909491e-01 -9.38942148e-04 8.78910465e+00] [ 1.62177364e-02 -3.36173258e-04 9.99868427e-01 1.34211932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.964391418 meters Centerline goodness [0,1] 0.9989766767577709 Centerline is valid? [True, True] Translation: X:186.53, Y:8.79, Z:1.34 [[ 9.96835456e-01 -7.79065641e-02 -1.58000582e-02 1.86532862e+02] [ 7.79018453e-02 9.96960614e-01 -9.14841579e-04 8.79116989e+00] [ 1.58233078e-02 -3.18907164e-04 9.99874753e-01 1.34324633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.994391418 meters Centerline goodness [0,1] 0.9987219902871262 Centerline is valid? [True, True] Translation: X:186.57, Y:8.79, Z:1.34 [[ 9.96979074e-01 -7.62702246e-02 -1.46826095e-02 1.86565249e+02] [ 7.62659890e-02 9.97087147e-01 -8.48999581e-04 8.79294529e+00] [ 1.47045946e-02 -2.73348920e-04 9.99891844e-01 1.34418944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.024391418 meters Centerline goodness [0,1] 0.9990843270868824 Centerline is valid? [True, True] Translation: X:186.60, Y:8.79, Z:1.34 [[ 9.97051311e-01 -7.53398722e-02 -1.45803556e-02 1.86596885e+02] [ 7.53356108e-02 9.97157880e-01 -8.42077053e-04 8.79399343e+00] [ 1.46023585e-02 -2.58825967e-04 9.99893346e-01 1.34463541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.054391418 meters Centerline goodness [0,1] 0.9987861493249287 Centerline is valid? [True, True] Translation: X:186.63, Y:8.80, Z:1.35 [[ 9.97114788e-01 -7.46457770e-02 -1.37879648e-02 1.86629268e+02] [ 7.46419129e-02 9.97210084e-01 -7.95363216e-04 8.79681855e+00] [ 1.38088681e-02 -2.36091644e-04 9.99904625e-01 1.34529159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.084391418 meters Centerline goodness [0,1] 0.9989136454650024 Centerline is valid? [True, True] Translation: X:186.66, Y:8.80, Z:1.35 [[ 9.97186001e-01 -7.37643231e-02 -1.33754673e-02 1.86660357e+02] [ 7.37606286e-02 9.97275677e-01 -7.69991121e-04 8.79613264e+00] [ 1.33958261e-02 -2.18758506e-04 9.99910248e-01 1.34518785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.114391418 meters Centerline goodness [0,1] 0.9988958722609139 Centerline is valid? [True, True] Translation: X:186.69, Y:8.80, Z:1.35 [[ 9.97186678e-01 -7.37751676e-02 -1.32647673e-02 1.86693038e+02] [ 7.37715598e-02 9.97274875e-01 -7.61744469e-04 8.79876924e+00] [ 1.32848169e-02 -2.18961134e-04 9.99911729e-01 1.34631400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.144391418 meters Centerline goodness [0,1] 0.9990847558639478 Centerline is valid? [True, True] Translation: X:186.73, Y:8.80, Z:1.35 [[ 9.97180178e-01 -7.39807494e-02 -1.25912849e-02 1.86725586e+02] [ 7.39775339e-02 9.97259647e-01 -7.21577628e-04 8.79993525e+00] [ 1.26101631e-02 -2.11929294e-04 9.99920466e-01 1.34711204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.174391418 meters Centerline goodness [0,1] 0.9993200314485455 Centerline is valid? [True, True] Translation: X:186.76, Y:8.80, Z:1.35 [[ 9.97104819e-01 -7.51305030e-02 -1.17212099e-02 1.86757241e+02] [ 7.51278087e-02 9.97173687e-01 -6.70633191e-04 8.79866840e+00] [ 1.17384671e-02 -2.11897225e-04 9.99931079e-01 1.34775256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.204391418 meters Centerline goodness [0,1] 0.999063411311437 Centerline is valid? [True, True] Translation: X:186.79, Y:8.80, Z:1.35 [[ 9.97056035e-01 -7.58172473e-02 -1.14458370e-02 1.86789150e+02] [ 7.58147321e-02 9.97121707e-01 -6.54110365e-04 8.79866713e+00] [ 1.14624854e-02 -2.15578378e-04 9.99934280e-01 1.34813042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.234391418 meters Centerline goodness [0,1] 0.9992126822002341 Centerline is valid? [True, True] Translation: X:186.82, Y:8.80, Z:1.35 [[ 9.97023217e-01 -7.63162185e-02 -1.09790877e-02 1.86821722e+02] [ 7.63139438e-02 9.97083642e-01 -6.26586337e-04 8.79888103e+00] [ 1.09948875e-02 -2.13136358e-04 9.99939532e-01 1.34839257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.264391418 meters Centerline goodness [0,1] 0.99929900586286 Centerline is valid? [True, True] Translation: X:186.85, Y:8.80, Z:1.35 [[ 9.96921421e-01 -7.76896342e-02 -1.05830309e-02 1.86852966e+02] [ 7.76876059e-02 9.96977568e-01 -6.03236552e-04 8.79688427e+00] [ 1.05979096e-02 -2.20790889e-04 9.99943816e-01 1.34891323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.294391418 meters Centerline goodness [0,1] 0.998895989469438 Centerline is valid? [True, True] Translation: X:186.88, Y:8.80, Z:1.35 [[ 9.96868447e-01 -7.82983370e-02 -1.10756780e-02 1.86884751e+02] [ 7.82961614e-02 9.96929944e-01 -6.30569356e-04 8.79722820e+00] [ 1.10910476e-02 -2.38588382e-04 9.99938464e-01 1.34873346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.324391418 meters Centerline goodness [0,1] 0.9991939076387858 Centerline is valid? [True, True] Translation: X:186.92, Y:8.80, Z:1.35 [[ 9.96838234e-01 -7.86608989e-02 -1.12248757e-02 1.86916676e+02] [ 7.86586971e-02 9.96901400e-01 -6.38187551e-04 8.79728513e+00] [ 1.12402947e-02 -2.46764345e-04 9.99936795e-01 1.34874365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.354391418 meters Centerline goodness [0,1] 0.9991532420245983 Centerline is valid? [True, True] Translation: X:186.95, Y:8.80, Z:1.35 [[ 9.96746373e-01 -7.97171055e-02 -1.19101421e-02 1.86947711e+02] [ 7.97147121e-02 9.96817489e-01 -6.76293124e-04 8.79531092e+00] [ 1.19261501e-02 -2.75320835e-04 9.99928843e-01 1.34780828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.384391418 meters Centerline goodness [0,1] 0.9991319995765852 Centerline is valid? [True, True] Translation: X:186.98, Y:8.80, Z:1.35 [[ 9.96707323e-01 -8.01297752e-02 -1.23988123e-02 1.86979662e+02] [ 8.01272237e-02 9.96784397e-01 -7.03205841e-04 8.79589941e+00] [ 1.24152904e-02 -2.92591995e-04 9.99922885e-01 1.34757054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.414391418 meters Centerline goodness [0,1] 0.9994079837618404 Centerline is valid? [True, True] Translation: X:187.01, Y:8.80, Z:1.35 [[ 9.96660238e-01 -8.06583218e-02 -1.27516465e-02 1.87011890e+02] [ 8.06556791e-02 9.96741762e-01 -7.22217898e-04 8.79578180e+00] [ 1.27683515e-02 -3.08686847e-04 9.99918434e-01 1.34724458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.444391418 meters Centerline goodness [0,1] 0.9991532957961137 Centerline is valid? [True, True] Translation: X:187.04, Y:8.80, Z:1.35 [[ 9.96638585e-01 -8.09023922e-02 -1.28970754e-02 1.87043607e+02] [ 8.08997207e-02 9.96721979e-01 -7.29568811e-04 8.79519627e+00] [ 1.29138224e-02 -3.16253375e-04 9.99916563e-01 1.34712187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.474391418 meters Centerline goodness [0,1] 0.9990904860611701 Centerline is valid? [True, True] Translation: X:187.07, Y:8.79, Z:1.35 [[ 9.96553655e-01 -8.19274112e-02 -1.29889315e-02 1.87074781e+02] [ 8.19247982e-02 9.96638244e-01 -7.34019999e-04 8.79306752e+00] [ 1.30054022e-02 -3.32625280e-04 9.99915371e-01 1.34720160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.504391418 meters Centerline goodness [0,1] 0.999069472348525 Centerline is valid? [True, True] Translation: X:187.11, Y:8.79, Z:1.35 [[ 9.96500242e-01 -8.25600881e-02 -1.30804674e-02 1.87106778e+02] [ 8.25575039e-02 9.96586029e-01 -7.38335781e-04 8.79330321e+00] [ 1.30967681e-02 -3.44138951e-04 9.99914174e-01 1.34741236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.534391418 meters Centerline goodness [0,1] 0.9990930566101409 Centerline is valid? [True, True] Translation: X:187.14, Y:8.79, Z:1.35 [[ 9.96461330e-01 -8.30272932e-02 -1.30876212e-02 1.87139314e+02] [ 8.30247593e-02 9.96547212e-01 -7.37756111e-04 8.79335096e+00] [ 1.31036864e-02 -3.51451168e-04 9.99914081e-01 1.34792012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.564391418 meters Centerline goodness [0,1] 0.9990069723219945 Centerline is valid? [True, True] Translation: X:187.17, Y:8.79, Z:1.35 [[ 9.96342495e-01 -8.45112262e-02 -1.26287634e-02 1.87170645e+02] [ 8.45089963e-02 9.96422463e-01 -7.11068373e-04 8.79052058e+00] [ 1.26436768e-02 -3.58776480e-04 9.99920001e-01 1.34828832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.59439141800001 meters Centerline goodness [0,1] 0.9989440337909187 Centerline is valid? [True, True] Translation: X:187.20, Y:8.79, Z:1.35 [[ 9.96261708e-01 -8.55224055e-02 -1.21871813e-02 1.87202931e+02] [ 8.55204136e-02 9.96336183e-01 -6.85446574e-04 8.78969156e+00] [ 1.22011507e-02 -3.59368612e-04 9.99925499e-01 1.34857123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62439141800002 meters Centerline goodness [0,1] 0.998966811453633 Centerline is valid? [True, True] Translation: X:187.23, Y:8.79, Z:1.35 [[ 9.96173881e-01 -8.65616426e-02 -1.20283627e-02 1.87234557e+02] [ 8.65597890e-02 9.96246429e-01 -6.75604422e-04 8.79364894e+00] [ 1.20416948e-02 -3.68153059e-04 9.99927428e-01 1.35007767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.65439141800002 meters Centerline goodness [0,1] 0.9985837191113366 Centerline is valid? [True, True] Translation: X:187.27, Y:8.79, Z:1.35 [[ 9.95959933e-01 -8.90727997e-02 -1.13951284e-02 1.87266868e+02] [ 8.90713104e-02 9.96025046e-01 -6.39145895e-04 8.79260636e+00] [ 1.14067638e-02 -3.78415314e-04 9.99934869e-01 1.35123883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68439141800002 meters Centerline goodness [0,1] 0.9986894394182803 Centerline is valid? [True, True] Translation: X:187.30, Y:8.79, Z:1.35 [[ 9.95886634e-01 -8.98618213e-02 -1.16045284e-02 1.87298549e+02] [ 8.98603403e-02 9.95954164e-01 -6.50024947e-04 8.79304567e+00] [ 1.16159908e-02 -3.95435715e-04 9.99932454e-01 1.35154958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.714391418 meters Centerline goodness [0,1] 0.9985665198052154 Centerline is valid? [True, True] Translation: X:187.33, Y:8.79, Z:1.35 [[ 9.95806064e-01 -9.07300566e-02 -1.17617686e-02 1.87329752e+02] [ 9.07286043e-02 9.95875438e-01 -6.58106461e-04 8.78805556e+00] [ 1.17729664e-02 -4.11782441e-04 9.99930611e-01 1.35093498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.744391418 meters Centerline goodness [0,1] 0.9986739912862285 Centerline is valid? [True, True] Translation: X:187.36, Y:8.78, Z:1.35 [[ 9.95635270e-01 -9.26068648e-02 -1.15921679e-02 1.87361521e+02] [ 9.26055923e-02 9.95702659e-01 -6.47646697e-04 8.78483837e+00] [ 1.16023289e-02 -4.28679681e-04 9.99932599e-01 1.35088787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.774391418 meters Centerline goodness [0,1] 0.9987341772151899 Centerline is valid? [True, True] Translation: X:187.39, Y:8.79, Z:1.35 [[ 9.95550187e-01 -9.35364727e-02 -1.14347340e-02 1.87393532e+02] [ 9.35353093e-02 9.95615759e-01 -6.37666893e-04 8.79056464e+00] [ 1.14442465e-02 -4.34721988e-04 9.99934418e-01 1.35151357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.804391418 meters Centerline goodness [0,1] 0.998485868102288 Centerline is valid? [True, True] Translation: X:187.43, Y:8.79, Z:1.35 [[ 9.95460092e-01 -9.44796072e-02 -1.15242969e-02 1.87426030e+02] [ 9.44784994e-02 9.95526695e-01 -6.41728732e-04 8.79064489e+00] [ 1.15333755e-02 -4.49982936e-04 9.99933387e-01 1.35120920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.834391418 meters Centerline goodness [0,1] 0.9988402741170269 Centerline is valid? [True, True] Translation: X:187.46, Y:8.79, Z:1.35 [[ 9.95352434e-01 -9.55085165e-02 -1.23148548e-02 1.87457577e+02] [ 9.55073415e-02 9.95428490e-01 -6.84829341e-04 8.78694421e+00] [ 1.23239643e-02 -4.94512488e-04 9.99923935e-01 1.35008504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.864391418 meters Centerline goodness [0,1] 0.9988602785985647 Centerline is valid? [True, True] Translation: X:187.49, Y:8.79, Z:1.35 [[ 9.95343343e-01 -9.55204525e-02 -1.29411410e-02 1.87489975e+02] [ 9.55191678e-02 9.95427331e-01 -7.18741363e-04 8.79049974e+00] [ 1.29506200e-02 -5.20732591e-04 9.99916002e-01 1.35007757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.894391418 meters Centerline goodness [0,1] 0.9987761905766674 Centerline is valid? [True, True] Translation: X:187.52, Y:8.79, Z:1.35 [[ 9.95364601e-01 -9.52428239e-02 -1.33459690e-02 1.87521622e+02] [ 9.52414472e-02 9.95453926e-01 -7.40138251e-04 8.79299206e+00] [ 1.33557901e-02 -5.34381984e-04 9.99910665e-01 1.35008251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.924391418 meters Centerline goodness [0,1] 0.9985663686962388 Centerline is valid? [True, True] Translation: X:187.55, Y:8.80, Z:1.35 [[ 9.95472904e-01 -9.40725526e-02 -1.35666092e-02 1.87552551e+02] [ 9.40710346e-02 9.95565204e-01 -7.51407184e-04 8.79530901e+00] [ 1.35771308e-02 -5.28219470e-04 9.99907687e-01 1.35015580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.954391418 meters Centerline goodness [0,1] 0.998611870609515 Centerline is valid? [True, True] Translation: X:187.58, Y:8.80, Z:1.35 [[ 9.95572333e-01 -9.30684698e-02 -1.31905207e-02 1.87584576e+02] [ 9.30669587e-02 9.95659585e-01 -7.29677032e-04 8.79811760e+00] [ 1.32011783e-02 -5.01155377e-04 9.99912735e-01 1.35044137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.984391418 meters Centerline goodness [0,1] 0.9987549853341493 Centerline is valid? [True, True] Translation: X:187.62, Y:8.80, Z:1.35 [[ 9.95659914e-01 -9.21485011e-02 -1.30379912e-02 1.87615456e+02] [ 9.21469577e-02 9.95745158e-01 -7.20334132e-04 8.79956987e+00] [ 1.30488943e-02 -4.84203407e-04 9.99914742e-01 1.35086965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.014391418 meters Centerline goodness [0,1] 0.998632327568068 Centerline is valid? [True, True] Translation: X:187.65, Y:8.81, Z:1.35 [[ 9.95736451e-01 -9.13581006e-02 -1.27521388e-02 1.87647187e+02] [ 9.13565707e-02 9.95817996e-01 -7.03661287e-04 8.80612819e+00] [ 1.27630944e-02 -4.64330474e-04 9.99918441e-01 1.35202625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.044391418 meters Centerline goodness [0,1] 0.9985663686962388 Centerline is valid? [True, True] Translation: X:187.68, Y:8.81, Z:1.35 [[ 9.95866100e-01 -8.99558295e-02 -1.25959964e-02 1.87678227e+02] [ 8.99542363e-02 9.95945658e-01 -6.94129199e-04 8.80899443e+00] [ 1.26073689e-02 -4.41803498e-04 9.99920426e-01 1.35259087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.074391418 meters Centerline goodness [0,1] 0.9987329475862652 Centerline is valid? [True, True] Translation: X:187.71, Y:8.81, Z:1.35 [[ 9.95899995e-01 -8.95787884e-02 -1.26032069e-02 1.87709615e+02] [ 8.95771730e-02 9.95979643e-01 -6.93754838e-04 8.80923505e+00] [ 1.26146833e-02 -4.38049208e-04 9.99920336e-01 1.35267492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.104391418 meters Centerline goodness [0,1] 0.9985433203850701 Centerline is valid? [True, True] Translation: X:187.74, Y:8.81, Z:1.35 [[ 9.95926074e-01 -8.92927414e-02 -1.25722330e-02 1.87741494e+02] [ 8.92911222e-02 9.96005330e-01 -6.91174865e-04 8.81326646e+00] [ 1.25837280e-02 -4.34229723e-04 9.99920727e-01 1.35341156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.134391418 meters Centerline goodness [0,1] 0.9986065660297688 Centerline is valid? [True, True] Translation: X:187.77, Y:8.82, Z:1.35 [[ 9.95917104e-01 -8.93656936e-02 -1.27629891e-02 1.87773840e+02] [ 8.93640443e-02 9.95998783e-01 -7.00609639e-04 8.81678887e+00] [ 1.27745321e-02 -4.42803205e-04 9.99918304e-01 1.35350520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.164391418 meters Centerline goodness [0,1] 0.9986288944670618 Centerline is valid? [True, True] Translation: X:187.81, Y:8.82, Z:1.35 [[ 9.95889499e-01 -8.95506089e-02 -1.35938897e-02 1.87805283e+02] [ 8.95487691e-02 9.95982160e-01 -7.45195321e-04 8.81687351e+00] [ 1.36060043e-02 -4.75183895e-04 9.99907321e-01 1.35319060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.194391418 meters Centerline goodness [0,1] 0.9985092489554245 Centerline is valid? [True, True] Translation: X:187.84, Y:8.82, Z:1.35 [[ 9.95874317e-01 -8.96491140e-02 -1.40492362e-02 1.87836316e+02] [ 8.96471708e-02 9.95973289e-01 -7.69290775e-04 8.81777736e+00] [ 1.40616302e-02 -4.93357351e-04 9.99901009e-01 1.35300728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.224391418 meters Centerline goodness [0,1] 0.9984167862872583 Centerline is valid? [True, True] Translation: X:187.87, Y:8.82, Z:1.35 [[ 9.95926361e-01 -8.90568259e-02 -1.41267390e-02 1.87868769e+02] [ 8.90548158e-02 9.96026427e-01 -7.72543583e-04 8.82205268e+00] [ 1.41394057e-02 -4.88657623e-04 9.99899914e-01 1.35392775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.254391418 meters Centerline goodness [0,1] 0.998754485961579 Centerline is valid? [True, True] Translation: X:187.90, Y:8.83, Z:1.35 [[ 9.95994415e-01 -8.83387621e-02 -1.38343268e-02 1.87901156e+02] [ 8.83367805e-02 9.96090379e-01 -7.55438499e-04 8.82607473e+00] [ 1.38469743e-02 -4.69667363e-04 9.99904016e-01 1.35494875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.284391418 meters Centerline goodness [0,1] 0.998820406959599 Centerline is valid? [True, True] Translation: X:187.93, Y:8.83, Z:1.36 [[ 9.96086080e-01 -8.73454322e-02 -1.35387424e-02 1.87932785e+02] [ 8.73434577e-02 9.96177984e-01 -7.38193886e-04 8.82884444e+00] [ 1.35514750e-02 -4.47215918e-04 9.99908075e-01 1.35559777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.314391418 meters Centerline goodness [0,1] 0.9986282289380382 Centerline is valid? [True, True] Translation: X:187.96, Y:8.83, Z:1.36 [[ 9.96193892e-01 -8.62068617e-02 -1.28882101e-02 1.87963533e+02] [ 8.62049889e-02 9.96277174e-01 -7.01813471e-04 8.83121387e+00] [ 1.29007307e-02 -4.11885715e-04 9.99916697e-01 1.35616372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34439141800001 meters Centerline goodness [0,1] 0.9987765003691593 Centerline is valid? [True, True] Translation: X:188.00, Y:8.83, Z:1.36 [[ 9.96291329e-01 -8.51219694e-02 -1.25633843e-02 1.87995286e+02] [ 8.51201147e-02 9.96370463e-01 -6.83248304e-04 8.83498074e+00] [ 1.25759444e-02 -3.88682348e-04 9.99920844e-01 1.35677926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.37439141800002 meters Centerline goodness [0,1] 0.9987344442100823 Centerline is valid? [True, True] Translation: X:188.03, Y:8.84, Z:1.36 [[ 9.96549404e-01 -8.21080959e-02 -1.21468544e-02 1.88027122e+02] [ 8.21061503e-02 9.96623372e-01 -6.59614981e-04 8.84052268e+00] [ 1.21599988e-02 -3.39992541e-04 9.99926007e-01 1.35780328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40439141800002 meters Centerline goodness [0,1] 0.9987340436754932 Centerline is valid? [True, True] Translation: X:188.06, Y:8.85, Z:1.36 [[ 9.96698183e-01 -8.02950209e-02 -1.20598964e-02 1.88058718e+02] [ 8.02929824e-02 9.96771092e-01 -6.53900369e-04 8.84510278e+00] [ 1.20734610e-02 -3.16583738e-04 9.99927063e-01 1.35840977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.43439141800002 meters Centerline goodness [0,1] 0.9986079179937145 Centerline is valid? [True, True] Translation: X:188.09, Y:8.85, Z:1.36 [[ 9.96997644e-01 -7.64088231e-02 -1.25454952e-02 1.88089551e+02] [ 7.64063215e-02 9.97076533e-01 -6.79279341e-04 8.85101690e+00] [ 1.25607218e-02 -2.81315239e-04 9.99921071e-01 1.35811001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.464391418 meters Centerline goodness [0,1] 0.9989452589389305 Centerline is valid? [True, True] Translation: X:188.12, Y:8.85, Z:1.36 [[ 9.97170874e-01 -7.41475659e-02 -1.23444852e-02 1.88120737e+02] [ 7.41449799e-02 9.97247249e-01 -6.67641990e-04 8.85410633e+00] [ 1.23600080e-02 -2.49528463e-04 9.99923581e-01 1.35832691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.494391418 meters Centerline goodness [0,1] 0.9990931331196221 Centerline is valid? [True, True] Translation: X:188.15, Y:8.86, Z:1.36 [[ 9.97347747e-01 -7.17390902e-02 -1.22871765e-02 1.88153026e+02] [ 7.17363559e-02 9.97423408e-01 -6.63693256e-04 8.85843033e+00] [ 1.23031302e-02 -2.19504292e-04 9.99924290e-01 1.35875119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.524391418 meters Centerline goodness [0,1] 0.9988802974605991 Centerline is valid? [True, True] Translation: X:188.18, Y:8.87, Z:1.36 [[ 9.97646280e-01 -6.75311340e-02 -1.18930647e-02 1.88183496e+02] [ 6.75282833e-02 9.97717154e-01 -6.41570399e-04 8.86506307e+00] [ 1.19092406e-02 -1.63057919e-04 9.99929069e-01 1.35947912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.554391418 meters Centerline goodness [0,1] 0.9988597250670439 Centerline is valid? [True, True] Translation: X:188.22, Y:8.87, Z:1.36 [[ 9.97784474e-01 -6.55053475e-02 -1.16272767e-02 1.88215717e+02] [ 6.55024943e-02 9.97852209e-01 -6.26451750e-04 8.86944492e+00] [ 1.16433397e-02 -1.36551800e-04 9.99932205e-01 1.36015298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.584391418 meters Centerline goodness [0,1] 0.9987114218720294 Centerline is valid? [True, True] Translation: X:188.25, Y:8.87, Z:1.36 [[ 9.97879383e-01 -6.40011479e-02 -1.18570746e-02 1.88247239e+02] [ 6.39980905e-02 9.97949817e-01 -6.37491474e-04 8.87230579e+00] [ 1.18735656e-02 -1.22690535e-04 9.99929499e-01 1.36012128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.614391418 meters Centerline goodness [0,1] 0.9990058590858134 Centerline is valid? [True, True] Translation: X:188.28, Y:8.87, Z:1.36 [[ 9.97921614e-01 -6.30542090e-02 -1.32898164e-02 1.88279432e+02] [ 6.30503089e-02 9.98010095e-01 -7.12660777e-04 8.87463526e+00] [ 1.33083072e-02 -1.26747434e-04 9.99911433e-01 1.35867624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.644391418 meters Centerline goodness [0,1] 0.9991524885056253 Centerline is valid? [True, True] Translation: X:188.31, Y:8.88, Z:1.36 [[ 9.97887159e-01 -6.34348458e-02 -1.40441455e-02 1.88312003e+02] [ 6.34305461e-02 9.97985972e-01 -7.51832922e-04 8.87627602e+00] [ 1.40635526e-02 -1.40583398e-04 9.99901093e-01 1.35838541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.674391418 meters Centerline goodness [0,1] 0.9987956898373125 Centerline is valid? [True, True] Translation: X:188.34, Y:8.88, Z:1.36 [[ 9.97846548e-01 -6.39235682e-02 -1.46984516e-02 1.88344113e+02] [ 6.39189288e-02 9.97954785e-01 -7.85686427e-04 8.87760570e+00] [ 1.47186140e-02 -1.55514795e-04 9.99891663e-01 1.35802710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.704391418 meters Centerline goodness [0,1] 0.9987956898373125 Centerline is valid? [True, True] Translation: X:188.38, Y:8.88, Z:1.36 [[ 9.97854103e-01 -6.38055068e-02 -1.46985296e-02 1.88376615e+02] [ 6.38008761e-02 9.97962341e-01 -7.84225544e-04 8.87922424e+00] [ 1.47186169e-02 -1.55236390e-04 9.99891663e-01 1.35825505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.734391418 meters Centerline goodness [0,1] 0.9989198119201932 Centerline is valid? [True, True] Translation: X:188.41, Y:8.88, Z:1.36 [[ 9.97682265e-01 -6.62777115e-02 -1.54066052e-02 1.88407635e+02] [ 6.62729396e-02 9.97801195e-01 -8.20640357e-04 8.87823901e+00] [ 1.54271193e-02 -2.02302688e-04 9.99880974e-01 1.35776253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.764391418 meters Centerline goodness [0,1] 0.9988562956687493 Centerline is valid? [True, True] Translation: X:188.44, Y:8.88, Z:1.36 [[ 9.97579992e-01 -6.78017082e-02 -1.53976303e-02 1.88438662e+02] [ 6.77971372e-02 9.97698791e-01 -8.19263595e-04 8.87800235e+00] [ 1.54177446e-02 -2.26634282e-04 9.99881114e-01 1.35762091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.794391418 meters Centerline goodness [0,1] 0.9990276074916501 Centerline is valid? [True, True] Translation: X:188.47, Y:8.88, Z:1.36 [[ 9.97474033e-01 -6.93479408e-02 -1.53758427e-02 1.88471228e+02] [ 6.93435824e-02 9.97592502e-01 -8.17060948e-04 8.87804422e+00] [ 1.53954869e-02 -2.51218937e-04 9.99881451e-01 1.35818592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.824391418 meters Centerline goodness [0,1] 0.9989425598511125 Centerline is valid? [True, True] Translation: X:188.50, Y:8.88, Z:1.36 [[ 9.97367948e-01 -7.08190034e-02 -1.55513507e-02 1.88503285e+02] [ 7.08147427e-02 9.97489143e-01 -8.25164321e-04 8.87972412e+00] [ 1.55707408e-02 -2.78272452e-04 9.99878730e-01 1.35924765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.854391418 meters Centerline goodness [0,1] 0.9987949514809412 Centerline is valid? [True, True] Translation: X:188.54, Y:8.88, Z:1.36 [[ 9.97134889e-01 -7.39417430e-02 -1.59571906e-02 1.88535230e+02] [ 7.39376771e-02 9.97262506e-01 -8.45413087e-04 8.87830131e+00] [ 1.59760192e-02 -3.36846723e-04 9.99872319e-01 1.35926055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.884391418 meters Centerline goodness [0,1] 0.9988153413297793 Centerline is valid? [True, True] Translation: X:188.57, Y:8.88, Z:1.36 [[ 9.97041822e-01 -7.51742012e-02 -1.60139194e-02 1.88567682e+02] [ 7.51702858e-02 9.97170352e-01 -8.47133953e-04 8.87957089e+00] [ 1.60322883e-02 -3.59142920e-04 9.99871410e-01 1.35960941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.914391418 meters Centerline goodness [0,1] 0.9988352886366524 Centerline is valid? [True, True] Translation: X:188.60, Y:8.88, Z:1.36 [[ 9.96941472e-01 -7.64240204e-02 -1.63423093e-02 1.88600193e+02] [ 7.64201325e-02 9.97075332e-01 -8.63166356e-04 8.88089762e+00] [ 1.63604802e-02 -3.88355109e-04 9.99866083e-01 1.35999001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.944391418 meters Centerline goodness [0,1] 0.9991117690599556 Centerline is valid? [True, True] Translation: X:188.63, Y:8.88, Z:1.36 [[ 9.96811550e-01 -7.80154339e-02 -1.67429222e-02 1.88632068e+02] [ 7.80115971e-02 9.96952060e-01 -8.83148085e-04 8.87668145e+00] [ 1.67607900e-02 -4.25809890e-04 9.99859437e-01 1.35837452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.974391418 meters Centerline goodness [0,1] 0.9987109044801352 Centerline is valid? [True, True] Translation: X:188.66, Y:8.88, Z:1.36 [[ 9.96756070e-01 -7.87038429e-02 -1.68238384e-02 1.88663655e+02] [ 7.87000873e-02 9.96897944e-01 -8.86206326e-04 8.88191148e+00] [ 1.68413977e-02 -4.40706015e-04 9.99858076e-01 1.35985687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.004391418 meters Centerline goodness [0,1] 0.9989854582346973 Centerline is valid? [True, True] Translation: X:188.70, Y:8.88, Z:1.36 [[ 9.96731152e-01 -7.89939717e-02 -1.69399810e-02 1.88695731e+02] [ 7.89902289e-02 9.96874992e-01 -8.90973355e-04 8.88312580e+00] [ 1.69574250e-02 -4.50032081e-04 9.99856111e-01 1.36031521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.034391418 meters Centerline goodness [0,1] 0.9988361758855644 Centerline is valid? [True, True] Translation: X:188.73, Y:8.88, Z:1.36 [[ 9.96711143e-01 -7.92890139e-02 -1.67376677e-02 1.88728041e+02] [ 7.92854236e-02 9.96851568e-01 -8.79013852e-04 8.88463706e+00] [ 1.67546665e-02 -4.50930173e-04 9.99859529e-01 1.36065304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.064391418 meters Centerline goodness [0,1] 0.9987508468834688 Centerline is valid? [True, True] Translation: X:188.76, Y:8.89, Z:1.36 [[ 9.96731743e-01 -7.90186610e-02 -1.67894036e-02 1.88759982e+02] [ 7.90150326e-02 9.96873036e-01 -8.80396127e-04 8.88730968e+00] [ 1.68064714e-02 -4.49096503e-04 9.99858660e-01 1.36121631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09439141800001 meters Centerline goodness [0,1] 0.9986647450298842 Centerline is valid? [True, True] Translation: X:188.79, Y:8.89, Z:1.36 [[ 9.96778887e-01 -7.84714748e-02 -1.65553197e-02 1.88791724e+02] [ 7.84678932e-02 9.96916264e-01 -8.66809159e-04 8.88976849e+00] [ 1.65722872e-02 -4.35043988e-04 9.99862576e-01 1.36187871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12439141800002 meters Centerline goodness [0,1] 0.9990285931494699 Centerline is valid? [True, True] Translation: X:188.82, Y:8.89, Z:1.36 [[ 9.96932427e-01 -7.65858568e-02 -1.61351368e-02 1.88822907e+02] [ 7.65822255e-02 9.97062912e-01 -8.43721994e-04 8.89280067e+00] [ 1.61523637e-02 -3.94530870e-04 9.99869464e-01 1.36256996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15439141800002 meters Centerline goodness [0,1] 0.9990054173015067 Centerline is valid? [True, True] Translation: X:188.85, Y:8.90, Z:1.36 [[ 9.97058842e-01 -7.49981910e-02 -1.57777344e-02 1.88854821e+02] [ 7.49945374e-02 9.97183604e-01 -8.23934202e-04 8.89630430e+00] [ 1.57950916e-02 -3.61733011e-04 9.99875184e-01 1.36315964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18439141800002 meters Centerline goodness [0,1] 0.9989017719487212 Centerline is valid? [True, True] Translation: X:188.89, Y:8.90, Z:1.36 [[ 9.97209813e-01 -7.29138818e-02 -1.60048078e-02 1.88887375e+02] [ 7.29098800e-02 9.97338184e-01 -8.34160535e-04 8.89996520e+00] [ 1.60230278e-02 -3.35075544e-04 9.99871567e-01 1.36356064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.214391418 meters Centerline goodness [0,1] 0.9989399143450791 Centerline is valid? [True, True] Translation: X:188.92, Y:8.91, Z:1.36 [[ 9.97557659e-01 -6.77506458e-02 -1.69872664e-02 1.88918978e+02] [ 6.77454178e-02 9.97702249e-01 -8.83678690e-04 8.90699486e+00] [ 1.70081037e-02 -2.69289012e-04 9.99855315e-01 1.36341193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.244391418 meters Centerline goodness [0,1] 0.9990244109350809 Centerline is valid? [True, True] Translation: X:188.95, Y:8.91, Z:1.36 [[ 9.97747364e-01 -6.48260064e-02 -1.72565156e-02 1.88950943e+02] [ 6.48201981e-02 9.97896557e-01 -8.96285458e-04 8.91142570e+00] [ 1.72783201e-02 -2.24304307e-04 9.99850694e-01 1.36353550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.274391418 meters Centerline goodness [0,1] 0.9989814539744515 Centerline is valid? [True, True] Translation: X:188.98, Y:8.92, Z:1.36 [[ 9.97946666e-01 -6.15914239e-02 -1.75768978e-02 1.88983406e+02] [ 6.15849253e-02 9.98101431e-01 -9.11277277e-04 8.91582174e+00] [ 1.75996537e-02 -1.73065817e-04 9.99845099e-01 1.36360446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.304391418 meters Centerline goodness [0,1] 0.9990866998003484 Centerline is valid? [True, True] Translation: X:189.01, Y:8.92, Z:1.36 [[ 9.98305115e-01 -5.53078412e-02 -1.81091380e-02 1.89014897e+02] [ 5.52999385e-02 9.98469348e-01 -9.37239716e-04 8.92246226e+00] [ 1.81332559e-02 -6.57830149e-05 9.99835577e-01 1.36409579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.334391418 meters Centerline goodness [0,1] 0.9990844245714894 Centerline is valid? [True, True] Translation: X:189.05, Y:8.93, Z:1.36 [[ 9.98456781e-01 -5.23465292e-02 -1.85444929e-02 1.89047223e+02] [ 5.23377596e-02 9.98628981e-01 -9.58242673e-04 8.92613170e+00] [ 1.85692287e-02 -1.38133161e-05 9.99827577e-01 1.36461887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.364391418 meters Centerline goodness [0,1] 0.999255746698705 Centerline is valid? [True, True] Translation: X:189.08, Y:8.93, Z:1.36 [[ 9.98590508e-01 -4.96508438e-02 -1.87560687e-02 1.89077934e+02] [ 4.96414386e-02 9.98766636e-01 -9.66985838e-04 8.92953325e+00] [ 1.87809473e-02 3.45446485e-05 9.99823622e-01 1.36438784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.394391418 meters Centerline goodness [0,1] 0.9992968999680409 Centerline is valid? [True, True] Translation: X:189.11, Y:8.93, Z:1.36 [[ 9.98683390e-01 -4.73913845e-02 -1.96352644e-02 1.89108519e+02] [ 4.73806697e-02 9.98876394e-01 -1.01080045e-03 8.93246258e+00] [ 1.96611053e-02 7.91376434e-05 9.99806699e-01 1.36409275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.424391418 meters Centerline goodness [0,1] 0.9991476485755076 Centerline is valid? [True, True] Translation: X:189.14, Y:8.94, Z:1.36 [[ 9.98794034e-01 -4.42399253e-02 -2.12909821e-02 1.89140721e+02] [ 4.42266426e-02 9.99020924e-01 -1.09455924e-03 8.93592348e+00] [ 2.13185598e-02 1.51610584e-04 9.99772722e-01 1.36385527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.454391418 meters Centerline goodness [0,1] 0.9994246260069045 Centerline is valid? [True, True] Translation: X:189.17, Y:8.94, Z:1.36 [[ 9.98837294e-01 -4.32266844e-02 -2.13427866e-02 1.89170969e+02] [ 4.32131241e-02 9.99065275e-01 -1.09635916e-03 8.93858233e+00] [ 2.13702289e-02 1.72795935e-04 9.99771616e-01 1.36339551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.484391418 meters Centerline goodness [0,1] 0.9994029086876786 Centerline is valid? [True, True] Translation: X:189.20, Y:8.94, Z:1.36 [[ 9.98850765e-01 -4.26828510e-02 -2.18018952e-02 1.89202184e+02] [ 4.26685873e-02 9.99088654e-01 -1.11921870e-03 8.94037981e+00] [ 2.18297976e-02 1.87676387e-04 9.99761684e-01 1.36386036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.514391418 meters Centerline goodness [0,1] 0.9994029341521665 Centerline is valid? [True, True] Translation: X:189.23, Y:8.94, Z:1.36 [[ 9.98873115e-01 -4.24572592e-02 -2.12103820e-02 1.89233801e+02] [ 4.24437260e-02 9.99098267e-01 -1.08801542e-03 8.94125778e+00] [ 2.12374500e-02 1.86541710e-04 9.99774443e-01 1.36495550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.544391418 meters Centerline goodness [0,1] 0.9995535714285714 Centerline is valid? [True, True] Translation: X:189.26, Y:8.94, Z:1.37 [[ 9.98824290e-01 -4.38183638e-02 -2.07361876e-02 1.89263743e+02] [ 4.38057337e-02 9.99039502e-01 -1.06314288e-03 8.94100029e+00] [ 2.07628557e-02 1.53529026e-04 9.99784417e-01 1.36552568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.574391418 meters Centerline goodness [0,1] 0.9992769803296119 Centerline is valid? [True, True] Translation: X:189.30, Y:8.94, Z:1.37 [[ 9.98788517e-01 -4.49500957e-02 -2.00246796e-02 1.89295199e+02] [ 4.49385583e-02 9.98989226e-01 -1.02599833e-03 8.94072874e+00] [ 2.00505579e-02 1.24875120e-04 9.99798960e-01 1.36737902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.604391418 meters Centerline goodness [0,1] 0.9990641284696373 Centerline is valid? [True, True] Translation: X:189.33, Y:8.94, Z:1.37 [[ 9.98723001e-01 -4.65486647e-02 -1.96364247e-02 1.89327041e+02] [ 4.65378949e-02 9.98916019e-01 -1.00531240e-03 8.94081987e+00] [ 1.96619352e-02 9.01907504e-05 9.99806681e-01 1.36824533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.634391418 meters Centerline goodness [0,1] 0.9992780396653501 Centerline is valid? [True, True] Translation: X:189.36, Y:8.94, Z:1.37 [[ 9.98565256e-01 -5.00743114e-02 -1.89734824e-02 1.89359281e+02] [ 5.00649166e-02 9.98745495e-01 -9.70124389e-04 8.93815810e+00] [ 1.89982584e-02 1.88266959e-05 9.99819517e-01 1.36960267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.664391418 meters Centerline goodness [0,1] 0.9990464485506018 Centerline is valid? [True, True] Translation: X:189.39, Y:8.94, Z:1.37 [[ 9.98442284e-01 -5.26169783e-02 -1.85596254e-02 1.89390142e+02] [ 5.26084515e-02 9.98614767e-01 -9.47705740e-04 8.93674837e+00] [ 1.85837814e-02 -3.01636711e-05 9.99827306e-01 1.36983817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.694391418 meters Centerline goodness [0,1] 0.9990488871980217 Centerline is valid? [True, True] Translation: X:189.42, Y:8.93, Z:1.37 [[ 9.98120347e-01 -5.83559956e-02 -1.87176397e-02 1.89422866e+02] [ 5.83483573e-02 9.98295827e-01 -9.54405448e-04 8.93066779e+00] [ 1.87414369e-02 -1.39532031e-04 9.99824354e-01 1.36948949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.724391418 meters Centerline goodness [0,1] 0.9990295972828724 Centerline is valid? [True, True] Translation: X:189.45, Y:8.93, Z:1.37 [[ 9.97898166e-01 -6.19027831e-02 -1.91649390e-02 1.89454684e+02] [ 6.18954546e-02 9.98082161e-01 -9.75889244e-04 8.92839003e+00] [ 1.91885939e-02 -2.12384521e-04 9.99815859e-01 1.36948462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.754391418 meters Centerline goodness [0,1] 0.9989468806605164 Centerline is valid? [True, True] Translation: X:189.49, Y:8.92, Z:1.37 [[ 9.97374362e-01 -6.97504673e-02 -1.94744512e-02 1.89485722e+02] [ 6.97444134e-02 9.97564402e-01 -9.90702938e-04 8.92071740e+00] [ 1.94961213e-02 -3.70132464e-04 9.99809864e-01 1.36921065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.784391418 meters Centerline goodness [0,1] 0.999009588030766 Centerline is valid? [True, True] Translation: X:189.52, Y:8.91, Z:1.37 [[ 9.97080645e-01 -7.36675156e-02 -2.00819321e-02 1.89517094e+02] [ 7.36618937e-02 9.97282750e-01 -1.02052116e-03 8.91396577e+00] [ 2.01025437e-02 -4.61731250e-04 9.99797817e-01 1.36727145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.814391418 meters Centerline goodness [0,1] 0.9988412514484357 Centerline is valid? [True, True] Translation: X:189.55, Y:8.91, Z:1.37 [[ 9.96793231e-01 -7.74426364e-02 -2.01467898e-02 1.89549384e+02] [ 7.74377782e-02 9.96996663e-01 -1.02234148e-03 8.91373456e+00] [ 2.01654550e-02 -5.41059572e-04 9.99796510e-01 1.36919997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84439141800001 meters Centerline goodness [0,1] 0.9989058620544544 Centerline is valid? [True, True] Translation: X:189.58, Y:8.91, Z:1.37 [[ 9.96498047e-01 -8.11024292e-02 -2.03479445e-02 1.89582007e+02] [ 8.10982689e-02 9.96705577e-01 -1.03091390e-03 8.91083577e+00] [ 2.03645194e-02 -6.22879391e-04 9.99792428e-01 1.36919451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.87439141800002 meters Centerline goodness [0,1] 0.998969505783386 Centerline is valid? [True, True] Translation: X:189.61, Y:8.90, Z:1.37 [[ 9.95970956e-01 -8.72387520e-02 -2.07666973e-02 1.89613070e+02] [ 8.72357678e-02 9.96187139e-01 -1.05128455e-03 8.90405996e+00] [ 2.07792296e-02 -7.64549906e-04 9.99783796e-01 1.36904592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90439141800002 meters Centerline goodness [0,1] 0.9988687071837093 Centerline is valid? [True, True] Translation: X:189.64, Y:8.90, Z:1.37 [[ 9.95745626e-01 -8.96732295e-02 -2.11981208e-02 1.89644634e+02] [ 8.96707046e-02 9.95970891e-01 -1.07153182e-03 8.90079058e+00] [ 2.12087990e-02 -8.33877308e-04 9.99774720e-01 1.36866509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.93439141800002 meters Centerline goodness [0,1] 0.9987017881820847 Centerline is valid? [True, True] Translation: X:189.68, Y:8.90, Z:1.37 [[ 9.95415156e-01 -9.31048027e-02 -2.19126118e-02 1.89675789e+02] [ 9.31029574e-02 9.95655872e-01 -1.10660787e-03 8.90063663e+00] [ 2.19204512e-02 -9.38594725e-04 9.99759277e-01 1.36966480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.964391418 meters Centerline goodness [0,1] 0.9988048560585411 Centerline is valid? [True, True] Translation: X:189.71, Y:8.90, Z:1.37 [[ 9.95309734e-01 -9.42360389e-02 -2.18655731e-02 1.89706787e+02] [ 9.42345166e-02 9.95549417e-01 -1.10227739e-03 8.89907759e+00] [ 2.18721328e-02 -9.63384297e-04 9.99760312e-01 1.36981757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.994391418 meters Centerline goodness [0,1] 0.9987005093165098 Centerline is valid? [True, True] Translation: X:189.74, Y:8.90, Z:1.37 [[ 9.95246544e-01 -9.48815177e-02 -2.19502740e-02 1.89739067e+02] [ 9.48801849e-02 9.95488087e-01 -1.10451427e-03 8.89870787e+00] [ 2.19560343e-02 -9.83382041e-04 9.99758454e-01 1.36985456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.024391418 meters Centerline goodness [0,1] 0.9985470319442398 Centerline is valid? [True, True] Translation: X:189.77, Y:8.90, Z:1.37 [[ 9.95177931e-01 -9.54649371e-02 -2.25240342e-02 1.89771458e+02] [ 9.54637231e-02 9.95432266e-01 -1.13160647e-03 8.89850119e+00] [ 2.25291791e-02 -1.02407838e-03 9.99745661e-01 1.37029736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.054391418 meters Centerline goodness [0,1] 0.9985942384759028 Centerline is valid? [True, True] Translation: X:189.80, Y:8.90, Z:1.37 [[ 9.95164897e-01 -9.55150935e-02 -2.28843959e-02 1.89803664e+02] [ 9.55138945e-02 9.95427435e-01 -1.14792365e-03 8.89890622e+00] [ 2.28893996e-02 -1.04340446e-03 9.99737459e-01 1.37097024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.084391418 meters Centerline goodness [0,1] 0.9987148154390696 Centerline is valid? [True, True] Translation: X:189.83, Y:8.90, Z:1.37 [[ 9.95142116e-01 -9.57075140e-02 -2.30703286e-02 1.89834341e+02] [ 9.57063741e-02 9.95408938e-01 -1.15608349e-03 8.89939404e+00] [ 2.30750572e-02 -1.05751013e-03 9.99733176e-01 1.37119532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.114391418 meters Centerline goodness [0,1] 0.9987596442912103 Centerline is valid? [True, True] Translation: X:189.87, Y:8.90, Z:1.37 [[ 9.95146132e-01 -9.56132442e-02 -2.32869706e-02 1.89866426e+02] [ 9.56120934e-02 9.95417987e-01 -1.16537957e-03 8.90354832e+00] [ 2.32916951e-02 -1.06679303e-03 9.99728142e-01 1.37243019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.144391418 meters Centerline goodness [0,1] 0.99850340422841 Centerline is valid? [True, True] Translation: X:189.90, Y:8.90, Z:1.37 [[ 9.95115987e-01 -9.58543480e-02 -2.35820992e-02 1.89897919e+02] [ 9.58532956e-02 9.95394775e-01 -1.17760154e-03 8.90173923e+00] [ 2.35863766e-02 -1.08857181e-03 9.99721210e-01 1.37147864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.174391418 meters Centerline goodness [0,1] 0.998819511783802 Centerline is valid? [True, True] Translation: X:189.93, Y:8.91, Z:1.37 [[ 9.95126856e-01 -9.57154287e-02 -2.36874968e-02 1.89929898e+02] [ 9.57143796e-02 9.95408139e-01 -1.18067310e-03 8.90810306e+00] [ 2.36917357e-02 -1.09231454e-03 9.99718715e-01 1.37365256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.204391418 meters Centerline goodness [0,1] 0.9985082466645656 Centerline is valid? [True, True] Translation: X:189.96, Y:8.91, Z:1.37 [[ 9.95157334e-01 -9.54070300e-02 -2.36511786e-02 1.89961593e+02] [ 9.54059622e-02 9.95437753e-01 -1.17611713e-03 8.90878519e+00] [ 2.36554859e-02 -1.08604187e-03 9.99719580e-01 1.37374526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.234391418 meters Centerline goodness [0,1] 0.9987351378699721 Centerline is valid? [True, True] Translation: X:189.99, Y:8.91, Z:1.38 [[ 9.95253752e-01 -9.45565745e-02 -2.30005062e-02 1.89993331e+02] [ 9.45553880e-02 9.95518948e-01 -1.14157561e-03 8.91331914e+00] [ 2.30053832e-02 -1.03866438e-03 9.99734802e-01 1.37543117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.264391418 meters Centerline goodness [0,1] 0.9989470359060756 Centerline is valid? [True, True] Translation: X:190.03, Y:8.92, Z:1.37 [[ 9.95321312e-01 -9.35564152e-02 -2.41388130e-02 1.90025321e+02] [ 9.35548629e-02 9.95613407e-01 -1.19609972e-03 8.91578208e+00] [ 2.41448287e-02 -1.06779979e-03 9.99707901e-01 1.37497950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.294391418 meters Centerline goodness [0,1] 0.9986117246166467 Centerline is valid? [True, True] Translation: X:190.06, Y:8.92, Z:1.38 [[ 9.95426136e-01 -9.29354226e-02 -2.21317692e-02 1.90057059e+02] [ 9.29340023e-02 9.95671669e-01 -1.09492049e-03 8.91826530e+00] [ 2.21377325e-02 -9.66881411e-04 9.99754463e-01 1.37683742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.324391418 meters Centerline goodness [0,1] 0.9989071727297564 Centerline is valid? [True, True] Translation: X:190.09, Y:8.92, Z:1.38 [[ 9.95540512e-01 -9.17746372e-02 -2.18289937e-02 1.90088827e+02] [ 9.17730153e-02 9.95779369e-01 -1.07818577e-03 8.92218929e+00] [ 2.18358117e-02 -9.29934963e-04 9.99761138e-01 1.37760938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.354391418 meters Centerline goodness [0,1] 0.9988436632747456 Centerline is valid? [True, True] Translation: X:190.12, Y:8.92, Z:1.38 [[ 9.95745520e-01 -8.95849294e-02 -2.15731295e-02 1.90120291e+02] [ 8.95828938e-02 9.95978803e-01 -1.06268907e-03 8.92460192e+00] [ 2.15815806e-02 -8.74415489e-04 9.99766708e-01 1.37702702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.384391418 meters Centerline goodness [0,1] 0.9987783815661991 Centerline is valid? [True, True] Translation: X:190.15, Y:8.93, Z:1.38 [[ 9.95850786e-01 -8.84398246e-02 -2.14384942e-02 1.90152796e+02] [ 8.84376094e-02 9.96081161e-01 -1.05326279e-03 8.93000399e+00] [ 2.14476306e-02 -8.47076600e-04 9.99769614e-01 1.37780898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.414391418 meters Centerline goodness [0,1] 0.9989053783812231 Centerline is valid? [True, True] Translation: X:190.18, Y:8.93, Z:1.38 [[ 9.95973714e-01 -8.70676295e-02 -2.13445499e-02 1.90184962e+02] [ 8.70651613e-02 9.96202069e-01 -1.04666966e-03 8.93322741e+00] [ 2.13546158e-02 -8.15911210e-04 9.99771631e-01 1.37821251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.444391418 meters Centerline goodness [0,1] 0.9988612639969634 Centerline is valid? [True, True] Translation: X:190.22, Y:8.94, Z:1.38 [[ 9.96180229e-01 -8.45577240e-02 -2.17931637e-02 1.90216902e+02] [ 8.45545902e-02 9.96418277e-01 -1.06687603e-03 8.93952163e+00] [ 2.18053193e-02 -7.79911223e-04 9.99761932e-01 1.37834868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.474391418 meters Centerline goodness [0,1] 0.9989033469009005 Centerline is valid? [True, True] Translation: X:190.25, Y:8.94, Z:1.38 [[ 9.96278793e-01 -8.31961818e-02 -2.25158057e-02 1.90248222e+02] [ 8.31925243e-02 9.96532886e-01 -1.10071212e-03 8.94058924e+00] [ 2.25293159e-02 -7.76530570e-04 9.99745881e-01 1.37737530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.504391418 meters Centerline goodness [0,1] 0.9991781168338532 Centerline is valid? [True, True] Translation: X:190.28, Y:8.95, Z:1.38 [[ 9.96437421e-01 -8.13265001e-02 -2.23263586e-02 1.90280232e+02] [ 8.13224722e-02 9.96687247e-01 -1.08978789e-03 8.94562310e+00] [ 2.23410255e-02 -7.29729238e-04 9.99750142e-01 1.37855222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.534391418 meters Centerline goodness [0,1] 0.9993023845763572 Centerline is valid? [True, True] Translation: X:190.31, Y:8.95, Z:1.38 [[ 9.96787954e-01 -7.69347852e-02 -2.22444061e-02 1.90310915e+02] [ 7.69297202e-02 9.97035928e-01 -1.08461093e-03 8.95047743e+00] [ 2.22619164e-02 -6.30128827e-04 9.99751974e-01 1.37817889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.564391418 meters Centerline goodness [0,1] 0.9991547450499757 Centerline is valid? [True, True] Translation: X:190.34, Y:8.96, Z:1.38 [[ 9.97010383e-01 -7.40821425e-02 -2.19575152e-02 1.90343375e+02] [ 7.40765551e-02 9.97251985e-01 -1.06884207e-03 8.95647108e+00] [ 2.19763578e-02 -5.60890449e-04 9.99758333e-01 1.37954266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.59439141800001 meters Centerline goodness [0,1] 0.999133284008033 Centerline is valid? [True, True] Translation: X:190.37, Y:8.96, Z:1.38 [[ 9.97226771e-01 -7.11189678e-02 -2.19285034e-02 1.90374293e+02] [ 7.11127141e-02 9.97467717e-01 -1.06583345e-03 8.95907529e+00] [ 2.19487752e-02 -4.96517743e-04 9.99758973e-01 1.37852303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62439141800002 meters Centerline goodness [0,1] 0.999133284008033 Centerline is valid? [True, True] Translation: X:190.41, Y:8.96, Z:1.38 [[ 9.97232231e-01 -7.10423456e-02 -2.19285794e-02 1.90405962e+02] [ 7.10361078e-02 9.97473177e-01 -1.06426844e-03 8.96053314e+00] [ 2.19487778e-02 -4.96398134e-04 9.99758973e-01 1.37874514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.65439141800002 meters Centerline goodness [0,1] 0.9990693936253463 Centerline is valid? [True, True] Translation: X:190.44, Y:8.97, Z:1.38 [[ 9.97699092e-01 -6.42175473e-02 -2.17400173e-02 1.90437042e+02] [ 6.42098206e-02 9.97935864e-01 -1.05399219e-03 8.97014392e+00] [ 2.17628278e-02 -3.44355560e-04 9.99763102e-01 1.37980560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68439141800002 meters Centerline goodness [0,1] 0.9996608804391598 Centerline is valid? [True, True] Translation: X:190.47, Y:8.98, Z:1.38 [[ 9.97925891e-01 -6.04109826e-02 -2.22357443e-02 1.90469140e+02] [ 6.04019884e-02 9.98173553e-01 -1.07650953e-03 8.97517028e+00] [ 2.22601649e-02 -2.68806432e-04 9.99752176e-01 1.38040549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.714391418 meters Centerline goodness [0,1] 0.9993417280699892 Centerline is valid? [True, True] Translation: X:190.50, Y:8.98, Z:1.38 [[ 9.98120004e-01 -5.72627887e-02 -2.18501741e-02 1.90500394e+02] [ 5.72533746e-02 9.98359121e-01 -1.05669307e-03 8.97932757e+00] [ 2.18748298e-02 -1.96289710e-04 9.99760698e-01 1.38062552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.744391418 meters Centerline goodness [0,1] 0.9993415043439472 Centerline is valid? [True, True] Translation: X:190.53, Y:8.98, Z:1.38 [[ 9.98423443e-01 -5.17747637e-02 -2.16795412e-02 1.90530230e+02] [ 5.17642145e-02 9.98658785e-01 -1.04787219e-03 8.98496044e+00] [ 2.17047176e-02 -7.60042579e-05 9.99764422e-01 1.38058394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.774391418 meters Centerline goodness [0,1] 0.999173045524904 Centerline is valid? [True, True] Translation: X:190.56, Y:8.99, Z:1.38 [[ 9.98539454e-01 -4.96824056e-02 -2.12277681e-02 1.90561025e+02] [ 4.96718335e-02 9.98765066e-01 -1.02534158e-03 8.98825898e+00] [ 2.12524946e-02 -3.05781361e-05 9.99774140e-01 1.38116737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.804391418 meters Centerline goodness [0,1] 0.9994480298913043 Centerline is valid? [True, True] Translation: X:190.59, Y:8.99, Z:1.38 [[ 9.98618458e-01 -4.80407054e-02 -2.12900234e-02 1.90592481e+02] [ 4.80297164e-02 9.98845379e-01 -1.02748873e-03 8.99090602e+00] [ 2.13148028e-02 3.51542437e-06 9.99772814e-01 1.38281967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.834391418 meters Centerline goodness [0,1] 0.9992363173525668 Centerline is valid? [True, True] Translation: X:190.62, Y:8.99, Z:1.38 [[ 9.98725670e-01 -4.62017768e-02 -2.03084214e-02 1.90623120e+02] [ 4.61914087e-02 9.98932127e-01 -9.79572585e-04 8.99275906e+00] [ 2.03319926e-02 4.02496928e-05 9.99793283e-01 1.38278112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.864391418 meters Centerline goodness [0,1] 0.9991324036650655 Centerline is valid? [True, True] Translation: X:190.65, Y:8.99, Z:1.38 [[ 9.98757213e-01 -4.58121807e-02 -1.96283932e-02 1.90654869e+02] [ 4.58024324e-02 9.98950070e-01 -9.46148443e-04 8.99392857e+00] [ 1.96511299e-02 4.59444304e-05 9.99806897e-01 1.38346808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.894391418 meters Centerline goodness [0,1] 0.9992802709568163 Centerline is valid? [True, True] Translation: X:190.69, Y:8.99, Z:1.39 [[ 9.98761045e-01 -4.58831159e-02 -1.92643313e-02 1.90685833e+02] [ 4.58737538e-02 9.98946814e-01 -9.27837262e-04 8.99433226e+00] [ 1.92866145e-02 4.29605214e-05 9.99813995e-01 1.38521169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.924391418 meters Centerline goodness [0,1] 0.9991955458644707 Centerline is valid? [True, True] Translation: X:190.72, Y:8.99, Z:1.39 [[ 9.98759819e-01 -4.59699132e-02 -1.91204112e-02 1.90717244e+02] [ 4.59607259e-02 9.98942824e-01 -9.19887287e-04 8.99458033e+00] [ 1.91424847e-02 3.99584826e-05 9.99816765e-01 1.38548348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.954391418 meters Centerline goodness [0,1] 0.9991531523902274 Centerline is valid? [True, True] Translation: X:190.75, Y:8.99, Z:1.39 [[ 9.98738515e-01 -4.65351201e-02 -1.88642786e-02 1.90749829e+02] [ 4.65263045e-02 9.98916654e-01 -9.06167714e-04 8.99281055e+00] [ 1.88860107e-02 2.73394255e-05 9.99821643e-01 1.38604638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.984391418 meters Centerline goodness [0,1] 0.9990473972776731 Centerline is valid? [True, True] Translation: X:190.78, Y:8.99, Z:1.39 [[ 9.98708383e-01 -4.72435865e-02 -1.86978490e-02 1.90780758e+02] [ 4.72350741e-02 9.98883398e-01 -8.96884110e-04 8.99239794e+00] [ 1.87193430e-02 1.25313942e-05 9.99824778e-01 1.38556518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.014391418 meters Centerline goodness [0,1] 0.9993246665541111 Centerline is valid? [True, True] Translation: X:190.81, Y:8.99, Z:1.39 [[ 9.98685603e-01 -4.77359140e-02 -1.86641208e-02 1.90811879e+02] [ 4.77275350e-02 9.98859991e-01 -8.94367222e-04 8.99181700e+00] [ 1.86855369e-02 2.39919046e-06 9.99825410e-01 1.38589995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.044391418 meters Centerline goodness [0,1] 0.9991974317817014 Centerline is valid? [True, True] Translation: X:190.84, Y:8.99, Z:1.38 [[ 9.98590483e-01 -4.96632330e-02 -1.87246204e-02 1.90843215e+02] [ 4.96551721e-02 9.98766020e-01 -8.95469139e-04 8.98844391e+00] [ 1.87459865e-02 -3.55672872e-05 9.99824278e-01 1.38496795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.074391418 meters Centerline goodness [0,1] 0.9990749306197965 Centerline is valid? [True, True] Translation: X:190.88, Y:8.99, Z:1.39 [[ 9.98545307e-01 -5.06750180e-02 -1.84204190e-02 1.90875967e+02] [ 5.06674223e-02 9.98715194e-01 -8.79114580e-04 8.98738616e+00] [ 1.84413015e-02 -5.54794096e-05 9.99829943e-01 1.38532949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.104391418 meters Centerline goodness [0,1] 0.9991360782165283 Centerline is valid? [True, True] Translation: X:190.91, Y:8.99, Z:1.39 [[ 9.98481039e-01 -5.19540571e-02 -1.83409811e-02 1.90908695e+02] [ 5.19467699e-02 9.98649473e-01 -8.73839304e-04 8.98600730e+00] [ 1.83616106e-02 -8.02427465e-05 9.99831408e-01 1.38566460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.134391418 meters Centerline goodness [0,1] 0.999136769412161 Centerline is valid? [True, True] Translation: X:190.94, Y:8.98, Z:1.39 [[ 9.98336202e-01 -5.48268752e-02 -1.78561330e-02 1.90939618e+02] [ 5.48204453e-02 9.98495867e-01 -8.49742605e-04 8.98178228e+00] [ 1.78758638e-02 -1.30552361e-04 9.99840205e-01 1.38573741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.164391418 meters Centerline goodness [0,1] 0.9994958195033822 Centerline is valid? [True, True] Translation: X:190.97, Y:8.98, Z:1.39 [[ 9.98253364e-01 -5.63566515e-02 -1.77242291e-02 1.90971878e+02] [ 5.63505775e-02 9.98410688e-01 -8.42327888e-04 8.98067265e+00] [ 1.77435306e-02 -1.57913898e-04 9.99842559e-01 1.38595171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.194391418 meters Centerline goodness [0,1] 0.9992857743046802 Centerline is valid? [True, True] Translation: X:191.00, Y:8.98, Z:1.39 [[ 9.98166851e-01 -5.80618441e-02 -1.70809766e-02 1.91003660e+02] [ 5.80564722e-02 9.98312971e-01 -8.10615555e-04 8.97924423e+00] [ 1.70992264e-02 -1.82531668e-04 9.99853781e-01 1.38640132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.224391418 meters Centerline goodness [0,1] 0.9990133098207163 Centerline is valid? [True, True] Translation: X:191.03, Y:8.97, Z:1.39 [[ 9.98010011e-01 -6.08486006e-02 -1.65367808e-02 1.91034669e+02] [ 6.08439640e-02 9.98146982e-01 -7.83816254e-04 8.97481492e+00] [ 1.65538320e-02 -2.23906830e-04 9.99862951e-01 1.38645464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.254391418 meters Centerline goodness [0,1] 0.9993274767769325 Centerline is valid? [True, True] Translation: X:191.07, Y:8.97, Z:1.39 [[ 9.97933302e-01 -6.20544446e-02 -1.66844507e-02 1.91065925e+02] [ 6.20499099e-02 9.98072735e-01 -7.89826633e-04 8.97324777e+00] [ 1.67013076e-02 -2.47074361e-04 9.99860493e-01 1.38626388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.284391418 meters Centerline goodness [0,1] 0.9988456775872563 Centerline is valid? [True, True] Translation: X:191.10, Y:8.97, Z:1.39 [[ 9.97827116e-01 -6.38831228e-02 -1.61243143e-02 1.91097141e+02] [ 6.38791410e-02 9.97957351e-01 -7.62387701e-04 8.97043911e+00] [ 1.61400817e-02 -2.69276227e-04 9.99869704e-01 1.38667370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.314391418 meters Centerline goodness [0,1] 0.999204221812699 Centerline is valid? [True, True] Translation: X:191.13, Y:8.97, Z:1.39 [[ 9.97825249e-01 -6.40163746e-02 -1.57059142e-02 1.91128857e+02] [ 6.40126304e-02 9.97948813e-01 -7.41514356e-04 8.97156404e+00] [ 1.57211675e-02 -2.65475134e-04 9.99876380e-01 1.38759082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34439141800001 meters Centerline goodness [0,1] 0.9994131455399061 Centerline is valid? [True, True] Translation: X:191.16, Y:8.97, Z:1.39 [[ 9.97808819e-01 -6.42729237e-02 -1.57020029e-02 1.91161448e+02] [ 6.42692331e-02 9.97932321e-01 -7.40062631e-04 8.97186052e+00] [ 1.57171022e-02 -2.70714663e-04 9.99876442e-01 1.38799414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.37439141800002 meters Centerline goodness [0,1] 0.9992033041910393 Centerline is valid? [True, True] Translation: X:191.19, Y:8.97, Z:1.39 [[ 9.97825569e-01 -6.41092856e-02 -1.53014370e-02 1.91193303e+02] [ 6.41057804e-02 9.97942849e-01 -7.19952847e-04 8.97225814e+00] [ 1.53161153e-02 -2.62523204e-04 9.99882667e-01 1.38795342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40439141800002 meters Centerline goodness [0,1] 0.9992240095635578 Centerline is valid? [True, True] Translation: X:191.23, Y:8.97, Z:1.39 [[ 9.97901849e-01 -6.30762055e-02 -1.46045289e-02 1.91225153e+02] [ 6.30729190e-02 9.98008685e-01 -6.85984309e-04 8.97260936e+00] [ 1.46187160e-02 -2.36605260e-04 9.99893113e-01 1.38821288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.43439141800002 meters Centerline goodness [0,1] 0.998930683104793 Centerline is valid? [True, True] Translation: X:191.26, Y:8.97, Z:1.39 [[ 9.97961252e-01 -6.21242467e-02 -1.46259320e-02 1.91256825e+02] [ 6.21208638e-02 9.98068398e-01 -6.85934486e-04 8.97299426e+00] [ 1.46402937e-02 -2.24039493e-04 9.99892800e-01 1.38796719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.464391418 meters Centerline goodness [0,1] 0.9989499768994918 Centerline is valid? [True, True] Translation: X:191.29, Y:8.98, Z:1.39 [[ 9.98040509e-01 -6.09435540e-02 -1.41783616e-02 1.91288535e+02] [ 6.09402701e-02 9.98141194e-01 -6.63938417e-04 8.97506324e+00] [ 1.41924695e-02 -2.01395748e-04 9.99899262e-01 1.38866168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.494391418 meters Centerline goodness [0,1] 0.9994120487999496 Centerline is valid? [True, True] Translation: X:191.32, Y:8.98, Z:1.39 [[ 9.98190248e-01 -5.84575252e-02 -1.41048571e-02 1.91320298e+02] [ 5.84540433e-02 9.98289883e-01 -6.59354974e-04 8.97680120e+00] [ 1.41192804e-02 -1.66324220e-04 9.99900304e-01 1.38893172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.524391418 meters Centerline goodness [0,1] 0.9994332136784432 Centerline is valid? [True, True] Translation: X:191.35, Y:8.98, Z:1.39 [[ 9.98264611e-01 -5.71175353e-02 -1.43301856e-02 1.91351625e+02] [ 5.71138177e-02 9.98367450e-01 -6.68875595e-04 8.97814716e+00] [ 1.43449954e-02 -1.50736774e-04 9.99897094e-01 1.38826054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.554391418 meters Centerline goodness [0,1] 0.9990972265961243 Centerline is valid? [True, True] Translation: X:191.38, Y:8.98, Z:1.39 [[ 9.98295545e-01 -5.66271953e-02 -1.41196881e-02 1.91383376e+02] [ 5.66235508e-02 9.98395383e-01 -6.58074306e-04 8.97934809e+00] [ 1.41342963e-02 -1.42554229e-04 9.99900096e-01 1.38790105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.584391418 meters Centerline goodness [0,1] 0.9991599638784467 Centerline is valid? [True, True] Translation: X:191.42, Y:8.98, Z:1.39 [[ 9.98369532e-01 -5.53239019e-02 -1.40550484e-02 1.91415532e+02] [ 5.53201772e-02 9.98468452e-01 -6.53949372e-04 8.98035963e+00] [ 1.40697015e-02 -1.24644643e-04 9.99901009e-01 1.38772360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.614391418 meters Centerline goodness [0,1] 0.9993499821769306 Centerline is valid? [True, True] Translation: X:191.45, Y:8.98, Z:1.39 [[ 9.98388521e-01 -5.50493826e-02 -1.37814129e-02 1.91447446e+02] [ 5.50457903e-02 9.98483626e-01 -6.40133878e-04 8.98124601e+00] [ 1.37957541e-02 -1.19506449e-04 9.99904827e-01 1.38809163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.644391418 meters Centerline goodness [0,1] 0.9994125052454889 Centerline is valid? [True, True] Translation: X:191.48, Y:8.98, Z:1.39 [[ 9.98395067e-01 -5.51239782e-02 -1.29860351e-02 1.91479734e+02] [ 5.51208078e-02 9.98479511e-01 -6.02194601e-04 8.98199982e+00] [ 1.29994853e-02 -1.14572624e-04 9.99915497e-01 1.38872458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.674391418 meters Centerline goodness [0,1] 0.9989749382871009 Centerline is valid? [True, True] Translation: X:191.51, Y:8.98, Z:1.39 [[ 9.98334305e-01 -5.65183377e-02 -1.15885208e-02 1.91511423e+02] [ 5.65159158e-02 9.98401554e-01 -5.36626409e-04 8.98112370e+00] [ 1.16003265e-02 -1.19203315e-04 9.99932707e-01 1.38954613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.704391418 meters Centerline goodness [0,1] 0.9992265724617989 Centerline is valid? [True, True] Translation: X:191.54, Y:8.98, Z:1.39 [[ 9.98282858e-01 -5.74861782e-02 -1.12549928e-02 1.91544043e+02] [ 5.74839634e-02 9.98346294e-01 -5.20453346e-04 8.98097562e+00] [ 1.12662993e-02 -1.27421942e-04 9.99936525e-01 1.39004267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.734391418 meters Centerline goodness [0,1] 0.999055018899622 Centerline is valid? [True, True] Translation: X:191.58, Y:8.98, Z:1.39 [[ 9.98196848e-01 -5.90838498e-02 -1.05901144e-02 1.91576149e+02] [ 5.90819872e-02 9.98253014e-01 -4.88921104e-04 8.98030912e+00] [ 1.06005009e-02 -1.37645496e-04 9.99943804e-01 1.39046344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.764391418 meters Centerline goodness [0,1] 0.9992870174261329 Centerline is valid? [True, True] Translation: X:191.61, Y:8.98, Z:1.39 [[ 9.97971195e-01 -6.28803540e-02 -9.97770267e-03 1.91608297e+02] [ 6.28788976e-02 9.98021058e-01 -4.59908804e-04 8.97663920e+00] [ 9.98687660e-03 -1.68411206e-04 9.99950116e-01 1.39088561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.794391418 meters Centerline goodness [0,1] 0.99895121030331 Centerline is valid? [True, True] Translation: X:191.64, Y:8.98, Z:1.39 [[ 9.97813941e-01 -6.54589266e-02 -9.08123137e-03 1.91640932e+02] [ 6.54578328e-02 9.97855249e-01 -4.17936488e-04 8.97529249e+00] [ 9.08911206e-03 -1.77414870e-04 9.99958677e-01 1.39153695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.824391418 meters Centerline goodness [0,1] 0.999266862170088 Centerline is valid? [True, True] Translation: X:191.67, Y:8.97, Z:1.39 [[ 9.97638040e-01 -6.81383325e-02 -8.68962121e-03 1.91672855e+02] [ 6.81374383e-02 9.97675864e-01 -3.99265838e-04 8.97379899e+00] [ 8.69663066e-03 -1.93765741e-04 9.99962165e-01 1.39205883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.854391418 meters Centerline goodness [0,1] 0.9988488666568994 Centerline is valid? [True, True] Translation: X:191.70, Y:8.97, Z:1.39 [[ 9.97208851e-01 -7.42703136e-02 -7.64384572e-03 1.91703332e+02] [ 7.42698056e-02 9.97238123e-01 -3.50679098e-04 8.96636284e+00] [ 7.64877940e-03 -2.18006636e-04 9.99970724e-01 1.39255249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.884391418 meters Centerline goodness [0,1] 0.9989734780240499 Centerline is valid? [True, True] Translation: X:191.74, Y:8.97, Z:1.39 [[ 9.96961450e-01 -7.75656618e-02 -7.17190114e-03 1.91735379e+02] [ 7.75653042e-02 9.96987219e-01 -3.28409612e-04 8.96569051e+00] [ 7.17576708e-03 -2.28878970e-04 9.99974228e-01 1.39316282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.914391418 meters Centerline goodness [0,1] 0.9989309296719422 Centerline is valid? [True, True] Translation: X:191.77, Y:8.97, Z:1.39 [[ 9.96680527e-01 -8.11620520e-02 -6.37562732e-03 1.91767535e+02] [ 8.11618457e-02 9.96700893e-01 -2.91519889e-04 8.96749411e+00] [ 6.37825379e-03 -2.26905484e-04 9.99979633e-01 1.39375134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.944391418 meters Centerline goodness [0,1] 0.9985952111376694 Centerline is valid? [True, True] Translation: X:191.80, Y:8.95, Z:1.39 [[ 9.96052778e-01 -8.85792640e-02 -5.70758110e-03 1.91797953e+02] [ 8.85792232e-02 9.96069101e-01 -2.60437668e-04 8.95341482e+00] [ 5.70821455e-03 -2.46163438e-04 9.99983678e-01 1.39419861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.974391418 meters Centerline goodness [0,1] 0.999035315829209 Centerline is valid? [True, True] Translation: X:191.83, Y:8.96, Z:1.39 [[ 9.95740867e-01 -9.20039778e-02 -5.94925406e-03 1.91829230e+02] [ 9.20039935e-02 9.95758601e-01 -2.71626912e-04 8.96193992e+00] [ 5.94901165e-03 -2.76885115e-04 9.99982266e-01 1.39378336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.004391418 meters Centerline goodness [0,1] 0.9987866870280108 Centerline is valid? [True, True] Translation: X:191.86, Y:8.96, Z:1.39 [[ 9.95444229e-01 -9.51625141e-02 -5.90612048e-03 1.91859093e+02] [ 9.51625868e-02 9.95461707e-01 -2.69368119e-04 8.95943964e+00] [ 5.90495052e-03 -2.93900763e-04 9.99982522e-01 1.39373826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.034391418 meters Centerline goodness [0,1] 0.998405806221551 Centerline is valid? [True, True] Translation: X:191.89, Y:8.96, Z:1.39 [[ 9.94962427e-01 -1.00067150e-01 -6.02776434e-03 1.91890564e+02] [ 1.00067315e-01 9.94980631e-01 -2.74954825e-04 8.95767155e+00] [ 6.02502272e-03 -3.29612472e-04 9.99981795e-01 1.39352994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.064391418 meters Centerline goodness [0,1] 0.9986598261962099 Centerline is valid? [True, True] Translation: X:191.92, Y:8.96, Z:1.39 [[ 9.94801777e-01 -1.01640455e-01 -6.21621504e-03 1.91922254e+02] [ 1.01640663e-01 9.94821137e-01 -2.83311558e-04 8.95795315e+00] [ 6.21281803e-03 -3.49981377e-04 9.99980639e-01 1.39397277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09439141800001 meters Centerline goodness [0,1] 0.9983041621304748 Centerline is valid? [True, True] Translation: X:191.95, Y:8.96, Z:1.39 [[ 9.94701361e-01 -1.02631475e-01 -5.99862582e-03 1.91953692e+02] [ 1.02631688e-01 9.94719389e-01 -2.73044690e-04 8.95847035e+00] [ 5.99497238e-03 -3.44051170e-04 9.99981971e-01 1.39439728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12439141800002 meters Centerline goodness [0,1] 0.9983739837398374 Centerline is valid? [True, True] Translation: X:191.99, Y:8.96, Z:1.39 [[ 9.94685143e-01 -1.02801795e-01 -5.76682429e-03 1.91985790e+02] [ 1.02801997e-01 9.94701805e-01 -2.62186661e-04 8.96000920e+00] [ 5.76322379e-03 -3.32047876e-04 9.99983337e-01 1.39433626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15439141800002 meters Centerline goodness [0,1] 0.998660891762392 Centerline is valid? [True, True] Translation: X:192.02, Y:8.96, Z:1.39 [[ 9.94778666e-01 -1.01886905e-01 -5.87063457e-03 1.92017774e+02] [ 1.01887102e-01 9.94795933e-01 -2.66428804e-04 8.96471043e+00] [ 5.86722900e-03 -3.33104250e-04 9.99982732e-01 1.39473131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18439141800002 meters Centerline goodness [0,1] 0.9983711314371633 Centerline is valid? [True, True] Translation: X:192.05, Y:8.97, Z:1.39 [[ 9.94884938e-01 -1.00811037e-01 -6.41056665e-03 1.92049736e+02] [ 1.00811252e-01 9.94905527e-01 -2.90376725e-04 8.96828437e+00] [ 6.40718137e-03 -3.57365820e-04 9.99979410e-01 1.39482189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.214391418 meters Centerline goodness [0,1] 0.9986393133765962 Centerline is valid? [True, True] Translation: X:192.08, Y:8.98, Z:1.40 [[ 9.95237424e-01 -9.72738580e-02 -6.34563695e-03 1.92080773e+02] [ 9.72740003e-02 9.95257598e-01 -2.86934930e-04 8.98179928e+00] [ 6.34345465e-03 -3.31697110e-04 9.99979825e-01 1.39531387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.244391418 meters Centerline goodness [0,1] 0.9985786547385143 Centerline is valid? [True, True] Translation: X:192.11, Y:8.98, Z:1.40 [[ 9.95442576e-01 -9.51184480e-02 -6.82338260e-03 1.92111286e+02] [ 9.51185651e-02 9.95465903e-01 -3.08097170e-04 8.98146711e+00] [ 6.82175044e-03 -3.42337322e-04 9.99976673e-01 1.39542353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.274391418 meters Centerline goodness [0,1] 0.9987425337944043 Centerline is valid? [True, True] Translation: X:192.14, Y:8.99, Z:1.40 [[ 9.95659855e-01 -9.28233550e-02 -6.72884105e-03 1.92142356e+02] [ 9.28234221e-02 9.95682540e-01 -3.03005106e-04 8.98620941e+00] [ 6.72791550e-03 -3.22904034e-04 9.99977315e-01 1.39579438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.304391418 meters Centerline goodness [0,1] 0.9985990883619789 Centerline is valid? [True, True] Translation: X:192.17, Y:8.99, Z:1.40 [[ 9.95898589e-01 -9.02446811e-02 -6.47286205e-03 1.92173573e+02] [ 9.02446904e-02 9.95919581e-01 -2.91237008e-04 8.99149916e+00] [ 6.47273265e-03 -2.94098906e-04 9.99979008e-01 1.39591988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.334391418 meters Centerline goodness [0,1] 0.9989526821809346 Centerline is valid? [True, True] Translation: X:192.20, Y:9.00, Z:1.40 [[ 9.96349527e-01 -8.50941103e-02 -6.82730065e-03 1.92202584e+02] [ 8.50940019e-02 9.96372880e-01 -3.06895074e-04 9.00039285e+00] [ 6.82865218e-03 -2.75187572e-04 9.99976647e-01 1.39640898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.364391418 meters Centerline goodness [0,1] 0.9987865093313248 Centerline is valid? [True, True] Translation: X:192.23, Y:9.01, Z:1.40 [[ 9.96602773e-01 -8.21242804e-02 -6.20607296e-03 1.92233557e+02] [ 8.21241324e-02 9.96622069e-01 -2.79123599e-04 9.01028868e+00] [ 6.20803210e-03 -2.31493004e-04 9.99980703e-01 1.39685787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.394391418 meters Centerline goodness [0,1] 0.9990383811355464 Centerline is valid? [True, True] Translation: X:192.26, Y:9.02, Z:1.40 [[ 9.96881908e-01 -7.86346746e-02 -6.56117885e-03 1.92264626e+02] [ 7.86344354e-02 9.96903475e-01 -2.94813232e-04 9.01718589e+00] [ 6.56404454e-03 -2.22040618e-04 9.99978432e-01 1.39731137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.424391418 meters Centerline goodness [0,1] 0.9988886559027049 Centerline is valid? [True, True] Translation: X:192.29, Y:9.03, Z:1.40 [[ 9.97363610e-01 -7.22639920e-02 -6.61399586e-03 1.92294453e+02] [ 7.22636109e-02 9.97385523e-01 -2.96898722e-04 9.02572780e+00] [ 6.61815881e-03 -1.81835243e-04 9.99978083e-01 1.39695563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.454391418 meters Centerline goodness [0,1] 0.998864878499958 Centerline is valid? [True, True] Translation: X:192.33, Y:9.03, Z:1.40 [[ 9.97559026e-01 -6.94430284e-02 -7.32505005e-03 1.92326063e+02] [ 6.94424850e-02 9.97585903e-01 -3.28791270e-04 9.03295708e+00] [ 7.33019893e-03 -1.80680980e-04 9.99973117e-01 1.39653432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.484391418 meters Centerline goodness [0,1] 0.9989699390372083 Centerline is valid? [True, True] Translation: X:192.36, Y:9.04, Z:1.40 [[ 9.97849788e-01 -6.51765344e-02 -6.91517140e-03 1.92356545e+02] [ 6.51759515e-02 9.97873739e-01 -3.09858710e-04 9.03938161e+00] [ 6.92066346e-03 -1.41510428e-04 9.99976042e-01 1.39617389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.514391418 meters Centerline goodness [0,1] 0.9989699390372083 Centerline is valid? [True, True] Translation: X:192.39, Y:9.04, Z:1.40 [[ 9.97857485e-01 -6.50585927e-02 -6.91518368e-03 1.92389061e+02] [ 6.50580089e-02 9.97881436e-01 -3.09584480e-04 9.04071910e+00] [ 6.92067455e-03 -1.40966890e-04 9.99976042e-01 1.39640192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.544391418 meters Centerline goodness [0,1] 0.9987420064996331 Centerline is valid? [True, True] Translation: X:192.42, Y:9.05, Z:1.40 [[ 9.97964187e-01 -6.34403158e-02 -6.54280521e-03 1.92420756e+02] [ 6.34397632e-02 9.97985627e-01 -2.92166342e-04 9.04566133e+00] [ 6.54816068e-03 -1.23502467e-04 9.99978553e-01 1.39657843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.574391418 meters Centerline goodness [0,1] 0.9992835317669371 Centerline is valid? [True, True] Translation: X:192.45, Y:9.05, Z:1.40 [[ 9.98045954e-01 -6.21503993e-02 -6.44997459e-03 1.92452984e+02] [ 6.21498388e-02 9.98066789e-01 -2.87503606e-04 9.04924024e+00] [ 6.45537389e-03 -1.13923070e-04 9.99979157e-01 1.39713584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.604391418 meters Centerline goodness [0,1] 0.9990101720615799 Centerline is valid? [True, True] Translation: X:192.49, Y:9.05, Z:1.40 [[ 9.98119489e-01 -6.09179879e-02 -6.81795361e-03 1.92485218e+02] [ 6.09173368e-02 9.98142768e-01 -3.03317877e-04 9.05312050e+00] [ 6.82376860e-03 -1.12584091e-04 9.99976711e-01 1.39707937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.634391418 meters Centerline goodness [0,1] 0.9996200046443877 Centerline is valid? [True, True] Translation: X:192.52, Y:9.06, Z:1.40 [[ 9.98278789e-01 -5.81726297e-02 -7.44347204e-03 1.92516685e+02] [ 5.81717822e-02 9.98306533e-01 -3.30492931e-04 9.05906306e+00] [ 7.45009241e-03 -1.03075951e-04 9.99972242e-01 1.39718093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.664391418 meters Centerline goodness [0,1] 0.9993480820995962 Centerline is valid? [True, True] Translation: X:192.55, Y:9.06, Z:1.40 [[ 9.98374124e-01 -5.64448054e-02 -7.94301882e-03 1.92549282e+02] [ 5.64437912e-02 9.98405716e-01 -3.51981736e-04 9.06280154e+00] [ 7.95022294e-03 -9.69246382e-05 9.99968392e-01 1.39665744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.694391418 meters Centerline goodness [0,1] 0.9991771283890706 Centerline is valid? [True, True] Translation: X:192.58, Y:9.07, Z:1.40 [[ 9.98436489e-01 -5.52815494e-02 -8.27813863e-03 1.92581787e+02] [ 5.52804146e-02 9.98470802e-01 -3.66009135e-04 9.06583543e+00] [ 8.28571327e-03 -9.21820600e-05 9.99965669e-01 1.39658889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.724391418 meters Centerline goodness [0,1] 0.9992394473317278 Centerline is valid? [True, True] Translation: X:192.61, Y:9.07, Z:1.40 [[ 9.98557615e-01 -5.31501773e-02 -7.59925226e-03 1.92613360e+02] [ 5.31491639e-02 9.98586528e-01 -3.35390284e-04 9.06885105e+00] [ 7.60633698e-03 -6.89873822e-05 9.99971069e-01 1.39648541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.754391418 meters Centerline goodness [0,1] 0.9993675289355513 Centerline is valid? [True, True] Translation: X:192.65, Y:9.07, Z:1.40 [[ 9.98574688e-01 -5.28764645e-02 -7.25749485e-03 1.92646601e+02] [ 5.28755408e-02 9.98601059e-01 -3.19229624e-04 9.07082757e+00] [ 7.26422178e-03 -6.49693427e-05 9.99973613e-01 1.39691381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.784391418 meters Centerline goodness [0,1] 0.9991993257479983 Centerline is valid? [True, True] Translation: X:192.68, Y:9.07, Z:1.40 [[ 9.98545519e-01 -5.34467546e-02 -7.09160745e-03 1.92677637e+02] [ 5.34458929e-02 9.98570698e-01 -3.11092927e-04 9.07154798e+00] [ 7.09809831e-03 -6.83768438e-05 9.99974806e-01 1.39701981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.814391418 meters Centerline goodness [0,1] 0.9993460605421369 Centerline is valid? [True, True] Translation: X:192.71, Y:9.07, Z:1.40 [[ 9.98372356e-01 -5.65840411e-02 -7.13339235e-03 1.92709883e+02] [ 5.65832524e-02 9.98397835e-01 -3.12489667e-04 9.07044014e+00] [ 7.13964541e-03 -9.16494953e-05 9.99974508e-01 1.39709928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84439141800001 meters Centerline goodness [0,1] 0.9987995703725544 Centerline is valid? [True, True] Translation: X:192.74, Y:9.07, Z:1.40 [[ 9.98230090e-01 -5.90085790e-02 -7.39422375e-03 1.92741877e+02] [ 5.90078027e-02 9.98257469e-01 -3.23300839e-04 9.06934940e+00] [ 7.40041661e-03 -1.13588270e-04 9.99972610e-01 1.39622188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.87439141800002 meters Centerline goodness [0,1] 0.9988392951355914 Centerline is valid? [True, True] Translation: X:192.77, Y:9.07, Z:1.40 [[ 9.98042179e-01 -6.20212752e-02 -8.07285357e-03 1.92774464e+02] [ 6.20204539e-02 9.98074816e-01 -3.52276440e-04 9.06829282e+00] [ 8.07916048e-03 -1.49095297e-04 9.99967352e-01 1.39595102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90439141800002 meters Centerline goodness [0,1] 0.9987986595569793 Centerline is valid? [True, True] Translation: X:192.81, Y:9.06, Z:1.40 [[ 9.97563334e-01 -6.92438795e-02 -8.52524309e-03 1.92805924e+02] [ 6.92432328e-02 9.97599738e-01 -3.71353547e-04 9.06232563e+00] [ 8.53049423e-03 -2.19866709e-04 9.99963591e-01 1.39544878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.93439141800002 meters Centerline goodness [0,1] 0.9988630621526023 Centerline is valid? [True, True] Translation: X:192.84, Y:9.06, Z:1.40 [[ 9.97288303e-01 -7.30693352e-02 -8.76998907e-03 1.92837801e+02] [ 7.30688021e-02 9.97326829e-01 -3.81614815e-04 9.06060682e+00] [ 8.77442974e-03 -2.60232604e-04 9.99961470e-01 1.39540322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.964391418 meters Centerline goodness [0,1] 0.9985499936956248 Centerline is valid? [True, True] Translation: X:192.87, Y:9.06, Z:1.40 [[ 9.96988817e-01 -7.70363143e-02 -8.87153329e-03 1.92868699e+02] [ 7.70359302e-02 9.97028243e-01 -3.85521801e-04 9.05714547e+00] [ 8.87486843e-03 -2.99065894e-04 9.99960573e-01 1.39558869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.994391418 meters Centerline goodness [0,1] 0.9988230348886087 Centerline is valid? [True, True] Translation: X:192.90, Y:9.05, Z:1.40 [[ 9.96336966e-01 -8.49798221e-02 -9.54363650e-03 1.92899018e+02] [ 8.49797446e-02 9.96382593e-01 -4.14372234e-04 9.05062317e+00] [ 9.54432656e-03 -3.98161418e-04 9.99954373e-01 1.39579752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.024391418 meters Centerline goodness [0,1] 0.9986531986531987 Centerline is valid? [True, True] Translation: X:192.93, Y:9.05, Z:1.40 [[ 9.96004783e-01 -8.87854264e-02 -9.57185912e-03 1.92930197e+02] [ 8.87855256e-02 9.96050680e-01 -4.15405178e-04 9.04966915e+00] [ 9.57093872e-03 -4.36096999e-04 9.99954102e-01 1.39589073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.054391418 meters Centerline goodness [0,1] 0.9985287317667829 Centerline is valid? [True, True] Translation: X:192.96, Y:9.05, Z:1.40 [[ 9.95706855e-01 -9.20015326e-02 -1.01772395e-02 1.92960529e+02] [ 9.20018170e-02 9.95758741e-01 -4.41220646e-04 9.04575112e+00] [ 1.01746681e-02 -4.96998100e-04 9.99948113e-01 1.39566808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.084391418 meters Centerline goodness [0,1] 0.9984682208280001 Centerline is valid? [True, True] Translation: X:192.99, Y:9.04, Z:1.39 [[ 9.95170103e-01 -9.75182468e-02 -1.12542561e-02 1.92990854e+02] [ 9.75189540e-02 9.95233549e-01 -4.87231512e-04 9.04015356e+00] [ 1.12481271e-02 -6.12625044e-04 9.99936550e-01 1.39480412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.114391418 meters Centerline goodness [0,1] 0.9984906293237181 Centerline is valid? [True, True] Translation: X:193.02, Y:9.05, Z:1.39 [[ 9.94984848e-01 -9.93215319e-02 -1.18484601e-02 1.93022913e+02] [ 9.93224465e-02 9.95055169e-01 -5.12674949e-04 9.04561940e+00] [ 1.18407911e-02 -6.66714237e-04 9.99929673e-01 1.39485264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.144391418 meters Centerline goodness [0,1] 0.9985528826996078 Centerline is valid? [True, True] Translation: X:193.05, Y:9.04, Z:1.39 [[ 9.94846156e-01 -1.00616455e-01 -1.25481305e-02 1.93054186e+02] [ 1.00617601e-01 9.94925025e-01 -5.41555701e-04 9.04368380e+00] [ 1.25389385e-02 -7.23798177e-04 9.99921122e-01 1.39437888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.174391418 meters Centerline goodness [0,1] 0.9983659788415209 Centerline is valid? [True, True] Translation: X:193.09, Y:9.05, Z:1.39 [[ 9.94781288e-01 -1.01215712e-01 -1.28673740e-02 1.93086267e+02] [ 1.01216986e-01 9.94864219e-01 -5.53841304e-04 9.04679062e+00] [ 1.28573474e-02 -7.51445842e-04 9.99917059e-01 1.39473863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.204391418 meters Centerline goodness [0,1] 0.9983409286599324 Centerline is valid? [True, True] Translation: X:193.12, Y:9.05, Z:1.40 [[ 9.94762657e-01 -1.01378816e-01 -1.30227768e-02 1.93118772e+02] [ 1.01380149e-01 9.94847603e-01 -5.59458062e-04 9.04897643e+00] [ 1.30123955e-02 -7.63723064e-04 9.99915044e-01 1.39533360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.234391418 meters Centerline goodness [0,1] 0.9983811626195732 Centerline is valid? [True, True] Translation: X:193.15, Y:9.05, Z:1.40 [[ 9.94836470e-01 -1.00637131e-01 -1.31364428e-02 1.93150023e+02] [ 1.00638435e-01 9.94922906e-01 -5.63393252e-04 9.05007597e+00] [ 1.31264461e-02 -7.61546895e-04 9.99913554e-01 1.39581376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.264391418 meters Centerline goodness [0,1] 0.9982366647773789 Centerline is valid? [True, True] Translation: X:193.18, Y:9.05, Z:1.40 [[ 9.94961573e-01 -9.94451181e-02 -1.27332903e-02 1.93182558e+02] [ 9.94462588e-02 9.95042785e-01 -5.45115892e-04 9.05419455e+00] [ 1.27243778e-02 -7.23908722e-04 9.99918780e-01 1.39623291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.294391418 meters Centerline goodness [0,1] 0.998397571055073 Centerline is valid? [True, True] Translation: X:193.21, Y:9.06, Z:1.40 [[ 9.95273209e-01 -9.62517625e-02 -1.29165667e-02 1.93213288e+02] [ 9.62526805e-02 9.95356779e-01 -5.52011929e-04 9.05867333e+00] [ 1.29097243e-02 -6.93851480e-04 9.99916425e-01 1.39653530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.324391418 meters Centerline goodness [0,1] 0.9984628990145709 Centerline is valid? [True, True] Translation: X:193.24, Y:9.07, Z:1.40 [[ 9.95457942e-01 -9.42994685e-02 -1.30803977e-02 1.93244870e+02] [ 9.43002504e-02 9.95543646e-01 -5.58358683e-04 9.06547038e+00] [ 1.30747597e-02 -6.77662193e-04 9.99914292e-01 1.39710490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.354391418 meters Centerline goodness [0,1] 0.9987396546653783 Centerline is valid? [True, True] Translation: X:193.28, Y:9.07, Z:1.40 [[ 9.95643410e-01 -9.22547694e-02 -1.35373055e-02 1.93275350e+02] [ 9.22554261e-02 9.95735207e-01 -5.77289123e-04 9.06696667e+00] [ 1.35328294e-02 -6.74115778e-04 9.99908200e-01 1.39699280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.384391418 meters Centerline goodness [0,1] 0.9986507283958426 Centerline is valid? [True, True] Translation: X:193.31, Y:9.08, Z:1.40 [[ 9.95973589e-01 -8.84886838e-02 -1.43653580e-02 1.93306140e+02] [ 8.84890388e-02 9.96076963e-01 -6.12157280e-04 9.07578335e+00] [ 1.43631712e-02 -6.61484239e-04 9.99896626e-01 1.39694926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.414391418 meters Centerline goodness [0,1] 0.9988167430853424 Centerline is valid? [True, True] Translation: X:193.34, Y:9.08, Z:1.40 [[ 9.96163809e-01 -8.62474684e-02 -1.48000239e-02 1.93337649e+02] [ 8.62476072e-02 9.96273533e-01 -6.30080764e-04 9.07995590e+00] [ 1.47992150e-02 -6.48802995e-04 9.99890275e-01 1.39701134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.444391418 meters Centerline goodness [0,1] 0.9986722866174921 Centerline is valid? [True, True] Translation: X:193.37, Y:9.08, Z:1.40 [[ 9.96359518e-01 -8.38969761e-02 -1.51330099e-02 1.93368169e+02] [ 8.38968574e-02 9.96474236e-01 -6.43812899e-04 9.08269969e+00] [ 1.51336684e-02 -6.28142859e-04 9.99885282e-01 1.39653294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.474391418 meters Centerline goodness [0,1] 0.998837479655894 Centerline is valid? [True, True] Translation: X:193.40, Y:9.10, Z:1.40 [[ 9.96824411e-01 -7.82363480e-02 -1.48380269e-02 1.93398751e+02] [ 7.82356117e-02 9.96934697e-01 -6.30970682e-04 9.09533544e+00] [ 1.48419087e-02 -5.31895132e-04 9.99889711e-01 1.39813454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.504391418 meters Centerline goodness [0,1] 0.998837528797582 Centerline is valid? [True, True] Translation: X:193.43, Y:9.10, Z:1.40 [[ 9.97065193e-01 -7.49998091e-02 -1.53632328e-02 1.93428910e+02] [ 7.49986408e-02 9.97183422e-01 -6.52990520e-04 9.09765392e+00] [ 1.53689352e-02 -5.01147457e-04 9.99881765e-01 1.39791162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.534391418 meters Centerline goodness [0,1] 0.9987323050919079 Centerline is valid? [True, True] Translation: X:193.46, Y:9.11, Z:1.40 [[ 9.97318235e-01 -7.15082148e-02 -1.55856710e-02 1.93460423e+02] [ 7.15065968e-02 9.97439907e-01 -6.61780310e-04 9.10637655e+00] [ 1.55930929e-02 -4.54472719e-04 9.99878317e-01 1.39903088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.564391418 meters Centerline goodness [0,1] 0.9989848359875643 Centerline is valid? [True, True] Translation: X:193.49, Y:9.11, Z:1.40 [[ 9.97541949e-01 -6.82931569e-02 -1.56877561e-02 1.93491719e+02] [ 6.82911352e-02 9.97665214e-01 -6.65161886e-04 9.11131143e+00] [ 1.56965546e-02 -4.07807790e-04 9.99876718e-01 1.39932541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59439141800001 meters Centerline goodness [0,1] 0.9989400716511564 Centerline is valid? [True, True] Translation: X:193.52, Y:9.12, Z:1.40 [[ 9.97921275e-01 -6.23782426e-02 -1.61889754e-02 1.93522771e+02] [ 6.23753247e-02 9.98052528e-01 -6.85602989e-04 9.12101500e+00] [ 1.62002145e-02 -3.25614788e-04 9.99868715e-01 1.40014182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62439141800002 meters Centerline goodness [0,1] 0.998936735778841 Centerline is valid? [True, True] Translation: X:193.55, Y:9.12, Z:1.40 [[ 9.98088596e-01 -5.97249197e-02 -1.58773258e-02 1.93553734e+02] [ 5.97217904e-02 9.98214835e-01 -6.71588513e-04 9.12465095e+00] [ 1.58890927e-02 -2.77917488e-04 9.99873722e-01 1.40044882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65439141800002 meters Centerline goodness [0,1] 0.9988344494362974 Centerline is valid? [True, True] Translation: X:193.59, Y:9.13, Z:1.40 [[ 9.98214102e-01 -5.77136448e-02 -1.54188836e-02 1.93585700e+02] [ 5.77104705e-02 9.98333150e-01 -6.51106376e-04 9.12886630e+00] [ 1.54307604e-02 -2.39887463e-04 9.99880910e-01 1.40144560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68439141800002 meters Centerline goodness [0,1] 0.9988980716253444 Centerline is valid? [True, True] Translation: X:193.62, Y:9.13, Z:1.40 [[ 9.98365280e-01 -5.53023788e-02 -1.44366059e-02 1.93616487e+02] [ 5.52993581e-02 9.98469634e-01 -6.08650035e-04 9.13191458e+00] [ 1.44481725e-02 -1.90679979e-04 9.99895602e-01 1.40238355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.714391418 meters Centerline goodness [0,1] 0.9993217608783197 Centerline is valid? [True, True] Translation: X:193.65, Y:9.13, Z:1.40 [[ 9.98416088e-01 -5.45453694e-02 -1.37883267e-02 1.93648576e+02] [ 5.45425546e-02 9.98511278e-01 -5.80387501e-04 9.13377584e+00] [ 1.37994571e-02 -1.72582342e-04 9.99904768e-01 1.40349551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.744391418 meters Centerline goodness [0,1] 0.9990883070073148 Centerline is valid? [True, True] Translation: X:193.68, Y:9.14, Z:1.40 [[ 9.98418828e-01 -5.45764879e-02 -1.34629277e-02 1.93681580e+02] [ 5.45738250e-02 9.98509578e-01 -5.65363983e-04 9.13577765e+00] [ 1.34737178e-02 -1.70253414e-04 9.99909211e-01 1.40430247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.774391418 meters Centerline goodness [0,1] 0.9991312823120604 Centerline is valid? [True, True] Translation: X:193.71, Y:9.14, Z:1.40 [[ 9.98393408e-01 -5.51010226e-02 -1.32091305e-02 1.93713787e+02] [ 5.50985229e-02 9.98480769e-01 -5.53354993e-04 9.13643378e+00] [ 1.32195532e-02 -1.75337601e-04 9.99912603e-01 1.40432943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.804391418 meters Centerline goodness [0,1] 0.9991729052234216 Centerline is valid? [True, True] Translation: X:193.75, Y:9.14, Z:1.40 [[ 9.98269378e-01 -5.72595054e-02 -1.34014183e-02 1.93745984e+02] [ 5.72571416e-02 9.98359307e-01 -5.60311837e-04 9.13547200e+00] [ 1.34115139e-02 -2.07984758e-04 9.99910040e-01 1.40409663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.834391418 meters Centerline goodness [0,1] 0.9992574047356361 Centerline is valid? [True, True] Translation: X:193.78, Y:9.13, Z:1.40 [[ 9.98165717e-01 -5.89159285e-02 -1.39325145e-02 1.93778655e+02] [ 5.89135510e-02 9.98262919e-01 -5.81366266e-04 9.13493985e+00] [ 1.39425643e-02 -2.40514028e-04 9.99902769e-01 1.40410216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.864391418 meters Centerline goodness [0,1] 0.9991525423728813 Centerline is valid? [True, True] Translation: X:193.81, Y:9.13, Z:1.40 [[ 9.98035795e-01 -6.11637987e-02 -1.35477412e-02 1.93810830e+02] [ 6.11617723e-02 9.98127707e-01 -5.64235393e-04 9.13339424e+00] [ 1.35568866e-02 -2.65476741e-04 9.99908066e-01 1.40351992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.894391418 meters Centerline goodness [0,1] 0.9992174777404141 Centerline is valid? [True, True] Translation: X:193.84, Y:9.13, Z:1.40 [[ 9.97692081e-01 -6.65392057e-02 -1.35294305e-02 1.93841715e+02] [ 6.65376897e-02 9.97783754e-01 -5.62651788e-04 9.12757124e+00] [ 1.35368843e-02 -3.38863812e-04 9.99908315e-01 1.40321086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.924391418 meters Centerline goodness [0,1] 0.9993843802407285 Centerline is valid? [True, True] Translation: X:193.87, Y:9.13, Z:1.40 [[ 9.97539215e-01 -6.89077358e-02 -1.29320428e-02 1.93874030e+02] [ 6.89065590e-02 9.97622974e-01 -5.37071703e-04 9.12553689e+00] [ 1.29383113e-02 -3.55352482e-04 9.99916233e-01 1.40387447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.954391418 meters Centerline goodness [0,1] 0.9994915038772829 Centerline is valid? [True, True] Translation: X:193.91, Y:9.12, Z:1.40 [[ 9.97365330e-01 -7.14465233e-02 -1.25615972e-02 1.93905107e+02] [ 7.14456250e-02 9.97444360e-01 -5.20820656e-04 9.12325658e+00] [ 1.25667051e-02 -3.78022701e-04 9.99920964e-01 1.40444232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.984391418 meters Centerline goodness [0,1] 0.999072082331604 Centerline is valid? [True, True] Translation: X:193.94, Y:9.12, Z:1.41 [[ 9.97115258e-01 -7.50364348e-02 -1.14322068e-02 1.93937530e+02] [ 7.50359347e-02 9.97180718e-01 -4.73272426e-04 9.12017421e+00] [ 1.14354889e-02 -3.85919168e-04 9.99934538e-01 1.40576316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.014391418 meters Centerline goodness [0,1] 0.9990481629545022 Centerline is valid? [True, True] Translation: X:193.97, Y:9.12, Z:1.41 [[ 9.97023016e-01 -7.63192919e-02 -1.09759651e-02 1.93969311e+02] [ 7.63189168e-02 9.97083355e-01 -4.53628098e-04 9.11945003e+00] [ 1.09785727e-02 -3.85396112e-04 9.99939659e-01 1.40621855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.044391418 meters Centerline goodness [0,1] 0.9990254237288135 Centerline is valid? [True, True] Translation: X:194.00, Y:9.12, Z:1.41 [[ 9.96978163e-01 -7.69619491e-02 -1.05546506e-02 1.94001141e+02] [ 7.69616452e-02 9.97033959e-01 -4.35548827e-04 9.11911018e+00] [ 1.05568657e-02 -3.78070602e-04 9.99944203e-01 1.40679677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.074391418 meters Centerline goodness [0,1] 0.9989211600702304 Centerline is valid? [True, True] Translation: X:194.03, Y:9.12, Z:1.41 [[ 9.96965930e-01 -7.71825726e-02 -1.00888491e-02 1.94032083e+02] [ 7.71823161e-02 9.97016909e-01 -4.15355163e-04 9.11808718e+00] [ 1.00908113e-02 -3.64585796e-04 9.99949020e-01 1.40723794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.104391418 meters Centerline goodness [0,1] 0.998833806878419 Centerline is valid? [True, True] Translation: X:194.06, Y:9.12, Z:1.41 [[ 9.96995174e-01 -7.67979133e-02 -1.01342541e-02 1.94064010e+02] [ 7.67976476e-02 9.97046613e-01 -4.15939669e-04 9.12155157e+00] [ 1.01362670e-02 -3.63597032e-04 9.99948561e-01 1.40769423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.134391418 meters Centerline goodness [0,1] 0.998772720540003 Centerline is valid? [True, True] Translation: X:194.10, Y:9.12, Z:1.41 [[ 9.97035769e-01 -7.62530531e-02 -1.02541287e-02 1.94095777e+02] [ 7.62527607e-02 9.97088431e-01 -4.20046915e-04 9.12298885e+00] [ 1.02563029e-02 -3.63103821e-04 9.99947337e-01 1.40777075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.164391418 meters Centerline goodness [0,1] 0.998793267704033 Centerline is valid? [True, True] Translation: X:194.13, Y:9.12, Z:1.41 [[ 9.97104732e-01 -7.53136467e-02 -1.04884985e-02 1.94126931e+02] [ 7.53132969e-02 9.97159828e-01 -4.28881398e-04 9.12437840e+00] [ 1.04910100e-02 -3.62283731e-04 9.99944902e-01 1.40806640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.194391418 meters Centerline goodness [0,1] 0.9989423137943435 Centerline is valid? [True, True] Translation: X:194.16, Y:9.13, Z:1.41 [[ 9.97260238e-01 -7.32614045e-02 -1.02363878e-02 1.94158570e+02] [ 7.32609699e-02 9.97312717e-01 -4.17923983e-04 9.12699457e+00] [ 1.02394975e-02 -3.33148730e-04 9.99947519e-01 1.40820132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.224391418 meters Centerline goodness [0,1] 0.9994483695075637 Centerline is valid? [True, True] Translation: X:194.19, Y:9.13, Z:1.41 [[ 9.97325899e-01 -7.23385861e-02 -1.04009205e-02 1.94190665e+02] [ 7.23380958e-02 9.97380078e-01 -4.23834101e-04 9.12885501e+00] [ 1.04043304e-02 -3.29682055e-04 9.99945819e-01 1.40862844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.254391418 meters Centerline goodness [0,1] 0.9989375717139093 Centerline is valid? [True, True] Translation: X:194.22, Y:9.13, Z:1.41 [[ 9.97353268e-01 -7.19354344e-02 -1.05712976e-02 1.94222423e+02] [ 7.19349140e-02 9.97409236e-01 -4.29945455e-04 9.13369200e+00] [ 1.05748382e-02 -3.31637881e-04 9.99944030e-01 1.40852474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.284391418 meters Centerline goodness [0,1] 0.9988353133007221 Centerline is valid? [True, True] Translation: X:194.25, Y:9.13, Z:1.41 [[ 9.97372729e-01 -7.15477403e-02 -1.13384752e-02 1.94253598e+02] [ 7.15471265e-02 9.97437114e-01 -4.60281313e-04 9.13365770e+00] [ 1.13423481e-02 -3.52163290e-04 9.99935611e-01 1.40736861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.314391418 meters Centerline goodness [0,1] 0.998790194205667 Centerline is valid? [True, True] Translation: X:194.29, Y:9.13, Z:1.41 [[ 9.97340539e-01 -7.19696980e-02 -1.14983672e-02 1.94285998e+02] [ 7.19691036e-02 9.97406753e-01 -4.65999169e-04 9.13413831e+00] [ 1.15020869e-02 -3.62767314e-04 9.99933783e-01 1.40706615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34439141800001 meters Centerline goodness [0,1] 0.9987054054627645 Centerline is valid? [True, True] Translation: X:194.32, Y:9.14, Z:1.41 [[ 9.97290456e-01 -7.26389588e-02 -1.16330525e-02 1.94318326e+02] [ 7.26384065e-02 9.97358231e-01 -4.70545829e-04 9.13644726e+00] [ 1.16365006e-02 -3.75735528e-04 9.99932223e-01 1.40692558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37439141800002 meters Centerline goodness [0,1] 0.998539156945356 Centerline is valid? [True, True] Translation: X:194.35, Y:9.14, Z:1.41 [[ 9.97240202e-01 -7.33138797e-02 -1.17070452e-02 1.94349444e+02] [ 7.33133766e-02 9.97308842e-01 -4.72705901e-04 9.13669885e+00] [ 1.17101956e-02 -3.86881684e-04 9.99931358e-01 1.40668908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40439141800002 meters Centerline goodness [0,1] 0.9986852986704553 Centerline is valid? [True, True] Translation: X:194.38, Y:9.14, Z:1.41 [[ 9.97095956e-01 -7.52129280e-02 -1.19444814e-02 1.94380914e+02] [ 7.52125490e-02 9.97167408e-01 -4.81566513e-04 9.14107198e+00] [ 1.19468676e-02 -4.18206874e-04 9.99928546e-01 1.40713454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.43439141800002 meters Centerline goodness [0,1] 0.9986852986704553 Centerline is valid? [True, True] Translation: X:194.41, Y:9.14, Z:1.41 [[ 9.97105297e-01 -7.50889866e-02 -1.19445236e-02 1.94413452e+02] [ 7.50886112e-02 9.97176749e-01 -4.80518478e-04 9.14226872e+00] [ 1.19468829e-02 -4.17770172e-04 9.99928546e-01 1.40736265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.464391418 meters Centerline goodness [0,1] 0.9989624359463007 Centerline is valid? [True, True] Translation: X:194.44, Y:9.14, Z:1.41 [[ 9.97031663e-01 -7.60252992e-02 -1.21662177e-02 1.94444821e+02] [ 7.60249941e-02 9.97105793e-01 -4.88231145e-04 9.14183111e+00] [ 1.21681241e-02 -4.38154722e-04 9.99925870e-01 1.40753601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.494391418 meters Centerline goodness [0,1] 0.9989827706783648 Centerline is valid? [True, True] Translation: X:194.48, Y:9.14, Z:1.41 [[ 9.96946440e-01 -7.72087944e-02 -1.16875352e-02 1.94476571e+02] [ 7.72086022e-02 9.97014851e-01 -4.68324958e-04 9.14255844e+00] [ 1.16888050e-02 -4.35483356e-04 9.99931589e-01 1.40790402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.524391418 meters Centerline goodness [0,1] 0.9989226414297182 Centerline is valid? [True, True] Translation: X:194.51, Y:9.14, Z:1.41 [[ 9.96746460e-01 -7.98401444e-02 -1.10474247e-02 1.94507333e+02] [ 7.98401447e-02 9.96807582e-01 -4.41713833e-04 9.14029382e+00] [ 1.10474232e-02 -4.41751286e-04 9.99938878e-01 1.40820451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.554391418 meters Centerline goodness [0,1] 0.9985008129394624 Centerline is valid? [True, True] Translation: X:194.54, Y:9.14, Z:1.41 [[ 9.96646619e-01 -8.11534609e-02 -1.04706008e-02 1.94538282e+02] [ 8.11535452e-02 9.96701524e-01 -4.17527607e-04 9.13948690e+00] [ 1.04699476e-02 -4.33598900e-04 9.99945095e-01 1.40831235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.584391418 meters Centerline goodness [0,1] 0.9988994476073567 Centerline is valid? [True, True] Translation: X:194.57, Y:9.14, Z:1.41 [[ 9.96574372e-01 -8.20181408e-02 -1.06087258e-02 1.94569845e+02] [ 8.20182862e-02 9.96630735e-01 -4.22087613e-04 9.14461138e+00] [ 1.06076010e-02 -4.49467809e-04 9.99943637e-01 1.40907983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.614391418 meters Centerline goodness [0,1] 0.9985379807182965 Centerline is valid? [True, True] Translation: X:194.60, Y:9.15, Z:1.41 [[ 9.96424308e-01 -8.38894906e-02 -1.00573996e-02 1.94601118e+02] [ 8.38897283e-02 9.96474964e-01 -3.98977071e-04 9.14551220e+00] [ 1.00554169e-02 -4.46162066e-04 9.99949343e-01 1.40948456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.644391418 meters Centerline goodness [0,1] 0.9984959539041647 Centerline is valid? [True, True] Translation: X:194.63, Y:9.15, Z:1.41 [[ 9.96391039e-01 -8.43044679e-02 -9.88199545e-03 1.94633030e+02] [ 8.43047240e-02 9.96439943e-01 -3.91382422e-04 9.14670231e+00] [ 9.87981027e-03 -4.43128961e-04 9.99951095e-01 1.41001488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.674391418 meters Centerline goodness [0,1] 0.9989223910241511 Centerline is valid? [True, True] Translation: X:194.66, Y:9.15, Z:1.41 [[ 9.96364136e-01 -8.46206481e-02 -9.89217054e-03 1.94664785e+02] [ 8.46209280e-02 9.96413140e-01 -3.91007892e-04 9.14799658e+00] [ 9.88977605e-03 -4.47498411e-04 9.99950995e-01 1.41075800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.704391418 meters Centerline goodness [0,1] 0.9987285441830897 Centerline is valid? [True, True] Translation: X:194.70, Y:9.15, Z:1.41 [[ 9.96353601e-01 -8.47217950e-02 -1.00855598e-02 1.94696622e+02] [ 8.47220993e-02 9.96404540e-01 -3.97839231e-04 9.15416483e+00] [ 1.00830032e-02 -4.58081248e-04 9.99949060e-01 1.41103612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.734391418 meters Centerline goodness [0,1] 0.9984985620030452 Centerline is valid? [True, True] Translation: X:194.73, Y:9.16, Z:1.41 [[ 9.96409348e-01 -8.40571769e-02 -1.01390997e-02 1.94727950e+02] [ 8.40574580e-02 9.96460829e-01 -3.99178421e-04 9.15714011e+00] [ 1.01367695e-02 -4.54521839e-04 9.99948518e-01 1.41120452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.764391418 meters Centerline goodness [0,1] 0.9989806320081549 Centerline is valid? [True, True] Translation: X:194.76, Y:9.16, Z:1.41 [[ 9.96447299e-01 -8.35706752e-02 -1.04270205e-02 1.94758855e+02] [ 8.35709526e-02 9.96501745e-01 -4.09865847e-04 9.15725253e+00] [ 1.04247969e-02 -4.62986317e-04 9.99945553e-01 1.41121834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.794391418 meters Centerline goodness [0,1] 0.9989588645249022 Centerline is valid? [True, True] Translation: X:194.79, Y:9.16, Z:1.41 [[ 9.96536076e-01 -8.24414408e-02 -1.09205228e-02 1.94790060e+02] [ 8.24416848e-02 9.96595798e-01 -4.28593812e-04 9.16036585e+00] [ 1.09186810e-02 -4.73197101e-04 9.99940277e-01 1.41073972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.824391418 meters Centerline goodness [0,1] 0.998956714288756 Centerline is valid? [True, True] Translation: X:194.82, Y:9.17, Z:1.41 [[ 9.96585142e-01 -8.18058716e-02 -1.12184786e-02 1.94822060e+02] [ 8.18060973e-02 9.96648167e-01 -4.39527593e-04 9.16655422e+00] [ 1.12168321e-02 -4.79713282e-04 9.99936974e-01 1.41071775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.854391418 meters Centerline goodness [0,1] 0.9990412885082449 Centerline is valid? [True, True] Translation: X:194.85, Y:9.17, Z:1.41 [[ 9.96651374e-01 -8.09229657e-02 -1.17265672e-02 1.94854360e+02] [ 8.09231629e-02 9.96720237e-01 -4.58451269e-04 9.17089066e+00] [ 1.17252060e-02 -4.92034818e-04 9.99931136e-01 1.41066401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.884391418 meters Centerline goodness [0,1] 0.9991680709912754 Centerline is valid? [True, True] Translation: X:194.89, Y:9.17, Z:1.41 [[ 9.96712819e-01 -8.00877025e-02 -1.22276776e-02 1.94885828e+02] [ 8.00878655e-02 9.96787694e-01 -4.77116993e-04 9.16960113e+00] [ 1.22266098e-02 -5.03739978e-04 9.99925125e-01 1.40992806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.914391418 meters Centerline goodness [0,1] 0.9990182477857219 Centerline is valid? [True, True] Translation: X:194.92, Y:9.18, Z:1.41 [[ 9.96882389e-01 -7.78303471e-02 -1.29591271e-02 1.94918144e+02] [ 7.78303536e-02 9.96966490e-01 -5.04594550e-04 9.17843331e+00] [ 1.29590883e-02 -5.05592027e-04 9.99915900e-01 1.40998379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.944391418 meters Centerline goodness [0,1] 0.999128345770351 Centerline is valid? [True, True] Translation: X:194.95, Y:9.18, Z:1.41 [[ 9.96998579e-01 -7.63479186e-02 -1.28385975e-02 1.94949546e+02] [ 7.63478158e-02 9.97081121e-01 -4.98840250e-04 9.17996491e+00] [ 1.28392086e-02 -4.82855853e-04 9.99917457e-01 1.41016248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.974391418 meters Centerline goodness [0,1] 0.9986544211875267 Centerline is valid? [True, True] Translation: X:194.98, Y:9.18, Z:1.41 [[ 9.97116534e-01 -7.48624107e-02 -1.24192390e-02 1.94980823e+02] [ 7.48622085e-02 9.97193771e-01 -4.81815623e-04 9.18160681e+00] [ 1.24204577e-02 -4.49305339e-04 9.99922762e-01 1.41002601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.004391418 meters Centerline goodness [0,1] 0.9992105319307829 Centerline is valid? [True, True] Translation: X:195.01, Y:9.19, Z:1.41 [[ 9.97373920e-01 -7.13822062e-02 -1.22411217e-02 1.95012283e+02] [ 7.13817583e-02 9.97448956e-01 -4.74053043e-04 9.19142035e+00] [ 1.22437330e-02 -4.00984648e-04 9.99924962e-01 1.41197138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.034391418 meters Centerline goodness [0,1] 0.9994866968945162 Centerline is valid? [True, True] Translation: X:195.04, Y:9.19, Z:1.41 [[ 9.97521541e-01 -6.93718003e-02 -1.17613441e-02 1.95043589e+02] [ 6.93712629e-02 9.97590809e-01 -4.54142914e-04 9.19407704e+00] [ 1.17645135e-02 -3.62881957e-04 9.99930730e-01 1.41283461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.064391418 meters Centerline goodness [0,1] 0.9992511286560969 Centerline is valid? [True, True] Translation: X:195.08, Y:9.20, Z:1.41 [[ 9.97639912e-01 -6.77727214e-02 -1.10210920e-02 1.95075352e+02] [ 6.77721671e-02 9.97700733e-01 -4.24187784e-04 9.19960710e+00] [ 1.10244999e-02 -3.23736623e-04 9.99939176e-01 1.41380387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.09439141800001 meters Centerline goodness [0,1] 0.9994863783251653 Centerline is valid? [True, True] Translation: X:195.11, Y:9.21, Z:1.42 [[ 9.97858122e-01 -6.46642878e-02 -9.88423623e-03 1.95107969e+02] [ 6.46636975e-02 9.97907041e-01 -3.79626061e-04 9.20518755e+00] [ 9.88809718e-03 -2.60338313e-04 9.99951078e-01 1.41529561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12439141800002 meters Centerline goodness [0,1] 0.9994436241467121 Centerline is valid? [True, True] Translation: X:195.14, Y:9.21, Z:1.42 [[ 9.97955716e-01 -6.32676161e-02 -9.03314940e-03 1.95139139e+02] [ 6.32670729e-02 9.97996572e-01 -3.46160611e-04 9.20709825e+00] [ 9.03695290e-03 -2.26047961e-04 9.99959140e-01 1.41580366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.15439141800002 meters Centerline goodness [0,1] 0.9994009413778349 Centerline is valid? [True, True] Translation: X:195.17, Y:9.21, Z:1.42 [[ 9.98061827e-01 -6.16381323e-02 -8.56327702e-03 1.95170532e+02] [ 6.16375884e-02 9.98098542e-01 -3.27658801e-04 9.20947174e+00] [ 8.56719059e-03 -2.00796002e-04 9.99963281e-01 1.41635389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18439141800002 meters Centerline goodness [0,1] 0.9996787045366919 Centerline is valid? [True, True] Translation: X:195.20, Y:9.21, Z:1.42 [[ 9.98170574e-01 -5.98818542e-02 -8.34672349e-03 1.95202424e+02] [ 5.98812804e-02 9.98205455e-01 -3.18863139e-04 9.21382274e+00] [ 8.35083904e-03 -1.81532687e-04 9.99965115e-01 1.41694452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.214391418 meters Centerline goodness [0,1] 0.9995919068688518 Centerline is valid? [True, True] Translation: X:195.23, Y:9.22, Z:1.42 [[ 9.98414270e-01 -5.56812544e-02 -8.27909424e-03 1.95234333e+02] [ 5.56805509e-02 9.98448585e-01 -3.15626344e-04 9.22084948e+00] [ 8.28382440e-03 -1.45858682e-04 9.99965678e-01 1.41750934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.244391418 meters Centerline goodness [0,1] 0.9995917665764256 Centerline is valid? [True, True] Translation: X:195.27, Y:9.22, Z:1.42 [[ 9.98539586e-01 -5.34645494e-02 -7.76123636e-03 1.95265934e+02] [ 5.34638688e-02 9.98569741e-01 -2.95295192e-04 9.22372085e+00] [ 7.76592360e-03 -1.20081783e-04 9.99969838e-01 1.41805338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.274391418 meters Centerline goodness [0,1] 0.9993134078571888 Centerline is valid? [True, True] Translation: X:195.30, Y:9.23, Z:1.42 [[ 9.98652754e-01 -5.13330898e-02 -7.58891267e-03 1.95298003e+02] [ 5.13323820e-02 9.98681583e-01 -2.88146144e-04 9.22745788e+00] [ 7.59369875e-03 -1.01799024e-04 9.99971162e-01 1.41836654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.304391418 meters Centerline goodness [0,1] 0.9992027752041542 Centerline is valid? [True, True] Translation: X:195.33, Y:9.23, Z:1.42 [[ 9.98870575e-01 -4.70022317e-02 -6.95440693e-03 1.95330053e+02] [ 4.70015359e-02 9.98894782e-01 -2.63544562e-04 9.23275349e+00] [ 6.95910798e-03 -6.36208985e-05 9.99975783e-01 1.41933550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.334391418 meters Centerline goodness [0,1] 0.999397318065391 Centerline is valid? [True, True] Translation: X:195.36, Y:9.24, Z:1.42 [[ 9.98960600e-01 -4.50548052e-02 -6.91265395e-03 1.95361510e+02] [ 4.50540750e-02 9.98984515e-01 -2.61405295e-04 9.23559324e+00] [ 6.91741182e-03 -5.03096395e-05 9.99976073e-01 1.42014901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.364391418 meters Centerline goodness [0,1] 0.9993962524527245 Centerline is valid? [True, True] Translation: X:195.39, Y:9.24, Z:1.42 [[ 9.99038319e-01 -4.32617038e-02 -7.13181129e-03 1.95393070e+02] [ 4.32608840e-02 9.99063773e-01 -2.69251108e-04 9.23787430e+00] [ 7.13678256e-03 -3.95362866e-05 9.99974532e-01 1.42056362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.394391418 meters Centerline goodness [0,1] 0.999374730487279 Centerline is valid? [True, True] Translation: X:195.43, Y:9.24, Z:1.42 [[ 9.99097233e-01 -4.18412847e-02 -7.35027653e-03 1.95425589e+02] [ 4.18403787e-02 9.99124270e-01 -2.77043164e-04 9.24026531e+00] [ 7.35543151e-03 -3.07452951e-05 9.99972948e-01 1.42111085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.424391418 meters Centerline goodness [0,1] 0.9995250431778929 Centerline is valid? [True, True] Translation: X:195.46, Y:9.24, Z:1.42 [[ 9.99150588e-01 -4.05048919e-02 -7.57994924e-03 1.95457149e+02] [ 4.05038946e-02 9.99179340e-01 -2.85095845e-04 9.24193687e+00] [ 7.58527645e-03 -2.21637838e-05 9.99971231e-01 1.42161686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.454391418 meters Centerline goodness [0,1] 0.9990944372574385 Centerline is valid? [True, True] Translation: X:195.49, Y:9.24, Z:1.42 [[ 9.99155059e-01 -4.03870387e-02 -7.61943234e-03 1.95489773e+02] [ 4.03860313e-02 9.99184110e-01 -2.86092379e-04 9.24293443e+00] [ 7.62477015e-03 -2.18679846e-05 9.99970931e-01 1.42169342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.484391418 meters Centerline goodness [0,1] 0.999115311582945 Centerline is valid? [True, True] Translation: X:195.52, Y:9.24, Z:1.42 [[ 9.99151513e-01 -4.03803308e-02 -8.10449139e-03 1.95523316e+02] [ 4.03791993e-02 9.99184382e-01 -3.03265987e-04 9.24320551e+00] [ 8.11012720e-03 -2.42442035e-05 9.99967112e-01 1.42165694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.514391418 meters Centerline goodness [0,1] 0.9990955293306917 Centerline is valid? [True, True] Translation: X:195.56, Y:9.24, Z:1.42 [[ 9.99113300e-01 -4.12158474e-02 -8.59457616e-03 1.95555262e+02] [ 4.12146151e-02 9.99150265e-01 -3.20525588e-04 9.24192136e+00] [ 8.60048378e-03 -3.39807697e-05 9.99963015e-01 1.42201175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.544391418 meters Centerline goodness [0,1] 0.9992239874113513 Centerline is valid? [True, True] Translation: X:195.59, Y:9.24, Z:1.42 [[ 9.99080611e-01 -4.19854540e-02 -8.66921455e-03 1.95587018e+02] [ 4.19842369e-02 9.99118221e-01 -3.22419867e-04 9.24142279e+00] [ 8.67510716e-03 -4.18469196e-05 9.99962370e-01 1.42248538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.574391418 meters Centerline goodness [0,1] 0.9990534377420187 Centerline is valid? [True, True] Translation: X:195.62, Y:9.24, Z:1.42 [[ 9.99046100e-01 -4.28277116e-02 -8.52510705e-03 1.95618916e+02] [ 4.28265724e-02 9.99082471e-01 -3.16216282e-04 9.24057931e+00] [ 8.53082784e-03 -4.91864709e-05 9.99963611e-01 1.42270363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.604391418 meters Centerline goodness [0,1] 0.9992033245053076 Centerline is valid? [True, True] Translation: X:195.65, Y:9.24, Z:1.42 [[ 9.99001903e-01 -4.38078023e-02 -8.72199948e-03 1.95651240e+02] [ 4.38066546e-02 9.99039976e-01 -3.22688083e-04 9.24051441e+00] [ 8.72776241e-03 -5.97156092e-05 9.99961911e-01 1.42362797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.634391418 meters Centerline goodness [0,1] 0.9992912827781715 Centerline is valid? [True, True] Translation: X:195.68, Y:9.24, Z:1.42 [[ 9.98853321e-01 -4.69131134e-02 -9.55003897e-03 1.95683906e+02] [ 4.69118871e-02 9.98898969e-01 -3.52509295e-04 9.23776873e+00] [ 9.55606139e-03 -9.59052693e-05 9.99954335e-01 1.42389738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.664391418 meters Centerline goodness [0,1] 0.9993339778708776 Centerline is valid? [True, True] Translation: X:195.71, Y:9.24, Z:1.42 [[ 9.98754720e-01 -4.88284146e-02 -1.02369098e-02 1.95714870e+02] [ 4.88271143e-02 9.98807174e-01 -3.77050764e-04 9.23573731e+00] [ 1.02431097e-02 -1.23257534e-04 9.99947530e-01 1.42349561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.694391418 meters Centerline goodness [0,1] 0.9990750500118307 Centerline is valid? [True, True] Translation: X:195.75, Y:9.23, Z:1.42 [[ 9.98670437e-01 -5.04942834e-02 -1.03771998e-02 1.95747161e+02] [ 5.04930446e-02 9.98724340e-01 -3.81510150e-04 9.23444692e+00] [ 1.03832261e-02 -1.42973503e-04 9.99946083e-01 1.42347884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.724391418 meters Centerline goodness [0,1] 0.9992088438428807 Centerline is valid? [True, True] Translation: X:195.78, Y:9.23, Z:1.42 [[ 9.98493115e-01 -5.37589809e-02 -1.10214090e-02 1.95778785e+02] [ 5.37577917e-02 9.98553923e-01 -4.04345594e-04 9.22911793e+00] [ 1.10272084e-02 -1.88750315e-04 9.99939181e-01 1.42296710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.754391418 meters Centerline goodness [0,1] 0.9991435423090099 Centerline is valid? [True, True] Translation: X:195.81, Y:9.23, Z:1.42 [[ 9.98394276e-01 -5.55728704e-02 -1.09784245e-02 1.95811134e+02] [ 5.55718081e-02 9.98454612e-01 -4.02029412e-04 9.22766254e+00] [ 1.09838005e-02 -2.08707034e-04 9.99939654e-01 1.42301531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.784391418 meters Centerline goodness [0,1] 0.9989746218918226 Centerline is valid? [True, True] Translation: X:195.84, Y:9.23, Z:1.42 [[ 9.98293519e-01 -5.72999679e-02 -1.12589452e-02 1.95843311e+02] [ 5.72989707e-02 9.98356980e-01 -4.11391157e-04 9.22559439e+00] [ 1.12640192e-02 -2.34436843e-04 9.99936531e-01 1.42320431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.814391418 meters Centerline goodness [0,1] 0.9988282415100771 Centerline is valid? [True, True] Translation: X:195.87, Y:9.22, Z:1.42 [[ 9.98103883e-01 -6.05172052e-02 -1.12386067e-02 1.95874704e+02] [ 6.05164244e-02 9.98167117e-01 -4.09841636e-04 9.22009868e+00] [ 1.12428102e-02 -2.71055766e-04 9.99936761e-01 1.42260901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84439141800001 meters Centerline goodness [0,1] 0.9987006624491448 Centerline is valid? [True, True] Translation: X:195.91, Y:9.22, Z:1.42 [[ 9.97996124e-01 -6.23045137e-02 -1.10401486e-02 1.95907249e+02] [ 6.23038775e-02 9.98057145e-01 -4.01880481e-04 9.21758615e+00] [ 1.10437382e-02 -2.86768905e-04 9.99938975e-01 1.42228817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.87439141800002 meters Centerline goodness [0,1] 0.9987646958596013 Centerline is valid? [True, True] Translation: X:195.94, Y:9.22, Z:1.42 [[ 9.97881158e-01 -6.40213280e-02 -1.15958663e-02 1.95939902e+02] [ 6.40207528e-02 9.97948479e-01 -4.21174693e-04 9.21526706e+00] [ 1.15990413e-02 -3.22093799e-04 9.99932677e-01 1.42193077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90439141800002 meters Centerline goodness [0,1] 0.9987455349549244 Centerline is valid? [True, True] Translation: X:195.97, Y:9.21, Z:1.42 [[ 9.97574299e-01 -6.85485560e-02 -1.21083682e-02 1.95970849e+02] [ 6.85482701e-02 9.97647704e-01 -4.39118536e-04 9.20722771e+00] [ 1.21099866e-02 -3.91954326e-04 9.99926595e-01 1.42013850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.93439141800002 meters Centerline goodness [0,1] 0.998661226571465 Centerline is valid? [True, True] Translation: X:196.00, Y:9.20, Z:1.42 [[ 9.97388898e-01 -7.11567978e-02 -1.23327605e-02 1.96003136e+02] [ 7.11567072e-02 9.97465049e-01 -4.46705907e-04 9.20431356e+00] [ 1.23332837e-02 -4.32019115e-04 9.99923849e-01 1.41958550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.964391418 meters Centerline goodness [0,1] 0.9987266283240307 Centerline is valid? [True, True] Translation: X:196.04, Y:9.20, Z:1.42 [[ 9.97230887e-01 -7.33391593e-02 -1.23257960e-02 1.96035478e+02] [ 7.33392469e-02 9.97306952e-01 -4.45500997e-04 9.20080592e+00] [ 1.23252747e-02 -4.59697239e-04 9.99923935e-01 1.41899634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.994391418 meters Centerline goodness [0,1] 0.9985176400830121 Centerline is valid? [True, True] Translation: X:196.07, Y:9.20, Z:1.42 [[ 9.96893699e-01 -7.76764475e-02 -1.30123943e-02 1.96066346e+02] [ 7.76769230e-02 9.96978473e-01 -4.69624696e-04 9.19746671e+00] [ 1.30095558e-02 -5.42596848e-04 9.99915225e-01 1.41803221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.024391418 meters Centerline goodness [0,1] 0.9984566922475212 Centerline is valid? [True, True] Translation: X:196.10, Y:9.19, Z:1.42 [[ 9.96720037e-01 -7.98173428e-02 -1.33551550e-02 1.96097986e+02] [ 7.98180426e-02 9.96809334e-01 -4.81464115e-04 9.18898710e+00] [ 1.33509723e-02 -5.86097399e-04 9.99910700e-01 1.41688634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.054391418 meters Centerline goodness [0,1] 0.9985225521855674 Centerline is valid? [True, True] Translation: X:196.13, Y:9.19, Z:1.42 [[ 9.96552160e-01 -8.17758913e-02 -1.40177222e-02 1.96129801e+02] [ 8.17768674e-02 9.96650535e-01 -5.04506070e-04 9.18615504e+00] [ 1.40120268e-02 -6.43558798e-04 9.99901620e-01 1.41600310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.084391418 meters Centerline goodness [0,1] 0.9987971384556946 Centerline is valid? [True, True] Translation: X:196.16, Y:9.19, Z:1.42 [[ 9.96393543e-01 -8.35712834e-02 -1.46883734e-02 1.96161915e+02] [ 8.35725649e-02 9.96501554e-01 -5.27612607e-04 9.18776801e+00] [ 1.46810802e-02 -7.01835247e-04 9.99891981e-01 1.41582116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.114391418 meters Centerline goodness [0,1] 0.9985275247691369 Centerline is valid? [True, True] Translation: X:196.19, Y:9.17, Z:1.41 [[ 9.96045951e-01 -8.72554808e-02 -1.67016048e-02 1.96192593e+02] [ 8.72576650e-02 9.96185596e-01 -5.99292424e-04 9.17383814e+00] [ 1.66901896e-02 -8.60420241e-04 9.99860339e-01 1.41167376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.144391418 meters Centerline goodness [0,1] 0.9983181971072991 Centerline is valid? [True, True] Translation: X:196.22, Y:9.17, Z:1.41 [[ 9.95915320e-01 -8.85522850e-02 -1.76399702e-02 1.96223779e+02] [ 8.85549348e-02 9.96071094e-01 -6.32382538e-04 9.17048832e+00] [ 1.76266634e-02 -9.32306956e-04 9.99844204e-01 1.41046181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.174391418 meters Centerline goodness [0,1] 0.9986739912862285 Centerline is valid? [True, True] Translation: X:196.26, Y:9.18, Z:1.41 [[ 9.95802095e-01 -8.96999144e-02 -1.82239653e-02 1.96255863e+02] [ 8.97029573e-02 9.95968350e-01 -6.52047557e-04 9.17508076e+00] [ 1.82089812e-02 -9.85433257e-04 9.99833717e-01 1.41098782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.204391418 meters Centerline goodness [0,1] 0.998776035621584 Centerline is valid? [True, True] Translation: X:196.29, Y:9.17, Z:1.41 [[ 9.95731638e-01 -9.03319413e-02 -1.89379218e-02 1.96288408e+02] [ 9.03353700e-02 9.95911173e-01 -6.76087377e-04 9.17272221e+00] [ 1.89215602e-02 -1.03756258e-03 9.99820433e-01 1.41056119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.234391418 meters Centerline goodness [0,1] 0.9985058293699229 Centerline is valid? [True, True] Translation: X:196.32, Y:9.17, Z:1.41 [[ 9.95795281e-01 -8.97229786e-02 -1.84809520e-02 1.96319628e+02] [ 8.97261615e-02 9.95966256e-01 -6.58565752e-04 9.17192203e+00] [ 1.84654931e-02 -1.00242822e-03 9.99828996e-01 1.41064431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.264391418 meters Centerline goodness [0,1] 0.998692259017085 Centerline is valid? [True, True] Translation: X:196.35, Y:9.17, Z:1.41 [[ 9.95935761e-01 -8.82231623e-02 -1.81282504e-02 1.96352269e+02] [ 8.82260037e-02 9.96100275e-01 -6.44520329e-04 9.17232810e+00] [ 1.81144169e-02 -9.57482246e-04 9.99835462e-01 1.41122323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.294391418 meters Centerline goodness [0,1] 0.9985062066063539 Centerline is valid? [True, True] Translation: X:196.38, Y:9.18, Z:1.41 [[ 9.96305070e-01 -8.42253431e-02 -1.68017822e-02 1.96383472e+02] [ 8.42272303e-02 9.96446395e-01 -5.96540110e-04 9.17553760e+00] [ 1.67923191e-02 -8.20831644e-04 9.99858662e-01 1.41236478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.324391418 meters Centerline goodness [0,1] 0.9985721185141633 Centerline is valid? [True, True] Translation: X:196.41, Y:9.18, Z:1.41 [[ 9.96568584e-01 -8.12011323e-02 -1.60447115e-02 1.96413667e+02] [ 8.12024670e-02 9.96697464e-01 -5.69350667e-04 9.17511572e+00] [ 1.60379552e-02 -7.35473168e-04 9.99871113e-01 1.41249631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.354391418 meters Centerline goodness [0,1] 0.9985721185141633 Centerline is valid? [True, True] Translation: X:196.45, Y:9.18, Z:1.41 [[ 9.96574735e-01 -8.11256025e-02 -1.60447407e-02 1.96445373e+02] [ 8.11269406e-02 9.96703615e-01 -5.68527295e-04 9.17615782e+00] [ 1.60379732e-02 -7.35080788e-04 9.99871113e-01 1.41271864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.384391418 meters Centerline goodness [0,1] 0.9985952111376694 Centerline is valid? [True, True] Translation: X:196.48, Y:9.18, Z:1.41 [[ 9.96855835e-01 -7.77188143e-02 -1.54347339e-02 1.96476432e+02] [ 7.77196578e-02 9.96975103e-01 -5.46079700e-04 9.17880534e+00] [ 1.54304861e-02 -6.55219500e-04 9.99880728e-01 1.41323977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.414391418 meters Centerline goodness [0,1] 0.9986524897357617 Centerline is valid? [True, True] Translation: X:196.51, Y:9.18, Z:1.41 [[ 9.97162482e-01 -7.37763968e-02 -1.49675394e-02 1.96507590e+02] [ 7.37767549e-02 9.97274642e-01 -5.28986359e-04 9.18252747e+00] [ 1.49657741e-02 -5.76771132e-04 9.99887840e-01 1.41399626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.444391418 meters Centerline goodness [0,1] 0.9989063453004395 Centerline is valid? [True, True] Translation: X:196.54, Y:9.19, Z:1.41 [[ 9.97490165e-01 -6.93039153e-02 -1.45030017e-02 1.96538739e+02] [ 6.93037873e-02 9.97595471e-01 -5.12009515e-04 9.18889446e+00] [ 1.45036131e-02 -4.94388492e-04 9.99894695e-01 1.41488756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.474391418 meters Centerline goodness [0,1] 0.9987797437461867 Centerline is valid? [True, True] Translation: X:196.57, Y:9.20, Z:1.41 [[ 9.98039041e-01 -6.07578937e-02 -1.50516234e-02 1.96569056e+02] [ 6.07567912e-02 9.98152459e-01 -5.30928849e-04 9.19540685e+00] [ 1.50560730e-02 -3.84600621e-04 9.99886577e-01 1.41475503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.504391418 meters Centerline goodness [0,1] 0.9989492928741043 Centerline is valid? [True, True] Translation: X:196.60, Y:9.20, Z:1.41 [[ 9.98292396e-01 -5.62736963e-02 -1.56704481e-02 1.96599545e+02] [ 5.62719540e-02 9.98415325e-01 -5.52443263e-04 9.19831835e+00] [ 1.56767035e-02 -3.30306825e-04 9.99877058e-01 1.41431919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.534391418 meters Centerline goodness [0,1] 0.9990320883745397 Centerline is valid? [True, True] Translation: X:196.63, Y:9.20, Z:1.41 [[ 9.98505394e-01 -5.21660182e-02 -1.62998593e-02 1.96631077e+02] [ 5.21635944e-02 9.98638388e-01 -5.74118004e-04 9.20250576e+00] [ 1.63076147e-02 -2.76999327e-04 9.99866984e-01 1.41444806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.564391418 meters Centerline goodness [0,1] 0.9989295833770595 Centerline is valid? [True, True] Translation: X:196.66, Y:9.21, Z:1.41 [[ 9.98827495e-01 -4.52874531e-02 -1.71079524e-02 1.96661576e+02] [ 4.52837823e-02 9.98973982e-01 -6.02086706e-04 9.20623694e+00] [ 1.71176663e-02 -1.73332037e-04 9.99853467e-01 1.41334785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.59439141800001 meters Centerline goodness [0,1] 0.999114671163575 Centerline is valid? [True, True] Translation: X:196.69, Y:9.21, Z:1.41 [[ 9.98945083e-01 -4.23701386e-02 -1.77056979e-02 1.96693176e+02] [ 4.23657587e-02 9.99101974e-01 -6.22553974e-04 9.20869113e+00] [ 1.77161755e-02 -1.28218095e-04 9.99843048e-01 1.41355680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62439141800002 meters Centerline goodness [0,1] 0.9992637468972191 Centerline is valid? [True, True] Translation: X:196.72, Y:9.21, Z:1.41 [[ 9.99049919e-01 -3.99108683e-02 -1.75037514e-02 1.96723522e+02] [ 3.99062188e-02 9.99203240e-01 -6.14970887e-04 9.21033514e+00] [ 1.75143491e-02 -8.41219179e-05 9.99846608e-01 1.41360188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.65439141800002 meters Centerline goodness [0,1] 0.9991782034262595 Centerline is valid? [True, True] Translation: X:196.75, Y:9.21, Z:1.41 [[ 9.99188430e-01 -3.62302239e-02 -1.76026078e-02 1.96754133e+02] [ 3.62249530e-02 9.99343470e-01 -6.18305284e-04 9.21162635e+00] [ 1.76134525e-02 -1.98501535e-05 9.99844871e-01 1.41349664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68439141800002 meters Centerline goodness [0,1] 0.9996003197442046 Centerline is valid? [True, True] Translation: X:196.79, Y:9.21, Z:1.41 [[ 9.99226065e-01 -3.48849591e-02 -1.81744519e-02 1.96785004e+02] [ 3.48791176e-02 9.99391335e-01 -6.38391753e-04 9.21238581e+00] [ 1.81856600e-02 3.98883419e-06 9.99834627e-01 1.41446767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.714391418 meters Centerline goodness [0,1] 0.9994104146048725 Centerline is valid? [True, True] Translation: X:196.82, Y:9.21, Z:1.41 [[ 9.99255607e-01 -3.42296616e-02 -1.77921833e-02 1.96815849e+02] [ 3.42239594e-02 9.99413993e-01 -6.24964272e-04 9.21247073e+00] [ 1.78031493e-02 1.55800931e-05 9.99841511e-01 1.41489356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.744391418 meters Centerline goodness [0,1] 0.99949499200404 Centerline is valid? [True, True] Translation: X:196.85, Y:9.21, Z:1.42 [[ 9.99267462e-01 -3.42962980e-02 -1.69795029e-02 1.96845208e+02] [ 3.42911111e-02 9.99411709e-01 -5.96616792e-04 9.21072593e+00] [ 1.69899758e-02 1.39337259e-05 9.99855660e-01 1.41605856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.774391418 meters Centerline goodness [0,1] 0.9992420893071433 Centerline is valid? [True, True] Translation: X:196.88, Y:9.21, Z:1.42 [[ 9.99246775e-01 -3.51397701e-02 -1.64644702e-02 1.96875811e+02] [ 3.51350054e-02 9.99382408e-01 -5.78655043e-04 9.20993886e+00] [ 1.64746357e-02 -2.60065398e-07 9.99864284e-01 1.41676153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.804391418 meters Centerline goodness [0,1] 0.9991167563930013 Centerline is valid? [True, True] Translation: X:196.91, Y:9.21, Z:1.42 [[ 9.99214609e-01 -3.61597381e-02 -1.62061291e-02 1.96906476e+02] [ 3.61552559e-02 9.99346023e-01 -5.69575468e-04 9.20897127e+00] [ 1.62161264e-02 -1.68086167e-05 9.99868510e-01 1.41754794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.834391418 meters Centerline goodness [0,1] 0.9993686735831983 Centerline is valid? [True, True] Translation: X:196.94, Y:9.21, Z:1.42 [[ 9.99093894e-01 -3.95108836e-02 -1.58202962e-02 1.96937702e+02] [ 3.95070379e-02 9.99219138e-01 -5.55661608e-04 9.20525634e+00] [ 1.58298974e-02 -6.98549229e-05 9.99874697e-01 1.41929991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.864391418 meters Centerline goodness [0,1] 0.9992426792325816 Centerline is valid? [True, True] Translation: X:196.97, Y:9.20, Z:1.42 [[ 9.99004704e-01 -4.17232444e-02 -1.57725432e-02 1.96968465e+02] [ 4.17197047e-02 9.99129201e-01 -5.53530370e-04 9.20285782e+00] [ 1.57819036e-02 -1.05046403e-04 9.99875452e-01 1.41969809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.894391418 meters Centerline goodness [0,1] 0.9990362859297746 Centerline is valid? [True, True] Translation: X:197.00, Y:9.20, Z:1.42 [[ 9.98904904e-01 -4.42689613e-02 -1.51410930e-02 1.96999734e+02] [ 4.42659987e-02 9.99019639e-01 -5.30914697e-04 9.20086621e+00] [ 1.51497523e-02 -1.39902307e-04 9.99885226e-01 1.42076666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.924391418 meters Centerline goodness [0,1] 0.9990551379498593 Centerline is valid? [True, True] Translation: X:197.03, Y:9.19, Z:1.42 [[ 9.98651730e-01 -4.99029656e-02 -1.42974514e-02 1.97030712e+02] [ 4.99009069e-02 9.98754048e-01 -5.00927848e-04 9.19345171e+00] [ 1.43046353e-02 -2.13203330e-04 9.99897661e-01 1.42148183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.954391418 meters Centerline goodness [0,1] 0.9992664472994781 Centerline is valid? [True, True] Translation: X:197.06, Y:9.19, Z:1.42 [[ 9.98511499e-01 -5.27667348e-02 -1.38006319e-02 1.97063214e+02] [ 5.27650992e-02 9.98606835e-01 -4.82856212e-04 9.19103637e+00] [ 1.38068841e-02 -2.46054232e-04 9.99904650e-01 1.42233514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.984391418 meters Centerline goodness [0,1] 0.9990554354442602 Centerline is valid? [True, True] Translation: X:197.10, Y:9.19, Z:1.42 [[ 9.98331968e-01 -5.61721214e-02 -1.33406925e-02 1.97095893e+02] [ 5.61709105e-02 9.98421059e-01 -4.65742392e-04 9.18739491e+00] [ 1.33457901e-02 -2.84393327e-04 9.99910901e-01 1.42276414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.014391418 meters Centerline goodness [0,1] 0.9988864610471468 Centerline is valid? [True, True] Translation: X:197.13, Y:9.18, Z:1.42 [[ 9.97948853e-01 -6.26852388e-02 -1.29864175e-02 1.97127712e+02] [ 6.26846523e-02 9.98033281e-01 -4.52600283e-04 9.18213474e+00] [ 1.29892482e-02 -3.62377133e-04 9.99915570e-01 1.42346242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.044391418 meters Centerline goodness [0,1] 0.9989285264086726 Centerline is valid? [True, True] Translation: X:197.16, Y:9.18, Z:1.42 [[ 9.97740726e-01 -6.58162013e-02 -1.34785859e-02 1.97158742e+02] [ 6.58158713e-02 9.97831675e-01 -4.68534693e-04 9.17661888e+00] [ 1.34801972e-02 -4.19628734e-04 9.99909050e-01 1.42261492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.074391418 meters Centerline goodness [0,1] 0.9986369164954074 Centerline is valid? [True, True] Translation: X:197.19, Y:9.18, Z:1.42 [[ 9.97535261e-01 -6.87379776e-02 -1.40887552e-02 1.97190827e+02] [ 6.87379308e-02 9.97634632e-01 -4.88134961e-04 9.17561177e+00] [ 1.40889835e-02 -4.81500046e-04 9.99900629e-01 1.42250756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.104391418 meters Centerline goodness [0,1] 0.9988684227069844 Centerline is valid? [True, True] Translation: X:197.22, Y:9.17, Z:1.42 [[ 9.97361622e-01 -7.11677101e-02 -1.43161702e-02 1.97221621e+02] [ 7.11679345e-02 9.97464225e-01 -4.94425048e-04 9.17297957e+00] [ 1.43150547e-02 -5.25731697e-04 9.99897396e-01 1.42243019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.134391418 meters Centerline goodness [0,1] 0.998870954252739 Centerline is valid? [True, True] Translation: X:197.25, Y:9.17, Z:1.42 [[ 9.97054404e-01 -7.51770803e-02 -1.51961456e-02 1.97251591e+02] [ 7.51778225e-02 9.97170006e-01 -5.23200777e-04 9.16610051e+00] [ 1.51924733e-02 -6.20753499e-04 9.99884395e-01 1.42166956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.164391418 meters Centerline goodness [0,1] 0.9987818452943524 Centerline is valid? [True, True] Translation: X:197.28, Y:9.17, Z:1.42 [[ 9.96927969e-01 -7.68045223e-02 -1.53522171e-02 1.97283959e+02] [ 7.68054904e-02 9.97045956e-01 -5.27407983e-04 9.16790644e+00] [ 1.53473733e-02 -6.53346794e-04 9.99882009e-01 1.42270298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.194391418 meters Centerline goodness [0,1] 0.9989064372989002 Centerline is valid? [True, True] Translation: X:197.31, Y:9.17, Z:1.42 [[ 9.96849486e-01 -7.78758637e-02 -1.50483215e-02 1.97314771e+02] [ 7.78769405e-02 9.96962846e-01 -5.15314826e-04 9.16618271e+00] [ 1.50427480e-02 -6.58225920e-04 9.99886635e-01 1.42281509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.224391418 meters Centerline goodness [0,1] 0.9990577297568943 Centerline is valid? [True, True] Translation: X:197.35, Y:9.17, Z:1.42 [[ 9.96673734e-01 -8.01020718e-02 -1.50041769e-02 1.97347074e+02] [ 8.01034179e-02 9.96786427e-01 -5.12211329e-04 9.16591790e+00] [ 1.49969890e-02 -6.91378271e-04 9.99887300e-01 1.42414602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.254391418 meters Centerline goodness [0,1] 0.9990156655776158 Centerline is valid? [True, True] Translation: X:197.38, Y:9.16, Z:1.42 [[ 9.96622980e-01 -8.07533301e-02 -1.48840933e-02 1.97377988e+02] [ 8.07547422e-02 9.96733873e-01 -5.07099968e-04 9.16471215e+00] [ 1.48764300e-02 -6.96573636e-04 9.99889097e-01 1.42431955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.284391418 meters Centerline goodness [0,1] 0.9987829444351184 Centerline is valid? [True, True] Translation: X:197.41, Y:9.17, Z:1.42 [[ 9.96581504e-01 -8.11658354e-02 -1.54082031e-02 1.97409994e+02] [ 8.11674149e-02 9.96700344e-01 -5.23860884e-04 9.16783567e+00] [ 1.53998809e-02 -7.28573945e-04 9.99881149e-01 1.42495835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.314391418 meters Centerline goodness [0,1] 0.9988237518116323 Centerline is valid? [True, True] Translation: X:197.44, Y:9.17, Z:1.43 [[ 9.96555837e-01 -8.14658619e-02 -1.54847265e-02 1.97441914e+02] [ 8.14675125e-02 9.96675859e-01 -5.25215902e-04 9.17008353e+00] [ 1.54760403e-02 -7.38095176e-04 9.99879966e-01 1.42534670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34439141800001 meters Centerline goodness [0,1] 0.9986419856259402 Centerline is valid? [True, True] Translation: X:197.47, Y:9.17, Z:1.42 [[ 9.96548022e-01 -8.15298976e-02 -1.56497927e-02 1.97473051e+02] [ 8.15316085e-02 9.96670616e-01 -5.29720309e-04 9.16513938e+00] [ 1.56408766e-02 -7.48061050e-04 9.99877394e-01 1.42419718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37439141800002 meters Centerline goodness [0,1] 0.9988906563965171 Centerline is valid? [True, True] Translation: X:197.50, Y:9.17, Z:1.42 [[ 9.96562718e-01 -8.13038027e-02 -1.58884048e-02 1.97504167e+02] [ 8.13055496e-02 9.96689078e-01 -5.37037997e-04 9.16639635e+00] [ 1.58794628e-02 -7.56623442e-04 9.99873627e-01 1.42419656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40439141800002 meters Centerline goodness [0,1] 0.9989107666527022 Centerline is valid? [True, True] Translation: X:197.54, Y:9.17, Z:1.42 [[ 9.96591007e-01 -8.09325836e-02 -1.60087770e-02 1.97536191e+02] [ 8.09343250e-02 9.96719290e-01 -5.40129527e-04 9.17318583e+00] [ 1.59999709e-02 -7.57371328e-04 9.99871705e-01 1.42499850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.434391418 meters Centerline goodness [0,1] 0.9988048811171216 Centerline is valid? [True, True] Translation: X:197.57, Y:9.17, Z:1.43 [[ 9.96614429e-01 -8.05565444e-02 -1.64415112e-02 1.97568327e+02] [ 8.05583518e-02 9.96749741e-01 -5.53415443e-04 9.17489801e+00] [ 1.64326533e-02 -7.72959227e-04 9.99864676e-01 1.42500611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.464391418 meters Centerline goodness [0,1] 0.9987263274382477 Centerline is valid? [True, True] Translation: X:197.60, Y:9.18, Z:1.43 [[ 9.96749563e-01 -7.87781395e-02 -1.68615786e-02 1.97599346e+02] [ 7.87798026e-02 9.96891881e-01 -5.66598808e-04 9.18051705e+00] [ 1.68538064e-02 -7.63594719e-04 9.99857673e-01 1.42541030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.494391418 meters Centerline goodness [0,1] 0.9988090760937696 Centerline is valid? [True, True] Translation: X:197.63, Y:9.18, Z:1.43 [[ 9.96841037e-01 -7.75985730e-02 -1.69235980e-02 1.97631426e+02] [ 7.76000968e-02 9.96984404e-01 -5.67620683e-04 9.18348434e+00] [ 1.69166098e-02 -7.47445253e-04 9.99856625e-01 1.42607084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.524391418 meters Centerline goodness [0,1] 0.9988073317710077 Centerline is valid? [True, True] Translation: X:197.66, Y:9.19, Z:1.43 [[ 9.97154973e-01 -7.36667133e-02 -1.59742128e-02 1.97661454e+02] [ 7.36675781e-02 9.97282709e-01 -5.35082819e-04 9.18981773e+00] [ 1.59702240e-02 -6.43221076e-04 9.99872261e-01 1.42755313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.554391418 meters Centerline goodness [0,1] 0.9987658969210174 Centerline is valid? [True, True] Translation: X:197.69, Y:9.19, Z:1.43 [[ 9.97350709e-01 -7.10274177e-02 -1.57056975e-02 1.97692829e+02] [ 7.10279342e-02 9.97474188e-01 -5.25619052e-04 9.19437358e+00] [ 1.57033613e-02 -5.91316718e-04 9.99876520e-01 1.42866493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.584391418 meters Centerline goodness [0,1] 0.9990568608136148 Centerline is valid? [True, True] Translation: X:197.72, Y:9.20, Z:1.43 [[ 9.97574582e-01 -6.79962435e-02 -1.48816528e-02 1.97724304e+02] [ 6.79963787e-02 9.97685444e-01 -4.97481897e-04 9.19870268e+00] [ 1.48810352e-02 -5.15623201e-04 9.99889138e-01 1.42971768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.614391418 meters Centerline goodness [0,1] 0.998763880159229 Centerline is valid? [True, True] Translation: X:197.76, Y:9.20, Z:1.43 [[ 9.97779525e-01 -6.50202292e-02 -1.44356902e-02 1.97755696e+02] [ 6.50200531e-02 9.97883841e-01 -4.82028871e-04 9.20368391e+00] [ 1.44364836e-02 -4.57650801e-04 9.99895684e-01 1.43043811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.644391418 meters Centerline goodness [0,1] 0.9988439549352615 Centerline is valid? [True, True] Translation: X:197.79, Y:9.21, Z:1.43 [[ 9.98131765e-01 -5.94026566e-02 -1.42935005e-02 1.97786193e+02] [ 5.94019159e-02 9.98234033e-01 -4.76740247e-04 9.21259939e+00] [ 1.42965783e-02 -3.73211729e-04 9.99897729e-01 1.43148399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.674391418 meters Centerline goodness [0,1] 0.9987416899104503 Centerline is valid? [True, True] Translation: X:197.82, Y:9.22, Z:1.43 [[ 9.98278954e-01 -5.69221164e-02 -1.41068375e-02 1.97817876e+02] [ 5.69211585e-02 9.98378566e-01 -4.69724544e-04 9.21722869e+00] [ 1.41107019e-02 -3.34061406e-04 9.99900383e-01 1.43166157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.704391418 meters Centerline goodness [0,1] 0.9989098532494759 Centerline is valid? [True, True] Translation: X:197.85, Y:9.22, Z:1.43 [[ 9.98392351e-01 -5.48427555e-02 -1.43173302e-02 1.97848608e+02] [ 5.48415685e-02 9.98494955e-01 -4.75799366e-04 9.22130766e+00] [ 1.43218761e-02 -3.10150398e-04 9.99897389e-01 1.43173742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.734391418 meters Centerline goodness [0,1] 0.9988480469159075 Centerline is valid? [True, True] Translation: X:197.88, Y:9.23, Z:1.43 [[ 9.98535990e-01 -5.21223501e-02 -1.44615846e-02 1.97879417e+02] [ 5.21208742e-02 9.98640669e-01 -4.79191983e-04 9.22710772e+00] [ 1.44669031e-02 -2.75259991e-04 9.99895311e-01 1.43141064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.764391418 meters Centerline goodness [0,1] 0.9989724231938765 Centerline is valid? [True, True] Translation: X:197.91, Y:9.23, Z:1.43 [[ 9.98570413e-01 -5.12682627e-02 -1.51227135e-02 1.97911927e+02] [ 5.12665779e-02 9.98684880e-01 -4.99308528e-04 9.23292002e+00] [ 1.51284240e-02 -2.76695045e-04 9.99885521e-01 1.43233021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.794391418 meters Centerline goodness [0,1] 0.9988481192929547 Centerline is valid? [True, True] Translation: X:197.94, Y:9.23, Z:1.43 [[ 9.98563964e-01 -5.12545065e-02 -1.55879816e-02 1.97943145e+02] [ 5.12527337e-02 9.98685583e-01 -5.13456059e-04 9.23389084e+00] [ 1.55938094e-02 -2.86207952e-04 9.99878368e-01 1.43182045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.824391418 meters Centerline goodness [0,1] 0.9988449018166544 Centerline is valid? [True, True] Translation: X:197.97, Y:9.24, Z:1.43 [[ 9.98485523e-01 -5.23001290e-02 -1.70691992e-02 1.97974686e+02] [ 5.22981741e-02 9.98631356e-01 -5.61190756e-04 9.23779959e+00] [ 1.70751879e-02 -3.32347104e-04 9.99854153e-01 1.43219931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.854391418 meters Centerline goodness [0,1] 0.9988479745297641 Centerline is valid? [True, True] Translation: X:198.01, Y:9.23, Z:1.43 [[ 9.98422236e-01 -5.33727619e-02 -1.74466738e-02 1.98005715e+02] [ 5.33709017e-02 9.98574594e-01 -5.72545750e-04 9.23371504e+00] [ 1.74523635e-02 -3.59502303e-04 9.99847631e-01 1.43005910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.884391418 meters Centerline goodness [0,1] 0.9991601931555742 Centerline is valid? [True, True] Translation: X:198.04, Y:9.24, Z:1.43 [[ 9.98348141e-01 -5.46010046e-02 -1.78807270e-02 1.98037327e+02] [ 5.45992709e-02 9.98508176e-01 -5.85481058e-04 9.23906322e+00] [ 1.78860199e-02 -3.91760733e-04 9.99839956e-01 1.43289810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.914391418 meters Centerline goodness [0,1] 0.999034059888287 Centerline is valid? [True, True] Translation: X:198.07, Y:9.23, Z:1.43 [[ 9.98142022e-01 -5.81145057e-02 -1.83086892e-02 1.98068150e+02] [ 5.81132934e-02 9.98309815e-01 -5.98687215e-04 9.23393275e+00] [ 1.83125365e-02 -4.66403359e-04 9.99832203e-01 1.43069449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.944391418 meters Centerline goodness [0,1] 0.9989942378208486 Centerline is valid? [True, True] Translation: X:198.10, Y:9.24, Z:1.43 [[ 9.98034057e-01 -5.96960527e-02 -1.90892998e-02 1.98100095e+02] [ 5.96950453e-02 9.98216466e-01 -6.23099527e-04 9.23847400e+00] [ 1.90924500e-02 -5.17662069e-04 9.99817589e-01 1.43270128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.974391418 meters Centerline goodness [0,1] 0.9987393104027903 Centerline is valid? [True, True] Translation: X:198.13, Y:9.24, Z:1.43 [[ 9.97919777e-01 -6.14476450e-02 -1.95014139e-02 1.98132602e+02] [ 6.14469584e-02 9.98110148e-01 -6.34981911e-04 9.23814112e+00] [ 1.95035773e-02 -5.64641564e-04 9.99809628e-01 1.43212051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.004391418 meters Centerline goodness [0,1] 0.9988705055533477 Centerline is valid? [True, True] Translation: X:198.16, Y:9.24, Z:1.43 [[ 9.97826383e-01 -6.28912968e-02 -1.96772680e-02 1.98163924e+02] [ 6.28909041e-02 9.98020203e-01 -6.39390537e-04 9.23652513e+00] [ 1.96785231e-02 -5.99520430e-04 9.99806179e-01 1.43146223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.034391418 meters Centerline goodness [0,1] 0.9989699173831698 Centerline is valid? [True, True] Translation: X:198.20, Y:9.24, Z:1.43 [[ 9.97637134e-01 -6.58132887e-02 -1.97169756e-02 1.98195642e+02] [ 6.58134881e-02 9.97831737e-01 -6.39478949e-04 9.23831806e+00] [ 1.97163102e-02 -6.59674991e-04 9.99805397e-01 1.43292882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.064391418 meters Centerline goodness [0,1] 0.9990344045844791 Centerline is valid? [True, True] Translation: X:198.23, Y:9.24, Z:1.43 [[ 9.97589331e-01 -6.66126352e-02 -1.94495131e-02 1.98227352e+02] [ 6.66130039e-02 9.97778689e-01 -6.29619279e-04 9.23698186e+00] [ 1.94482503e-02 -6.67489015e-04 9.99810642e-01 1.43295390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.09439141800001 meters Centerline goodness [0,1] 0.9988672358456924 Centerline is valid? [True, True] Translation: X:198.26, Y:9.24, Z:1.43 [[ 9.97523364e-01 -6.75659813e-02 -1.95442328e-02 1.98258405e+02] [ 6.75665592e-02 9.97714569e-01 -6.31515140e-04 9.23614140e+00] [ 1.95422348e-02 -6.90585458e-04 9.99808794e-01 1.43311542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12439141800002 meters Centerline goodness [0,1] 0.9987609727414003 Centerline is valid? [True, True] Translation: X:198.29, Y:9.24, Z:1.44 [[ 9.97414224e-01 -6.92284657e-02 -1.92947146e-02 1.98290247e+02] [ 6.92293669e-02 9.97600575e-01 -6.22035778e-04 9.24045945e+00] [ 1.92914810e-02 -7.15333543e-04 9.99813646e-01 1.43556262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.15439141800002 meters Centerline goodness [0,1] 0.9985508159536262 Centerline is valid? [True, True] Translation: X:198.32, Y:9.24, Z:1.44 [[ 9.97363523e-01 -7.00151149e-02 -1.90758026e-02 1.98321521e+02] [ 7.00161643e-02 9.97545668e-01 -6.13673311e-04 9.23930090e+00] [ 1.90719506e-02 -7.23559151e-04 9.99817852e-01 1.43533124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.184391418 meters Centerline goodness [0,1] 0.998845023099538 Centerline is valid? [True, True] Translation: X:198.35, Y:9.24, Z:1.44 [[ 9.97311216e-01 -7.07945776e-02 -1.89332000e-02 1.98353850e+02] [ 7.07957780e-02 9.97490646e-01 -6.07692425e-04 9.24177858e+00] [ 1.89287112e-02 -7.34332151e-04 9.99820566e-01 1.43662942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.214391418 meters Centerline goodness [0,1] 0.998845023099538 Centerline is valid? [True, True] Translation: X:198.39, Y:9.24, Z:1.44 [[ 9.97316960e-01 -7.07136031e-02 -1.89332492e-02 1.98385552e+02] [ 7.07148180e-02 9.97496390e-01 -6.06155733e-04 9.24271739e+00] [ 1.89287112e-02 -7.34331880e-04 9.99820566e-01 1.43685159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.244391418 meters Centerline goodness [0,1] 0.998571758627208 Centerline is valid? [True, True] Translation: X:198.42, Y:9.24, Z:1.44 [[ 9.97249735e-01 -7.16513230e-02 -1.89487060e-02 1.98418107e+02] [ 7.16527379e-02 9.97429456e-01 -6.05114826e-04 9.24281785e+00] [ 1.89433548e-02 -7.54276064e-04 9.99820274e-01 1.43684760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.274391418 meters Centerline goodness [0,1] 0.9986110818830363 Centerline is valid? [True, True] Translation: X:198.45, Y:9.24, Z:1.44 [[ 9.97128585e-01 -7.33686085e-02 -1.87518354e-02 1.98449234e+02] [ 7.33703211e-02 9.97304587e-01 -5.97559561e-04 9.24159188e+00] [ 1.87451336e-02 -7.79984469e-04 9.99823990e-01 1.43649737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.304391418 meters Centerline goodness [0,1] 0.9987773514903664 Centerline is valid? [True, True] Translation: X:198.48, Y:9.24, Z:1.44 [[ 9.97099008e-01 -7.38334964e-02 -1.84982099e-02 1.98480567e+02] [ 7.38352631e-02 9.97270278e-01 -5.88377125e-04 9.24166212e+00] [ 1.84911568e-02 -7.79149945e-04 9.99828720e-01 1.43651305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.334391418 meters Centerline goodness [0,1] 0.9985924074035168 Centerline is valid? [True, True] Translation: X:198.51, Y:9.24, Z:1.44 [[ 9.97077508e-01 -7.41220880e-02 -1.85029436e-02 1.98512601e+02] [ 7.41239300e-02 9.97248865e-01 -5.87189153e-04 9.24380547e+00] [ 1.84955632e-02 -7.86037800e-04 9.99828633e-01 1.43701431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.364391418 meters Centerline goodness [0,1] 0.9986940494997367 Centerline is valid? [True, True] Translation: X:198.54, Y:9.24, Z:1.44 [[ 9.97055279e-01 -7.43055851e-02 -1.89591906e-02 1.98543522e+02] [ 7.43075767e-02 9.97235190e-01 -6.00379254e-04 9.24356761e+00] [ 1.89513835e-02 -8.10200201e-04 9.99820078e-01 1.43629740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.394391418 meters Centerline goodness [0,1] 0.9987561402399173 Centerline is valid? [True, True] Translation: X:198.58, Y:9.24, Z:1.44 [[ 9.97064111e-01 -7.40957671e-02 -1.93126044e-02 1.98575808e+02] [ 7.40978210e-02 9.97250791e-01 -6.10195269e-04 9.24447478e+00] [ 1.93047229e-02 -8.22618097e-04 9.99813308e-01 1.43594920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.424391418 meters Centerline goodness [0,1] 0.9989462370123712 Centerline is valid? [True, True] Translation: X:198.61, Y:9.25, Z:1.44 [[ 9.97056666e-01 -7.40544817e-02 -1.98479065e-02 1.98607998e+02] [ 7.40566744e-02 9.97253838e-01 -6.25522604e-04 9.24861160e+00] [ 1.98397237e-02 -8.46188464e-04 9.99802815e-01 1.43631623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.454391418 meters Centerline goodness [0,1] 0.9987532489487142 Centerline is valid? [True, True] Translation: X:198.64, Y:9.25, Z:1.44 [[ 9.97002532e-01 -7.46922887e-02 -2.01745629e-02 1.98638973e+02] [ 7.46947119e-02 9.97206246e-01 -6.34459234e-04 9.24703325e+00] [ 2.01655893e-02 -8.74375699e-04 9.99796271e-01 1.43541924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.484391418 meters Centerline goodness [0,1] 0.9986490765171504 Centerline is valid? [True, True] Translation: X:198.67, Y:9.25, Z:1.44 [[ 9.96982655e-01 -7.50033173e-02 -2.00022061e-02 1.98671012e+02] [ 7.50057905e-02 9.97182901e-01 -6.27596795e-04 9.24990080e+00] [ 1.99929297e-02 -8.74578160e-04 9.99799739e-01 1.43613166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.514391418 meters Centerline goodness [0,1] 0.9983303039269561 Centerline is valid? [True, True] Translation: X:198.70, Y:9.25, Z:1.44 [[ 9.96985131e-01 -7.49597958e-02 -2.00419057e-02 1.98703090e+02] [ 7.49623018e-02 9.97186171e-01 -6.27265233e-04 9.25069217e+00] [ 2.00325309e-02 -8.77013270e-04 9.99798944e-01 1.43605832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.544391418 meters Centerline goodness [0,1] 0.9984357825314958 Centerline is valid? [True, True] Translation: X:198.74, Y:9.26, Z:1.44 [[ 9.96994285e-01 -7.48782049e-02 -1.98909711e-02 1.98735627e+02] [ 7.48806887e-02 9.97192307e-01 -6.20945582e-04 9.25502598e+00] [ 1.98816186e-02 -8.70370418e-04 9.99801962e-01 1.43728241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.574391418 meters Centerline goodness [0,1] 0.998751164168995 Centerline is valid? [True, True] Translation: X:198.77, Y:9.26, Z:1.44 [[ 9.97011592e-01 -7.47008430e-02 -1.96893084e-02 1.98766698e+02] [ 7.47032684e-02 9.97205618e-01 -6.13315790e-04 9.25673452e+00] [ 1.96801042e-02 -8.59372735e-04 9.99805959e-01 1.43767244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.604391418 meters Centerline goodness [0,1] 0.9987747428016139 Centerline is valid? [True, True] Translation: X:198.80, Y:9.26, Z:1.44 [[ 9.97030352e-01 -7.44547487e-02 -1.96714784e-02 1.98797491e+02] [ 7.44571451e-02 9.97224027e-01 -6.11579988e-04 9.25537597e+00] [ 1.96624059e-02 -8.54918309e-04 9.99806311e-01 1.43679153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.634391418 meters Centerline goodness [0,1] 0.9986047691527143 Centerline is valid? [True, True] Translation: X:198.83, Y:9.26, Z:1.44 [[ 9.97048207e-01 -7.42240248e-02 -1.96384124e-02 1.98829671e+02] [ 7.42263965e-02 9.97241230e-01 -6.09126192e-04 9.26077163e+00] [ 1.96294464e-02 -8.50360410e-04 9.99806962e-01 1.43786876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.664391418 meters Centerline goodness [0,1] 0.9987708739510045 Centerline is valid? [True, True] Translation: X:198.86, Y:9.26, Z:1.44 [[ 9.97053450e-01 -7.39718670e-02 -2.03120846e-02 1.98860929e+02] [ 7.39743799e-02 9.97259944e-01 -6.28652923e-04 9.25957774e+00] [ 2.03029310e-02 -8.75773299e-04 9.99793491e-01 1.43639876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.694391418 meters Centerline goodness [0,1] 0.9986483632523759 Centerline is valid? [True, True] Translation: X:198.89, Y:9.27, Z:1.44 [[ 9.97027382e-01 -7.41949037e-02 -2.07729473e-02 1.98893259e+02] [ 7.41976126e-02 9.97243352e-01 -6.41362346e-04 9.26704844e+00] [ 2.07632694e-02 -9.01847274e-04 9.99784013e-01 1.43776391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.724391418 meters Centerline goodness [0,1] 0.998602079935611 Centerline is valid? [True, True] Translation: X:198.93, Y:9.27, Z:1.44 [[ 9.97018767e-01 -7.41726789e-02 -2.12600939e-02 1.98925487e+02] [ 7.41755486e-02 9.97244985e-01 -6.54655663e-04 9.26844445e+00] [ 2.12500796e-02 -9.24275149e-04 9.99773764e-01 1.43761857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.754391418 meters Centerline goodness [0,1] 0.9988613600421719 Centerline is valid? [True, True] Translation: X:198.96, Y:9.27, Z:1.44 [[ 9.96949152e-01 -7.50318256e-02 -2.15084531e-02 1.98957098e+02] [ 7.50350136e-02 9.97180681e-01 -6.59914777e-04 9.26963963e+00] [ 2.14973285e-02 -9.55985591e-04 9.99768449e-01 1.43739000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.784391418 meters Centerline goodness [0,1] 0.9987936507936508 Centerline is valid? [True, True] Translation: X:198.99, Y:9.27, Z:1.44 [[ 9.96915297e-01 -7.55035045e-02 -2.14268957e-02 1.98989182e+02] [ 7.55068204e-02 9.97145070e-01 -6.55393479e-04 9.27115566e+00] [ 2.14152079e-02 -9.64504978e-04 9.99770203e-01 1.43803338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.814391418 meters Centerline goodness [0,1] 0.9987951297877737 Centerline is valid? [True, True] Translation: X:199.02, Y:9.27, Z:1.44 [[ 9.96909448e-01 -7.56444106e-02 -2.12008325e-02 1.99019997e+02] [ 7.56477181e-02 9.97134396e-01 -6.47087100e-04 9.27183212e+00] [ 2.11890279e-02 -9.58707359e-04 9.99775028e-01 1.43870310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84439141800001 meters Centerline goodness [0,1] 0.9984349554808282 Centerline is valid? [True, True] Translation: X:199.05, Y:9.27, Z:1.44 [[ 9.96907748e-01 -7.59810554e-02 -2.00454948e-02 1.99051402e+02] [ 7.59841216e-02 9.97108841e-01 -6.09743742e-04 9.27396522e+00] [ 2.00338691e-02 -9.15281054e-04 9.99798883e-01 1.44031746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.87439141800002 meters Centerline goodness [0,1] 0.9983927929452069 Centerline is valid? [True, True] Translation: X:199.08, Y:9.28, Z:1.44 [[ 9.96971297e-01 -7.53796632e-02 -1.91347821e-02 1.99083991e+02] [ 7.53823857e-02 9.97154531e-01 -5.79988084e-04 9.27695119e+00] [ 1.91240540e-02 -8.64194054e-04 9.99816745e-01 1.44155203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90439141800002 meters Centerline goodness [0,1] 0.9986855216570908 Centerline is valid? [True, True] Translation: X:199.12, Y:9.28, Z:1.44 [[ 9.97038954e-01 -7.46086175e-02 -1.86246525e-02 1.99115228e+02] [ 7.46111050e-02 9.97212549e-01 -5.62234290e-04 9.27803082e+00] [ 1.86146847e-02 -8.29036416e-04 9.99826388e-01 1.44212916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.934391418 meters Centerline goodness [0,1] 0.9987747169173568 Centerline is valid? [True, True] Translation: X:199.15, Y:9.28, Z:1.44 [[ 9.97244191e-01 -7.20458237e-02 -1.77037469e-02 1.99145996e+02] [ 7.20476918e-02 9.97401046e-01 -5.33095669e-04 9.28287592e+00] [ 1.76961429e-02 -7.43887538e-04 9.99843134e-01 1.44335608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.964391418 meters Centerline goodness [0,1] 0.9986211285532457 Centerline is valid? [True, True] Translation: X:199.18, Y:9.29, Z:1.44 [[ 9.97367556e-01 -7.04588455e-02 -1.71321062e-02 1.99178006e+02] [ 7.04603788e-02 9.97514446e-01 -5.14847929e-04 9.28797387e+00] [ 1.71257991e-02 -6.93642074e-04 9.99853102e-01 1.44425769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.994391418 meters Centerline goodness [0,1] 0.9990469130572911 Centerline is valid? [True, True] Translation: X:199.21, Y:9.29, Z:1.45 [[ 9.97493767e-01 -6.86200658e-02 -1.72473483e-02 1.99210477e+02] [ 6.86213723e-02 9.97642642e-01 -5.16751164e-04 9.29444709e+00] [ 1.72421496e-02 -6.68080645e-04 9.99851120e-01 1.44550985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.024391418 meters Centerline goodness [0,1] 0.9990033293042391 Centerline is valid? [True, True] Translation: X:199.24, Y:9.30, Z:1.45 [[ 9.97600996e-01 -6.70221806e-02 -1.73285721e-02 1.99241699e+02] [ 6.70232815e-02 9.97751277e-01 -5.17871327e-04 9.29732934e+00] [ 1.73243138e-02 -6.44788813e-04 9.99849715e-01 1.44534145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.054391418 meters Centerline goodness [0,1] 0.998915839374163 Centerline is valid? [True, True] Translation: X:199.27, Y:9.30, Z:1.44 [[ 9.97765881e-01 -6.43673579e-02 -1.78910776e-02 1.99272773e+02] [ 6.43681242e-02 9.97926079e-01 -5.33616163e-04 9.29895766e+00] [ 1.78883204e-02 -6.19191106e-04 9.99839799e-01 1.44365148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.084391418 meters Centerline goodness [0,1] 0.9992769034453424 Centerline is valid? [True, True] Translation: X:199.30, Y:9.31, Z:1.45 [[ 9.97844081e-01 -6.30861111e-02 -1.80923390e-02 1.99304981e+02] [ 6.30867084e-02 9.98007905e-01 -5.38291989e-04 9.30828675e+00] [ 1.80902561e-02 -6.04254640e-04 9.99836175e-01 1.44584586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.114391418 meters Centerline goodness [0,1] 0.9989400941196421 Centerline is valid? [True, True] Translation: X:199.34, Y:9.30, Z:1.44 [[ 9.97865427e-01 -6.26452845e-02 -1.84433618e-02 1.99336521e+02] [ 6.26458539e-02 9.98035669e-01 -5.47447597e-04 9.30478854e+00] [ 1.84414280e-02 -6.09121119e-04 9.99829757e-01 1.44377778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.144391418 meters Centerline goodness [0,1] 0.9989358985272836 Centerline is valid? [True, True] Translation: X:199.37, Y:9.31, Z:1.45 [[ 9.97914005e-01 -6.18804325e-02 -1.83970313e-02 1.99368260e+02] [ 6.18808942e-02 9.98083392e-01 -5.44711196e-04 9.31294947e+00] [ 1.83954784e-02 -5.94849816e-04 9.99830612e-01 1.44589000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.174391418 meters Centerline goodness [0,1] 0.9987443869841878 Centerline is valid? [True, True] Translation: X:199.40, Y:9.32, Z:1.44 [[ 9.97977047e-01 -6.05048394e-02 -1.95186841e-02 1.99399129e+02] [ 6.05051231e-02 9.98167720e-01 -5.76550255e-04 9.31512036e+00] [ 1.95178045e-02 -6.05596464e-04 9.99809326e-01 1.44459427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.204391418 meters Centerline goodness [0,1] 0.9987853992200985 Centerline is valid? [True, True] Translation: X:199.43, Y:9.32, Z:1.44 [[ 9.98032047e-01 -5.94661127e-02 -1.98950747e-02 1.99430098e+02] [ 5.94662254e-02 9.98230146e-01 -5.86464603e-04 9.31691587e+00] [ 1.98947381e-02 -5.97774528e-04 9.99801901e-01 1.44396914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.234391418 meters Centerline goodness [0,1] 0.9988477787735245 Centerline is valid? [True, True] Translation: X:199.46, Y:9.32, Z:1.44 [[ 9.98231729e-01 -5.57799450e-02 -2.05429537e-02 1.99461472e+02] [ 5.57793050e-02 9.98442940e-01 -6.04595790e-04 9.32195615e+00] [ 2.05446914e-02 -5.42344979e-04 9.99788788e-01 1.44320951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.264391418 meters Centerline goodness [0,1] 0.9988040576615056 Centerline is valid? [True, True] Translation: X:199.49, Y:9.33, Z:1.44 [[ 9.98338563e-01 -5.37491744e-02 -2.07638971e-02 1.99493724e+02] [ 5.37481100e-02 9.98554339e-01 -6.09732808e-04 9.32558331e+00] [ 2.07666522e-02 -5.07300450e-04 9.99784221e-01 1.44315535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.294391418 meters Centerline goodness [0,1] 0.9990391390686054 Centerline is valid? [True, True] Translation: X:199.53, Y:9.33, Z:1.44 [[ 9.98489927e-01 -5.07683941e-02 -2.09865611e-02 1.99525989e+02] [ 5.07666840e-02 9.98710351e-01 -6.14592870e-04 9.33004655e+00] [ 2.09906977e-02 -4.51753325e-04 9.99779569e-01 1.44412857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.324391418 meters Centerline goodness [0,1] 0.9991446228856147 Centerline is valid? [True, True] Translation: X:199.56, Y:9.33, Z:1.44 [[ 9.98642642e-01 -4.78575032e-02 -2.05556263e-02 1.99557463e+02] [ 4.78552686e-02 9.98854100e-01 -6.00874848e-04 9.33455774e+00] [ 2.05608279e-02 -3.83635771e-04 9.99788530e-01 1.44497482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.354391418 meters Centerline goodness [0,1] 0.999163251732498 Centerline is valid? [True, True] Translation: X:199.59, Y:9.34, Z:1.45 [[ 9.98932631e-01 -4.18883310e-02 -1.94670639e-02 1.99587433e+02] [ 4.18852035e-02 9.99122268e-01 -5.68536046e-04 9.34105920e+00] [ 1.94737920e-02 -2.47452724e-04 9.99810337e-01 1.44656792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.384391418 meters Centerline goodness [0,1] 0.9989271767583573 Centerline is valid? [True, True] Translation: X:199.62, Y:9.34, Z:1.45 [[ 9.99044670e-01 -3.92270817e-02 -1.92609482e-02 1.99618648e+02] [ 3.92235377e-02 9.99230303e-01 -5.61886825e-04 9.34454186e+00] [ 1.92681643e-02 -1.94132491e-04 9.99814333e-01 1.44742458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.414391418 meters Centerline goodness [0,1] 0.9989056968136466 Centerline is valid? [True, True] Translation: X:199.65, Y:9.35, Z:1.45 [[ 9.99145933e-01 -3.67809279e-02 -1.88299807e-02 1.99649528e+02] [ 3.67771204e-02 9.99323342e-01 -5.48569756e-04 9.34748964e+00] [ 1.88374161e-02 -1.44411226e-04 9.99822550e-01 1.44762384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.444391418 meters Centerline goodness [0,1] 0.9989265548852487 Centerline is valid? [True, True] Translation: X:199.68, Y:9.35, Z:1.45 [[ 9.99224730e-01 -3.45984264e-02 -1.87853125e-02 1.99680259e+02] [ 3.45942722e-02 9.99401290e-01 -5.46152752e-04 9.34993530e+00] [ 1.87929616e-02 -1.04134878e-04 9.99823391e-01 1.44745589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.474391418 meters Centerline goodness [0,1] 0.9988197171613125 Centerline is valid? [True, True] Translation: X:199.71, Y:9.35, Z:1.45 [[ 9.99299703e-01 -3.24460138e-02 -1.86375935e-02 1.99711583e+02] [ 3.24415681e-02 9.99473487e-01 -5.40902534e-04 9.35219871e+00] [ 1.86453307e-02 -6.41090186e-05 9.99826159e-01 1.44733386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.504391418 meters Centerline goodness [0,1] 0.9989893777147035 Centerline is valid? [True, True] Translation: X:199.74, Y:9.35, Z:1.45 [[ 9.99313955e-01 -3.20477357e-02 -1.85623754e-02 1.99741814e+02] [ 3.20432623e-02 9.99486338e-01 -5.38442824e-04 9.35281459e+00] [ 1.85700965e-02 -5.67256362e-05 9.99827559e-01 1.44703725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.534391418 meters Centerline goodness [0,1] 0.9991627667339316 Centerline is valid? [True, True] Translation: X:199.77, Y:9.35, Z:1.45 [[ 9.99310132e-01 -3.22444421e-02 -1.84270526e-02 1.99772690e+02] [ 3.22400754e-02 9.99480011e-01 -5.34071955e-04 9.35293584e+00] [ 1.84346916e-02 -6.03860489e-05 9.99830065e-01 1.44683684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.564391418 meters Centerline goodness [0,1] 0.9989286020399417 Centerline is valid? [True, True] Translation: X:199.80, Y:9.35, Z:1.45 [[ 9.99261924e-01 -3.40230948e-02 -1.78335617e-02 1.99803461e+02] [ 3.40193052e-02 9.99421043e-01 -5.15912209e-04 9.35080227e+00] [ 1.78407897e-02 -9.11539499e-05 9.99840836e-01 1.44685358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.59439141800001 meters Centerline goodness [0,1] 0.9989699349771455 Centerline is valid? [True, True] Translation: X:199.84, Y:9.35, Z:1.45 [[ 9.99224530e-01 -3.51510857e-02 -1.77409162e-02 1.99835104e+02] [ 3.51475283e-02 9.99382003e-01 -5.12375066e-04 9.34982331e+00] [ 1.77479630e-02 -1.11571621e-04 9.99842486e-01 1.44700488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62439141800002 meters Centerline goodness [0,1] 0.999121378364478 Centerline is valid? [True, True] Translation: X:199.87, Y:9.35, Z:1.45 [[ 9.99174989e-01 -3.66511833e-02 -1.74937468e-02 1.99866928e+02] [ 3.66479661e-02 9.99328110e-01 -5.04554762e-04 9.34940129e+00] [ 1.75004855e-02 -1.36971742e-04 9.99846845e-01 1.44834894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.65439141800002 meters Centerline goodness [0,1] 0.9988423941004974 Centerline is valid? [True, True] Translation: X:199.90, Y:9.35, Z:1.45 [[ 9.99122836e-01 -3.81940967e-02 -1.71688777e-02 1.99898400e+02] [ 3.81912407e-02 9.99270326e-01 -4.94306000e-04 9.34778005e+00] [ 1.71752296e-02 -1.61828331e-04 9.99852482e-01 1.44820153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.684391418 meters Centerline goodness [0,1] 0.9989086473647044 Centerline is valid? [True, True] Translation: X:199.93, Y:9.34, Z:1.45 [[ 9.98988159e-01 -4.15065070e-02 -1.73166820e-02 1.99930983e+02] [ 4.15041205e-02 9.99138209e-01 -4.97330713e-04 9.34436648e+00] [ 1.73224011e-02 -2.21886161e-04 9.99849931e-01 1.44834006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.714391418 meters Centerline goodness [0,1] 0.9989935975675039 Centerline is valid? [True, True] Translation: X:199.96, Y:9.34, Z:1.45 [[ 9.98917495e-01 -4.31537264e-02 -1.73664747e-02 1.99963258e+02] [ 4.31515987e-02 9.99068412e-01 -4.97397946e-04 9.34281287e+00] [ 1.73717609e-02 -2.52531637e-04 9.99849068e-01 1.44831712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.744391418 meters Centerline goodness [0,1] 0.9990377624770133 Centerline is valid? [True, True] Translation: X:200.00, Y:9.34, Z:1.45 [[ 9.98787946e-01 -4.61546430e-02 -1.70993542e-02 1.99995892e+02] [ 4.61530427e-02 9.98934261e-01 -4.88411974e-04 9.33923739e+00] [ 1.71036733e-02 -3.01367233e-04 9.99853676e-01 1.44875066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.774391418 meters Centerline goodness [0,1] 0.9988681018281224 Centerline is valid? [True, True] Translation: X:200.03, Y:9.34, Z:1.45 [[ 9.98738244e-01 -4.73437570e-02 -1.67477855e-02 2.00027999e+02] [ 4.73424110e-02 9.98878606e-01 -4.77051802e-04 9.33824234e+00] [ 1.67515901e-02 -3.16430667e-04 9.99859632e-01 1.44933382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.804391418 meters Centerline goodness [0,1] 0.9989765458422175 Centerline is valid? [True, True] Translation: X:200.06, Y:9.34, Z:1.45 [[ 9.98712968e-01 -4.80504902e-02 -1.62344917e-02 2.00060696e+02] [ 4.80493397e-02 9.98844857e-01 -4.61141029e-04 9.33747159e+00] [ 1.62378966e-02 -3.19509083e-04 9.99868106e-01 1.44992042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.834391418 meters Centerline goodness [0,1] 0.99882741711971 Centerline is valid? [True, True] Translation: X:200.09, Y:9.34, Z:1.45 [[ 9.98683145e-01 -4.87497174e-02 -1.59825031e-02 2.00092594e+02] [ 4.87487122e-02 9.98810972e-01 -4.52702791e-04 9.33621334e+00] [ 1.59855686e-02 -3.27019796e-04 9.99872169e-01 1.45017965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.864391418 meters Centerline goodness [0,1] 0.9989752567195406 Centerline is valid? [True, True] Translation: X:200.13, Y:9.34, Z:1.45 [[ 9.98683708e-01 -4.91203981e-02 -1.47660948e-02 2.00125027e+02] [ 4.91195978e-02 9.98792817e-01 -4.17086478e-04 9.33518083e+00] [ 1.47687568e-02 -3.08767164e-04 9.99890888e-01 1.45162507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.894391418 meters Centerline goodness [0,1] 0.9992530943235168 Centerline is valid? [True, True] Translation: X:200.16, Y:9.33, Z:1.45 [[ 9.98699823e-01 -4.89401314e-02 -1.42662779e-02 2.00155787e+02] [ 4.89393803e-02 9.98801670e-01 -4.01963415e-04 9.33461590e+00] [ 1.42688544e-02 -2.96742010e-04 9.99898151e-01 1.45175441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.924391418 meters Centerline goodness [0,1] 0.9991258554889879 Centerline is valid? [True, True] Translation: X:200.19, Y:9.33, Z:1.45 [[ 9.98727780e-01 -4.85593403e-02 -1.35945629e-02 2.00188340e+02] [ 4.85586358e-02 9.98820261e-01 -3.82090852e-04 9.33434622e+00] [ 1.35970789e-02 -2.78528679e-04 9.99907517e-01 1.45222637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.954391418 meters Centerline goodness [0,1] 0.9993178863001727 Centerline is valid? [True, True] Translation: X:200.22, Y:9.33, Z:1.45 [[ 9.98771281e-01 -4.76371524e-02 -1.36612615e-02 2.00220529e+02] [ 4.76363699e-02 9.98864670e-01 -3.82854848e-04 9.33386427e+00] [ 1.36639895e-02 -2.68388478e-04 9.99906607e-01 1.45208117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.984391418 meters Centerline goodness [0,1] 0.9993386948823517 Centerline is valid? [True, True] Translation: X:200.25, Y:9.33, Z:1.45 [[ 9.98807887e-01 -4.68851359e-02 -1.35863160e-02 2.00252802e+02] [ 4.68843073e-02 9.98900254e-01 -3.79664840e-04 9.33376903e+00] [ 1.35891751e-02 -2.57772778e-04 9.99907630e-01 1.45197442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.014391418 meters Centerline goodness [0,1] 0.9988936876369593 Centerline is valid? [True, True] Translation: X:200.29, Y:9.33, Z:1.45 [[ 9.98820624e-01 -4.66016277e-02 -1.36252871e-02 2.00285130e+02] [ 4.66007828e-02 9.98913521e-01 -3.79664208e-04 9.33358162e+00] [ 1.36281764e-02 -2.55732602e-04 9.99907099e-01 1.45158909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.044391418 meters Centerline goodness [0,1] 0.9991065730695596 Centerline is valid? [True, True] Translation: X:200.32, Y:9.33, Z:1.45 [[ 9.98839903e-01 -4.63626905e-02 -1.30133963e-02 2.00317643e+02] [ 4.63619126e-02 9.98924643e-01 -3.61606405e-04 9.33220765e+00] [ 1.30161673e-02 -2.42139035e-04 9.99915257e-01 1.45198319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.074391418 meters Centerline goodness [0,1] 0.9989589087664131 Centerline is valid? [True, True] Translation: X:200.35, Y:9.33, Z:1.45 [[ 9.98825769e-01 -4.66575643e-02 -1.30443617e-02 2.00350176e+02] [ 4.66568215e-02 9.98910912e-01 -3.61420146e-04 9.33252095e+00] [ 1.30470182e-02 -2.47612700e-04 9.99914853e-01 1.45252683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.104391418 meters Centerline goodness [0,1] 0.9987684206055973 Centerline is valid? [True, True] Translation: X:200.38, Y:9.33, Z:1.45 [[ 9.98807868e-01 -4.70601246e-02 -1.29686904e-02 2.00382684e+02] [ 4.70594380e-02 9.98892027e-01 -3.58272578e-04 9.33176727e+00] [ 1.29711818e-02 -2.52453814e-04 9.99915839e-01 1.45290192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.134391418 meters Centerline goodness [0,1] 0.998812527831379 Centerline is valid? [True, True] Translation: X:200.41, Y:9.33, Z:1.45 [[ 9.98735030e-01 -4.85166298e-02 -1.32089545e-02 2.00413927e+02] [ 4.85160574e-02 9.98822336e-01 -3.63954845e-04 9.32911825e+00] [ 1.32110567e-02 -2.77351943e-04 9.99912692e-01 1.45272283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.164391418 meters Centerline goodness [0,1] 0.998812527831379 Centerline is valid? [True, True] Translation: X:200.45, Y:9.33, Z:1.45 [[ 9.98738928e-01 -4.84363235e-02 -1.32089799e-02 2.00445617e+02] [ 4.84357563e-02 9.98826234e-01 -3.63032370e-04 9.32991328e+00] [ 1.32110596e-02 -2.77212371e-04 9.99912692e-01 1.45294491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.194391418 meters Centerline goodness [0,1] 0.999323166733645 Centerline is valid? [True, True] Translation: X:200.48, Y:9.33, Z:1.45 [[ 9.98706523e-01 -4.90382911e-02 -1.34360267e-02 2.00476372e+02] [ 4.90377699e-02 9.98796857e-01 -3.68441314e-04 9.32854212e+00] [ 1.34379289e-02 -2.90908040e-04 9.99909665e-01 1.45278326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.224391418 meters Centerline goodness [0,1] 0.9995354337359574 Centerline is valid? [True, True] Translation: X:200.51, Y:9.33, Z:1.45 [[ 9.98664819e-01 -4.97232234e-02 -1.40064657e-02 2.00507540e+02] [ 4.97227401e-02 9.98762986e-01 -3.82953123e-04 9.32731436e+00] [ 1.40081812e-02 -3.13998042e-04 9.99901831e-01 1.45250504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.254391418 meters Centerline goodness [0,1] 0.9996190959878111 Centerline is valid? [True, True] Translation: X:200.54, Y:9.33, Z:1.45 [[ 9.98618764e-01 -5.05735325e-02 -1.42437003e-02 2.00539836e+02] [ 5.05731395e-02 9.98720285e-01 -3.88015537e-04 9.32670019e+00] [ 1.42450957e-02 -3.32869044e-04 9.99898478e-01 1.45230946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.284391418 meters Centerline goodness [0,1] 0.9988596769084575 Centerline is valid? [True, True] Translation: X:200.57, Y:9.33, Z:1.45 [[ 9.98521979e-01 -5.23755977e-02 -1.45139415e-02 2.00572268e+02] [ 5.23753968e-02 9.98627389e-01 -3.94208109e-04 9.32579808e+00] [ 1.45146664e-02 -3.66547983e-04 9.99894589e-01 1.45230594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.314391418 meters Centerline goodness [0,1] 0.9993016611998731 Centerline is valid? [True, True] Translation: X:200.60, Y:9.32, Z:1.45 [[ 9.98481822e-01 -5.30776229e-02 -1.47246797e-02 2.00603065e+02] [ 5.30775077e-02 9.98590316e-01 -3.98894105e-04 9.32483295e+00] [ 1.47250949e-02 -3.83260788e-04 9.99891506e-01 1.45236866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34439141800001 meters Centerline goodness [0,1] 0.9990489676014963 Centerline is valid? [True, True] Translation: X:200.63, Y:9.32, Z:1.45 [[ 9.98417086e-01 -5.41715744e-02 -1.51249145e-02 2.00634116e+02] [ 5.41715922e-02 9.98531558e-01 -4.08819553e-04 9.32381892e+00] [ 1.51248508e-02 -4.11168272e-04 9.99885528e-01 1.45252488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.37439141800002 meters Centerline goodness [0,1] 0.9990274430208466 Centerline is valid? [True, True] Translation: X:200.67, Y:9.32, Z:1.45 [[ 9.98359579e-01 -5.53915416e-02 -1.44889093e-02 2.00666644e+02] [ 5.53917006e-02 9.98464625e-01 -3.90634185e-04 9.32329046e+00] [ 1.44883012e-02 -4.12571944e-04 9.99894954e-01 1.45333756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40439141800002 meters Centerline goodness [0,1] 0.9986900762713655 Centerline is valid? [True, True] Translation: X:200.70, Y:9.32, Z:1.45 [[ 9.98190598e-01 -5.84862766e-02 -1.39601517e-02 2.00698435e+02] [ 5.84867400e-02 9.98288115e-01 -3.75417311e-04 9.32165202e+00] [ 1.39582102e-02 -4.41745730e-04 9.99902482e-01 1.45492707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.434391418 meters Centerline goodness [0,1] 0.9986920107170735 Centerline is valid? [True, True] Translation: X:200.73, Y:9.32, Z:1.46 [[ 9.98090576e-01 -6.01832872e-02 -1.38986981e-02 2.00730155e+02] [ 6.01839226e-02 9.98187235e-01 -3.72919570e-04 9.32000158e+00] [ 1.38959466e-02 -4.64270665e-04 9.99903339e-01 1.45566299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.464391418 meters Centerline goodness [0,1] 0.9987543807794621 Centerline is valid? [True, True] Translation: X:200.76, Y:9.32, Z:1.46 [[ 9.97979439e-01 -6.20712909e-02 -1.35717999e-02 2.00762743e+02] [ 6.20720840e-02 9.98071603e-01 -3.63195266e-04 9.31925417e+00] [ 1.35681721e-02 -4.79968498e-04 9.99907833e-01 1.45652462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.494391418 meters Centerline goodness [0,1] 0.9984648384925976 Centerline is valid? [True, True] Translation: X:200.79, Y:9.31, Z:1.46 [[ 9.97716881e-01 -6.61742881e-02 -1.34903213e-02 2.00793148e+02] [ 6.61754555e-02 9.97807937e-01 -3.60313396e-04 9.31452303e+00] [ 1.34845932e-02 -5.33237403e-04 9.99908937e-01 1.45721487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.524391418 meters Centerline goodness [0,1] 0.9984594606001773 Centerline is valid? [True, True] Translation: X:200.83, Y:9.31, Z:1.46 [[ 9.97565482e-01 -6.82804334e-02 -1.41736083e-02 2.00825418e+02] [ 6.82819447e-02 9.97665993e-01 -3.77833375e-04 9.31272219e+00] [ 1.41663257e-02 -5.90888009e-04 9.99899478e-01 1.45724052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.554391418 meters Centerline goodness [0,1] 0.9984173542383253 Centerline is valid? [True, True] Translation: X:200.86, Y:9.31, Z:1.46 [[ 9.97345914e-01 -7.13904602e-02 -1.43013790e-02 2.00855325e+02] [ 7.13923261e-02 9.97448240e-01 -3.80666269e-04 9.30915665e+00] [ 1.42920612e-02 -6.41352762e-04 9.99897658e-01 1.45715028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.584391418 meters Centerline goodness [0,1] 0.998524047483501 Centerline is valid? [True, True] Translation: X:200.89, Y:9.31, Z:1.46 [[ 9.97133195e-01 -7.41213899e-02 -1.52122161e-02 2.00885676e+02] [ 7.41238207e-02 9.97248964e-01 -4.04748842e-04 9.30548471e+00] [ 1.52003673e-02 -7.23999075e-04 9.99884206e-01 1.45687123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.614391418 meters Centerline goodness [0,1] 0.9983334036538543 Centerline is valid? [True, True] Translation: X:200.92, Y:9.30, Z:1.46 [[ 9.96715211e-01 -7.94063320e-02 -1.59192331e-02 2.00916238e+02] [ 7.94096692e-02 9.96841976e-01 -4.23369317e-04 9.30226636e+00] [ 1.59025780e-02 -8.42162399e-04 9.99873191e-01 1.45711068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.644391418 meters Centerline goodness [0,1] 0.9980015146415349 Centerline is valid? [True, True] Translation: X:200.95, Y:9.30, Z:1.46 [[ 9.96494310e-01 -8.20432988e-02 -1.63703048e-02 2.00946337e+02] [ 8.20471831e-02 9.96628351e-01 -4.35327809e-04 9.29688780e+00] [ 1.63508256e-02 -9.09335714e-04 9.99865903e-01 1.45658942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.674391418 meters Centerline goodness [0,1] 0.9978760540870187 Centerline is valid? [True, True] Translation: X:200.98, Y:9.30, Z:1.46 [[ 9.96307212e-01 -8.42762967e-02 -1.64147887e-02 2.00978189e+02] [ 8.42805134e-02 9.96441973e-01 -4.35947363e-04 9.29691585e+00] [ 1.63931245e-02 -9.49109318e-04 9.99865173e-01 1.45715624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.704391418 meters Centerline goodness [0,1] 0.998019801980198 Centerline is valid? [True, True] Translation: X:201.01, Y:9.30, Z:1.46 [[ 9.96157100e-01 -8.59662420e-02 -1.67581883e-02 2.01010369e+02] [ 8.59708954e-02 9.96297550e-01 -4.43866005e-04 9.29530548e+00] [ 1.67342994e-02 -9.98556178e-04 9.99859473e-01 1.45734432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.734391418 meters Centerline goodness [0,1] 0.9981296627088369 Centerline is valid? [True, True] Translation: X:201.04, Y:9.29, Z:1.46 [[ 9.95966044e-01 -8.79428056e-02 -1.78242109e-02 2.01041580e+02] [ 8.79484035e-02 9.96124920e-01 -4.71086461e-04 9.29355158e+00] [ 1.77965693e-02 -1.09842477e-03 9.99841025e-01 1.45716377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.764391418 meters Centerline goodness [0,1] 0.9981496667297463 Centerline is valid? [True, True] Translation: X:201.07, Y:9.30, Z:1.46 [[ 9.95957084e-01 -8.80002766e-02 -1.80398863e-02 2.01073311e+02] [ 8.80060410e-02 9.96119827e-01 -4.75630570e-04 9.29522186e+00] [ 1.80117441e-02 -1.11391134e-03 9.99837155e-01 1.45748423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.794391418 meters Centerline goodness [0,1] 0.9982328066816738 Centerline is valid? [True, True] Translation: X:201.11, Y:9.30, Z:1.46 [[ 9.95998794e-01 -8.73083214e-02 -1.90698719e-02 2.01105886e+02] [ 8.73146664e-02 9.96180655e-01 -5.01231004e-04 9.29751705e+00] [ 1.90407991e-02 -1.16585402e-03 9.99818028e-01 1.45739042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.824391418 meters Centerline goodness [0,1] 0.9983809243450104 Centerline is valid? [True, True] Translation: X:201.14, Y:9.30, Z:1.46 [[ 9.96090143e-01 -8.61513287e-02 -1.95544079e-02 2.01138565e+02] [ 8.61578179e-02 9.96281370e-01 -5.11937775e-04 9.29854347e+00] [ 1.95257964e-02 -1.17482894e-03 9.99808663e-01 1.45720571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.854391418 meters Centerline goodness [0,1] 0.9980852988827403 Centerline is valid? [True, True] Translation: X:201.17, Y:9.30, Z:1.46 [[ 9.96170097e-01 -8.51443788e-02 -1.98889864e-02 2.01169992e+02] [ 8.51509235e-02 9.96367929e-01 -5.19110397e-04 9.29953202e+00] [ 1.98609475e-02 -1.17644331e-03 9.99802060e-01 1.45716245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.884391418 meters Centerline goodness [0,1] 0.9983788791106994 Centerline is valid? [True, True] Translation: X:201.20, Y:9.30, Z:1.46 [[ 9.96409740e-01 -8.23070862e-02 -1.98286224e-02 2.01201851e+02] [ 8.23130544e-02 9.96606389e-01 -5.16369827e-04 9.30339250e+00] [ 1.98038327e-02 -1.11763855e-03 9.99803260e-01 1.45740776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.914391418 meters Centerline goodness [0,1] 0.9981935429663705 Centerline is valid? [True, True] Translation: X:201.23, Y:9.31, Z:1.46 [[ 9.96581657e-01 -8.02771933e-02 -1.95082741e-02 2.01233347e+02] [ 8.02826079e-02 9.96772013e-01 -5.06718992e-04 9.31069133e+00] [ 1.94859796e-02 -1.06118826e-03 9.99809567e-01 1.45905427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.944391418 meters Centerline goodness [0,1] 0.9984861546224848 Centerline is valid? [True, True] Translation: X:201.26, Y:9.31, Z:1.46 [[ 9.96760794e-01 -7.80653388e-02 -1.93319093e-02 2.01264037e+02] [ 7.80702604e-02 9.96947733e-01 -5.01135721e-04 9.31117709e+00] [ 1.93120245e-02 -1.00973475e-03 9.99812996e-01 1.45914733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.974391418 meters Centerline goodness [0,1] 0.9985473990021263 Centerline is valid? [True, True] Translation: X:201.29, Y:9.32, Z:1.46 [[ 9.97133939e-01 -7.34180866e-02 -1.82672199e-02 2.01294485e+02] [ 7.34217116e-02 9.97300872e-01 -4.73047514e-04 9.31802248e+00] [ 1.82526446e-02 -8.69518824e-04 9.99833029e-01 1.46075501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.004391418 meters Centerline goodness [0,1] 0.9986273019091063 Centerline is valid? [True, True] Translation: X:201.33, Y:9.33, Z:1.46 [[ 9.97336419e-01 -7.06879230e-02 -1.79801418e-02 2.01326229e+02] [ 7.06910067e-02 9.97498153e-01 -4.64801122e-04 9.32602290e+00] [ 1.79680141e-02 -8.07471238e-04 9.99838236e-01 1.46214380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.034391418 meters Centerline goodness [0,1] 0.9985865575292182 Centerline is valid? [True, True] Translation: X:201.36, Y:9.33, Z:1.46 [[ 9.97535714e-01 -6.79052609e-02 -1.76458395e-02 2.01356219e+02] [ 6.79078268e-02 9.97691496e-01 -4.54436000e-04 9.32897719e+00] [ 1.76359626e-02 -7.44974475e-04 9.99844197e-01 1.46241689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.064391418 meters Centerline goodness [0,1] 0.9985642498205313 Centerline is valid? [True, True] Translation: X:201.39, Y:9.34, Z:1.46 [[ 9.97948146e-01 -6.17991512e-02 -1.67440574e-02 2.01386057e+02] [ 6.18006166e-02 9.98088422e-01 -4.30400796e-04 9.33524474e+00] [ 1.67386482e-02 -6.05275394e-04 9.99859716e-01 1.46288104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.09439141800001 meters Centerline goodness [0,1] 0.9986243677382489 Centerline is valid? [True, True] Translation: X:201.42, Y:9.34, Z:1.46 [[ 9.98139373e-01 -5.87059191e-02 -1.64744458e-02 2.01417189e+02] [ 5.87069231e-02 9.98275172e-01 -4.23084908e-04 9.34199590e+00] [ 1.64708678e-02 -5.44866318e-04 9.99864198e-01 1.46394565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12439141800002 meters Centerline goodness [0,1] 0.9986684420772304 Centerline is valid? [True, True] Translation: X:201.45, Y:9.35, Z:1.46 [[ 9.98333078e-01 -5.53899504e-02 -1.62178298e-02 2.01448687e+02] [ 5.53904967e-02 9.98464681e-01 -4.15841324e-04 9.34611262e+00] [ 1.62159637e-02 -4.83165500e-04 9.99868396e-01 1.46415490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.15439141800002 meters Centerline goodness [0,1] 0.9988784255634324 Centerline is valid? [True, True] Translation: X:201.48, Y:9.35, Z:1.46 [[ 9.98501594e-01 -5.23026030e-02 -1.60936064e-02 2.01480946e+02] [ 5.23027564e-02 9.98631189e-01 -4.11653666e-04 9.35076443e+00] [ 1.60931078e-02 -4.30703132e-04 9.99870405e-01 1.46461735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.184391418 meters Centerline goodness [0,1] 0.9988985617758573 Centerline is valid? [True, True] Translation: X:201.51, Y:9.36, Z:1.46 [[ 9.98755481e-01 -4.72274466e-02 -1.60329831e-02 2.01511733e+02] [ 4.72269599e-02 9.98884101e-01 -4.09188069e-04 9.35713582e+00] [ 1.60344168e-02 -3.48510221e-04 9.99871380e-01 1.46437586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.214391418 meters Centerline goodness [0,1] 0.9990035828616253 Centerline is valid? [True, True] Translation: X:201.54, Y:9.36, Z:1.46 [[ 9.98865200e-01 -4.48278357e-02 -1.60865286e-02 2.01543796e+02] [ 4.48270507e-02 9.98994679e-01 -4.09555978e-04 9.36159802e+00] [ 1.60887160e-02 -3.12020421e-04 9.99870520e-01 1.46453118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.244391418 meters Centerline goodness [0,1] 0.9989838043823436 Centerline is valid? [True, True] Translation: X:201.58, Y:9.37, Z:1.46 [[ 9.98969465e-01 -4.24687141e-02 -1.60129970e-02 2.01576214e+02] [ 4.24676537e-02 9.99097760e-01 -4.06407812e-04 9.36602108e+00] [ 1.60158091e-02 -2.74045417e-04 9.99871701e-01 1.46463107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.274391418 meters Centerline goodness [0,1] 0.9991098300199228 Centerline is valid? [True, True] Translation: X:201.61, Y:9.37, Z:1.46 [[ 9.99115786e-01 -3.88067772e-02 -1.61765598e-02 2.01608129e+02] [ 3.88052363e-02 9.99246709e-01 -4.09252474e-04 9.37159971e+00] [ 1.61802559e-02 -2.18844618e-04 9.99869067e-01 1.46421871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.304391418 meters Centerline goodness [0,1] 0.9988968326367822 Centerline is valid? [True, True] Translation: X:201.64, Y:9.37, Z:1.46 [[ 9.99170931e-01 -3.74762494e-02 -1.59053954e-02 2.01638889e+02] [ 3.74746056e-02 9.99297500e-01 -4.01486183e-04 9.37417616e+00] [ 1.59092680e-02 -1.94895096e-04 9.99873421e-01 1.46388749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.334391418 meters Centerline goodness [0,1] 0.998898468447476 Centerline is valid? [True, True] Translation: X:201.67, Y:9.38, Z:1.46 [[ 9.99228821e-01 -3.60247201e-02 -1.56199493e-02 2.01670188e+02] [ 3.60229670e-02 9.99350885e-01 -3.93668743e-04 9.37680842e+00] [ 1.56239920e-02 -1.69311764e-04 9.99877924e-01 1.46372350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.364391418 meters Centerline goodness [0,1] 0.9989187584803256 Centerline is valid? [True, True] Translation: X:201.70, Y:9.38, Z:1.46 [[ 9.99271461e-01 -3.50259563e-02 -1.51568578e-02 2.01701254e+02] [ 3.50241996e-02 9.99386392e-01 -3.81409509e-04 9.37910534e+00] [ 1.51609167e-02 -1.49725178e-04 9.99885055e-01 1.46384599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.394391418 meters Centerline goodness [0,1] 0.9987921169739351 Centerline is valid? [True, True] Translation: X:201.73, Y:9.38, Z:1.46 [[ 9.99309763e-01 -3.44164209e-02 -1.39824281e-02 2.01732295e+02] [ 3.44148755e-02 9.99407571e-01 -3.51193143e-04 9.38139891e+00] [ 1.39862314e-02 -1.30252788e-04 9.99902179e-01 1.46385070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.424391418 meters Centerline goodness [0,1] 0.9988586646376261 Centerline is valid? [True, True] Translation: X:201.76, Y:9.38, Z:1.46 [[ 9.99322095e-01 -3.44284777e-02 -1.30395803e-02 2.01764105e+02] [ 3.44271458e-02 9.99407157e-01 -3.26665166e-04 9.38224829e+00] [ 1.30430964e-02 -1.22471813e-04 9.99914928e-01 1.46423048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.454391418 meters Centerline goodness [0,1] 0.9988351653006332 Centerline is valid? [True, True] Translation: X:201.80, Y:9.38, Z:1.46 [[ 9.99312585e-01 -3.50486241e-02 -1.20810301e-02 2.01795394e+02] [ 3.50475399e-02 9.99385601e-01 -3.01507791e-04 9.38225843e+00] [ 1.20841750e-02 -1.22109857e-04 9.99926976e-01 1.46462915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.484391418 meters Centerline goodness [0,1] 0.9989219810184109 Centerline is valid? [True, True] Translation: X:201.83, Y:9.38, Z:1.47 [[ 9.99293364e-01 -3.58762751e-02 -1.12100450e-02 2.01827921e+02] [ 3.58754067e-02 9.99356232e-01 -2.78612879e-04 9.38269631e+00] [ 1.12128240e-02 -1.23748923e-04 9.99937127e-01 1.46526198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.514391418 meters Centerline goodness [0,1] 0.9987740694553063 Centerline is valid? [True, True] Translation: X:201.86, Y:9.38, Z:1.47 [[ 9.99207600e-01 -3.85355197e-02 -9.95920878e-03 2.01859687e+02] [ 3.85349730e-02 9.99257222e-01 -2.46856569e-04 9.38145405e+00] [ 9.96132404e-03 -1.37116881e-04 9.99950375e-01 1.46588862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.544391418 meters Centerline goodness [0,1] 0.9989435875765899 Centerline is valid? [True, True] Translation: X:201.89, Y:9.38, Z:1.47 [[ 9.99146257e-01 -4.01527369e-02 -9.72185337e-03 2.01892114e+02] [ 4.01522986e-02 9.99193542e-01 -2.40343889e-04 9.38054361e+00] [ 9.72366357e-03 -1.50216062e-04 9.99952713e-01 1.46612805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.574391418 meters Centerline goodness [0,1] 0.9986679352997145 Centerline is valid? [True, True] Translation: X:201.92, Y:9.38, Z:1.47 [[ 9.98972582e-01 -4.42910480e-02 -9.59605651e-03 2.01923678e+02] [ 4.42908185e-02 9.99018652e-01 -2.36528555e-04 9.37706791e+00] [ 9.59711554e-03 -1.88731656e-04 9.99953929e-01 1.46544867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.604391418 meters Centerline goodness [0,1] 0.9990076851617262 Centerline is valid? [True, True] Translation: X:201.96, Y:9.38, Z:1.47 [[ 9.98876290e-01 -4.62900050e-02 -1.01681757e-02 2.01955160e+02] [ 4.62898572e-02 9.98928019e-01 -2.50003763e-04 9.37520563e+00] [ 1.01688483e-02 -2.20960571e-04 9.99948272e-01 1.46563231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.634391418 meters Centerline goodness [0,1] 0.9991115435872485 Centerline is valid? [True, True] Translation: X:201.99, Y:9.37, Z:1.47 [[ 9.98792964e-01 -4.81483857e-02 -9.71324315e-03 2.01986870e+02] [ 4.81483440e-02 9.98840167e-01 -2.38267274e-04 9.37323041e+00] [ 9.71344960e-03 -2.29696896e-04 9.99952797e-01 1.46548669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.664391418 meters Centerline goodness [0,1] 0.999006195420041 Centerline is valid? [True, True] Translation: X:202.02, Y:9.37, Z:1.47 [[ 9.98718226e-01 -4.97505090e-02 -9.31620071e-03 2.02019389e+02] [ 4.97505456e-02 9.98761649e-01 -2.27957336e-04 9.37118363e+00] [ 9.31600497e-03 -2.35820922e-04 9.99956577e-01 1.46548957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.694391418 meters Centerline goodness [0,1] 0.9989420900069822 Centerline is valid? [True, True] Translation: X:202.05, Y:9.37, Z:1.47 [[ 9.98590392e-01 -5.23271224e-02 -8.89386120e-03 2.02051033e+02] [ 5.23272634e-02 9.98629967e-01 -2.16998318e-04 9.36681772e+00] [ 8.89303121e-03 -2.48698982e-04 9.99960425e-01 1.46515480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.724391418 meters Centerline goodness [0,1] 0.9988795162892962 Centerline is valid? [True, True] Translation: X:202.08, Y:9.37, Z:1.47 [[ 9.98587833e-01 -5.23940780e-02 -8.78640973e-03 2.02084563e+02] [ 5.23942235e-02 9.98626457e-01 -2.13776043e-04 9.36638920e+00] [ 8.78554181e-03 -2.46882960e-04 9.99961376e-01 1.46509283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.754391418 meters Centerline goodness [0,1] 0.998753169907016 Centerline is valid? [True, True] Translation: X:202.12, Y:9.37, Z:1.47 [[ 9.98574306e-01 -5.27143581e-02 -8.39951035e-03 2.02117132e+02] [ 5.27145097e-02 9.98609603e-01 -2.03497542e-04 9.36626112e+00] [ 8.39855894e-03 -2.39568653e-04 9.99964703e-01 1.46556454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.784391418 meters Centerline goodness [0,1] 0.9989851150202977 Centerline is valid? [True, True] Translation: X:202.15, Y:9.37, Z:1.47 [[ 9.98596673e-01 -5.23185040e-02 -8.21336003e-03 2.02148868e+02] [ 5.23186406e-02 9.98630422e-01 -1.98377243e-04 9.37040891e+00] [ 8.21249000e-03 -2.31612977e-04 9.99966250e-01 1.46606800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.814391418 meters Centerline goodness [0,1] 0.9987089947089947 Centerline is valid? [True, True] Translation: X:202.18, Y:9.37, Z:1.47 [[ 9.98676253e-01 -5.09010463e-02 -7.40439604e-03 2.02179785e+02] [ 5.09011223e-02 9.98703682e-01 -1.78305028e-04 9.36660169e+00] [ 7.40387350e-03 -1.98823071e-04 9.99972571e-01 1.46610108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84439141800001 meters Centerline goodness [0,1] 0.998667428136303 Centerline is valid? [True, True] Translation: X:202.21, Y:9.37, Z:1.47 [[ 9.98735377e-01 -4.98097654e-02 -6.82887282e-03 2.02212118e+02] [ 4.98098071e-02 9.98758708e-01 -1.64072140e-04 9.37202263e+00] [ 6.82856859e-03 -1.76280187e-04 9.99976670e-01 1.46624290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.87439141800002 meters Centerline goodness [0,1] 0.998630252455009 Centerline is valid? [True, True] Translation: X:202.24, Y:9.37, Z:1.47 [[ 9.98876017e-01 -4.69637644e-02 -6.41148485e-03 2.02243417e+02] [ 4.69637458e-02 9.98896583e-01 -1.53548827e-04 9.37178968e+00] [ 6.41162154e-03 -1.47731103e-04 9.99979434e-01 1.46586435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90439141800002 meters Centerline goodness [0,1] 0.9984590378485635 Centerline is valid? [True, True] Translation: X:202.28, Y:9.37, Z:1.47 [[ 9.98944066e-01 -4.54930452e-02 -6.41365858e-03 2.02275226e+02] [ 4.54929986e-02 9.98964646e-01 -1.53225337e-04 9.37302648e+00] [ 6.41398886e-03 -1.38713020e-04 9.99979421e-01 1.46608176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.934391418 meters Centerline goodness [0,1] 0.9987731618580252 Centerline is valid? [True, True] Translation: X:202.31, Y:9.38, Z:1.47 [[ 9.99008240e-01 -4.41261743e-02 -5.95126921e-03 2.02307206e+02] [ 4.41261125e-02 9.99025959e-01 -1.41765020e-04 9.37568566e+00] [ 5.95172798e-03 -1.20981951e-04 9.99982281e-01 1.46647440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.964391418 meters Centerline goodness [0,1] 0.9985602371374127 Centerline is valid? [True, True] Translation: X:202.34, Y:9.38, Z:1.47 [[ 9.99100261e-01 -4.20430748e-02 -5.57205567e-03 2.02338390e+02] [ 4.20429906e-02 9.99115794e-01 -1.32294983e-04 9.37721943e+00] [ 5.57269091e-03 -1.02089931e-04 9.99984467e-01 1.46619628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.994391418 meters Centerline goodness [0,1] 0.998833806878419 Centerline is valid? [True, True] Translation: X:202.37, Y:9.38, Z:1.47 [[ 9.99128152e-01 -4.13860657e-02 -5.48906783e-03 2.02370895e+02] [ 4.13859756e-02 9.99143225e-01 -1.30036124e-04 9.37787239e+00] [ 5.48974661e-03 -9.72476749e-05 9.99984926e-01 1.46615753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.024391418 meters Centerline goodness [0,1] 0.998833806878419 Centerline is valid? [True, True] Translation: X:202.40, Y:9.38, Z:1.47 [[ 9.99131396e-01 -4.13076684e-02 -5.48907799e-03 2.02402585e+02] [ 4.13075796e-02 9.99146469e-01 -1.29605427e-04 9.37854111e+00] [ 5.48974659e-03 -9.72476745e-05 9.99984926e-01 1.46637955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.054391418 meters Centerline goodness [0,1] 0.9987507939868727 Centerline is valid? [True, True] Translation: X:202.43, Y:9.38, Z:1.47 [[ 9.99136219e-01 -4.11527822e-02 -5.76753903e-03 2.02434898e+02] [ 4.11526841e-02 9.99152860e-01 -1.35723569e-04 9.37801162e+00] [ 5.76823852e-03 -1.01743379e-04 9.99983358e-01 1.46599804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.084391418 meters Centerline goodness [0,1] 0.9986661585365854 Centerline is valid? [True, True] Translation: X:202.47, Y:9.38, Z:1.46 [[ 9.99078006e-01 -4.23899219e-02 -6.79946639e-03 2.02466897e+02] [ 4.23898196e-02 9.99101135e-01 -1.59215154e-04 9.37698623e+00] [ 6.80010370e-03 -1.29159795e-04 9.99976871e-01 1.46468634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.114391418 meters Centerline goodness [0,1] 0.9986253859493296 Centerline is valid? [True, True] Translation: X:202.50, Y:9.38, Z:1.46 [[ 9.99037515e-01 -4.32002136e-02 -7.60159263e-03 2.02499432e+02] [ 4.32001143e-02 9.99066424e-01 -1.77342858e-04 9.37656195e+00] [ 7.60215721e-03 -1.51217502e-04 9.99971092e-01 1.46398943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.144391418 meters Centerline goodness [0,1] 0.998856101849302 Centerline is valid? [True, True] Translation: X:202.53, Y:9.38, Z:1.46 [[ 9.98992673e-01 -4.41007210e-02 -8.29255892e-03 2.02531464e+02] [ 4.41006395e-02 9.99027075e-01 -1.92771665e-04 9.37602768e+00] [ 8.29299225e-03 -1.73129670e-04 9.99965598e-01 1.46357513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.174391418 meters Centerline goodness [0,1] 0.998835411946556 Centerline is valid? [True, True] Translation: X:202.56, Y:9.38, Z:1.46 [[ 9.98921744e-01 -4.54811899e-02 -9.31724860e-03 2.02563995e+02] [ 4.54811543e-02 9.98965174e-01 -2.15808990e-04 9.37532894e+00] [ 9.31742211e-03 -2.08182929e-04 9.99956570e-01 1.46296109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.204391418 meters Centerline goodness [0,1] 0.9986465338578014 Centerline is valid? [True, True] Translation: X:202.60, Y:9.38, Z:1.46 [[ 9.98786906e-01 -4.82541152e-02 -9.81105605e-03 2.02596343e+02] [ 4.82542172e-02 9.98835061e-01 -2.26464096e-04 9.37509457e+00] [ 9.81055459e-03 -2.47235456e-04 9.99951845e-01 1.46286857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.234391418 meters Centerline goodness [0,1] 0.998646791415583 Centerline is valid? [True, True] Translation: X:202.63, Y:9.37, Z:1.46 [[ 9.98714496e-01 -4.96870325e-02 -1.00276488e-02 2.02627918e+02] [ 4.96872185e-02 9.98764801e-01 -2.30727938e-04 9.37425073e+00] [ 1.00267268e-02 -2.67814640e-04 9.99949695e-01 1.46320240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.264391418 meters Centerline goodness [0,1] 0.9988595324082874 Centerline is valid? [True, True] Translation: X:202.66, Y:9.37, Z:1.46 [[ 9.98652030e-01 -5.09122475e-02 -1.01027907e-02 2.02658621e+02] [ 5.09125043e-02 9.98703091e-01 -2.31926507e-04 9.37258451e+00] [ 1.01014962e-02 -2.82744498e-04 9.99948939e-01 1.46353043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.294391418 meters Centerline goodness [0,1] 0.9986472204607906 Centerline is valid? [True, True] Translation: X:202.69, Y:9.37, Z:1.47 [[ 9.98516974e-01 -5.36078903e-02 -9.48932874e-03 2.02690875e+02] [ 5.36082427e-02 9.98562021e-01 -2.17395793e-04 9.37367486e+00] [ 9.48733741e-03 -2.91632849e-04 9.99954952e-01 1.46526904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.324391418 meters Centerline goodness [0,1] 0.9988148398975683 Centerline is valid? [True, True] Translation: X:202.72, Y:9.37, Z:1.47 [[ 9.98450087e-01 -5.49335068e-02 -8.92941683e-03 2.02723369e+02] [ 5.49338779e-02 9.98489974e-01 -2.03898166e-04 9.37496894e+00] [ 8.92713401e-03 -2.86945352e-04 9.99960111e-01 1.46610321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.354391418 meters Centerline goodness [0,1] 0.9985611206331069 Centerline is valid? [True, True] Translation: X:202.76, Y:9.38, Z:1.47 [[ 9.98366978e-01 -5.64597108e-02 -8.69936176e-03 2.02755181e+02] [ 5.64601267e-02 9.98404835e-01 -1.97958940e-04 9.37622480e+00] [ 8.69666154e-03 -2.93531398e-04 9.99962140e-01 1.46691978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.384391418 meters Centerline goodness [0,1] 0.9986693701685464 Centerline is valid? [True, True] Translation: X:202.79, Y:9.38, Z:1.47 [[ 9.98303273e-01 -5.75807489e-02 -8.66214608e-03 2.02786021e+02] [ 5.75812093e-02 9.98340806e-01 -1.96441208e-04 9.37521846e+00] [ 8.65908513e-03 -3.02668946e-04 9.99962464e-01 1.46762999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.414391418 meters Centerline goodness [0,1] 0.9986471632704828 Centerline is valid? [True, True] Translation: X:202.82, Y:9.37, Z:1.47 [[ 9.98121560e-01 -6.06072270e-02 -8.95068999e-03 2.02817282e+02] [ 6.06078451e-02 9.98161634e-01 -2.02429544e-04 9.36663731e+00] [ 8.94650404e-03 -3.40432739e-04 9.99959921e-01 1.46774187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.444391418 meters Centerline goodness [0,1] 0.998503593483255 Centerline is valid? [True, True] Translation: X:202.85, Y:9.38, Z:1.47 [[ 9.98027579e-01 -6.20942852e-02 -9.23316843e-03 2.02849519e+02] [ 6.20950120e-02 9.98070221e-01 -2.08212129e-04 9.37503334e+00] [ 9.22827924e-03 -3.65532257e-04 9.99957352e-01 1.46812021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.474391418 meters Centerline goodness [0,1] 0.9983034672887287 Centerline is valid? [True, True] Translation: X:202.88, Y:9.37, Z:1.47 [[ 9.97927096e-01 -6.35951100e-02 -9.85763754e-03 2.02881197e+02] [ 6.35960191e-02 9.97975700e-01 -2.21530002e-04 9.36569302e+00] [ 9.85177095e-03 -4.05835714e-04 9.99951388e-01 1.46737062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.504391418 meters Centerline goodness [0,1] 0.9985997369202698 Centerline is valid? [True, True] Translation: X:202.91, Y:9.38, Z:1.47 [[ 9.97729324e-01 -6.64107316e-02 -1.12165494e-02 2.02913206e+02] [ 6.64120953e-02 9.97792248e-01 -2.51263334e-04 9.37535986e+00] [ 1.12084727e-02 -4.94221754e-04 9.99937061e-01 1.46748005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.534391418 meters Centerline goodness [0,1] 0.9985798766400306 Centerline is valid? [True, True] Translation: X:202.95, Y:9.38, Z:1.47 [[ 9.97661584e-01 -6.72915340e-02 -1.19672158e-02 2.02945626e+02] [ 6.72931613e-02 9.97733210e-01 -2.67094546e-04 9.37580664e+00] [ 1.19580618e-02 -5.38841814e-04 9.99928355e-01 1.46739418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.564391418 meters Centerline goodness [0,1] 0.9989607635206786 Centerline is valid? [True, True] Translation: X:202.98, Y:9.38, Z:1.47 [[ 9.97593621e-01 -6.81640962e-02 -1.26737292e-02 2.02977545e+02] [ 6.81660048e-02 9.97673953e-01 -2.81827616e-04 9.37702855e+00] [ 1.26634600e-02 -5.82768052e-04 9.99919645e-01 1.46744940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.59439141800001 meters Centerline goodness [0,1] 0.9989163231481875 Centerline is valid? [True, True] Translation: X:203.01, Y:9.38, Z:1.47 [[ 9.97566790e-01 -6.83871648e-02 -1.35534417e-02 2.03009269e+02] [ 6.83893832e-02 9.97658660e-01 -3.00268997e-04 9.38085603e+00] [ 1.35422430e-02 -6.27373136e-04 9.99908103e-01 1.46772859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62439141800002 meters Centerline goodness [0,1] 0.9985143681820111 Centerline is valid? [True, True] Translation: X:203.04, Y:9.38, Z:1.47 [[ 9.97596695e-01 -6.77530206e-02 -1.45038630e-02 2.03040957e+02] [ 6.77555119e-02 9.97701903e-01 -3.20118793e-04 9.38254725e+00] [ 1.44922208e-02 -6.63367215e-04 9.99894762e-01 1.46705913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.65439141800002 meters Centerline goodness [0,1] 0.9989565143319562 Centerline is valid? [True, True] Translation: X:203.07, Y:9.39, Z:1.47 [[ 9.97654476e-01 -6.66717550e-02 -1.55056273e-02 2.03072952e+02] [ 6.66744921e-02 9.97774722e-01 -3.40931291e-04 9.39072509e+00] [ 1.54938534e-02 -6.93698193e-04 9.99879722e-01 1.46796918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.684391418 meters Centerline goodness [0,1] 0.9989790492396043 Centerline is valid? [True, True] Translation: X:203.10, Y:9.39, Z:1.47 [[ 9.97744007e-01 -6.51533573e-02 -1.61844471e-02 2.03104914e+02] [ 6.51561618e-02 9.97875017e-01 -3.54508880e-04 9.39449386e+00] [ 1.61731528e-02 -7.00807342e-04 9.99868960e-01 1.46747671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.714391418 meters Centerline goodness [0,1] 0.999018896898861 Centerline is valid? [True, True] Translation: X:203.14, Y:9.40, Z:1.47 [[ 9.97834764e-01 -6.33682685e-02 -1.76138049e-02 2.03137254e+02] [ 6.33713389e-02 9.97989943e-01 -3.84340750e-04 9.39831197e+00] [ 1.76027552e-02 -7.32701841e-04 9.99844791e-01 1.46695199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.744391418 meters Centerline goodness [0,1] 0.9991446777573451 Centerline is valid? [True, True] Translation: X:203.17, Y:9.40, Z:1.47 [[ 9.98017794e-01 -6.02587994e-02 -1.81482833e-02 2.03167738e+02] [ 6.02615603e-02 9.98182543e-01 -3.95195151e-04 9.40305911e+00] [ 1.81391135e-02 -6.99232074e-04 9.99835228e-01 1.46674836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.774391418 meters Centerline goodness [0,1] 0.9991237256620146 Centerline is valid? [True, True] Translation: X:203.20, Y:9.41, Z:1.47 [[ 9.98113882e-01 -5.87024313e-02 -1.79639381e-02 2.03200333e+02] [ 5.87049099e-02 9.98275304e-01 -3.89774579e-04 9.41018225e+00] [ 1.79558365e-02 -6.65531952e-04 9.99838559e-01 1.46780111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.804391418 meters Centerline goodness [0,1] 0.9993145843596719 Centerline is valid? [True, True] Translation: X:203.23, Y:9.41, Z:1.47 [[ 9.98201701e-01 -5.71117623e-02 -1.82101975e-02 2.03232706e+02] [ 5.71140764e-02 9.98367581e-01 -3.93395930e-04 9.41464950e+00] [ 1.82029384e-02 -6.47370127e-04 9.99834103e-01 1.46824921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.834391418 meters Centerline goodness [0,1] 0.9994848127079532 Centerline is valid? [True, True] Translation: X:203.26, Y:9.42, Z:1.47 [[ 9.98319007e-01 -5.49606911e-02 -1.83979106e-02 2.03264002e+02] [ 5.49627113e-02 9.98488329e-01 -3.96199309e-04 9.42114771e+00] [ 1.83918744e-02 -6.15665746e-04 9.99830666e-01 1.46891182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.864391418 meters Centerline goodness [0,1] 0.999355849955983 Centerline is valid? [True, True] Translation: X:203.30, Y:9.42, Z:1.47 [[ 9.98338130e-01 -5.44972296e-02 -1.87358216e-02 2.03295849e+02] [ 5.44992685e-02 9.98513730e-01 -4.02125299e-04 9.42409120e+00] [ 1.87298898e-02 -6.19631556e-04 9.99824388e-01 1.46869101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.894391418 meters Centerline goodness [0,1] 0.9994200781820525 Centerline is valid? [True, True] Translation: X:203.33, Y:9.43, Z:1.47 [[ 9.98369688e-01 -5.38978059e-02 -1.87880865e-02 2.03327593e+02] [ 5.38997780e-02 9.98546270e-01 -4.01770265e-04 9.42702280e+00] [ 1.87824282e-02 -6.11558437e-04 9.99823408e-01 1.46916838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.924391418 meters Centerline goodness [0,1] 0.9995061198196263 Centerline is valid? [True, True] Translation: X:203.36, Y:9.43, Z:1.47 [[ 9.98374066e-01 -5.37562163e-02 -1.89603361e-02 2.03359275e+02] [ 5.37582274e-02 9.98553899e-01 -4.03967480e-04 9.42969591e+00] [ 1.89546333e-02 -6.15963405e-04 9.99820155e-01 1.46960800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.954391418 meters Centerline goodness [0,1] 0.9995480566435674 Centerline is valid? [True, True] Translation: X:203.39, Y:9.43, Z:1.47 [[ 9.98396991e-01 -5.33194268e-02 -1.89864988e-02 2.03390032e+02] [ 5.33213882e-02 9.98577321e-01 -4.03282228e-04 9.43392848e+00] [ 1.89809899e-02 -6.09750709e-04 9.99819659e-01 1.47008387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.984391418 meters Centerline goodness [0,1] 0.9998707147320562 Centerline is valid? [True, True] Translation: X:203.42, Y:9.44, Z:1.47 [[ 9.98395294e-01 -5.33425295e-02 -1.90108175e-02 2.03422412e+02] [ 5.33445251e-02 9.98576086e-01 -4.02477301e-04 9.43628043e+00] [ 1.90052169e-02 -6.12291590e-04 9.99819197e-01 1.47082542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.014391418 meters Centerline goodness [0,1] 0.99993538938663 Centerline is valid? [True, True] Translation: X:203.45, Y:9.44, Z:1.47 [[ 9.98386640e-01 -5.35140707e-02 -1.89831667e-02 2.03454745e+02] [ 5.35161189e-02 9.98566905e-01 -4.00451131e-04 9.43843306e+00] [ 1.89773918e-02 -6.16100348e-04 9.99819723e-01 1.47118270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.044391418 meters Centerline goodness [0,1] 0.9995254939176947 Centerline is valid? [True, True] Translation: X:203.49, Y:9.44, Z:1.47 [[ 9.98388792e-01 -5.36430192e-02 -1.84999319e-02 2.03485555e+02] [ 5.36450228e-02 9.98559994e-01 -3.88295210e-04 9.44187496e+00] [ 1.84941213e-02 -6.04759686e-04 9.99828786e-01 1.47098266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.074391418 meters Centerline goodness [0,1] 0.999676710203026 Centerline is valid? [True, True] Translation: X:203.52, Y:9.44, Z:1.47 [[ 9.98387679e-01 -5.36077472e-02 -1.86614977e-02 2.03518126e+02] [ 5.36098125e-02 9.98561884e-01 -3.89935651e-04 9.44391991e+00] [ 1.86555639e-02 -6.11132445e-04 9.99825783e-01 1.47109066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.104391418 meters Centerline goodness [0,1] 0.9997623882144554 Centerline is valid? [True, True] Translation: X:203.55, Y:9.45, Z:1.47 [[ 9.98410009e-01 -5.32279869e-02 -1.85535623e-02 2.03550612e+02] [ 5.32299882e-02 9.98582204e-01 -3.86312953e-04 9.44612476e+00] [ 1.85478198e-02 -6.01907184e-04 9.99827793e-01 1.47108808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.134391418 meters Centerline goodness [0,1] 0.9997837697580384 Centerline is valid? [True, True] Translation: X:203.58, Y:9.45, Z:1.47 [[ 9.98438953e-01 -5.25894927e-02 -1.88149586e-02 2.03582238e+02] [ 5.25914646e-02 9.98616035e-01 -3.90320321e-04 9.45342184e+00] [ 1.88094461e-02 -5.99795216e-04 9.99822907e-01 1.47199035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.164391418 meters Centerline goodness [0,1] 0.9997187729849003 Centerline is valid? [True, True] Translation: X:203.61, Y:9.46, Z:1.47 [[ 9.98443566e-01 -5.24103225e-02 -1.90683817e-02 2.03613986e+02] [ 5.24123440e-02 9.98625451e-01 -3.94072337e-04 9.45799294e+00] [ 1.90628247e-02 -6.05959592e-04 9.99818104e-01 1.47290242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.194391418 meters Centerline goodness [0,1] 0.9997619614377529 Centerline is valid? [True, True] Translation: X:203.65, Y:9.46, Z:1.47 [[ 9.98473937e-01 -5.17790048e-02 -1.92023889e-02 2.03646305e+02] [ 5.17809678e-02 9.98658388e-01 -3.95300839e-04 9.46177587e+00] [ 1.91970951e-02 -5.99620698e-04 9.99815539e-01 1.47369093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.224391418 meters Centerline goodness [0,1] 0.9995230352303524 Centerline is valid? [True, True] Translation: X:203.68, Y:9.46, Z:1.47 [[ 9.98495353e-01 -5.11975711e-02 -1.96427967e-02 2.03677552e+02] [ 5.11995389e-02 9.98688362e-01 -4.03034171e-04 9.46411951e+00] [ 1.96376668e-02 -6.03274387e-04 9.99806980e-01 1.47361274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.254391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.71, Y:9.47, Z:1.47 [[ 9.98560427e-01 -4.98574524e-02 -1.97815116e-02 2.03709196e+02] [ 4.98592139e-02 9.98756174e-01 -4.04437870e-04 9.46966178e+00] [ 1.97770710e-02 -5.82434965e-04 9.99804245e-01 1.47454939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.284391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.74, Y:9.47, Z:1.48 [[ 9.98612192e-01 -4.90052259e-02 -1.92918874e-02 2.03741092e+02] [ 4.90067717e-02 9.98798369e-01 -3.92905582e-04 9.47215045e+00] [ 1.92879601e-02 -5.53072819e-04 9.99813817e-01 1.47507906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.314391418 meters Centerline goodness [0,1] 0.9999130245705589 Centerline is valid? [True, True] Translation: X:203.77, Y:9.48, Z:1.48 [[ 9.98649009e-01 -4.83692217e-02 -1.89888310e-02 2.03773164e+02] [ 4.83706332e-02 9.98829382e-01 -3.85221311e-04 9.47532180e+00] [ 1.89852352e-02 -5.33800897e-04 9.99819622e-01 1.47572080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34439141800001 meters Centerline goodness [0,1] 0.9999563528436123 Centerline is valid? [True, True] Translation: X:203.80, Y:9.48, Z:1.48 [[ 9.98700909e-01 -4.73686323e-02 -1.87804815e-02 2.03804279e+02] [ 4.73698599e-02 9.98877346e-01 -3.79732154e-04 9.47876311e+00] [ 1.87773849e-02 -5.10389929e-04 9.99823559e-01 1.47574326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.37439141800002 meters Centerline goodness [0,1] 0.9996943298181262 Centerline is valid? [True, True] Translation: X:203.84, Y:9.48, Z:1.48 [[ 9.98688185e-01 -4.74484818e-02 -1.92496781e-02 2.03836246e+02] [ 4.74498133e-02 9.98873548e-01 -3.87821893e-04 9.48097234e+00] [ 1.92463959e-02 -5.26080491e-04 9.99814633e-01 1.47611903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40439141800002 meters Centerline goodness [0,1] 0.9997385506993769 Centerline is valid? [True, True] Translation: X:203.87, Y:9.48, Z:1.48 [[ 9.98680372e-01 -4.76459153e-02 -1.91671947e-02 2.03867154e+02] [ 4.76473111e-02 9.98864148e-01 -3.84107349e-04 9.48167747e+00] [ 1.91637248e-02 -5.29664821e-04 9.99816219e-01 1.47619398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.434391418 meters Centerline goodness [0,1] 0.9995844723892837 Centerline is valid? [True, True] Translation: X:203.90, Y:9.48, Z:1.48 [[ 9.98644179e-01 -4.84719502e-02 -1.89808649e-02 2.03899561e+02] [ 4.84735017e-02 9.98824397e-01 -3.78596855e-04 9.48334680e+00] [ 1.89769023e-02 -5.41985442e-04 9.99819775e-01 1.47704837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.464391418 meters Centerline goodness [0,1] 0.9996284802657459 Centerline is valid? [True, True] Translation: X:203.93, Y:9.48, Z:1.48 [[ 9.98590502e-01 -4.97211066e-02 -1.85693584e-02 2.03931697e+02] [ 4.97228334e-02 9.98762987e-01 -3.68982348e-04 9.48311916e+00] [ 1.85647340e-02 -5.54858844e-04 9.99827507e-01 1.47732653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.494391418 meters Centerline goodness [0,1] 0.9993671024202876 Centerline is valid? [True, True] Translation: X:203.96, Y:9.48, Z:1.48 [[ 9.98530733e-01 -5.09935729e-02 -1.83311175e-02 2.03962797e+02] [ 5.09954912e-02 9.98698817e-01 -3.63079568e-04 9.48200461e+00] [ 1.83257801e-02 -5.72258235e-04 9.99831905e-01 1.47750033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.524391418 meters Centerline goodness [0,1] 0.9994755130138333 Centerline is valid? [True, True] Translation: X:203.99, Y:9.48, Z:1.48 [[ 9.98386348e-01 -5.36981598e-02 -1.84717839e-02 2.03994596e+02] [ 5.37005895e-02 9.98557016e-01 -3.64812028e-04 9.48021037e+00] [ 1.84647192e-02 -6.27722338e-04 9.99829315e-01 1.47743321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.554391418 meters Centerline goodness [0,1] 0.9993442336276995 Centerline is valid? [True, True] Translation: X:204.03, Y:9.48, Z:1.48 [[ 9.98342987e-01 -5.43979610e-02 -1.87654249e-02 2.04026055e+02] [ 5.44006122e-02 9.98519122e-01 -3.69541106e-04 9.47915717e+00] [ 1.87577379e-02 -6.51921832e-04 9.99823846e-01 1.47688974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.584391418 meters Centerline goodness [0,1] 0.9994764283688562 Centerline is valid? [True, True] Translation: X:204.06, Y:9.48, Z:1.48 [[ 9.98307313e-01 -5.49115329e-02 -1.91632851e-02 2.04057246e+02] [ 5.49144282e-02 9.98490994e-01 -3.75497677e-04 9.47877147e+00] [ 1.91549867e-02 -6.77478766e-04 9.99816297e-01 1.47640734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.614391418 meters Centerline goodness [0,1] 0.9994754556978624 Centerline is valid? [True, True] Translation: X:204.09, Y:9.48, Z:1.48 [[ 9.98322007e-01 -5.43330932e-02 -2.00270949e-02 2.04089515e+02] [ 5.43361775e-02 9.98522622e-01 -3.90515252e-04 9.48392387e+00] [ 2.00187252e-02 -6.98335814e-04 9.99799361e-01 1.47764612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.644391418 meters Centerline goodness [0,1] 0.9995625546806649 Centerline is valid? [True, True] Translation: X:204.12, Y:9.49, Z:1.48 [[ 9.98374986e-01 -5.33923976e-02 -1.99157962e-02 2.04121944e+02] [ 5.33952917e-02 9.98573379e-01 -3.86793076e-04 9.48538841e+00] [ 1.99080357e-02 -6.77245218e-04 9.99801586e-01 1.47813828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.674391418 meters Centerline goodness [0,1] 0.999715448934028 Centerline is valid? [True, True] Translation: X:204.15, Y:9.49, Z:1.48 [[ 9.98455338e-01 -5.19655087e-02 -1.96602360e-02 2.04152820e+02] [ 5.19680777e-02 9.98648674e-01 -3.80556858e-04 9.48691816e+00] [ 1.96534444e-02 -6.41735643e-04 9.99806646e-01 1.47877207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.704391418 meters Centerline goodness [0,1] 0.9994537787585484 Centerline is valid? [True, True] Translation: X:204.19, Y:9.49, Z:1.48 [[ 9.98566039e-01 -5.01259282e-02 -1.87951287e-02 2.04185582e+02] [ 5.01279790e-02 9.98742737e-01 -3.62292069e-04 9.48906094e+00] [ 1.87896585e-02 -5.80389260e-04 9.99823290e-01 1.47901503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.734391418 meters Centerline goodness [0,1] 0.9994313583973055 Centerline is valid? [True, True] Translation: X:204.22, Y:9.49, Z:1.48 [[ 9.98811546e-01 -4.52883384e-02 -1.80128343e-02 2.04217253e+02] [ 4.52894590e-02 9.98973846e-01 -3.45923678e-04 9.49479006e+00] [ 1.80100167e-02 -4.70278957e-04 9.99837696e-01 1.48051786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.764391418 meters Centerline goodness [0,1] 0.9995616918693842 Centerline is valid? [True, True] Translation: X:204.25, Y:9.50, Z:1.48 [[ 9.98974149e-01 -4.17567956e-02 -1.75219664e-02 2.04249496e+02] [ 4.17573343e-02 9.99127726e-01 -3.35279767e-04 9.49867470e+00] [ 1.75206826e-02 -3.96734787e-04 9.99846422e-01 1.48113086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.794391418 meters Centerline goodness [0,1] 0.9996257649804077 Centerline is valid? [True, True] Translation: X:204.28, Y:9.51, Z:1.48 [[ 9.99257356e-01 -3.44616740e-02 -1.72374737e-02 2.04280428e+02] [ 3.44611262e-02 9.99405985e-01 -3.28899570e-04 9.50637590e+00] [ 1.72385688e-02 -2.65367440e-04 9.99851370e-01 1.48207420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.824391418 meters Centerline goodness [0,1] 0.9996033407523304 Centerline is valid? [True, True] Translation: X:204.31, Y:9.51, Z:1.48 [[ 9.99370214e-01 -3.11397222e-02 -1.70145021e-02 2.04312617e+02] [ 3.11387251e-02 9.99515020e-01 -3.23592428e-04 9.51070771e+00] [ 1.70163270e-02 -2.06421271e-04 9.99855191e-01 1.48276106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.854391418 meters Centerline goodness [0,1] 0.9996249310535025 Centerline is valid? [True, True] Translation: X:204.34, Y:9.51, Z:1.48 [[ 9.99458481e-01 -2.78346325e-02 -1.75493131e-02 2.04343921e+02] [ 2.78330793e-02 9.99612529e-01 -3.32792003e-04 9.51437192e+00] [ 1.75517764e-02 -1.55839631e-04 9.99845944e-01 1.48299325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.884391418 meters Centerline goodness [0,1] 0.9996253691216008 Centerline is valid? [True, True] Translation: X:204.37, Y:9.52, Z:1.48 [[ 9.99538984e-01 -2.49856621e-02 -1.72492491e-02 2.04374957e+02] [ 2.49837487e-02 9.99687804e-01 -3.26442334e-04 9.51764115e+00] [ 1.72520203e-02 -1.04659066e-04 9.99851167e-01 1.48344481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.914391418 meters Centerline goodness [0,1] 0.9996019812488944 Centerline is valid? [True, True] Translation: X:204.40, Y:9.52, Z:1.48 [[ 9.99599261e-01 -2.22625517e-02 -1.74841713e-02 2.04404789e+02] [ 2.22601776e-02 9.99752157e-01 -3.30415734e-04 9.52004560e+00] [ 1.74871939e-02 -5.89174338e-05 9.99847086e-01 1.48340140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.944391418 meters Centerline goodness [0,1] 0.9996236273467942 Centerline is valid? [True, True] Translation: X:204.44, Y:9.52, Z:1.48 [[ 9.99676537e-01 -1.84953991e-02 -1.74568402e-02 2.04435689e+02] [ 1.84924604e-02 9.99828945e-01 -3.29765980e-04 9.52297028e+00] [ 1.74599533e-02 6.83938788e-06 9.99847563e-01 1.48366211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.974391418 meters Centerline goodness [0,1] 0.9996236273467942 Centerline is valid? [True, True] Translation: X:204.46, Y:9.52, Z:1.48 [[ 9.99675818e-01 -1.85342265e-02 -1.74568325e-02 2.04464834e+02] [ 1.85312865e-02 9.99828226e-01 -3.30171785e-04 9.52355976e+00] [ 1.74599534e-02 6.56718415e-06 9.99847563e-01 1.48386644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.004391418 meters Centerline goodness [0,1] 0.9995791432242059 Centerline is valid? [True, True] Translation: X:204.49, Y:9.52, Z:1.48 [[ 9.99702317e-01 -1.71221593e-02 -1.73812950e-02 2.04493511e+02] [ 1.71190162e-02 9.99853405e-01 -3.29613682e-04 9.52494770e+00] [ 1.73843907e-02 3.19648908e-05 9.99848880e-01 1.48293637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.034391418 meters Centerline goodness [0,1] 0.9997561786545495 Centerline is valid? [True, True] Translation: X:204.52, Y:9.53, Z:1.48 [[ 9.99712730e-01 -1.61318031e-02 -1.77263241e-02 2.04522134e+02] [ 1.61283185e-02 9.99869873e-01 -3.39526582e-04 9.52577221e+00] [ 1.77294946e-02 5.35332436e-05 9.99842819e-01 1.48389265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.064391418 meters Centerline goodness [0,1] 0.9996893651955889 Centerline is valid? [True, True] Translation: X:204.55, Y:9.53, Z:1.48 [[ 9.99722721e-01 -1.51933992e-02 -1.79900537e-02 2.04550032e+02] [ 1.51896037e-02 9.99884571e-01 -3.47610355e-04 9.52747422e+00] [ 1.79932585e-02 7.42521832e-05 9.99838105e-01 1.48260092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.09439141800001 meters Centerline goodness [0,1] 0.9996443258864066 Centerline is valid? [True, True] Translation: X:204.58, Y:9.53, Z:1.48 [[ 9.99715411e-01 -1.56222110e-02 -1.80289609e-02 2.04577823e+02] [ 1.56183950e-02 9.99877963e-01 -3.52454966e-04 9.52777372e+00] [ 1.80322668e-02 7.07712293e-05 9.99837403e-01 1.48380557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12439141800002 meters Centerline goodness [0,1] 0.9997109183900378 Centerline is valid? [True, True] Translation: X:204.61, Y:9.53, Z:1.48 [[ 9.99704494e-01 -1.60765210e-02 -1.82337599e-02 2.04605289e+02] [ 1.60725881e-02 9.99870762e-01 -3.62224174e-04 9.52750969e+00] [ 1.82372267e-02 6.90534217e-05 9.99833686e-01 1.48470019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.15439141800002 meters Centerline goodness [0,1] 0.9996888958023155 Centerline is valid? [True, True] Translation: X:204.63, Y:9.53, Z:1.48 [[ 9.99678406e-01 -1.79007723e-02 -1.79623891e-02 2.04633556e+02] [ 1.78971912e-02 9.99839768e-01 -3.60108303e-04 9.52504995e+00] [ 1.79659571e-02 3.85161814e-05 9.99838598e-01 1.48376867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.184391418 meters Centerline goodness [0,1] 0.9996234355964115 Centerline is valid? [True, True] Translation: X:204.66, Y:9.52, Z:1.48 [[ 9.99656632e-01 -1.94290340e-02 -1.75820957e-02 2.04662338e+02] [ 1.94257769e-02 9.99811238e-01 -3.56032103e-04 9.52362433e+00] [ 1.75856943e-02 1.43639830e-05 9.99845360e-01 1.48398332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.214391418 meters Centerline goodness [0,1] 0.9998006644518272 Centerline is valid? [True, True] Translation: X:204.69, Y:9.52, Z:1.48 [[ 9.99628459e-01 -2.08322857e-02 -1.75772477e-02 2.04692372e+02] [ 2.08292065e-02 9.99782984e-01 -3.58254456e-04 9.52183639e+00] [ 1.75808964e-02 -7.99877221e-06 9.99845444e-01 1.48460030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.244391418 meters Centerline goodness [0,1] 0.9996908400317993 Centerline is valid? [True, True] Translation: X:204.72, Y:9.52, Z:1.48 [[ 9.99592564e-01 -2.26059618e-02 -1.74263309e-02 2.04722367e+02] [ 2.26031965e-02 9.99744452e-01 -3.55656341e-04 9.51973813e+00] [ 1.74299176e-02 -3.83793483e-05 9.99848087e-01 1.48447914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.274391418 meters Centerline goodness [0,1] 0.9996917182304627 Centerline is valid? [True, True] Translation: X:204.75, Y:9.52, Z:1.48 [[ 9.99537768e-01 -2.50163143e-02 -1.72752802e-02 2.04751632e+02] [ 2.50139509e-02 9.99687040e-01 -3.52907077e-04 9.51657997e+00] [ 1.72787022e-02 -7.93790596e-05 9.99850709e-01 1.48293629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.304391418 meters Centerline goodness [0,1] 0.9996262832772759 Centerline is valid? [True, True] Translation: X:204.78, Y:9.51, Z:1.49 [[ 9.99402697e-01 -3.03242753e-02 -1.65736835e-02 2.04782694e+02] [ 3.03228337e-02 9.99540100e-01 -3.38329189e-04 9.51172984e+00] [ 1.65763208e-02 -1.64433944e-04 9.99862590e-01 1.48550201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.334391418 meters Centerline goodness [0,1] 0.9996271848066843 Centerline is valid? [True, True] Translation: X:204.81, Y:9.51, Z:1.49 [[ 9.99314497e-01 -3.31933024e-02 -1.63933312e-02 2.04813648e+02] [ 3.31923015e-02 9.99448928e-01 -3.33211405e-04 9.50845343e+00] [ 1.63953577e-02 -2.11149405e-04 9.99865565e-01 1.48569883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.364391418 meters Centerline goodness [0,1] 0.9995400788436268 Centerline is valid? [True, True] Translation: X:204.85, Y:9.50, Z:1.49 [[ 9.99208429e-01 -3.61615794e-02 -1.65787640e-02 2.04845496e+02] [ 3.61609880e-02 9.99345921e-01 -3.35542968e-04 9.50483496e+00] [ 1.65800540e-02 -2.64227125e-04 9.99862507e-01 1.48541083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.394391418 meters Centerline goodness [0,1] 0.999499379666108 Centerline is valid? [True, True] Translation: X:204.88, Y:9.50, Z:1.48 [[ 9.98940462e-01 -4.27006132e-02 -1.71642298e-02 2.04876793e+02] [ 4.27009581e-02 9.99087838e-01 -3.46563595e-04 9.49765767e+00] [ 1.71633718e-02 -3.86732661e-04 9.99852624e-01 1.48480087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.424391418 meters Centerline goodness [0,1] 0.9994990634664808 Centerline is valid? [True, True] Translation: X:204.91, Y:9.49, Z:1.48 [[ 9.98787009e-01 -4.59850062e-02 -1.76037088e-02 2.04907973e+02] [ 4.59858950e-02 9.98942026e-01 -3.54517316e-04 9.49269454e+00] [ 1.76013870e-02 -4.55435015e-04 9.99844980e-01 1.48425632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.454391418 meters Centerline goodness [0,1] 0.9995007272016845 Centerline is valid? [True, True] Translation: X:204.94, Y:9.49, Z:1.48 [[ 9.98621728e-01 -4.94723975e-02 -1.75249909e-02 2.04939835e+02] [ 4.94738331e-02 9.98775358e-01 -3.51887369e-04 9.48979076e+00] [ 1.75209378e-02 -5.15626102e-04 9.99846364e-01 1.48469999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.484391418 meters Centerline goodness [0,1] 0.9994147610274196 Centerline is valid? [True, True] Translation: X:204.97, Y:9.48, Z:1.49 [[ 9.98285402e-01 -5.60751997e-02 -1.67877551e-02 2.04971440e+02] [ 5.60774625e-02 9.98426364e-01 -3.36290970e-04 9.48327088e+00] [ 1.67801949e-02 -6.05700340e-04 9.99859019e-01 1.48610505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.514391418 meters Centerline goodness [0,1] 0.9994378986055562 Centerline is valid? [True, True] Translation: X:205.00, Y:9.48, Z:1.49 [[ 9.98117417e-01 -5.90981973e-02 -1.64019997e-02 2.05002910e+02] [ 5.91007785e-02 9.98251967e-01 -3.27724118e-04 9.47792744e+00] [ 1.63926964e-02 -6.42263801e-04 9.99865424e-01 1.48660366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.544391418 meters Centerline goodness [0,1] 0.9993316084519189 Centerline is valid? [True, True] Translation: X:205.04, Y:9.48, Z:1.49 [[ 9.97972604e-01 -6.16061394e-02 -1.59801431e-02 2.05035108e+02] [ 6.16089281e-02 9.98100315e-01 -3.18187728e-04 9.47506368e+00] [ 1.59693882e-02 -6.66976854e-04 9.99872259e-01 1.48710114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.574391418 meters Centerline goodness [0,1] 0.9993313056795876 Centerline is valid? [True, True] Translation: X:205.07, Y:9.48, Z:1.49 [[ 9.97818429e-01 -6.39830161e-02 -1.62652200e-02 2.05067305e+02] [ 6.39862416e-02 9.97950729e-01 -3.22558407e-04 9.47582620e+00] [ 1.62525264e-02 -7.18895575e-04 9.99867661e-01 1.48852377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.604391418 meters Centerline goodness [0,1] 0.9993543388429752 Centerline is valid? [True, True] Translation: X:205.10, Y:9.47, Z:1.49 [[ 9.97563688e-01 -6.77386750e-02 -1.66781465e-02 2.05097068e+02] [ 6.77426147e-02 9.97702776e-01 -3.29265915e-04 9.47037980e+00] [ 1.66621371e-02 -8.01357532e-04 9.99860856e-01 1.48820569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.634391418 meters Centerline goodness [0,1] 0.9992456246228123 Centerline is valid? [True, True] Translation: X:205.13, Y:9.47, Z:1.49 [[ 9.97461711e-01 -6.91020061e-02 -1.71769777e-02 2.05128973e+02] [ 6.91064121e-02 9.97609237e-01 -3.37633465e-04 9.46845488e+00] [ 1.71592428e-02 -8.50262849e-04 9.99852408e-01 1.48778856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.664391418 meters Centerline goodness [0,1] 0.9993112799431806 Centerline is valid? [True, True] Translation: X:205.16, Y:9.47, Z:1.49 [[ 9.97359296e-01 -7.03866346e-02 -1.78929119e-02 2.05161436e+02] [ 7.03916477e-02 9.97519370e-01 -3.50262088e-04 9.46646361e+00] [ 1.78731800e-02 -9.10174402e-04 9.99839848e-01 1.48727541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.694391418 meters Centerline goodness [0,1] 0.999376129420876 Centerline is valid? [True, True] Translation: X:205.19, Y:9.47, Z:1.49 [[ 9.97261329e-01 -7.15837043e-02 -1.85907116e-02 2.05193275e+02] [ 7.15893474e-02 9.97434125e-01 -3.62638842e-04 9.46634951e+00] [ 1.85689691e-02 -9.69251213e-04 9.99827112e-01 1.48718145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.724391418 meters Centerline goodness [0,1] 0.9990986931050022 Centerline is valid? [True, True] Translation: X:205.23, Y:9.46, Z:1.49 [[ 9.97261922e-01 -7.14023175e-02 -1.92449543e-02 2.05225653e+02] [ 7.14083635e-02 9.97447094e-01 -3.73721333e-04 9.46285088e+00] [ 1.92225084e-02 -1.00155264e-03 9.99814729e-01 1.48623392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.754391418 meters Centerline goodness [0,1] 0.9991399514072545 Centerline is valid? [True, True] Translation: X:205.26, Y:9.47, Z:1.49 [[ 9.97284585e-01 -7.09742560e-02 -1.96496968e-02 2.05257549e+02] [ 7.09805100e-02 9.97477630e-01 -3.79859936e-04 9.46500421e+00] [ 1.96270932e-02 -1.01591704e-03 9.99806854e-01 1.48669474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.784391418 meters Centerline goodness [0,1] 0.9990309660192084 Centerline is valid? [True, True] Translation: X:205.29, Y:9.47, Z:1.49 [[ 9.97360736e-01 -6.98758568e-02 -1.97212360e-02 2.05289530e+02] [ 6.98819735e-02 9.97555194e-01 -3.79660464e-04 9.46855904e+00] [ 1.96995505e-02 -9.99500453e-04 9.99805445e-01 1.48750491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.814391418 meters Centerline goodness [0,1] 0.999288731787223 Centerline is valid? [True, True] Translation: X:205.32, Y:9.47, Z:1.49 [[ 9.97615473e-01 -6.58815145e-02 -2.05668259e-02 2.05320038e+02] [ 6.58873434e-02 9.97826990e-01 -3.94815892e-04 9.47219289e+00] [ 2.05481450e-02 -9.61219077e-04 9.99788403e-01 1.48778763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84439141800001 meters Centerline goodness [0,1] 0.9991389146018557 Centerline is valid? [True, True] Translation: X:205.35, Y:9.48, Z:1.49 [[ 9.97805740e-01 -6.29496630e-02 -2.05194032e-02 2.05351990e+02] [ 6.29548684e-02 9.98016298e-01 -3.92827178e-04 9.47522752e+00] [ 2.05034271e-02 -8.99831114e-04 9.99789378e-01 1.48813141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.87439141800002 meters Centerline goodness [0,1] 0.9992462257446213 Centerline is valid? [True, True] Translation: X:205.38, Y:9.48, Z:1.49 [[ 9.98006881e-01 -5.97092841e-02 -2.04222177e-02 2.05383081e+02] [ 5.97137822e-02 9.98215464e-01 -3.90022365e-04 9.47869489e+00] [ 2.04090614e-02 -8.30242855e-04 9.99791369e-01 1.48875260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90439141800002 meters Centerline goodness [0,1] 0.999330236577725 Centerline is valid? [True, True] Translation: X:205.41, Y:9.49, Z:1.49 [[ 9.98441419e-01 -5.21180425e-02 -1.99610454e-02 2.05413101e+02] [ 5.21208310e-02 9.98640713e-01 -3.80876150e-04 9.48682164e+00] [ 1.99537632e-02 -6.60103752e-04 9.99800686e-01 1.48982425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.934391418 meters Centerline goodness [0,1] 0.9994181285289427 Centerline is valid? [True, True] Translation: X:205.44, Y:9.49, Z:1.49 [[ 9.98648764e-01 -4.81769459e-02 -1.94840266e-02 2.05443229e+02] [ 4.81788586e-02 9.98838655e-01 -3.71494418e-04 9.49129524e+00] [ 1.94792964e-02 -5.67725722e-04 9.99810099e-01 1.49031949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.964391418 meters Centerline goodness [0,1] 0.9992626648160999 Centerline is valid? [True, True] Translation: X:205.47, Y:9.50, Z:1.49 [[ 9.99000694e-01 -4.03971285e-02 -1.91229017e-02 2.05473119e+02] [ 4.03975488e-02 9.99183619e-01 -3.64474701e-04 9.50059536e+00] [ 1.91220139e-02 -4.08407874e-04 9.99817074e-01 1.49120447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.994391418 meters Centerline goodness [0,1] 0.9992179353493222 Centerline is valid? [True, True] Translation: X:205.50, Y:9.51, Z:1.49 [[ 9.99154586e-01 -3.64213810e-02 -1.90682100e-02 2.05504963e+02] [ 3.64210884e-02 9.99336466e-01 -3.62732901e-04 9.50614265e+00] [ 1.90687688e-02 -3.32058720e-04 9.99818119e-01 1.49189368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.024391418 meters Centerline goodness [0,1] 0.9993898319858789 Centerline is valid? [True, True] Translation: X:205.54, Y:9.51, Z:1.49 [[ 9.99272860e-01 -3.28617559e-02 -1.93353709e-02 2.05536461e+02] [ 3.28608316e-02 9.99459870e-01 -3.65607863e-04 9.50977462e+00] [ 1.93369418e-02 -2.70034350e-04 9.99812987e-01 1.49130902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.054391418 meters Centerline goodness [0,1] 0.999301706454851 Centerline is valid? [True, True] Translation: X:205.57, Y:9.52, Z:1.49 [[ 9.99456354e-01 -2.65018304e-02 -1.96124675e-02 2.05567880e+02] [ 2.64996846e-02 9.99648753e-01 -3.69337658e-04 9.51732315e+00] [ 1.96153668e-02 -1.50587332e-04 9.99807589e-01 1.49158416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.084391418 meters Centerline goodness [0,1] 0.9993680402710889 Centerline is valid? [True, True] Translation: X:205.60, Y:9.52, Z:1.49 [[ 9.99530626e-01 -2.36030649e-02 -1.95300729e-02 2.05598427e+02] [ 2.36003889e-02 9.99721404e-01 -3.67523218e-04 9.52096930e+00] [ 1.95333066e-02 -9.35666035e-05 9.99809202e-01 1.49224284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.114391418 meters Centerline goodness [0,1] 0.999411007613272 Centerline is valid? [True, True] Translation: X:205.63, Y:9.52, Z:1.49 [[ 9.99580298e-01 -2.10349104e-02 -1.99188473e-02 2.05628003e+02] [ 2.10316120e-02 9.99778741e-01 -3.75086322e-04 9.52387530e+00] [ 1.99223300e-02 -4.39965710e-05 9.99801530e-01 1.49176108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.144391418 meters Centerline goodness [0,1] 0.9994536713286714 Centerline is valid? [True, True] Translation: X:205.66, Y:9.53, Z:1.49 [[ 9.99628693e-01 -1.87022448e-02 -1.98167192e-02 2.05655682e+02] [ 1.86984956e-02 9.99825098e-01 -3.74484287e-04 9.52680372e+00] [ 1.98202569e-02 3.80240204e-06 9.99803559e-01 1.49163267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.174391418 meters Centerline goodness [0,1] 0.9995627746321841 Centerline is valid? [True, True] Translation: X:205.68, Y:9.53, Z:1.49 [[ 9.99698795e-01 -1.40972584e-02 -2.00894736e-02 2.05683915e+02] [ 1.40923908e-02 9.99900624e-01 -3.83850001e-04 9.53155410e+00] [ 2.00928884e-02 1.00625671e-04 9.99798112e-01 1.49286951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.204391418 meters Centerline goodness [0,1] 0.9995183255243684 Centerline is valid? [True, True] Translation: X:205.71, Y:9.53, Z:1.49 [[ 9.99730546e-01 -1.16061240e-02 -2.01030419e-02 2.05712106e+02] [ 1.16006827e-02 9.99932635e-01 -3.87269414e-04 9.53459127e+00] [ 2.01061824e-02 1.53956052e-04 9.99797838e-01 1.49239922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.234391418 meters Centerline goodness [0,1] 0.999497871411418 Centerline is valid? [True, True] Translation: X:205.74, Y:9.54, Z:1.49 [[ 9.99761144e-01 -9.05048920e-03 -1.98932845e-02 2.05739928e+02] [ 9.04461800e-03 9.99959022e-01 -3.85089115e-04 9.53796780e+00] [ 1.98959546e-02 2.05069975e-04 9.99802035e-01 1.49198723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.264391418 meters Centerline goodness [0,1] 0.9994979371766606 Centerline is valid? [True, True] Translation: X:205.77, Y:9.54, Z:1.49 [[ 9.99788834e-01 -7.01951090e-03 -1.93135513e-02 2.05768799e+02] [ 7.01352082e-03 9.99975334e-01 -3.77866571e-04 9.53836287e+00] [ 1.93157273e-02 2.42330784e-04 9.99813405e-01 1.49438227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.294391418 meters Centerline goodness [0,1] 0.9994547080506904 Centerline is valid? [True, True] Translation: X:205.80, Y:9.54, Z:1.49 [[ 9.99816032e-01 -2.90195836e-03 -1.89599693e-02 2.05796053e+02] [ 2.89538348e-03 9.99995738e-01 -3.74218879e-04 9.54105464e+00] [ 1.89609744e-02 3.19253653e-04 9.99820174e-01 1.49429017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.324391418 meters Centerline goodness [0,1] 0.99971705299815 Centerline is valid? [True, True] Translation: X:205.82, Y:9.54, Z:1.50 [[ 9.99823984e-01 -1.55398958e-03 -1.86972062e-02 2.05824913e+02] [ 1.54728502e-03 9.99998733e-01 -3.73047295e-04 9.54121221e+00] [ 1.86977622e-02 3.44051726e-04 9.99825122e-01 1.49518261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.354391418 meters Centerline goodness [0,1] 0.9995659722222222 Centerline is valid? [True, True] Translation: X:205.85, Y:9.54, Z:1.49 [[ 9.99822804e-01 -8.09079106e-04 -1.88070777e-02 2.05852992e+02] [ 8.02105783e-04 9.99999607e-01 -3.78322233e-04 9.54159537e+00] [ 1.88073764e-02 3.63169930e-04 9.99823060e-01 1.49452893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.384391418 meters Centerline goodness [0,1] 0.9996741397288843 Centerline is valid? [True, True] Translation: X:205.88, Y:9.54, Z:1.49 [[ 9.99815630e-01 -1.70451957e-03 -1.91259100e-02 2.05882223e+02] [ 1.69744059e-03 9.99998485e-01 -3.86352929e-04 9.54050999e+00] [ 1.91265396e-02 3.53816601e-04 9.99817008e-01 1.49414587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.414391418 meters Centerline goodness [0,1] 0.9998263775853463 Centerline is valid? [True, True] Translation: X:205.91, Y:9.54, Z:1.49 [[ 9.99808615e-01 -3.18345742e-03 -1.93028362e-02 2.05911117e+02] [ 3.17649365e-03 9.99994878e-01 -3.91413892e-04 9.53815044e+00] [ 1.93039834e-02 3.30023645e-04 9.99813606e-01 1.49388923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.444391418 meters Centerline goodness [0,1] 0.9996967793636699 Centerline is valid? [True, True] Translation: X:205.94, Y:9.54, Z:1.49 [[ 9.99798067e-01 -5.23258964e-03 -1.94021870e-02 2.05938650e+02] [ 5.22590618e-03 9.99986267e-01 -3.95155710e-04 9.53567805e+00] [ 1.94039882e-02 2.93681907e-04 9.99811682e-01 1.49359479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.474391418 meters Centerline goodness [0,1] 0.9993717912613999 Centerline is valid? [True, True] Translation: X:205.97, Y:9.53, Z:1.49 [[ 9.99760374e-01 -1.08430558e-02 -1.90164063e-02 2.05967658e+02] [ 1.08376199e-02 9.99941196e-01 -3.88890693e-04 9.52740272e+00] [ 1.90195048e-02 1.82704921e-04 9.99819096e-01 1.49444002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.504391418 meters Centerline goodness [0,1] 0.9994803057534484 Centerline is valid? [True, True] Translation: X:206.00, Y:9.52, Z:1.49 [[ 9.99726324e-01 -1.39561422e-02 -1.87750866e-02 2.05995714e+02] [ 1.39513608e-02 9.99902601e-01 -3.85631019e-04 9.52379343e+00] [ 1.87786398e-02 1.23587475e-04 9.99823658e-01 1.49445090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.534391418 meters Centerline goodness [0,1] 0.9992648171773304 Centerline is valid? [True, True] Translation: X:206.02, Y:9.52, Z:1.49 [[ 9.99682872e-01 -1.72989120e-02 -1.83003356e-02 2.06024836e+02] [ 1.72948617e-02 9.99850361e-01 -3.79572751e-04 9.51980149e+00] [ 1.83041633e-02 6.29506048e-05 9.99832463e-01 1.49487568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.564391418 meters Centerline goodness [0,1] 0.9992230662983426 Centerline is valid? [True, True] Translation: X:206.05, Y:9.52, Z:1.50 [[ 9.99627499e-01 -2.05691303e-02 -1.79380818e-02 2.06053075e+02] [ 2.05656708e-02 9.99788433e-01 -3.77322615e-04 9.51582323e+00] [ 1.79420479e-02 8.27337593e-06 9.99839028e-01 1.49543987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.59439141800001 meters Centerline goodness [0,1] 0.9990537634408602 Centerline is valid? [True, True] Translation: X:206.08, Y:9.51, Z:1.50 [[ 9.99493002e-01 -2.66171653e-02 -1.74718350e-02 2.06082252e+02] [ 2.66147593e-02 9.99645696e-01 -3.70257024e-04 9.50688160e+00] [ 1.74754999e-02 -9.49393780e-05 9.99847287e-01 1.49512200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62439141800002 meters Centerline goodness [0,1] 0.9990982093013269 Centerline is valid? [True, True] Translation: X:206.11, Y:9.50, Z:1.50 [[ 9.99421162e-01 -2.95016755e-02 -1.69408423e-02 2.06112475e+02] [ 2.94998212e-02 9.99564721e-01 -3.59398667e-04 9.50287885e+00] [ 1.69440711e-02 -1.40561184e-04 9.99856429e-01 1.49560889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.65439141800002 meters Centerline goodness [0,1] 0.9992503105856145 Centerline is valid? [True, True] Translation: X:206.14, Y:9.50, Z:1.50 [[ 9.99351589e-01 -3.20077545e-02 -1.64895643e-02 2.06144092e+02] [ 3.20063448e-02 9.99487605e-01 -3.49454963e-04 9.49863398e+00] [ 1.64923004e-02 -1.78542309e-04 9.99863977e-01 1.49552297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.684391418 meters Centerline goodness [0,1] 0.9990612532269421 Centerline is valid? [True, True] Translation: X:206.18, Y:9.49, Z:1.50 [[ 9.99228058e-01 -3.58968323e-02 -1.59595254e-02 2.06175719e+02] [ 3.58960175e-02 9.99355473e-01 -3.37601095e-04 9.49103399e+00] [ 1.59613579e-02 -2.35542917e-04 9.99872582e-01 1.49566300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.714391418 meters Centerline goodness [0,1] 0.9989548673321389 Centerline is valid? [True, True] Translation: X:206.21, Y:9.49, Z:1.49 [[ 9.99174889e-01 -3.74197929e-02 -1.57892609e-02 2.06206699e+02] [ 3.74191981e-02 9.99299601e-01 -3.33200239e-04 9.48607820e+00] [ 1.57906704e-02 -2.57896170e-04 9.99875286e-01 1.49465298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.744391418 meters Centerline goodness [0,1] 0.998851308232291 Centerline is valid? [True, True] Translation: X:206.24, Y:9.49, Z:1.50 [[ 9.99125422e-01 -3.86609682e-02 -1.59285916e-02 2.06238717e+02] [ 3.86605386e-02 9.99252346e-01 -3.35004468e-04 9.48571742e+00] [ 1.59296341e-02 -2.81096450e-04 9.99873076e-01 1.49563968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.774391418 meters Centerline goodness [0,1] 0.9989156780201557 Centerline is valid? [True, True] Translation: X:206.27, Y:9.48, Z:1.50 [[ 9.99095682e-01 -3.94851154e-02 -1.57715996e-02 2.06270240e+02] [ 3.94848139e-02 9.99220116e-01 -3.30623770e-04 9.48310861e+00] [ 1.57723543e-02 -2.92413897e-04 9.99875566e-01 1.49563122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.804391418 meters Centerline goodness [0,1] 0.998895121536631 Centerline is valid? [True, True] Translation: X:206.30, Y:9.48, Z:1.50 [[ 9.99049161e-01 -4.04294424e-02 -1.63166831e-02 2.06301200e+02] [ 4.04292617e-02 9.99182345e-01 -3.41067409e-04 9.47836641e+00] [ 1.63171309e-02 -3.18928344e-04 9.99866816e-01 1.49539490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.834391418 meters Centerline goodness [0,1] 0.998895121536631 Centerline is valid? [True, True] Translation: X:206.33, Y:9.48, Z:1.50 [[ 9.99052333e-01 -4.03509615e-02 -1.63167070e-02 2.06332896e+02] [ 4.03507890e-02 9.99185517e-01 -3.39921934e-04 9.47894958e+00] [ 1.63171335e-02 -3.18792202e-04 9.99866816e-01 1.49561698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.864391418 meters Centerline goodness [0,1] 0.9988564409902374 Centerline is valid? [True, True] Translation: X:206.37, Y:9.48, Z:1.50 [[ 9.99046787e-01 -4.03688016e-02 -1.66095449e-02 2.06365091e+02] [ 4.03686473e-02 9.99184794e-01 -3.44704872e-04 9.47749115e+00] [ 1.66099200e-02 -3.26128562e-04 9.99861993e-01 1.49547701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.894391418 meters Centerline goodness [0,1] 0.999047256097561 Centerline is valid? [True, True] Translation: X:206.40, Y:9.48, Z:1.50 [[ 9.99061022e-01 -3.97752951e-02 -1.71755726e-02 2.06397670e+02] [ 3.97750663e-02 9.99208596e-01 -3.55064831e-04 9.47670445e+00] [ 1.71761026e-02 -3.28428105e-04 9.99852426e-01 1.49541019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.924391418 meters Centerline goodness [0,1] 0.9989396445688595 Centerline is valid? [True, True] Translation: X:206.43, Y:9.47, Z:1.49 [[ 9.99130461e-01 -3.78335576e-02 -1.75197903e-02 2.06427682e+02] [ 3.78330348e-02 9.99284009e-01 -3.61399038e-04 9.47428267e+00] [ 1.75209193e-02 -3.01742050e-04 9.99846451e-01 1.49492184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.954391418 meters Centerline goodness [0,1] 0.9988381181739443 Centerline is valid? [True, True] Translation: X:206.46, Y:9.47, Z:1.49 [[ 9.99174107e-01 -3.63752686e-02 -1.81092377e-02 2.06458182e+02] [ 3.63744771e-02 9.99338160e-01 -3.73197850e-04 9.47353688e+00] [ 1.81108275e-02 -2.85824425e-04 9.99835945e-01 1.49443469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.984391418 meters Centerline goodness [0,1] 0.9988576022340223 Centerline is valid? [True, True] Translation: X:206.49, Y:9.47, Z:1.50 [[ 9.99236976e-01 -3.46714078e-02 -1.79821789e-02 2.06489757e+02] [ 3.46703619e-02 9.99398734e-01 -3.70005799e-04 9.47475391e+00] [ 1.79841954e-02 -2.53725173e-04 9.99838239e-01 1.49560561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.014391418 meters Centerline goodness [0,1] 0.9989817780700452 Centerline is valid? [True, True] Translation: X:206.52, Y:9.47, Z:1.50 [[ 9.99350866e-01 -3.11283671e-02 -1.81348307e-02 2.06520456e+02] [ 3.11267251e-02 9.99515377e-01 -3.72864951e-04 9.47449088e+00] [ 1.81376488e-02 -1.91854979e-04 9.99835481e-01 1.49594342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.044391418 meters Centerline goodness [0,1] 0.999110565214629 Centerline is valid? [True, True] Translation: X:206.55, Y:9.47, Z:1.50 [[ 9.99414717e-01 -2.91368208e-02 -1.79239951e-02 2.06550290e+02] [ 2.91348927e-02 9.99575421e-01 -3.68745505e-04 9.47402361e+00] [ 1.79271290e-02 -1.53683990e-04 9.99839284e-01 1.49554362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.074391418 meters Centerline goodness [0,1] 0.9990264756301453 Centerline is valid? [True, True] Translation: X:206.58, Y:9.47, Z:1.50 [[ 9.99466156e-01 -2.71279852e-02 -1.82064588e-02 2.06580637e+02] [ 2.71256600e-02 9.99631961e-01 -3.74697052e-04 9.47469871e+00] [ 1.82099229e-02 -1.19365190e-04 9.99834178e-01 1.49628788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.104391418 meters Centerline goodness [0,1] 0.9992160518677035 Centerline is valid? [True, True] Translation: X:206.61, Y:9.47, Z:1.50 [[ 9.99553585e-01 -2.36954394e-02 -1.81977321e-02 2.06609017e+02] [ 2.36925358e-02 9.99719222e-01 -3.75166784e-04 9.47434431e+00] [ 1.82015123e-02 -5.61511152e-05 9.99834337e-01 1.49680853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.134391418 meters Centerline goodness [0,1] 0.9990492890795005 Centerline is valid? [True, True] Translation: X:206.64, Y:9.47, Z:1.50 [[ 9.99585993e-01 -2.24946640e-02 -1.79397184e-02 2.06636521e+02] [ 2.24916229e-02 9.99746963e-01 -3.71288672e-04 9.47427305e+00] [ 1.79435310e-02 -3.23584254e-05 9.99839001e-01 1.49664742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.164391418 meters Centerline goodness [0,1] 0.99913587792695 Centerline is valid? [True, True] Translation: X:206.66, Y:9.47, Z:1.50 [[ 9.99615855e-01 -2.12486359e-02 -1.77943454e-02 2.06664469e+02] [ 2.12454171e-02 9.99774222e-01 -3.69931936e-04 9.47413605e+00] [ 1.77981884e-02 -8.25846158e-06 9.99841600e-01 1.49677765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.194391418 meters Centerline goodness [0,1] 0.9991765550441282 Centerline is valid? [True, True] Translation: X:206.69, Y:9.47, Z:1.50 [[ 9.99616463e-01 -2.08858986e-02 -1.81853205e-02 2.06692395e+02] [ 2.08824031e-02 9.99781866e-01 -3.82104612e-04 9.47087151e+00] [ 1.81893342e-02 2.20486739e-06 9.99834560e-01 1.49763696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.224391418 meters Centerline goodness [0,1] 0.9990704749028224 Centerline is valid? [True, True] Translation: X:206.72, Y:9.47, Z:1.50 [[ 9.99602668e-01 -2.15457558e-02 -1.81737652e-02 2.06720018e+02] [ 2.15422705e-02 9.99767863e-01 -3.87542156e-04 9.46870809e+00] [ 1.81778963e-02 -4.11599398e-06 9.99834768e-01 1.49869152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.254391418 meters Centerline goodness [0,1] 0.9992186015078879 Centerline is valid? [True, True] Translation: X:206.75, Y:9.47, Z:1.50 [[ 9.99581489e-01 -2.24683200e-02 -1.82214742e-02 2.06748356e+02] [ 2.24649087e-02 9.99747555e-01 -3.91901945e-04 9.46595309e+00] [ 1.82256796e-02 -1.76058251e-05 9.99833898e-01 1.49751263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.284391418 meters Centerline goodness [0,1] 0.9991360600122215 Centerline is valid? [True, True] Translation: X:206.78, Y:9.46, Z:1.50 [[ 9.99532291e-01 -2.47641935e-02 -1.79425094e-02 2.06776425e+02] [ 2.47612151e-02 9.99693319e-01 -3.88164051e-04 9.45953448e+00] [ 1.79466194e-02 -5.62958331e-05 9.99838945e-01 1.49788302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.314391418 meters Centerline goodness [0,1] 0.9991174987392839 Centerline is valid? [True, True] Translation: X:206.81, Y:9.46, Z:1.50 [[ 9.99504736e-01 -2.61469641e-02 -1.75105458e-02 2.06805307e+02] [ 2.61442728e-02 9.99658107e-01 -3.82634464e-04 9.45718756e+00] [ 1.75145638e-02 -7.53555284e-05 9.99846605e-01 1.49907031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34439141800001 meters Centerline goodness [0,1] 0.9991782553729457 Centerline is valid? [True, True] Translation: X:206.83, Y:9.46, Z:1.50 [[ 9.99472169e-01 -2.75399191e-02 -1.72318174e-02 2.06833757e+02] [ 2.75374372e-02 9.99620700e-01 -3.81337589e-04 9.45531872e+00] [ 1.72357833e-02 -9.33837804e-05 9.99851448e-01 1.50068801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.37439141800002 meters Centerline goodness [0,1] 0.9989084344430916 Centerline is valid? [True, True] Translation: X:206.86, Y:9.45, Z:1.50 [[ 9.99449881e-01 -2.84725707e-02 -1.70072669e-02 2.06862142e+02] [ 2.84702438e-02 9.99594569e-01 -3.78966095e-04 9.45169821e+00] [ 1.70111618e-02 -1.05443418e-04 9.99855294e-01 1.49901108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40439141800002 meters Centerline goodness [0,1] 0.9990761542822348 Centerline is valid? [True, True] Translation: X:206.89, Y:9.45, Z:1.50 [[ 9.99402921e-01 -3.05100608e-02 -1.62153306e-02 2.06892084e+02] [ 3.05082012e-02 9.99534451e-01 -3.62094632e-04 9.44716735e+00] [ 1.62188291e-02 -1.32822135e-04 9.99868457e-01 1.50119693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.434391418 meters Centerline goodness [0,1] 0.9990587940013804 Centerline is valid? [True, True] Translation: X:206.92, Y:9.44, Z:1.50 [[ 9.99378644e-01 -3.14949326e-02 -1.58238998e-02 2.06922636e+02] [ 3.14932808e-02 9.99503901e-01 -3.53626686e-04 9.44463922e+00] [ 1.58271871e-02 -1.44939563e-04 9.99874732e-01 1.50151117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.464391418 meters Centerline goodness [0,1] 0.9990766777185546 Centerline is valid? [True, True] Translation: X:206.95, Y:9.44, Z:1.50 [[ 9.99352056e-01 -3.25132929e-02 -1.54387432e-02 2.06953554e+02] [ 3.25118420e-02 9.99471291e-01 -3.45019348e-04 9.44208953e+00] [ 1.54417983e-02 -1.57146186e-04 9.99880756e-01 1.50185647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.494391418 meters Centerline goodness [0,1] 0.9991409474720808 Centerline is valid? [True, True] Translation: X:206.98, Y:9.44, Z:1.50 [[ 9.99335641e-01 -3.31990717e-02 -1.50365814e-02 2.06983870e+02] [ 3.31977731e-02 9.99448746e-01 -3.36031985e-04 9.43999658e+00] [ 1.50394484e-02 -1.63372279e-04 9.99886888e-01 1.50230923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.524391418 meters Centerline goodness [0,1] 0.9993089439406948 Centerline is valid? [True, True] Translation: X:207.01, Y:9.44, Z:1.50 [[ 9.99296209e-01 -3.46189339e-02 -1.44435485e-02 2.07014449e+02] [ 3.46178860e-02 9.99400569e-01 -3.22633350e-04 9.43537090e+00] [ 1.44460598e-02 -1.77598831e-04 9.99895634e-01 1.50218909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.554391418 meters Centerline goodness [0,1] 0.9992228033692524 Centerline is valid? [True, True] Translation: X:207.04, Y:9.43, Z:1.50 [[ 9.99282391e-01 -3.52308054e-02 -1.39101946e-02 2.07044357e+02] [ 3.52298928e-02 9.99379186e-01 -3.10720775e-04 9.43330962e+00] [ 1.39125059e-02 -1.79556867e-04 9.99903200e-01 1.50229436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.584391418 meters Centerline goodness [0,1] 0.9992443324937028 Centerline is valid? [True, True] Translation: X:207.08, Y:9.43, Z:1.50 [[ 9.99270669e-01 -3.56422999e-02 -1.37024020e-02 2.07076208e+02] [ 3.56414548e-02 9.99364595e-01 -3.05943909e-04 9.43248575e+00] [ 1.37045999e-02 -1.82652765e-04 9.99906071e-01 1.50289705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.614391418 meters Centerline goodness [0,1] 0.999225065974113 Centerline is valid? [True, True] Translation: X:207.11, Y:9.43, Z:1.50 [[ 9.99256845e-01 -3.61063621e-02 -1.34940207e-02 2.07106195e+02] [ 3.61055903e-02 9.99347935e-01 -3.00884935e-04 9.42866754e+00] [ 1.34960856e-02 -1.86548253e-04 9.99908906e-01 1.50235909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.644391418 meters Centerline goodness [0,1] 0.9990989480742635 Centerline is valid? [True, True] Translation: X:207.14, Y:9.43, Z:1.50 [[ 9.99246379e-01 -3.63440662e-02 -1.36302068e-02 2.07138007e+02] [ 3.63433064e-02 9.99339318e-01 -3.03512724e-04 9.42799260e+00] [ 1.36322325e-02 -1.92082793e-04 9.99907058e-01 1.50284586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.674391418 meters Centerline goodness [0,1] 0.9993718592964824 Centerline is valid? [True, True] Translation: X:207.17, Y:9.43, Z:1.50 [[ 9.99251581e-01 -3.61533742e-02 -1.37554454e-02 2.07168782e+02] [ 3.61525922e-02 9.99346235e-01 -3.05586756e-04 9.42683542e+00] [ 1.37575005e-02 -1.91936959e-04 9.99905343e-01 1.50257256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.704391418 meters Centerline goodness [0,1] 0.9992871967965785 Centerline is valid? [True, True] Translation: X:207.20, Y:9.43, Z:1.50 [[ 9.99246950e-01 -3.60338793e-02 -1.43907191e-02 2.07199479e+02] [ 3.60330177e-02 9.99350549e-01 -3.19233982e-04 9.42634048e+00] [ 1.43928763e-02 -1.99547454e-04 9.99896397e-01 1.50208370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.734391418 meters Centerline goodness [0,1] 0.999203955086308 Centerline is valid? [True, True] Translation: X:207.23, Y:9.42, Z:1.50 [[ 9.99228980e-01 -3.59465350e-02 -1.57890166e-02 2.07229303e+02] [ 3.59454842e-02 9.99353691e-01 -3.50426929e-04 9.42366489e+00] [ 1.57914087e-02 -2.17387104e-04 9.99875284e-01 1.50000017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.764391418 meters Centerline goodness [0,1] 0.9994555315896384 Centerline is valid? [True, True] Translation: X:207.26, Y:9.42, Z:1.50 [[ 9.99234575e-01 -3.59217535e-02 -1.54884192e-02 2.07259686e+02] [ 3.59207373e-02 9.99354583e-01 -3.43891610e-04 9.42397588e+00] [ 1.54907759e-02 -2.12727050e-04 9.99879988e-01 1.50043380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.794391418 meters Centerline goodness [0,1] 0.9992464993616175 Centerline is valid? [True, True] Translation: X:207.29, Y:9.42, Z:1.50 [[ 9.99226751e-01 -3.61658433e-02 -1.54250285e-02 2.07289186e+02] [ 3.61648618e-02 9.99345779e-01 -3.42652079e-04 9.42239267e+00] [ 1.54273294e-02 -2.15456900e-04 9.99880968e-01 1.49999446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.824391418 meters Centerline goodness [0,1] 0.9993102583396037 Centerline is valid? [True, True] Translation: X:207.32, Y:9.42, Z:1.50 [[ 9.99214454e-01 -3.69177137e-02 -1.44068425e-02 2.07320010e+02] [ 3.69169312e-02 9.99318286e-01 -3.20348788e-04 9.42025219e+00] [ 1.44088477e-02 -2.11759273e-04 9.99896165e-01 1.50025124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.854391418 meters Centerline goodness [0,1] 0.9993920207970817 Centerline is valid? [True, True] Translation: X:207.35, Y:9.42, Z:1.50 [[ 9.99205471e-01 -3.72620373e-02 -1.41409757e-02 2.07349337e+02] [ 3.72613158e-02 9.99305507e-01 -3.14577581e-04 9.41900387e+00] [ 1.41428767e-02 -2.12583722e-04 9.99899962e-01 1.49982966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.884391418 meters Centerline goodness [0,1] 0.9990986836589252 Centerline is valid? [True, True] Translation: X:207.38, Y:9.42, Z:1.50 [[ 9.99178787e-01 -3.79323621e-02 -1.42438605e-02 2.07378565e+02] [ 3.79316965e-02 9.99280284e-01 -3.16986719e-04 9.41836041e+00] [ 1.42456330e-02 -2.23567387e-04 9.99898501e-01 1.49997241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.914391418 meters Centerline goodness [0,1] 0.9993310477464671 Centerline is valid? [True, True] Translation: X:207.41, Y:9.42, Z:1.50 [[ 9.99130922e-01 -3.91601578e-02 -1.42787654e-02 2.07408216e+02] [ 3.91596100e-02 9.99232918e-01 -3.18059308e-04 9.41638103e+00] [ 1.42802677e-02 -2.41367995e-04 9.99898003e-01 1.49932904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.944391418 meters Centerline goodness [0,1] 0.999165066377223 Centerline is valid? [True, True] Translation: X:207.44, Y:9.42, Z:1.50 [[ 9.99100316e-01 -4.00194632e-02 -1.40357173e-02 2.07438403e+02] [ 4.00190167e-02 9.99198869e-01 -3.12787087e-04 9.41567868e+00] [ 1.40369904e-02 -2.49189927e-04 9.99901446e-01 1.49965361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.974391418 meters Centerline goodness [0,1] 0.9989949959171709 Centerline is valid? [True, True] Translation: X:207.47, Y:9.42, Z:1.50 [[ 9.99075414e-01 -4.06411694e-02 -1.40218820e-02 2.07468498e+02] [ 4.06407850e-02 9.99173773e-01 -3.12478766e-04 9.41653481e+00] [ 1.40229962e-02 -2.57670438e-04 9.99901640e-01 1.50110977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.004391418 meters Centerline goodness [0,1] 0.9991845780714226 Centerline is valid? [True, True] Translation: X:207.50, Y:9.42, Z:1.50 [[ 9.99024548e-01 -4.22676737e-02 -1.27826442e-02 2.07498410e+02] [ 4.22674888e-02 9.99106290e-01 -2.84737287e-04 9.41716606e+00] [ 1.27832554e-02 -2.55830730e-04 9.99918258e-01 1.50182669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.034391418 meters Centerline goodness [0,1] 0.9991842710729972 Centerline is valid? [True, True] Translation: X:207.53, Y:9.42, Z:1.50 [[ 9.98963323e-01 -4.39208070e-02 -1.19684079e-02 2.07530176e+02] [ 4.39207676e-02 9.99034982e-01 -2.66258870e-04 9.41579322e+00] [ 1.19685524e-02 -2.59678815e-04 9.99928341e-01 1.50257520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.064391418 meters Centerline goodness [0,1] 0.9992870921747882 Centerline is valid? [True, True] Translation: X:207.56, Y:9.41, Z:1.50 [[ 9.98794234e-01 -4.79120663e-02 -1.07009919e-02 2.07560988e+02] [ 4.79122672e-02 9.98851520e-01 -2.37737879e-04 9.41111704e+00] [ 1.07000925e-02 -2.75257561e-04 9.99942714e-01 1.50348967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.09439141800001 meters Centerline goodness [0,1] 0.9992859543010753 Centerline is valid? [True, True] Translation: X:207.59, Y:9.41, Z:1.50 [[ 9.98685948e-01 -5.01921316e-02 -1.03502289e-02 2.07593146e+02] [ 5.01924461e-02 9.98739538e-01 -2.29539889e-04 9.41019590e+00] [ 1.03487040e-02 -2.90265046e-04 9.99946409e-01 1.50403575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12439141800002 meters Centerline goodness [0,1] 0.9992028529473463 Centerline is valid? [True, True] Translation: X:207.62, Y:9.41, Z:1.50 [[ 9.98584168e-01 -5.21977420e-02 -1.02496457e-02 2.07623832e+02] [ 5.21981630e-02 9.98636721e-01 -2.26617720e-04 9.40718343e+00] [ 1.02475015e-02 -3.08715810e-04 9.99947445e-01 1.50380426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.15439141800002 meters Centerline goodness [0,1] 0.9992666778410996 Centerline is valid? [True, True] Translation: X:207.66, Y:9.40, Z:1.50 [[ 9.98395092e-01 -5.55445668e-02 -1.10472231e-02 2.07655065e+02] [ 5.55452656e-02 9.98456140e-01 -2.43788715e-04 9.40415213e+00] [ 1.10437088e-02 -3.70223482e-04 9.99938948e-01 1.50268872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.184391418 meters Centerline goodness [0,1] 0.9992068296144775 Centerline is valid? [True, True] Translation: X:207.69, Y:9.40, Z:1.50 [[ 9.98327245e-01 -5.66739214e-02 -1.14358560e-02 2.07687370e+02] [ 5.66747515e-02 9.98392663e-01 -2.51729857e-04 9.40349074e+00] [ 1.14317412e-02 -3.96815523e-04 9.99934577e-01 1.50218600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.214391418 meters Centerline goodness [0,1] 0.9993073338650771 Centerline is valid? [True, True] Translation: X:207.72, Y:9.41, Z:1.50 [[ 9.98286436e-01 -5.73129542e-02 -1.18075271e-02 2.07719084e+02] [ 5.73138953e-02 9.98356174e-01 -2.58943563e-04 9.40627383e+00] [ 1.18029584e-02 -4.18235524e-04 9.99930255e-01 1.50240106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.244391418 meters Centerline goodness [0,1] 0.9991609506429215 Centerline is valid? [True, True] Translation: X:207.75, Y:9.41, Z:1.50 [[ 9.98275283e-01 -5.74908552e-02 -1.18853387e-02 2.07750025e+02] [ 5.74918318e-02 9.98345943e-01 -2.59765596e-04 9.40564732e+00] [ 1.18806139e-02 -4.23992322e-04 9.99929333e-01 1.50238838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.274391418 meters Centerline goodness [0,1] 0.9992459153749477 Centerline is valid? [True, True] Translation: X:207.78, Y:9.41, Z:1.50 [[ 9.98290516e-01 -5.72778017e-02 -1.16317980e-02 2.07781708e+02] [ 5.72787320e-02 9.98358194e-01 -2.53423468e-04 9.40752117e+00] [ 1.16272164e-02 -4.13264398e-04 9.99932316e-01 1.50298136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.304391418 meters Centerline goodness [0,1] 0.9992874208827598 Centerline is valid? [True, True] Translation: X:207.81, Y:9.41, Z:1.50 [[ 9.98308301e-01 -5.69849419e-02 -1.15435229e-02 2.07813840e+02] [ 5.69858493e-02 9.98374955e-01 -2.50563925e-04 9.40854992e+00] [ 1.15390425e-02 -4.07677409e-04 9.99933340e-01 1.50340687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.334391418 meters Centerline goodness [0,1] 0.9992443800768214 Centerline is valid? [True, True] Translation: X:207.84, Y:9.41, Z:1.50 [[ 9.98366725e-01 -5.61792484e-02 -1.03814903e-02 2.07844899e+02] [ 5.61799462e-02 9.98420634e-01 -2.24625285e-04 9.41053723e+00] [ 1.03777134e-02 -3.58973153e-04 9.99946086e-01 1.50457572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.364391418 meters Centerline goodness [0,1] 0.9992461364493027 Centerline is valid? [True, True] Translation: X:207.88, Y:9.41, Z:1.51 [[ 9.98414753e-01 -5.53210929e-02 -1.03710326e-02 2.07877311e+02] [ 5.53217503e-02 9.98468554e-01 -2.23698073e-04 9.41468652e+00] [ 1.03675251e-02 -3.50400218e-04 9.99946194e-01 1.50519516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.394391418 meters Centerline goodness [0,1] 0.9992455044640985 Centerline is valid? [True, True] Translation: X:207.91, Y:9.42, Z:1.50 [[ 9.98477658e-01 -5.41137466e-02 -1.06803227e-02 2.07909023e+02] [ 5.41143844e-02 9.98534717e-01 -2.29466104e-04 9.41818849e+00] [ 1.06770902e-02 -3.48842309e-04 9.99942937e-01 1.50486572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.424391418 meters Centerline goodness [0,1] 0.9992487322356477 Centerline is valid? [True, True] Translation: X:207.94, Y:9.42, Z:1.50 [[ 9.98468164e-01 -5.43111955e-02 -1.05650547e-02 2.07939814e+02] [ 5.43118391e-02 9.98523997e-01 -2.26188418e-04 9.41704963e+00] [ 1.05617452e-02 -3.47965617e-04 9.99944163e-01 1.50374601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.454391418 meters Centerline goodness [0,1] 0.9992881519167557 Centerline is valid? [True, True] Translation: X:207.97, Y:9.42, Z:1.50 [[ 9.98469087e-01 -5.43274962e-02 -1.03925288e-02 2.07971947e+02] [ 5.43281273e-02 9.98523112e-01 -2.21785525e-04 9.42083113e+00] [ 1.03892292e-02 -3.43160635e-04 9.99945972e-01 1.50399768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.484391418 meters Centerline goodness [0,1] 0.9990806711100896 Centerline is valid? [True, True] Translation: X:208.00, Y:9.42, Z:1.50 [[ 9.98406257e-01 -5.54853326e-02 -1.03113163e-02 2.08003520e+02] [ 5.54860235e-02 9.98459440e-01 -2.19272523e-04 9.41758190e+00] [ 1.03075975e-02 -3.53210882e-04 9.99946813e-01 1.50340083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.514391418 meters Centerline goodness [0,1] 0.9989108579088471 Centerline is valid? [True, True] Translation: X:208.04, Y:9.42, Z:1.50 [[ 9.98317887e-01 -5.70542187e-02 -1.03059968e-02 2.08035366e+02] [ 5.70549997e-02 9.98371013e-01 -2.18458262e-04 9.42255730e+00] [ 1.03016724e-02 -3.69917853e-04 9.99946868e-01 1.50421241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.544391418 meters Centerline goodness [0,1] 0.9990565246561557 Centerline is valid? [True, True] Translation: X:208.07, Y:9.42, Z:1.50 [[ 9.98249609e-01 -5.81739895e-02 -1.06538662e-02 2.08067828e+02] [ 5.81748972e-02 9.98306381e-01 -2.24942885e-04 9.42423503e+00] [ 1.06489084e-02 -3.95238423e-04 9.99943221e-01 1.50431928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.574391418 meters Centerline goodness [0,1] 0.998872933711805 Centerline is valid? [True, True] Translation: X:208.10, Y:9.42, Z:1.50 [[ 9.98218711e-01 -5.86830151e-02 -1.07567967e-02 2.08099220e+02] [ 5.86839787e-02 9.98276585e-01 -2.26309061e-04 9.42495692e+00] [ 1.07515387e-02 -4.05345687e-04 9.99942118e-01 1.50432445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.604391418 meters Centerline goodness [0,1] 0.998324958123953 Centerline is valid? [True, True] Translation: X:208.13, Y:9.43, Z:1.51 [[ 9.98192889e-01 -5.91192561e-02 -1.07642745e-02 2.08131251e+02] [ 5.91202542e-02 9.98250843e-01 -2.25730149e-04 9.42732562e+00] [ 1.07587911e-02 -4.11064416e-04 9.99942038e-01 1.50504457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.634391418 meters Centerline goodness [0,1] 0.9976723704076498 Centerline is valid? [True, True] Translation: X:208.16, Y:9.43, Z:1.51 [[ 9.98190901e-01 -5.91251923e-02 -1.09149518e-02 2.08162471e+02] [ 5.91262280e-02 9.98250488e-01 -2.28066132e-04 9.42741906e+00] [ 1.09093404e-02 -4.17706391e-04 9.99940404e-01 1.50500831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.664391418 meters Centerline goodness [0,1] 0.9976723704076498 Centerline is valid? [True, True] Translation: X:208.19, Y:9.43, Z:1.51 [[ 9.98195531e-01 -5.90469831e-02 -1.09149671e-02 2.08194176e+02] [ 5.90480221e-02 9.98255117e-01 -2.27330400e-04 9.42799963e+00] [ 1.09093450e-02 -4.17587032e-04 9.99940404e-01 1.50523048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.694391418 meters Centerline goodness [0,1] 0.9979653906659675 Centerline is valid? [True, True] Translation: X:208.23, Y:9.43, Z:1.51 [[ 9.98222569e-01 -5.85061800e-02 -1.13459277e-02 2.08225872e+02] [ 5.85072783e-02 9.98286954e-01 -2.35384541e-04 9.43235852e+00] [ 1.13402630e-02 -4.28853186e-04 9.99935605e-01 1.50562142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.724391418 meters Centerline goodness [0,1] 0.996415620349215 Centerline is valid? [True, True] Translation: X:208.26, Y:9.44, Z:1.51 [[ 9.98340199e-01 -5.65238832e-02 -1.10407255e-02 2.08257374e+02] [ 5.65248099e-02 9.98401169e-01 -2.28338630e-04 9.43709646e+00] [ 1.10359798e-02 -3.96115277e-04 9.99939023e-01 1.50571749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.754391418 meters Centerline goodness [0,1] 0.9970429712895581 Centerline is valid? [True, True] Translation: X:208.29, Y:9.44, Z:1.51 [[ 9.98431055e-01 -5.49930587e-02 -1.05447715e-02 2.08289968e+02] [ 5.49938254e-02 9.98486671e-01 -2.17453288e-04 9.44042045e+00] [ 1.05407723e-02 -3.62785209e-04 9.99944379e-01 1.50595155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.784391418 meters Centerline goodness [0,1] 0.9970429712895581 Centerline is valid? [True, True] Translation: X:208.32, Y:9.44, Z:1.51 [[ 9.98435493e-01 -5.49124157e-02 -1.05447920e-02 2.08321670e+02] [ 5.49131884e-02 9.98491109e-01 -2.16458745e-04 9.44099370e+00] [ 1.05407673e-02 -3.62928055e-04 9.99944379e-01 1.50617364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.814391418 meters Centerline goodness [0,1] 0.9979724080267558 Centerline is valid? [True, True] Translation: X:208.35, Y:9.45, Z:1.51 [[ 9.98686438e-01 -5.02430802e-02 -1.00513991e-02 2.08352567e+02] [ 5.02435526e-02 9.98736974e-01 -2.05668545e-04 9.44685607e+00] [ 1.00490374e-02 -2.99619614e-04 9.99949462e-01 1.50625820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84439141800001 meters Centerline goodness [0,1] 0.998298426569754 Centerline is valid? [True, True] Translation: X:208.39, Y:9.45, Z:1.51 [[ 9.98837215e-01 -4.72801294e-02 -9.42372366e-03 2.08385004e+02] [ 4.72804181e-02 9.98881637e-01 -1.92270773e-04 9.45343481e+00] [ 9.42227511e-03 -2.53510391e-04 9.99955577e-01 1.50656059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.87439141800002 meters Centerline goodness [0,1] 0.9987393368912048 Centerline is valid? [True, True] Translation: X:208.42, Y:9.46, Z:1.51 [[ 9.98998518e-01 -4.37526489e-02 -9.36300755e-03 2.08416286e+02] [ 4.37527883e-02 9.99042370e-01 -1.90051544e-04 9.45740559e+00] [ 9.36235652e-03 -2.19796476e-04 9.99956148e-01 1.50669966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90439141800002 meters Centerline goodness [0,1] 0.9992049044839202 Centerline is valid? [True, True] Translation: X:208.45, Y:9.46, Z:1.51 [[ 9.99146631e-01 -4.02534715e-02 -9.25565676e-03 2.08447903e+02] [ 4.02534631e-02 9.99189483e-01 -1.87272701e-04 9.46163131e+00] [ 9.25569328e-03 -1.85459349e-04 9.99957148e-01 1.50655542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.934391418 meters Centerline goodness [0,1] 0.9992850383766165 Centerline is valid? [True, True] Translation: X:208.48, Y:9.47, Z:1.51 [[ 9.99402551e-01 -3.35308154e-02 -8.38009920e-03 2.08479166e+02] [ 3.35305768e-02 9.99437678e-01 -1.69000359e-04 9.47073704e+00] [ 8.38105360e-03 -1.12090170e-04 9.99964872e-01 1.50701061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.964391418 meters Centerline goodness [0,1] 0.9994120241070116 Centerline is valid? [True, True] Translation: X:208.51, Y:9.47, Z:1.51 [[ 9.99509370e-01 -3.03417628e-02 -7.77149583e-03 2.08510104e+02] [ 3.03414637e-02 9.99539580e-01 -1.56417488e-04 9.47371420e+00] [ 7.77266366e-03 -7.94578134e-05 9.99969789e-01 1.50703196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.994391418 meters Centerline goodness [0,1] 0.9993064021186262 Centerline is valid? [True, True] Translation: X:208.54, Y:9.48, Z:1.51 [[ 9.99583541e-01 -2.79051422e-02 -7.35163991e-03 2.08542571e+02] [ 2.79048117e-02 9.99610574e-01 -1.47540903e-04 9.47731544e+00] [ 7.35289414e-03 -5.76666687e-05 9.99972965e-01 1.50744110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.024391418 meters Centerline goodness [0,1] 0.999158337716991 Centerline is valid? [True, True] Translation: X:208.57, Y:9.48, Z:1.51 [[ 9.99679140e-01 -2.45303833e-02 -6.31490657e-03 2.08573857e+02] [ 2.45300750e-02 9.99699084e-01 -1.26285528e-04 9.48098355e+00] [ 6.31610415e-03 -2.86601235e-05 9.99980053e-01 1.50795062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.054391418 meters Centerline goodness [0,1] 0.9992206752743433 Centerline is valid? [True, True] Translation: X:208.61, Y:9.48, Z:1.51 [[ 9.99698067e-01 -2.38047580e-02 -6.09158234e-03 2.08605708e+02] [ 2.38044597e-02 9.99716626e-01 -1.21483663e-04 9.48230123e+00] [ 6.09274804e-03 -2.35598432e-05 9.99981439e-01 1.50814955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.084391418 meters Centerline goodness [0,1] 0.9993689259119021 Centerline is valid? [True, True] Translation: X:208.64, Y:9.48, Z:1.51 [[ 9.99698442e-01 -2.38344302e-02 -5.91150057e-03 2.08636585e+02] [ 2.38341527e-02 9.99715919e-01 -1.17404361e-04 9.48269582e+00] [ 5.91261949e-03 -2.35266499e-05 9.99982520e-01 1.50821730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.114391418 meters Centerline goodness [0,1] 0.9994313035785749 Centerline is valid? [True, True] Translation: X:208.67, Y:9.48, Z:1.51 [[ 9.99672813e-01 -2.49397880e-02 -5.68101828e-03 2.08668664e+02] [ 2.49395512e-02 9.99688955e-01 -1.12524617e-04 9.48176108e+00] [ 5.68205756e-03 -2.91942464e-05 9.99983857e-01 1.50746314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.144391418 meters Centerline goodness [0,1] 0.9994534600184983 Centerline is valid? [True, True] Translation: X:208.70, Y:9.48, Z:1.51 [[ 9.99635077e-01 -2.63189113e-02 -6.08498092e-03 2.08700490e+02] [ 2.63186685e-02 9.99653597e-01 -1.19995487e-04 9.48119824e+00] [ 6.08603121e-03 -4.01968977e-05 9.99981479e-01 1.50692860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.174391418 meters Centerline goodness [0,1] 0.9994524586711593 Centerline is valid? [True, True] Translation: X:208.73, Y:9.48, Z:1.51 [[ 9.99595289e-01 -2.78287715e-02 -5.90067512e-03 2.08732418e+02] [ 2.78285722e-02 9.99612704e-01 -1.15895350e-04 9.47981620e+00] [ 5.90161504e-03 -4.83589177e-05 9.99982584e-01 1.50672592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.204391418 meters Centerline goodness [0,1] 0.9989041788717257 Centerline is valid? [True, True] Translation: X:208.76, Y:9.48, Z:1.51 [[ 9.99540015e-01 -2.98155732e-02 -5.54879995e-03 2.08763345e+02] [ 2.98154300e-02 9.99555415e-01 -1.08538064e-04 9.47757217e+00] [ 5.54956917e-03 -5.69517188e-05 9.99984599e-01 1.50647584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.234391418 meters Centerline goodness [0,1] 0.9986739354648593 Centerline is valid? [True, True] Translation: X:208.80, Y:9.47, Z:1.51 [[ 9.99430612e-01 -3.32193783e-02 -5.90976876e-03 2.08795273e+02] [ 3.32192776e-02 9.99448081e-01 -1.15237360e-04 9.47440017e+00] [ 5.91033516e-03 -8.11465032e-05 9.99982531e-01 1.50555320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.264391418 meters Centerline goodness [0,1] 0.9990549990549991 Centerline is valid? [True, True] Translation: X:208.83, Y:9.47, Z:1.51 [[ 9.99382925e-01 -3.46119754e-02 -5.98169459e-03 2.08826714e+02] [ 3.46118998e-02 9.99400822e-01 -1.16198475e-04 9.47271567e+00] [ 5.98213235e-03 -9.09110415e-05 9.99982103e-01 1.50550584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.294391418 meters Centerline goodness [0,1] 0.998802042832223 Centerline is valid? [True, True] Translation: X:208.86, Y:9.47, Z:1.51 [[ 9.99358217e-01 -3.53545628e-02 -5.76265843e-03 2.08859385e+02] [ 3.53545094e-02 9.99374828e-01 -1.11169290e-04 9.47233728e+00] [ 5.76298612e-03 -9.26380181e-05 9.99983390e-01 1.50541906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.324391418 meters Centerline goodness [0,1] 0.9987381438095438 Centerline is valid? [True, True] Translation: X:208.89, Y:9.47, Z:1.51 [[ 9.99347579e-01 -3.57107067e-02 -5.40017244e-03 2.08890973e+02] [ 3.57106674e-02 9.99362165e-01 -1.03736698e-04 9.47046744e+00] [ 5.40043253e-03 -8.91747441e-05 9.99985414e-01 1.50555495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.354391418 meters Centerline goodness [0,1] 0.9986982173976946 Centerline is valid? [True, True] Translation: X:208.92, Y:9.47, Z:1.51 [[ 9.99366720e-01 -3.52229193e-02 -5.05024102e-03 2.08922688e+02] [ 3.52228801e-02 9.99379477e-01 -9.67331436e-05 9.46853045e+00] [ 5.05051446e-03 -8.12121496e-05 9.99987243e-01 1.50562078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.384391418 meters Centerline goodness [0,1] 0.9988840460699472 Centerline is valid? [True, True] Translation: X:208.95, Y:9.47, Z:1.51 [[ 9.99390180e-01 -3.45638607e-02 -4.96064593e-03 2.08954838e+02] [ 3.45638160e-02 9.99402488e-01 -9.47694588e-05 9.47065444e+00] [ 4.96095749e-03 -7.67471868e-05 9.99987691e-01 1.50532944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.414391418 meters Centerline goodness [0,1] 0.999051813143977 Centerline is valid? [True, True] Translation: X:208.99, Y:9.47, Z:1.51 [[ 9.99426440e-01 -3.34818896e-02 -5.07482873e-03 2.08987031e+02] [ 3.34818311e-02 9.99439322e-01 -9.65191621e-05 9.47065625e+00] [ 5.07521503e-03 -7.34507559e-05 9.99987118e-01 1.50534196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.444391418 meters Centerline goodness [0,1] 0.9988218711211159 Centerline is valid? [True, True] Translation: X:209.02, Y:9.47, Z:1.51 [[ 9.99502760e-01 -3.11260087e-02 -5.04020758e-03 2.09018087e+02] [ 3.11259232e-02 9.99515467e-01 -9.54142478e-05 9.47015547e+00] [ 5.04073529e-03 -6.15143099e-05 9.99987294e-01 1.50513980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.474391418 meters Centerline goodness [0,1] 0.9988643055438715 Centerline is valid? [True, True] Translation: X:209.05, Y:9.47, Z:1.50 [[ 9.99533546e-01 -3.00555600e-02 -5.41784683e-03 2.09050311e+02] [ 3.00554473e-02 9.99548228e-01 -1.02237596e-04 9.47121274e+00] [ 5.41847201e-03 -6.06459034e-05 9.99985318e-01 1.50480316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.504391418 meters Centerline goodness [0,1] 0.9988203572632288 Centerline is valid? [True, True] Translation: X:209.08, Y:9.47, Z:1.51 [[ 9.99573537e-01 -2.87733613e-02 -4.98369370e-03 2.09081745e+02] [ 2.87732520e-02 9.99585960e-01 -9.36436472e-05 9.47126229e+00] [ 4.98432470e-03 -4.97933633e-05 9.99987577e-01 1.50505207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.534391418 meters Centerline goodness [0,1] 0.9988650455032683 Centerline is valid? [True, True] Translation: X:209.11, Y:9.47, Z:1.50 [[ 9.99604524e-01 -2.76234783e-02 -5.26676320e-03 2.09113542e+02] [ 2.76233419e-02 9.99618398e-01 -9.86533140e-05 9.47203590e+00] [ 5.26747854e-03 -4.68713017e-05 9.99986126e-01 1.50497943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.564391418 meters Centerline goodness [0,1] 0.9989274222381123 Centerline is valid? [True, True] Translation: X:209.14, Y:9.47, Z:1.51 [[ 9.99652044e-01 -2.58633564e-02 -5.18431855e-03 2.09144792e+02] [ 2.58632029e-02 9.99665487e-01 -9.66728012e-05 9.47263116e+00] [ 5.18508461e-03 -3.74439190e-05 9.99986557e-01 1.50506690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.59439141800001 meters Centerline goodness [0,1] 0.9990545821252994 Centerline is valid? [True, True] Translation: X:209.18, Y:9.47, Z:1.50 [[ 9.99680391e-01 -2.47583870e-02 -5.11259010e-03 2.09177220e+02] [ 2.47582245e-02 9.99693464e-01 -9.50757478e-05 9.47333940e+00] [ 5.11337682e-03 -3.15332928e-05 9.99986926e-01 1.50475765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62439141800002 meters Centerline goodness [0,1] 0.9992664011737581 Centerline is valid? [True, True] Translation: X:209.21, Y:9.47, Z:1.50 [[ 9.99722153e-01 -2.29197392e-02 -5.50472856e-03 2.09209666e+02] [ 2.29195255e-02 9.99737308e-01 -1.01909288e-04 9.47430185e+00] [ 5.50561825e-03 -2.42847932e-05 9.99984844e-01 1.50359206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.65439141800002 meters Centerline goodness [0,1] 0.9989722076560041 Centerline is valid? [True, True] Translation: X:209.24, Y:9.47, Z:1.50 [[ 9.99749817e-01 -2.17135500e-02 -5.36899961e-03 2.09242247e+02] [ 2.17133315e-02 9.99764233e-01 -9.89800884e-05 9.47481498e+00] [ 5.36988299e-03 -1.76235433e-05 9.99985582e-01 1.50362766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.684391418 meters Centerline goodness [0,1] 0.9991184619259508 Centerline is valid? [True, True] Translation: X:209.27, Y:9.48, Z:1.50 [[ 9.99774911e-01 -2.04671683e-02 -5.58768304e-03 2.09273148e+02] [ 2.04669151e-02 9.99790526e-01 -1.02498249e-04 9.47517779e+00] [ 5.58861041e-03 -1.18874571e-05 9.99984384e-01 1.50344309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.714391418 meters Centerline goodness [0,1] 0.9991609506429215 Centerline is valid? [True, True] Translation: X:209.30, Y:9.48, Z:1.50 [[ 9.99788627e-01 -1.98157675e-02 -5.48063713e-03 2.09304249e+02] [ 1.98155161e-02 9.99803648e-01 -1.00174870e-04 9.47556321e+00] [ 5.48154604e-03 -8.44795733e-06 9.99984976e-01 1.50342023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.744391418 meters Centerline goodness [0,1] 0.9991395592864638 Centerline is valid? [True, True] Translation: X:209.34, Y:9.48, Z:1.50 [[ 9.99808572e-01 -1.88017097e-02 -5.41424710e-03 2.09335701e+02] [ 1.88014506e-02 9.99823232e-01 -9.87463666e-05 9.47516773e+00] [ 5.41514663e-03 -3.06823559e-06 9.99985338e-01 1.50327023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.774391418 meters Centerline goodness [0,1] 0.9993926192770075 Centerline is valid? [True, True] Translation: X:209.37, Y:9.47, Z:1.50 [[ 9.99813004e-01 -1.83814750e-02 -6.00658570e-03 2.09366566e+02] [ 1.83811502e-02 9.99831046e-01 -1.09277117e-04 9.47493797e+00] [ 6.00757954e-03 -1.15127137e-06 9.99981954e-01 1.50299355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.804391418 meters Centerline goodness [0,1] 0.9992033709985115 Centerline is valid? [True, True] Translation: X:209.40, Y:9.47, Z:1.50 [[ 9.99813448e-01 -1.82454727e-02 -6.33805401e-03 2.09398281e+02] [ 1.82451100e-02 9.99833538e-01 -1.15039940e-04 9.47444526e+00] [ 6.33909792e-03 -6.20014161e-07 9.99979908e-01 1.50261985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.834391418 meters Centerline goodness [0,1] 0.9990987403324181 Centerline is valid? [True, True] Translation: X:209.43, Y:9.47, Z:1.50 [[ 9.99811342e-01 -1.81253634e-02 -6.98216462e-03 2.09429307e+02] [ 1.81249225e-02 9.99835722e-01 -1.26417137e-04 9.47378540e+00] [ 6.98330896e-03 -1.57905053e-07 9.99975616e-01 1.50192750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.864391418 meters Centerline goodness [0,1] 0.9992037716081719 Centerline is valid? [True, True] Translation: X:209.46, Y:9.47, Z:1.50 [[ 9.99806976e-01 -1.81534863e-02 -7.51406609e-03 2.09459226e+02] [ 1.81529789e-02 9.99835212e-01 -1.35731871e-04 9.47167719e+00] [ 7.51529187e-03 -6.97011519e-07 9.99971760e-01 1.50199204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.894391418 meters Centerline goodness [0,1] 0.9991187393776622 Centerline is valid? [True, True] Translation: X:209.49, Y:9.47, Z:1.50 [[ 9.99805698e-01 -1.83266272e-02 -7.25960531e-03 2.09490200e+02] [ 1.83261591e-02 9.99832053e-01 -1.30999441e-04 9.47101719e+00] [ 7.26078687e-03 -2.06669430e-06 9.99973640e-01 1.50261694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.924391418 meters Centerline goodness [0,1] 0.9991629347507638 Centerline is valid? [True, True] Translation: X:209.52, Y:9.47, Z:1.50 [[ 9.99809469e-01 -1.82049219e-02 -7.04317563e-03 2.09521622e+02] [ 1.82044783e-02 9.99834277e-01 -1.27092566e-04 9.46942351e+00] [ 7.04432212e-03 -1.14898723e-06 9.99975188e-01 1.50385038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.954391418 meters Centerline goodness [0,1] 0.999163529903806 Centerline is valid? [True, True] Translation: X:209.55, Y:9.47, Z:1.50 [[ 9.99813717e-01 -1.79753582e-02 -7.02975070e-03 2.09552237e+02] [ 1.79749126e-02 9.99838430e-01 -1.26569035e-04 9.46899004e+00] [ 7.03089003e-03 1.86303176e-07 9.99975283e-01 1.50447923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.984391418 meters Centerline goodness [0,1] 0.9993499685468652 Centerline is valid? [True, True] Translation: X:209.58, Y:9.47, Z:1.50 [[ 9.99813643e-01 -1.79850384e-02 -7.01554608e-03 2.09583886e+02] [ 1.79845970e-02 9.99838256e-01 -1.26015660e-04 9.46823237e+00] [ 7.01667776e-03 -1.79592566e-07 9.99975383e-01 1.50492188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.014391418 meters Centerline goodness [0,1] 0.9993946099409223 Centerline is valid? [True, True] Translation: X:209.61, Y:9.47, Z:1.51 [[ 9.99799982e-01 -1.86209400e-02 -7.29774239e-03 2.09614010e+02] [ 1.86204815e-02 9.99826615e-01 -1.30766183e-04 9.46541463e+00] [ 7.29891206e-03 -5.14745017e-06 9.99973363e-01 1.50516046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.044391418 meters Centerline goodness [0,1] 0.9992273961160993 Centerline is valid? [True, True] Translation: X:209.64, Y:9.46, Z:1.51 [[ 9.99786422e-01 -1.92835883e-02 -7.43334328e-03 2.09644313e+02] [ 1.92831321e-02 9.99814054e-01 -1.33044301e-04 9.46366091e+00] [ 7.43452666e-03 -1.03222548e-05 9.99972363e-01 1.50543416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.074391418 meters Centerline goodness [0,1] 0.9993739565943238 Centerline is valid? [True, True] Translation: X:209.68, Y:9.46, Z:1.51 [[ 9.99769810e-01 -2.02936608e-02 -6.96373587e-03 2.09675244e+02] [ 2.02932849e-02 9.99794062e-01 -1.24639121e-04 9.46159744e+00] [ 6.96483116e-03 -1.67066458e-05 9.99975745e-01 1.50592132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.104391418 meters Centerline goodness [0,1] 0.9993741655540721 Centerline is valid? [True, True] Translation: X:209.71, Y:9.46, Z:1.51 [[ 9.99694035e-01 -2.37271455e-02 -6.98993213e-03 2.09705443e+02] [ 2.37268507e-02 9.99718471e-01 -1.25108367e-04 9.45587460e+00] [ 6.99093272e-03 -4.07789875e-05 9.99975562e-01 1.50647623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.134391418 meters Centerline goodness [0,1] 0.9991869918699187 Centerline is valid? [True, True] Translation: X:209.74, Y:9.45, Z:1.51 [[ 9.99646639e-01 -2.56921629e-02 -6.81985333e-03 2.09736742e+02] [ 2.56919290e-02 9.99669900e-01 -1.21930124e-04 9.45290242e+00] [ 6.82073475e-03 -5.33281486e-05 9.99976737e-01 1.50689892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.164391418 meters Centerline goodness [0,1] 0.9992487949418859 Centerline is valid? [True, True] Translation: X:209.77, Y:9.45, Z:1.51 [[ 9.99588267e-01 -2.79303201e-02 -6.57214841e-03 2.09766818e+02] [ 2.79301529e-02 9.99609870e-01 -1.17230291e-04 9.44924332e+00] [ 6.57285870e-03 -6.63790861e-05 9.99978396e-01 1.50712370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.194391418 meters Centerline goodness [0,1] 0.9992273154432495 Centerline is valid? [True, True] Translation: X:209.80, Y:9.45, Z:1.51 [[ 9.99527711e-01 -2.99921327e-02 -6.69527818e-03 2.09798574e+02] [ 2.99920064e-02 9.99550131e-01 -1.19293482e-04 9.44585896e+00] [ 6.69584405e-03 -8.15676849e-05 9.99977579e-01 1.50748985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.224391418 meters Centerline goodness [0,1] 0.9990390842054688 Centerline is valid? [True, True] Translation: X:209.83, Y:9.44, Z:1.51 [[ 9.99374689e-01 -3.46336028e-02 -7.12355239e-03 2.09830136e+02] [ 3.46335799e-02 9.99400070e-01 -1.26617895e-04 9.43970543e+00] [ 7.12366399e-03 -1.20175401e-04 9.99974619e-01 1.50736469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.254391418 meters Centerline goodness [0,1] 0.9990163248221013 Centerline is valid? [True, True] Translation: X:209.86, Y:9.44, Z:1.51 [[ 9.99305272e-01 -3.64546287e-02 -7.74816135e-03 2.09862202e+02] [ 3.64546593e-02 9.99335299e-01 -1.37338416e-04 9.43874549e+00] [ 7.74801776e-03 -1.45213578e-04 9.99969973e-01 1.50714886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.284391418 meters Centerline goodness [0,1] 0.9992052204467498 Centerline is valid? [True, True] Translation: X:209.89, Y:9.44, Z:1.51 [[ 9.99250497e-01 -3.78930187e-02 -7.90964278e-03 2.09893344e+02] [ 3.78931015e-02 9.99281789e-01 -1.39444118e-04 9.43559002e+00] [ 7.90924594e-03 -1.60381293e-04 9.99968709e-01 1.50700261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.314391418 meters Centerline goodness [0,1] 0.9993300253334171 Centerline is valid? [True, True] Translation: X:209.92, Y:9.43, Z:1.51 [[ 9.99204174e-01 -3.90742383e-02 -8.01386978e-03 2.09924753e+02] [ 3.90743695e-02 9.99236295e-01 -1.40263559e-04 9.43329869e+00] [ 8.01323024e-03 -1.72984975e-04 9.99967879e-01 1.50717076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34439141800001 meters Centerline goodness [0,1] 0.9991413972189647 Centerline is valid? [True, True] Translation: X:209.96, Y:9.43, Z:1.51 [[ 9.99126086e-01 -4.08602057e-02 -8.80382786e-03 2.09956084e+02] [ 4.08604369e-02 9.99164852e-01 -1.53688390e-04 9.43075561e+00] [ 8.80275509e-03 -2.06174173e-04 9.99961234e-01 1.50688441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.37439141800002 meters Centerline goodness [0,1] 0.9993096234309623 Centerline is valid? [True, True] Translation: X:209.99, Y:9.43, Z:1.51 [[ 9.99118946e-01 -4.09812134e-02 -9.04828902e-03 2.09986215e+02] [ 4.09814667e-02 9.99159894e-01 -1.57494709e-04 9.43082668e+00] [ 9.04714183e-03 -2.13456207e-04 9.99959051e-01 1.50719695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40439141800002 meters Centerline goodness [0,1] 0.999267107797973 Centerline is valid? [True, True] Translation: X:210.02, Y:9.43, Z:1.51 [[ 9.99118292e-01 -4.09885751e-02 -9.08712670e-03 2.10018314e+02] [ 4.09888370e-02 9.99159592e-01 -1.57492129e-04 9.43177143e+00] [ 9.08594519e-03 -2.15117488e-04 9.99958699e-01 1.50767373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.434391418 meters Centerline goodness [0,1] 0.9991222937390287 Centerline is valid? [True, True] Translation: X:210.05, Y:9.43, Z:1.51 [[ 9.99132250e-01 -4.06225674e-02 -9.19534444e-03 2.10048851e+02] [ 4.06228262e-02 9.99174540e-01 -1.58703992e-04 9.42808354e+00] [ 9.19420101e-03 -2.14974603e-04 9.99957709e-01 1.50817955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.464391418 meters Centerline goodness [0,1] 0.9990797289383418 Centerline is valid? [True, True] Translation: X:210.08, Y:9.43, Z:1.51 [[ 9.99141035e-01 -4.04395520e-02 -9.04621731e-03 2.10079461e+02] [ 4.04397989e-02 9.99181965e-01 -1.55694356e-04 9.42731198e+00] [ 9.04511340e-03 -2.10266589e-04 9.99959070e-01 1.50826443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.494391418 meters Centerline goodness [0,1] 0.9992059843704292 Centerline is valid? [True, True] Translation: X:210.11, Y:9.43, Z:1.51 [[ 9.99160085e-01 -3.99729891e-02 -9.01581846e-03 2.10110487e+02] [ 3.99732207e-02 9.99200739e-01 -1.54587484e-04 9.42941197e+00] [ 9.01479180e-03 -2.05933657e-04 9.99959345e-01 1.50872470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.524391418 meters Centerline goodness [0,1] 0.9990841347154573 Centerline is valid? [True, True] Translation: X:210.14, Y:9.43, Z:1.51 [[ 9.99170159e-01 -3.96617178e-02 -9.27045774e-03 2.10141511e+02] [ 3.96619530e-02 9.99213143e-01 -1.58544598e-04 9.42915207e+00] [ 9.26945136e-03 -2.09271428e-04 9.99957016e-01 1.50876095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.554391418 meters Centerline goodness [0,1] 0.999206199995822 Centerline is valid? [True, True] Translation: X:210.17, Y:9.43, Z:1.51 [[ 9.99157952e-01 -4.00088274e-02 -9.09293257e-03 2.10172511e+02] [ 4.00090715e-02 9.99199305e-01 -1.55124311e-04 9.42877773e+00] [ 9.09185824e-03 -2.08806101e-04 9.99958646e-01 1.50889340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.584391418 meters Centerline goodness [0,1] 0.9992479789434104 Centerline is valid? [True, True] Translation: X:210.20, Y:9.43, Z:1.51 [[ 9.99136881e-01 -4.05193090e-02 -9.14755490e-03 2.10204096e+02] [ 4.05195810e-02 9.99178732e-01 -1.55665288e-04 9.42847441e+00] [ 9.14634976e-03 -2.15124161e-04 9.99958148e-01 1.50888002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.614391418 meters Centerline goodness [0,1] 0.9992910611147021 Centerline is valid? [True, True] Translation: X:210.24, Y:9.43, Z:1.51 [[ 9.99115066e-01 -4.10007188e-02 -9.38221372e-03 2.10235189e+02] [ 4.10010300e-02 9.99159092e-01 -1.59250809e-04 9.42876587e+00] [ 9.38085353e-03 -2.25570544e-04 9.99955973e-01 1.50881583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.644391418 meters Centerline goodness [0,1] 0.9992910611147021 Centerline is valid? [True, True] Translation: X:210.27, Y:9.43, Z:1.51 [[ 9.99116821e-01 -4.09579333e-02 -9.38222053e-03 2.10266036e+02] [ 4.09582465e-02 9.99160846e-01 -1.58848216e-04 9.42924356e+00] [ 9.38085350e-03 -2.25571376e-04 9.99955973e-01 1.50903203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.674391418 meters Centerline goodness [0,1] 0.9990631440884392 Centerline is valid? [True, True] Translation: X:210.30, Y:9.43, Z:1.51 [[ 9.99000241e-01 -4.35581261e-02 -1.00602690e-02 2.10296198e+02] [ 4.35586218e-02 9.99050858e-01 -1.69941435e-04 9.42674921e+00] [ 1.00581227e-02 -2.68439919e-04 9.99949380e-01 1.50861995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.704391418 meters Centerline goodness [0,1] 0.9991659716430359 Centerline is valid? [True, True] Translation: X:210.33, Y:9.43, Z:1.51 [[ 9.98925307e-01 -4.52760307e-02 -9.91520770e-03 2.10327590e+02] [ 4.52765994e-02 9.98974475e-01 -1.67220505e-04 9.42664705e+00] [ 9.91261048e-03 -2.81886093e-04 9.99950829e-01 1.50878014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.734391418 meters Centerline goodness [0,1] 0.9989561586638831 Centerline is valid? [True, True] Translation: X:210.36, Y:9.43, Z:1.51 [[ 9.98846019e-01 -4.70732984e-02 -9.52546255e-03 2.10359112e+02] [ 4.70739087e-02 9.98891396e-01 -1.60252842e-04 9.42578404e+00] [ 9.52244622e-03 -2.88332840e-04 9.99954619e-01 1.50917964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.764391418 meters Centerline goodness [0,1] 0.9989542374299339 Centerline is valid? [True, True] Translation: X:210.39, Y:9.42, Z:1.51 [[ 9.98680542e-01 -5.05095491e-02 -9.27150226e-03 2.10389977e+02] [ 5.05102783e-02 9.98723529e-01 -1.55640200e-04 9.42411857e+00] [ 9.26752878e-03 -3.12871320e-04 9.99957007e-01 1.50987441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.794391418 meters Centerline goodness [0,1] 0.9988271514440697 Centerline is valid? [True, True] Translation: X:210.42, Y:9.42, Z:1.51 [[ 9.98621004e-01 -5.16671076e-02 -9.30597753e-03 2.10421061e+02] [ 5.16678947e-02 9.98664310e-01 -1.55971723e-04 9.42300485e+00] [ 9.30160624e-03 -3.25063629e-04 9.99956686e-01 1.50963982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.824391418 meters Centerline goodness [0,1] 0.9988099960333201 Centerline is valid? [True, True] Translation: X:210.45, Y:9.42, Z:1.51 [[ 9.98582768e-01 -5.23321929e-02 -9.68492531e-03 2.10451206e+02] [ 5.23330802e-02 9.98629672e-01 -1.61959689e-04 9.42258550e+00] [ 9.68012949e-03 -3.45111818e-04 9.99953087e-01 1.50939618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.854391418 meters Centerline goodness [0,1] 0.9989598718562127 Centerline is valid? [True, True] Translation: X:210.48, Y:9.43, Z:1.51 [[ 9.98596435e-01 -5.20179575e-02 -9.96457143e-03 2.10482423e+02] [ 5.20188869e-02 9.98646087e-01 -1.66067813e-04 9.42698383e+00] [ 9.95971878e-03 -3.52511188e-04 9.99950339e-01 1.50917443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.884391418 meters Centerline goodness [0,1] 0.9990165306549488 Centerline is valid? [True, True] Translation: X:210.51, Y:9.43, Z:1.51 [[ 9.98627961e-01 -5.14053112e-02 -9.98443834e-03 2.10513344e+02] [ 5.14062248e-02 9.98677812e-01 -1.65290981e-04 9.42993837e+00] [ 9.97973387e-03 -3.48198086e-04 9.99950141e-01 1.50949895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.914391418 meters Centerline goodness [0,1] 0.9990839249651267 Centerline is valid? [True, True] Translation: X:210.54, Y:9.43, Z:1.51 [[ 9.98705356e-01 -4.98496115e-02 -1.01305415e-02 2.10543386e+02] [ 4.98504754e-02 9.98756678e-01 -1.67368527e-04 9.43108292e+00] [ 1.01262892e-02 -3.37860467e-04 9.99948671e-01 1.50971866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.944391418 meters Centerline goodness [0,1] 0.9991426360803831 Centerline is valid? [True, True] Translation: X:210.57, Y:9.44, Z:1.51 [[ 9.98864472e-01 -4.66085401e-02 -9.86966029e-03 2.10574836e+02] [ 4.66092045e-02 9.98913187e-01 -1.62806575e-04 9.44098237e+00] [ 9.86652199e-03 -2.97395312e-04 9.99951280e-01 1.51055521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.974391418 meters Centerline goodness [0,1] 0.998998142389013 Centerline is valid? [True, True] Translation: X:210.60, Y:9.44, Z:1.51 [[ 9.98964360e-01 -4.44059678e-02 -9.91550005e-03 2.10604909e+02] [ 4.44065334e-02 9.99013530e-01 -1.63213219e-04 9.44124598e+00] [ 9.91296635e-03 -2.77268796e-04 9.99950827e-01 1.51080825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.004391418 meters Centerline goodness [0,1] 0.9989560278949347 Centerline is valid? [True, True] Translation: X:210.64, Y:9.45, Z:1.51 [[ 9.99069213e-01 -4.20119801e-02 -9.78269727e-03 2.10636025e+02] [ 4.20124191e-02 9.99117076e-01 -1.60709150e-04 9.44537475e+00] [ 9.78081160e-03 -2.50435213e-04 9.99952135e-01 1.51125726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.034391418 meters Centerline goodness [0,1] 0.9990803252304412 Centerline is valid? [True, True] Translation: X:210.67, Y:9.45, Z:1.51 [[ 9.99262927e-01 -3.72195468e-02 -9.39719661e-03 2.10666741e+02] [ 3.72197446e-02 9.99307093e-01 -1.53893282e-04 9.45403402e+00] [ 9.39641307e-03 -1.95981406e-04 9.99955834e-01 1.51170485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.064391418 meters Centerline goodness [0,1] 0.9992709396546336 Centerline is valid? [True, True] Translation: X:210.70, Y:9.46, Z:1.51 [[ 9.99356397e-01 -3.45708520e-02 -9.57324378e-03 2.10698587e+02] [ 3.45709387e-02 9.99402234e-01 -1.56469193e-04 9.45769895e+00] [ 9.57293050e-03 -1.74587535e-04 9.99954163e-01 1.51179804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.09439141800001 meters Centerline goodness [0,1] 0.9991019402268123 Centerline is valid? [True, True] Translation: X:210.73, Y:9.46, Z:1.51 [[ 9.99433691e-01 -3.21906901e-02 -9.80085914e-03 2.10729871e+02] [ 3.21906719e-02 9.99481733e-01 -1.59645694e-04 9.46181921e+00] [ 9.80091879e-03 -1.55940956e-04 9.99951958e-01 1.51147340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12439141800002 meters Centerline goodness [0,1] 0.9992087454450806 Centerline is valid? [True, True] Translation: X:210.76, Y:9.47, Z:1.51 [[ 9.99582548e-01 -2.68297859e-02 -1.07188267e-02 2.10760000e+02] [ 2.68294601e-02 9.99640010e-01 -1.74214669e-04 9.46893999e+00] [ 1.07196422e-02 -1.13438391e-04 9.99942537e-01 1.51085505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.15439141800002 meters Centerline goodness [0,1] 0.9994783080486634 Centerline is valid? [True, True] Translation: X:210.79, Y:9.47, Z:1.51 [[ 9.99639094e-01 -2.44490911e-02 -1.11320970e-02 2.10789098e+02] [ 2.44485928e-02 9.99701072e-01 -1.80866798e-04 9.47273074e+00] [ 1.11331914e-02 -9.13625851e-05 9.99938020e-01 1.51090428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.184391418 meters Centerline goodness [0,1] 0.9994570211344082 Centerline is valid? [True, True] Translation: X:210.82, Y:9.48, Z:1.51 [[ 9.99694460e-01 -2.20785119e-02 -1.11142549e-02 2.10819963e+02] [ 2.20778672e-02 9.99756238e-01 -1.80713970e-04 9.47644328e+00] [ 1.11155356e-02 -6.47202892e-05 9.99938218e-01 1.51134124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.214391418 meters Centerline goodness [0,1] 0.9991837076417523 Centerline is valid? [True, True] Translation: X:210.85, Y:9.48, Z:1.51 [[ 9.99731062e-01 -2.03855737e-02 -1.10558930e-02 2.10849333e+02] [ 2.03848304e-02 9.99792192e-01 -1.79927815e-04 9.47995309e+00] [ 1.10572634e-02 -4.54930782e-05 9.99938866e-01 1.51166345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.244391418 meters Centerline goodness [0,1] 0.9994362315209221 Centerline is valid? [True, True] Translation: X:210.88, Y:9.48, Z:1.51 [[ 9.99761574e-01 -1.88435405e-02 -1.10325251e-02 2.10878717e+02] [ 1.88427015e-02 9.99822444e-01 -1.79988893e-04 9.48269301e+00] [ 1.10339578e-02 -2.79365988e-05 9.99939124e-01 1.51202317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.274391418 meters Centerline goodness [0,1] 0.9992692958099334 Centerline is valid? [True, True] Translation: X:210.91, Y:9.49, Z:1.51 [[ 9.99767564e-01 -1.81109447e-02 -1.16966158e-02 2.10907894e+02] [ 1.81099331e-02 9.99835983e-01 -1.92400062e-04 9.48596311e+00] [ 1.16981819e-02 -1.94695891e-05 9.99931574e-01 1.51137812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.304391418 meters Centerline goodness [0,1] 0.9992497186444916 Centerline is valid? [True, True] Translation: X:210.94, Y:9.49, Z:1.51 [[ 9.99761259e-01 -1.83636786e-02 -1.18406241e-02 2.10936883e+02] [ 1.83626332e-02 9.99831373e-01 -1.97012266e-04 9.48670609e+00] [ 1.18422453e-02 -2.04598052e-05 9.99929878e-01 1.51149948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.334391418 meters Centerline goodness [0,1] 0.9993113809941154 Centerline is valid? [True, True] Translation: X:210.97, Y:9.49, Z:1.51 [[ 9.99705448e-01 -2.11149778e-02 -1.19655414e-02 2.10965537e+02] [ 2.11140982e-02 9.99777053e-01 -1.99847003e-04 9.48636539e+00] [ 1.19670935e-02 -5.28534794e-05 9.99928390e-01 1.51190095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.364391418 meters Centerline goodness [0,1] 0.9993298569663462 Centerline is valid? [True, True] Translation: X:211.00, Y:9.49, Z:1.51 [[ 9.99667091e-01 -2.28989049e-02 -1.18889304e-02 2.10995498e+02] [ 2.28981550e-02 9.99737783e-01 -1.99206780e-04 9.48671255e+00] [ 1.18903745e-02 -7.30941086e-05 9.99929304e-01 1.51305052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.394391418 meters Centerline goodness [0,1] 0.9992253417917635 Centerline is valid? [True, True] Translation: X:211.02, Y:9.49, Z:1.51 [[ 9.99608839e-01 -2.54254413e-02 -1.16497434e-02 2.11023717e+02] [ 2.54248864e-02 9.99676716e-01 -1.95754035e-04 9.48534051e+00] [ 1.16509544e-02 -1.00515939e-04 9.99932120e-01 1.51335069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.424391418 meters Centerline goodness [0,1] 0.9993091464818809 Centerline is valid? [True, True] Translation: X:211.05, Y:9.48, Z:1.51 [[ 9.99531710e-01 -2.82385753e-02 -1.17874729e-02 2.11054292e+02] [ 2.82381980e-02 9.99601203e-01 -1.98478118e-04 9.48380541e+00] [ 1.17883768e-02 -1.34471820e-04 9.99930506e-01 1.51397296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.454391418 meters Centerline goodness [0,1] 0.9990780126982797 Centerline is valid? [True, True] Translation: X:211.08, Y:9.48, Z:1.51 [[ 9.99331128e-01 -3.47836180e-02 -1.12869709e-02 2.11084093e+02] [ 3.47836893e-02 9.99394846e-01 -1.90050638e-04 9.47889661e+00] [ 1.12867512e-02 -2.02678971e-04 9.99936282e-01 1.51499141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.484391418 meters Centerline goodness [0,1] 0.9991410734486948 Centerline is valid? [True, True] Translation: X:211.12, Y:9.48, Z:1.52 [[ 9.99205087e-01 -3.82438414e-02 -1.12517772e-02 2.11115823e+02] [ 3.82441333e-02 9.99268408e-01 -1.89296862e-04 9.47638542e+00] [ 1.12507849e-02 -2.41168081e-04 9.99936679e-01 1.51528778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.514391418 meters Centerline goodness [0,1] 0.999141019463242 Centerline is valid? [True, True] Translation: X:211.15, Y:9.47, Z:1.52 [[ 9.99069583e-01 -4.16743880e-02 -1.11001497e-02 2.11146111e+02] [ 4.16748875e-02 9.99131207e-01 -1.86406145e-04 9.47339651e+00] [ 1.10982744e-02 -2.76364782e-04 9.99938374e-01 1.51548077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.544391418 meters Centerline goodness [0,1] 0.9989958158995816 Centerline is valid? [True, True] Translation: X:211.18, Y:9.47, Z:1.52 [[ 9.98907066e-01 -4.53118327e-02 -1.14678223e-02 2.11177520e+02] [ 4.53126088e-02 9.98972838e-01 -1.92277527e-04 9.47049789e+00] [ 1.14647555e-02 -3.27569567e-04 9.99934224e-01 1.51580996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.574391418 meters Centerline goodness [0,1] 0.9988918161669385 Centerline is valid? [True, True] Translation: X:211.21, Y:9.46, Z:1.52 [[ 9.98578084e-01 -5.20279944e-02 -1.16145692e-02 2.11208120e+02] [ 5.20292482e-02 9.98645542e-01 -1.94387730e-04 9.46338134e+00] [ 1.16089514e-02 -4.10185977e-04 9.99932530e-01 1.51571312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.604391418 meters Centerline goodness [0,1] 0.9985754388905183 Centerline is valid? [True, True] Translation: X:211.24, Y:9.46, Z:1.52 [[ 9.98395220e-01 -5.54119523e-02 -1.16833063e-02 2.11239502e+02] [ 5.54134558e-02 9.98463475e-01 -1.95236061e-04 9.46084336e+00] [ 1.16761730e-02 -4.52489628e-04 9.99931729e-01 1.51596047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.634391418 meters Centerline goodness [0,1] 0.9986375165070116 Centerline is valid? [True, True] Translation: X:211.27, Y:9.46, Z:1.52 [[ 9.98212316e-01 -5.85539342e-02 -1.19836609e-02 2.11270561e+02] [ 5.85557476e-02 9.98284120e-01 -1.99790116e-04 9.45818130e+00] [ 1.19747969e-02 -5.02279269e-04 9.99928173e-01 1.51622178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.664391418 meters Centerline goodness [0,1] 0.9987625060301613 Centerline is valid? [True, True] Translation: X:211.30, Y:9.45, Z:1.52 [[ 9.97917883e-01 -6.34538111e-02 -1.15547390e-02 2.11301225e+02] [ 6.34558288e-02 9.97984630e-01 -1.92282813e-04 9.45337984e+00] [ 1.15436530e-02 -5.41333083e-04 9.99933223e-01 1.51675639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.694391418 meters Centerline goodness [0,1] 0.9985779710993539 Centerline is valid? [True, True] Translation: X:211.33, Y:9.45, Z:1.52 [[ 9.97788026e-01 -6.55074405e-02 -1.13061815e-02 2.11332897e+02] [ 6.55095070e-02 9.97851927e-01 -1.87865999e-04 9.45146779e+00] [ 1.12942016e-02 -5.53211929e-04 9.99936065e-01 1.51715206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.724391418 meters Centerline goodness [0,1] 0.9984553083121113 Centerline is valid? [True, True] Translation: X:211.36, Y:9.45, Z:1.52 [[ 9.97701841e-01 -6.68607839e-02 -1.09850791e-02 2.11363354e+02] [ 6.68628212e-02 9.97762161e-01 -1.82102028e-04 9.44934305e+00] [ 1.09726717e-02 -5.52809850e-04 9.99939646e-01 1.51709768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.754391418 meters Centerline goodness [0,1] 0.9985551251177888 Centerline is valid? [True, True] Translation: X:211.39, Y:9.45, Z:1.52 [[ 9.97571523e-01 -6.87408550e-02 -1.12138723e-02 2.11393656e+02] [ 6.87431020e-02 9.97634378e-01 -1.85402967e-04 9.44733281e+00] [ 1.12000893e-02 -5.85923650e-04 9.99937105e-01 1.51729038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.784391418 meters Centerline goodness [0,1] 0.9983000335795836 Centerline is valid? [True, True] Translation: X:211.43, Y:9.45, Z:1.52 [[ 9.97551786e-01 -6.89361086e-02 -1.17578286e-02 2.11425076e+02] [ 6.89385979e-02 9.97620886e-01 -1.93939475e-04 9.44920040e+00] [ 1.17432248e-02 -6.17103546e-04 9.99930856e-01 1.51721314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.814391418 meters Centerline goodness [0,1] 0.9986345972061759 Centerline is valid? [True, True] Translation: X:211.46, Y:9.45, Z:1.52 [[ 9.97552063e-01 -6.88539586e-02 -1.22071550e-02 2.11455965e+02] [ 6.88566410e-02 9.97626545e-01 -2.00908624e-04 9.45020846e+00] [ 1.21920152e-02 -6.40126877e-04 9.99925470e-01 1.51710981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84439141800001 meters Centerline goodness [0,1] 0.9985948575982551 Centerline is valid? [True, True] Translation: X:211.49, Y:9.45, Z:1.52 [[ 9.97594438e-01 -6.80531348e-02 -1.31949752e-02 2.11486764e+02] [ 6.80562055e-02 9.97681465e-01 -2.16682511e-04 9.45217187e+00] [ 1.31791282e-02 -6.81838678e-04 9.99912919e-01 1.51611519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.87439141800002 meters Centerline goodness [0,1] 0.9984474330193231 Centerline is valid? [True, True] Translation: X:211.52, Y:9.45, Z:1.52 [[ 9.97619303e-01 -6.76221971e-02 -1.35264322e-02 2.11517941e+02] [ 6.76253909e-02 9.97710758e-01 -2.21648894e-04 9.45385859e+00] [ 1.35104553e-02 -6.93609048e-04 9.99908489e-01 1.51623700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90439141800002 meters Centerline goodness [0,1] 0.9984671916010499 Centerline is valid? [True, True] Translation: X:211.55, Y:9.46, Z:1.52 [[ 9.97684715e-01 -6.66976524e-02 -1.32903033e-02 2.11549303e+02] [ 6.67006599e-02 9.97773008e-01 -2.17325923e-04 9.45620133e+00] [ 1.32752011e-02 -6.69649252e-04 9.99911656e-01 1.51639186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.934391418 meters Centerline goodness [0,1] 0.9988035264483627 Centerline is valid? [True, True] Translation: X:211.58, Y:9.46, Z:1.52 [[ 9.97786683e-01 -6.51467435e-02 -1.33280326e-02 2.11579476e+02] [ 6.51496348e-02 9.97875482e-01 -2.17593906e-04 9.46078615e+00] [ 1.33138924e-02 -6.51204152e-04 9.99911154e-01 1.51710877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.964391418 meters Centerline goodness [0,1] 0.9985332327550079 Centerline is valid? [True, True] Translation: X:211.61, Y:9.46, Z:1.52 [[ 9.97863402e-01 -6.39945219e-02 -1.31655310e-02 2.11610836e+02] [ 6.39972473e-02 9.97950052e-01 -2.14614495e-04 9.46413419e+00] [ 1.31522765e-02 -6.28401795e-04 9.99913308e-01 1.51767567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.994391418 meters Centerline goodness [0,1] 0.9987039591956185 Centerline is valid? [True, True] Translation: X:211.64, Y:9.47, Z:1.52 [[ 9.97935358e-01 -6.28057377e-02 -1.34335829e-02 2.11642426e+02] [ 6.28084739e-02 9.98025575e-01 -2.18525329e-04 9.46769443e+00] [ 1.34207840e-02 -6.25668692e-04 9.99909741e-01 1.51775042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.024391418 meters Centerline goodness [0,1] 0.9985716686271215 Centerline is valid? [True, True] Translation: X:211.67, Y:9.47, Z:1.52 [[ 9.98076126e-01 -6.04388439e-02 -1.38272764e-02 2.11672757e+02] [ 6.04415195e-02 9.98171715e-01 -2.24686366e-04 9.47454278e+00] [ 1.38155760e-02 -6.11487500e-04 9.99904373e-01 1.51772356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.054391418 meters Centerline goodness [0,1] 0.9985317560198003 Centerline is valid? [True, True] Translation: X:211.70, Y:9.48, Z:1.52 [[ 9.98144549e-01 -5.92926377e-02 -1.38507129e-02 2.11703920e+02] [ 5.92952154e-02 9.98240465e-01 -2.24839248e-04 9.47786845e+00] [ 1.38396734e-02 -5.96858936e-04 9.99904049e-01 1.51805239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.084391418 meters Centerline goodness [0,1] 0.9986361728913135 Centerline is valid? [True, True] Translation: X:211.73, Y:9.48, Z:1.52 [[ 9.98217394e-01 -5.81320310e-02 -1.35167281e-02 2.11734738e+02] [ 5.81343856e-02 9.98308742e-01 -2.18974809e-04 9.48042834e+00] [ 1.35065972e-02 -5.67202218e-04 9.99908621e-01 1.51897860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.114391418 meters Centerline goodness [0,1] 0.9984051706047761 Centerline is valid? [True, True] Translation: X:211.77, Y:9.49, Z:1.52 [[ 9.98326162e-01 -5.63633388e-02 -1.29633109e-02 2.11765571e+02] [ 5.63653611e-02 9.98410187e-01 -2.09591250e-04 9.48541537e+00] [ 1.29545149e-02 -5.21441269e-04 9.99915951e-01 1.52017574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.144391418 meters Centerline goodness [0,1] 0.9986967945349449 Centerline is valid? [True, True] Translation: X:211.80, Y:9.49, Z:1.52 [[ 9.98374377e-01 -5.55771616e-02 -1.26405418e-02 2.11796756e+02] [ 5.55790267e-02 9.98454270e-01 -2.03964652e-04 9.48833508e+00] [ 1.26323388e-02 -4.98915930e-04 9.99920084e-01 1.52113942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.174391418 meters Centerline goodness [0,1] 0.998695944809019 Centerline is valid? [True, True] Translation: X:211.83, Y:9.49, Z:1.52 [[ 9.98402022e-01 -5.50820633e-02 -1.26241203e-02 2.11827342e+02] [ 5.50838881e-02 9.98481709e-01 -2.03381613e-04 9.49030425e+00] [ 1.26161559e-02 -4.92329016e-04 9.99920292e-01 1.52136622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.204391418 meters Centerline goodness [0,1] 0.9984655806621124 Centerline is valid? [True, True] Translation: X:211.86, Y:9.49, Z:1.52 [[ 9.98418989e-01 -5.47147342e-02 -1.28771019e-02 2.11858309e+02] [ 5.47166050e-02 9.98501903e-01 -2.07248481e-04 9.49247467e+00] [ 1.28691503e-02 -4.97670479e-04 9.99917065e-01 1.52118961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.234391418 meters Centerline goodness [0,1] 0.9986990095685748 Centerline is valid? [True, True] Translation: X:211.89, Y:9.51, Z:1.52 [[ 9.98436041e-01 -5.44358189e-02 -1.27363316e-02 2.11890162e+02] [ 5.44376337e-02 9.98517152e-01 -2.04407133e-04 9.51253389e+00] [ 1.27285726e-02 -4.89248304e-04 9.99918869e-01 1.52387914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.264391418 meters Centerline goodness [0,1] 0.9983650883481104 Centerline is valid? [True, True] Translation: X:211.92, Y:9.51, Z:1.52 [[ 9.98426069e-01 -5.46041748e-02 -1.27972338e-02 2.11922121e+02] [ 5.46060342e-02 9.98507957e-01 -2.04341920e-04 9.51400436e+00] [ 1.27892977e-02 -4.94785887e-04 9.99918091e-01 1.52370671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.294391418 meters Centerline goodness [0,1] 0.9986552926839518 Centerline is valid? [True, True] Translation: X:211.95, Y:9.51, Z:1.52 [[ 9.98403063e-01 -5.50095947e-02 -1.28556866e-02 2.11953171e+02] [ 5.50115166e-02 9.98485699e-01 -2.04348792e-04 9.51427004e+00] [ 1.28474603e-02 -5.03188355e-04 9.99917341e-01 1.52360845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.324391418 meters Centerline goodness [0,1] 0.9985524273066756 Centerline is valid? [True, True] Translation: X:211.98, Y:9.50, Z:1.52 [[ 9.98352635e-01 -5.58189925e-02 -1.32761716e-02 2.11984785e+02] [ 5.58211244e-02 9.98440763e-01 -2.10219593e-04 9.49797050e+00] [ 1.32672052e-02 -5.31217543e-04 9.99911846e-01 1.52054301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.354391418 meters Centerline goodness [0,1] 0.9986977525729889 Centerline is valid? [True, True] Translation: X:212.02, Y:9.52, Z:1.52 [[ 9.98332665e-01 -5.61295500e-02 -1.34671060e-02 2.12016747e+02] [ 5.61317844e-02 9.98423346e-01 -2.12310163e-04 9.51771834e+00] [ 1.34577899e-02 -5.43976519e-04 9.99909292e-01 1.52320143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.384391418 meters Centerline goodness [0,1] 0.9988870456311292 Centerline is valid? [True, True] Translation: X:212.05, Y:9.52, Z:1.52 [[ 9.98339373e-01 -5.59544372e-02 -1.36965870e-02 2.12048762e+02] [ 5.59567468e-02 9.98433171e-01 -2.14839629e-04 9.52001743e+00] [ 1.36871481e-02 -5.51933593e-04 9.99906174e-01 1.52365524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.414391418 meters Centerline goodness [0,1] 0.9989685730523923 Centerline is valid? [True, True] Translation: X:212.08, Y:9.52, Z:1.52 [[ 9.98348113e-01 -5.56828914e-02 -1.41584340e-02 2.12079622e+02] [ 5.56853463e-02 9.98448343e-01 -2.21091191e-04 9.52134099e+00] [ 1.41487759e-02 -5.67691324e-04 9.99899740e-01 1.52337549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.444391418 meters Centerline goodness [0,1] 0.9988003535799975 Centerline is valid? [True, True] Translation: X:212.11, Y:9.53, Z:1.52 [[ 9.98464691e-01 -5.35256848e-02 -1.42569720e-02 2.12111576e+02] [ 5.35279687e-02 9.98566326e-01 -2.21622257e-04 9.52975641e+00] [ 1.42483946e-02 -5.41864754e-04 9.99898340e-01 1.52453878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.474391418 meters Centerline goodness [0,1] 0.9989882169431504 Centerline is valid? [True, True] Translation: X:212.14, Y:9.53, Z:1.53 [[ 9.98574249e-01 -5.15754001e-02 -1.37640051e-02 2.12142605e+02] [ 5.15773657e-02 9.98668979e-01 -2.12362907e-04 9.53189362e+00] [ 1.37566376e-02 -4.97850993e-04 9.99905249e-01 1.52507977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.504391418 meters Centerline goodness [0,1] 0.9989034394044832 Centerline is valid? [True, True] Translation: X:212.17, Y:9.54, Z:1.53 [[ 9.98693130e-01 -4.93065154e-02 -1.34499295e-02 2.12174722e+02] [ 4.93082079e-02 9.98783589e-01 -2.05946952e-04 9.53585767e+00] [ 1.34437233e-02 -4.57514112e-04 9.99909524e-01 1.52586826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.534391418 meters Centerline goodness [0,1] 0.9988607594936709 Centerline is valid? [True, True] Translation: X:212.21, Y:9.54, Z:1.53 [[ 9.98943714e-01 -4.40358351e-02 -1.31263827e-02 2.12206183e+02] [ 4.40370049e-02 9.99029881e-01 -2.00051004e-04 9.54379320e+00] [ 1.31224580e-02 -3.78206886e-04 9.99913825e-01 1.52735514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.564391418 meters Centerline goodness [0,1] 0.9990913701293213 Centerline is valid? [True, True] Translation: X:212.24, Y:9.55, Z:1.53 [[ 9.99058583e-01 -4.15570895e-02 -1.24481629e-02 2.12237969e+02] [ 4.15579599e-02 9.99136077e-01 -1.88855187e-04 9.54729617e+00] [ 1.24452569e-02 -3.28642858e-04 9.99922501e-01 1.52813256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.59439141800001 meters Centerline goodness [0,1] 0.9990913701293213 Centerline is valid? [True, True] Translation: X:212.27, Y:9.55, Z:1.53 [[ 9.99061847e-01 -4.14785296e-02 -1.24481777e-02 2.12269669e+02] [ 4.14794061e-02 9.99139341e-01 -1.87876415e-04 9.54769661e+00] [ 1.24452569e-02 -3.28642858e-04 9.99922501e-01 1.52835463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62439141800002 meters Centerline goodness [0,1] 0.9989438999662048 Centerline is valid? [True, True] Translation: X:212.30, Y:9.55, Z:1.53 [[ 9.99152426e-01 -3.92535700e-02 -1.23930006e-02 2.12301091e+02] [ 3.92542784e-02 9.99229236e-01 -1.86179502e-04 9.54887665e+00] [ 1.23907567e-02 -3.00456593e-04 9.99923186e-01 1.52869383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.65439141800002 meters Centerline goodness [0,1] 0.9988129305776364 Centerline is valid? [True, True] Translation: X:212.33, Y:9.56, Z:1.53 [[ 9.99252356e-01 -3.67700978e-02 -1.19452883e-02 2.12332891e+02] [ 3.67705868e-02 9.99323717e-01 -1.78764540e-04 9.55504413e+00] [ 1.19437831e-02 -2.60604372e-04 9.99928637e-01 1.52884729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.684391418 meters Centerline goodness [0,1] 0.998920474991004 Centerline is valid? [True, True] Translation: X:212.37, Y:9.56, Z:1.53 [[ 9.99271458e-01 -3.61104882e-02 -1.23526030e-02 2.12365202e+02] [ 3.61109712e-02 9.99347769e-01 -1.84006948e-04 9.55641405e+00] [ 1.23511909e-02 -2.62191601e-04 9.99923687e-01 1.52862155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.714391418 meters Centerline goodness [0,1] 0.998876690263236 Centerline is valid? [True, True] Translation: X:212.40, Y:9.56, Z:1.53 [[ 9.99284910e-01 -3.53942146e-02 -1.33010500e-02 2.12397440e+02] [ 3.53947259e-02 9.99373391e-01 -1.97032423e-04 9.55777256e+00] [ 1.32996892e-02 -2.73895491e-04 9.99911518e-01 1.52640948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.744391418 meters Centerline goodness [0,1] 0.9988365697846596 Centerline is valid? [True, True] Translation: X:212.43, Y:9.56, Z:1.53 [[ 9.99192589e-01 -3.73219175e-02 -1.48742669e-02 2.12427970e+02] [ 3.73227822e-02 9.99303238e-01 -2.19550376e-04 9.55777400e+00] [ 1.48720971e-02 -3.35775913e-04 9.99889348e-01 1.52647011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.774391418 meters Centerline goodness [0,1] 0.9989622821321925 Centerline is valid? [True, True] Translation: X:212.46, Y:9.56, Z:1.53 [[ 9.99131843e-01 -3.86453315e-02 -1.55595188e-02 2.12459260e+02] [ 3.86464457e-02 9.99252921e-01 -2.29175209e-04 9.55859367e+00] [ 1.55567512e-02 -3.72343851e-04 9.99878917e-01 1.52606030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.804391418 meters Centerline goodness [0,1] 0.9988968794416513 Centerline is valid? [True, True] Translation: X:212.49, Y:9.56, Z:1.53 [[ 9.99064235e-01 -3.99365302e-02 -1.66050563e-02 2.12489240e+02] [ 3.99379984e-02 9.99202130e-01 -2.43315452e-04 9.55678822e+00] [ 1.66015248e-02 -4.20084946e-04 9.99862097e-01 1.52520145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.834391418 meters Centerline goodness [0,1] 0.9988345729239506 Centerline is valid? [True, True] Translation: X:212.52, Y:9.55, Z:1.52 [[ 9.98929361e-01 -4.28246375e-02 -1.74980825e-02 2.12519824e+02] [ 4.28267270e-02 9.99082482e-01 -2.55460992e-04 9.55470573e+00] [ 1.74929678e-02 -4.94198118e-04 9.99846864e-01 1.52415993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.864391418 meters Centerline goodness [0,1] 0.9990035617367707 Centerline is valid? [True, True] Translation: X:212.55, Y:9.56, Z:1.53 [[ 9.98872503e-01 -4.41849702e-02 -1.73612237e-02 2.12551186e+02] [ 4.41872419e-02 9.99023235e-01 -2.52916558e-04 9.55602876e+00] [ 1.73554409e-02 -5.14513195e-04 9.99849251e-01 1.52527456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.894391418 meters Centerline goodness [0,1] 0.9990267845808827 Centerline is valid? [True, True] Translation: X:212.58, Y:9.55, Z:1.53 [[ 9.98843423e-01 -4.49880074e-02 -1.69674594e-02 2.12581249e+02] [ 4.49903010e-02 9.98987393e-01 -2.46711249e-04 9.55437522e+00] [ 1.69613771e-02 -5.16945195e-04 9.99856012e-01 1.52504675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.924391418 meters Centerline goodness [0,1] 0.9991323669452968 Centerline is valid? [True, True] Translation: X:212.61, Y:9.56, Z:1.53 [[ 9.98811471e-01 -4.57251845e-02 -1.68775735e-02 2.12612655e+02] [ 4.57275678e-02 9.98953918e-01 -2.44879048e-04 9.55614815e+00] [ 1.68711153e-02 -5.27182383e-04 9.99857534e-01 1.52614770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.954391418 meters Centerline goodness [0,1] 0.9989624139756484 Centerline is valid? [True, True] Translation: X:212.64, Y:9.56, Z:1.53 [[ 9.98819886e-01 -4.57217676e-02 -1.63815368e-02 2.12643830e+02] [ 4.57240257e-02 9.98954082e-01 -2.36864005e-04 9.55713913e+00] [ 1.63752329e-02 -5.12445331e-04 9.99865786e-01 1.52690191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.984391418 meters Centerline goodness [0,1] 0.9989212741655739 Centerline is valid? [True, True] Translation: X:212.68, Y:9.56, Z:1.53 [[ 9.98851530e-01 -4.51342241e-02 -1.60786550e-02 2.12675278e+02] [ 4.51363384e-02 9.98980809e-01 -2.31553089e-04 9.55822259e+00] [ 1.60727188e-02 -4.94444456e-04 9.99870703e-01 1.52720615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.014391418 meters Centerline goodness [0,1] 0.998961446344927 Centerline is valid? [True, True] Translation: X:212.71, Y:9.56, Z:1.53 [[ 9.98906870e-01 -4.39459828e-02 -1.59315874e-02 2.12707129e+02] [ 4.39479221e-02 9.99033797e-01 -2.28520896e-04 9.55991189e+00] [ 1.59262368e-02 -4.71889069e-04 9.99873058e-01 1.52751972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.044391418 meters Centerline goodness [0,1] 0.998856634694785 Centerline is valid? [True, True] Translation: X:212.74, Y:9.56, Z:1.53 [[ 9.99049161e-01 -4.07318498e-02 -1.55463698e-02 2.12737987e+02] [ 4.07333188e-02 9.99170029e-01 -2.22278669e-04 9.56397659e+00] [ 1.55425206e-02 -4.11187920e-04 9.99879123e-01 1.52819377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.074391418 meters Centerline goodness [0,1] 0.9988522116181691 Centerline is valid? [True, True] Translation: X:212.77, Y:9.57, Z:1.53 [[ 9.99151510e-01 -3.82750824e-02 -1.52078239e-02 2.12769672e+02] [ 3.82762147e-02 9.99267174e-01 -2.16713359e-04 9.56684473e+00] [ 1.52049740e-02 -3.65568454e-04 9.99884331e-01 1.52891450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.104391418 meters Centerline goodness [0,1] 0.9986840429596299 Centerline is valid? [True, True] Translation: X:212.80, Y:9.57, Z:1.53 [[ 9.99255611e-01 -3.56802162e-02 -1.46678734e-02 2.12799999e+02] [ 3.56809977e-02 9.99363209e-01 -2.08494478e-04 9.56962909e+00] [ 1.46659722e-02 -3.15025081e-04 9.99892399e-01 1.52968465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.134391418 meters Centerline goodness [0,1] 0.9988946753108726 Centerline is valid? [True, True] Translation: X:212.83, Y:9.57, Z:1.53 [[ 9.99359550e-01 -3.28865645e-02 -1.41054737e-02 2.12831225e+02] [ 3.28870145e-02 9.99459056e-01 -2.00112928e-04 9.57286816e+00] [ 1.41044244e-02 -2.63902151e-04 9.99900493e-01 1.53046534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.164391418 meters Centerline goodness [0,1] 0.998935807934616 Centerline is valid? [True, True] Translation: X:212.86, Y:9.58, Z:1.53 [[ 9.99550482e-01 -2.67631698e-02 -1.35117508e-02 2.12861128e+02] [ 2.67630267e-02 9.99641788e-01 -1.91441924e-04 9.57966706e+00] [ 1.35120343e-02 -1.70259479e-04 9.99908694e-01 1.53148922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.194391418 meters Centerline goodness [0,1] 0.9988716682278804 Centerline is valid? [True, True] Translation: X:212.89, Y:9.59, Z:1.53 [[ 9.99627108e-01 -2.35833033e-02 -1.37648854e-02 2.12891176e+02] [ 2.35828533e-02 9.99721867e-01 -1.95028475e-04 9.58519016e+00] [ 1.37656564e-02 -1.29659522e-04 9.99905240e-01 1.53256654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.224391418 meters Centerline goodness [0,1] 0.9989142930131563 Centerline is valid? [True, True] Translation: X:212.92, Y:9.59, Z:1.53 [[ 9.99689421e-01 -2.04232458e-02 -1.42812003e-02 2.12922073e+02] [ 2.04224390e-02 9.99791420e-01 -2.02343909e-04 9.58783554e+00] [ 1.42823540e-02 -8.93758766e-05 9.99897998e-01 1.53160601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.254391418 meters Centerline goodness [0,1] 0.9990849701019301 Centerline is valid? [True, True] Translation: X:212.95, Y:9.59, Z:1.53 [[ 9.99788728e-01 -1.47844275e-02 -1.42800788e-02 2.12951509e+02] [ 1.47830435e-02 9.99890704e-01 -2.02475526e-04 9.59279761e+00] [ 1.42815115e-02 -8.67027760e-06 9.99898014e-01 1.53199117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.284391418 meters Centerline goodness [0,1] 0.9991673605328892 Centerline is valid? [True, True] Translation: X:212.98, Y:9.60, Z:1.53 [[ 9.99825861e-01 -1.22791153e-02 -1.40524505e-02 2.12979620e+02] [ 1.22775158e-02 9.99924608e-01 -2.00091891e-04 9.59528653e+00] [ 1.40538480e-02 2.75278638e-05 9.99901239e-01 1.53163965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.314391418 meters Centerline goodness [0,1] 0.9992525679629274 Centerline is valid? [True, True] Translation: X:213.01, Y:9.60, Z:1.53 [[ 9.99847632e-01 -1.05416085e-02 -1.39135616e-02 2.13007674e+02] [ 1.05398318e-02 9.99944434e-01 -2.01015664e-04 9.59746885e+00] [ 1.39149075e-02 5.43384361e-05 9.99903182e-01 1.53214071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34439141800001 meters Centerline goodness [0,1] 0.9991254639307197 Centerline is valid? [True, True] Translation: X:213.04, Y:9.60, Z:1.53 [[ 9.99871871e-01 -7.78497666e-03 -1.39869686e-02 2.13036046e+02] [ 7.78285264e-03 9.99969692e-01 -2.06283164e-04 9.59998872e+00] [ 1.39881506e-02 9.73982176e-05 9.99902156e-01 1.53201201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.37439141800002 meters Centerline goodness [0,1] 0.9990822163408178 Centerline is valid? [True, True] Translation: X:213.06, Y:9.60, Z:1.53 [[ 9.99875652e-01 -7.52831277e-03 -1.38565568e-02 2.13064184e+02] [ 7.52614605e-03 9.99971656e-01 -2.08507882e-04 9.60076088e+00] [ 1.38577337e-02 1.04195484e-04 9.99903972e-01 1.53210985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40439141800002 meters Centerline goodness [0,1] 0.9990174509259457 Centerline is valid? [True, True] Translation: X:213.09, Y:9.60, Z:1.53 [[ 9.99872049e-01 -7.71836021e-03 -1.40111383e-02 2.13092226e+02] [ 7.71610026e-03 9.99970207e-01 -2.15348081e-04 9.60123460e+00] [ 1.40123830e-02 1.07209179e-04 9.99901816e-01 1.53184667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.434391418 meters Centerline goodness [0,1] 0.9992124811101888 Centerline is valid? [True, True] Translation: X:213.12, Y:9.60, Z:1.53 [[ 9.99849451e-01 -9.76178350e-03 -1.43451182e-02 2.13120394e+02] [ 9.75955835e-03 9.99952349e-01 -2.25113033e-04 9.59938546e+00] [ 1.43466321e-02 8.50771247e-05 9.99897078e-01 1.53174938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.464391418 meters Centerline goodness [0,1] 0.9994026921518016 Centerline is valid? [True, True] Translation: X:213.15, Y:9.60, Z:1.53 [[ 9.99821166e-01 -1.22201928e-02 -1.44326826e-02 2.13148294e+02] [ 1.22181294e-02 9.99925329e-01 -2.31134301e-04 9.59762138e+00] [ 1.44344294e-02 5.47525826e-05 9.99895817e-01 1.53198629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.494391418 meters Centerline goodness [0,1] 0.9991490810074881 Centerline is valid? [True, True] Translation: X:213.18, Y:9.60, Z:1.53 [[ 9.99776146e-01 -1.53004445e-02 -1.46134773e-02 2.13175421e+02] [ 1.52986091e-02 9.99882941e-01 -2.37380481e-04 9.59518521e+00] [ 1.46153987e-02 1.37614639e-05 9.99893189e-01 1.53164991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.524391418 meters Centerline goodness [0,1] 0.9991492438905077 Centerline is valid? [True, True] Translation: X:213.20, Y:9.59, Z:1.53 [[ 9.99645987e-01 -2.27953059e-02 -1.37213135e-02 2.13204271e+02] [ 2.27943735e-02 9.99740149e-01 -2.24355857e-04 9.58792285e+00] [ 1.37228623e-02 -8.84923141e-05 9.99905833e-01 1.53263742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.554391418 meters Centerline goodness [0,1] 0.998916346174277 Centerline is valid? [True, True] Translation: X:213.23, Y:9.58, Z:1.53 [[ 9.99535077e-01 -2.73873869e-02 -1.34000435e-02 2.13234973e+02] [ 2.73869028e-02 9.99624884e-01 -2.19662742e-04 9.58386892e+00] [ 1.34010329e-02 -1.47425073e-04 9.99910191e-01 1.53265390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.584391418 meters Centerline goodness [0,1] 0.9987902712339234 Centerline is valid? [True, True] Translation: X:213.27, Y:9.58, Z:1.53 [[ 9.99395692e-01 -3.24027496e-02 -1.25822474e-02 2.13265343e+02] [ 3.24027215e-02 9.99474873e-01 -2.06143404e-04 9.57881316e+00] [ 1.25823197e-02 -2.01680228e-04 9.99920819e-01 1.53310415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.614391418 meters Centerline goodness [0,1] 0.9989211144253348 Centerline is valid? [True, True] Translation: X:213.30, Y:9.57, Z:1.53 [[ 9.99234736e-01 -3.72064435e-02 -1.20674271e-02 2.13295898e+02] [ 3.72067706e-02 9.99307569e-01 -1.97470694e-04 9.57332964e+00] [ 1.20664184e-02 -2.51670416e-04 9.99927166e-01 1.53351404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.644391418 meters Centerline goodness [0,1] 0.998689300890007 Centerline is valid? [True, True] Translation: X:213.33, Y:9.56, Z:1.53 [[ 9.98836204e-01 -4.71363875e-02 -1.02175809e-02 2.13327419e+02] [ 4.71371435e-02 9.98888413e-01 -1.66955423e-04 9.56279457e+00] [ 1.02140929e-02 -3.14866457e-04 9.99947785e-01 1.53459107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.674391418 meters Centerline goodness [0,1] 0.998879658401505 Centerline is valid? [True, True] Translation: X:213.36, Y:9.56, Z:1.54 [[ 9.98622018e-01 -5.15319694e-02 -9.92574304e-03 2.13358234e+02] [ 5.15329029e-02 9.98671284e-01 -1.61861394e-04 9.55868590e+00] [ 9.92089559e-03 -3.49864000e-04 9.99950725e-01 1.53520757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.704391418 meters Centerline goodness [0,1] 0.9985396207246867 Centerline is valid? [True, True] Translation: X:213.39, Y:9.55, Z:1.53 [[ 9.98174668e-01 -5.96684761e-02 -9.32766381e-03 2.13387743e+02] [ 5.96696559e-02 9.98218167e-01 -1.52013796e-04 9.54705404e+00] [ 9.32011390e-03 -4.04842169e-04 9.99956485e-01 1.53492840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.734391418 meters Centerline goodness [0,1] 0.9985214599526867 Centerline is valid? [True, True] Translation: X:213.42, Y:9.54, Z:1.54 [[ 9.97971789e-01 -6.29455389e-02 -9.49564195e-03 2.13418922e+02] [ 6.29469089e-02 9.98016865e-01 -1.54819270e-04 9.54372310e+00] [ 9.48655599e-03 -4.43216044e-04 9.99954903e-01 1.53506458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.764391418 meters Centerline goodness [0,1] 0.9987334557659426 Centerline is valid? [True, True] Translation: X:213.45, Y:9.54, Z:1.54 [[ 9.97786571e-01 -6.58174814e-02 -9.48781740e-03 2.13449726e+02] [ 6.58189804e-02 9.97831568e-01 -1.54504493e-04 9.54498644e+00] [ 9.47741281e-03 -4.70315959e-04 9.99954978e-01 1.53543651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.794391418 meters Centerline goodness [0,1] 0.9988162928829609 Centerline is valid? [True, True] Translation: X:213.48, Y:9.54, Z:1.54 [[ 9.97654711e-01 -6.77823823e-02 -9.51975808e-03 2.13481262e+02] [ 6.77839850e-02 9.97700009e-01 -1.54566547e-04 9.53721030e+00] [ 9.50833961e-03 -4.91083095e-04 9.99954674e-01 1.53547846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.824391418 meters Centerline goodness [0,1] 0.998626025196584 Centerline is valid? [True, True] Translation: X:213.51, Y:9.54, Z:1.54 [[ 9.97453853e-01 -7.06749240e-02 -9.53233204e-03 2.13512454e+02] [ 7.06766719e-02 9.97499265e-01 -1.53790996e-04 9.53940654e+00] [ 9.51936337e-03 -5.20314082e-04 9.99954554e-01 1.53565757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.854391418 meters Centerline goodness [0,1] 0.9983986177542721 Centerline is valid? [True, True] Translation: X:213.54, Y:9.54, Z:1.54 [[ 9.97450681e-01 -7.07735116e-02 -9.12411583e-03 2.13544613e+02] [ 7.07751212e-02 9.97492286e-01 -1.46761532e-04 9.53831530e+00] [ 9.11162198e-03 -4.99373013e-04 9.99958364e-01 1.53611207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.884391418 meters Centerline goodness [0,1] 0.9986556881196438 Centerline is valid? [True, True] Translation: X:213.58, Y:9.54, Z:1.54 [[ 9.97543694e-01 -6.94993151e-02 -8.74207413e-03 2.13576622e+02] [ 6.95007499e-02 9.97581889e-01 -1.39931310e-04 9.53970200e+00] [ 8.73065996e-03 -4.67993111e-04 9.99961778e-01 1.53655493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.914391418 meters Centerline goodness [0,1] 0.9984654838980913 Centerline is valid? [True, True] Translation: X:213.61, Y:9.54, Z:1.54 [[ 9.97621348e-01 -6.84022482e-02 -8.53107027e-03 2.13607433e+02] [ 6.84035802e-02 9.97657723e-01 -1.35903129e-04 9.53959029e+00] [ 8.52038422e-03 -4.47975887e-04 9.99963601e-01 1.53666594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.944391418 meters Centerline goodness [0,1] 0.9983124499008564 Centerline is valid? [True, True] Translation: X:213.64, Y:9.54, Z:1.54 [[ 9.97739221e-01 -6.66825934e-02 -8.35929377e-03 2.13639271e+02] [ 6.66838164e-02 9.97774148e-01 -1.32639168e-04 9.54323867e+00] [ 8.34953195e-03 -4.25090312e-04 9.99965052e-01 1.53677833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.974391418 meters Centerline goodness [0,1] 0.9988397848328235 Centerline is valid? [True, True] Translation: X:213.67, Y:9.55, Z:1.54 [[ 9.98008734e-01 -6.24034267e-02 -9.18583198e-03 2.13668575e+02] [ 6.24047280e-02 9.98050915e-01 -1.45167847e-04 9.54677807e+00] [ 9.17698698e-03 -4.28360567e-04 9.99957799e-01 1.53667096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.004391418 meters Centerline goodness [0,1] 0.9987970876859765 Centerline is valid? [True, True] Translation: X:213.70, Y:9.55, Z:1.54 [[ 9.98154365e-01 -5.99246909e-02 -9.84348334e-03 2.13700126e+02] [ 5.99260646e-02 9.98202806e-01 -1.55598156e-04 9.55021573e+00] [ 9.83511687e-03 -4.34570240e-04 9.99951540e-01 1.53614905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.034391418 meters Centerline goodness [0,1] 0.9985036250210757 Centerline is valid? [True, True] Translation: X:213.73, Y:9.55, Z:1.54 [[ 9.98299529e-01 -5.74228089e-02 -1.00335279e-02 2.13730692e+02] [ 5.74241135e-02 9.98349862e-01 -1.58253430e-04 9.55171242e+00] [ 1.00260585e-02 -4.18182119e-04 9.99949650e-01 1.53595594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.064391418 meters Centerline goodness [0,1] 0.9985870344594879 Centerline is valid? [True, True] Translation: X:213.76, Y:9.55, Z:1.54 [[ 9.98436328e-01 -5.48649248e-02 -1.07116479e-02 2.13762456e+02] [ 5.48662694e-02 9.98493698e-01 -1.68515625e-04 9.55438613e+00] [ 1.07047585e-02 -4.19456037e-04 9.99942614e-01 1.53609479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.09439141800001 meters Centerline goodness [0,1] 0.9988603988603989 Centerline is valid? [True, True] Translation: X:213.79, Y:9.56, Z:1.54 [[ 9.98736456e-01 -4.91819111e-02 -1.03262580e-02 2.13792934e+02] [ 4.91828626e-02 9.98789778e-01 -1.61933042e-04 9.56033047e+00] [ 1.03217251e-02 -3.46146498e-04 9.99946670e-01 1.53672431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12439141800002 meters Centerline goodness [0,1] 0.9988605431411027 Centerline is valid? [True, True] Translation: X:213.82, Y:9.56, Z:1.54 [[ 9.98868532e-01 -4.64159566e-02 -1.03545011e-02 2.13824110e+02] [ 4.64167669e-02 9.98922148e-01 -1.62182419e-04 9.56326829e+00] [ 1.03508684e-02 -3.18623551e-04 9.99946378e-01 1.53738757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.15439141800002 meters Centerline goodness [0,1] 0.9986711944485457 Centerline is valid? [True, True] Translation: X:213.86, Y:9.57, Z:1.54 [[ 9.99122504e-01 -4.06785614e-02 -9.97382067e-03 2.13855415e+02] [ 4.06790325e-02 9.99172253e-01 -1.55713715e-04 9.57035827e+00] [ 9.97189908e-03 -2.50148298e-04 9.99950248e-01 1.53793609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.184391418 meters Centerline goodness [0,1] 0.9988183410352176 Centerline is valid? [True, True] Translation: X:213.89, Y:9.57, Z:1.54 [[ 9.99233517e-01 -3.79375404e-02 -9.64994792e-03 2.13887346e+02] [ 3.79378581e-02 9.99280089e-01 -1.50189047e-04 9.57322071e+00] [ 9.64869862e-03 -2.16024425e-04 9.99953427e-01 1.53864131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.214391418 meters Centerline goodness [0,1] 0.9986089155864686 Centerline is valid? [True, True] Translation: X:213.92, Y:9.58, Z:1.54 [[ 9.99333328e-01 -3.52586892e-02 -9.47231181e-03 2.13918606e+02] [ 3.52588815e-02 9.99378202e-01 -1.46752439e-04 9.57520210e+00] [ 9.47159624e-03 -1.87328516e-04 9.99955126e-01 1.53885078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.244391418 meters Centerline goodness [0,1] 0.9987997220408937 Centerline is valid? [True, True] Translation: X:213.95, Y:9.58, Z:1.54 [[ 9.99422602e-01 -3.27365184e-02 -9.09852119e-03 2.13951053e+02] [ 3.27365962e-02 9.99464004e-01 -1.40417335e-04 9.57793970e+00] [ 9.09824120e-03 -1.57518356e-04 9.99958598e-01 1.53957937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.274391418 meters Centerline goodness [0,1] 0.9990287777378967 Centerline is valid? [True, True] Translation: X:213.98, Y:9.58, Z:1.54 [[ 9.99561549e-01 -2.80913835e-02 -9.35867936e-03 2.13982339e+02] [ 2.80912682e-02 9.99605352e-01 -1.43795343e-04 9.58312079e+00] [ 9.35902538e-03 -1.19164876e-04 9.99956196e-01 1.53946068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.304391418 meters Centerline goodness [0,1] 0.9991364603298301 Centerline is valid? [True, True] Translation: X:214.01, Y:9.59, Z:1.54 [[ 9.99619809e-01 -2.58568100e-02 -9.57411371e-03 2.14014480e+02] [ 2.58565915e-02 9.99665652e-01 -1.46613310e-04 9.58577393e+00] [ 9.57470358e-03 -1.00996379e-04 9.99954156e-01 1.53909236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.334391418 meters Centerline goodness [0,1] 0.9989436768496218 Centerline is valid? [True, True] Translation: X:214.05, Y:9.59, Z:1.54 [[ 9.99697853e-01 -2.22337148e-02 -1.04816703e-02 2.14045649e+02] [ 2.22332627e-02 9.99752798e-01 -1.59668245e-04 9.58795708e+00] [ 1.04826292e-02 -7.34217271e-05 9.99945053e-01 1.53836508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.364391418 meters Centerline goodness [0,1] 0.9993226222984272 Centerline is valid? [True, True] Translation: X:214.08, Y:9.59, Z:1.54 [[ 9.99731524e-01 -2.03966778e-02 -1.09934352e-02 2.14077251e+02] [ 2.03960762e-02 9.99791964e-01 -1.66849787e-04 9.58990180e+00] [ 1.09945514e-02 -5.74179503e-05 9.99939556e-01 1.53884005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.394391418 meters Centerline goodness [0,1] 0.9991137744767049 Centerline is valid? [True, True] Translation: X:214.11, Y:9.59, Z:1.54 [[ 9.99751154e-01 -1.92924947e-02 -1.11995576e-02 2.14107787e+02] [ 1.92918052e-02 9.99813881e-01 -1.69597354e-04 9.59046805e+00] [ 1.12007451e-02 -4.65045343e-05 9.99937269e-01 1.53888331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.424391418 meters Centerline goodness [0,1] 0.9990493894968102 Centerline is valid? [True, True] Translation: X:214.14, Y:9.59, Z:1.54 [[ 9.99770736e-01 -1.82519782e-02 -1.11955827e-02 2.14138048e+02] [ 1.82512256e-02 9.99833418e-01 -1.69393807e-04 9.59065964e+00] [ 1.11968095e-02 -3.49781345e-05 9.99937313e-01 1.53884456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.454391418 meters Centerline goodness [0,1] 0.9990493894968102 Centerline is valid? [True, True] Translation: X:214.17, Y:9.59, Z:1.54 [[ 9.99770736e-01 -1.82519782e-02 -1.11955827e-02 2.14168044e+02] [ 1.82512256e-02 9.99833418e-01 -1.69393807e-04 9.59111349e+00] [ 1.11968095e-02 -3.49781345e-05 9.99937313e-01 1.53905484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.484391418 meters Centerline goodness [0,1] 0.9989215478959611 Centerline is valid? [True, True] Translation: X:214.20, Y:9.59, Z:1.54 [[ 9.99790096e-01 -1.70053471e-02 -1.14272334e-02 2.14198275e+02] [ 1.70044816e-02 9.99855398e-01 -1.72898778e-04 9.59024646e+00] [ 1.14285212e-02 -2.14516939e-05 9.99934692e-01 1.53960230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.514391418 meters Centerline goodness [0,1] 0.9990057749666829 Centerline is valid? [True, True] Translation: X:214.23, Y:9.59, Z:1.54 [[ 9.99797380e-01 -1.65789268e-02 -1.14165490e-02 2.14228185e+02] [ 1.65780351e-02 9.99862560e-01 -1.72738493e-04 9.58957354e+00] [ 1.14178438e-02 -1.65604584e-05 9.99934814e-01 1.54017321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.544391418 meters Centerline goodness [0,1] 0.9993229232787441 Centerline is valid? [True, True] Translation: X:214.26, Y:9.59, Z:1.54 [[ 9.99811050e-01 -1.61716834e-02 -1.07861603e-02 2.14258106e+02] [ 1.61708621e-02 9.99869230e-01 -1.63352435e-04 9.58883453e+00] [ 1.07873914e-02 -1.10999405e-05 9.99941814e-01 1.54083115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.574391418 meters Centerline goodness [0,1] 0.9992606518937873 Centerline is valid? [True, True] Translation: X:214.29, Y:9.59, Z:1.54 [[ 9.99813394e-01 -1.63478249e-02 -1.02919800e-02 2.14287214e+02] [ 1.63470839e-02 9.99866365e-01 -1.56128563e-04 9.58610021e+00] [ 1.02931570e-02 -1.21444314e-05 9.99947024e-01 1.54137496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.604391418 meters Centerline goodness [0,1] 0.9990920032941276 Centerline is valid? [True, True] Translation: X:214.32, Y:9.58, Z:1.54 [[ 9.99806071e-01 -1.68196954e-02 -1.02429856e-02 2.14316925e+02] [ 1.68189849e-02 9.99858539e-01 -1.55500751e-04 9.58437248e+00] [ 1.02441521e-02 -1.68060253e-05 9.99947527e-01 1.54148163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.634391418 meters Centerline goodness [0,1] 0.9993687001536163 Centerline is valid? [True, True] Translation: X:214.35, Y:9.58, Z:1.54 [[ 9.99797651e-01 -1.73446658e-02 -1.01891661e-02 2.14346188e+02] [ 1.73439860e-02 9.99849570e-01 -1.55080238e-04 9.58254106e+00] [ 1.01903232e-02 -2.16718960e-05 9.99948077e-01 1.54158979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.664391418 meters Centerline goodness [0,1] 0.9990980408608466 Centerline is valid? [True, True] Translation: X:214.38, Y:9.58, Z:1.54 [[ 9.99758615e-01 -1.93704849e-02 -1.03680534e-02 2.14376086e+02] [ 1.93698864e-02 9.99812374e-01 -1.58145446e-04 9.57686260e+00] [ 1.03691714e-02 -4.27207439e-05 9.99946238e-01 1.54110627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.694391418 meters Centerline goodness [0,1] 0.9991399022425476 Centerline is valid? [True, True] Translation: X:214.41, Y:9.57, Z:1.54 [[ 9.99730856e-01 -2.07866626e-02 -1.03019306e-02 2.14406669e+02] [ 2.07861455e-02 9.99783932e-01 -1.57271258e-04 9.57413671e+00] [ 1.03029738e-02 -5.69084997e-05 9.99946921e-01 1.54139022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.724391418 meters Centerline goodness [0,1] 0.9990550585863677 Centerline is valid? [True, True] Translation: X:214.44, Y:9.57, Z:1.54 [[ 9.99695155e-01 -2.23176787e-02 -1.05602270e-02 2.14437472e+02] [ 2.23172208e-02 9.99750927e-01 -1.61214461e-04 9.57132108e+00] [ 1.05611947e-02 -7.45096032e-05 9.99944226e-01 1.54127945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.754391418 meters Centerline goodness [0,1] 0.9990159128978224 Centerline is valid? [True, True] Translation: X:214.47, Y:9.56, Z:1.54 [[ 9.99636767e-01 -2.47157216e-02 -1.07455687e-02 2.14467496e+02] [ 2.47153868e-02 9.99694515e-01 -1.63968476e-04 9.56385645e+00] [ 1.07463387e-02 -1.01671969e-04 9.99942251e-01 1.54040655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.784391418 meters Centerline goodness [0,1] 0.9991823213686682 Centerline is valid? [True, True] Translation: X:214.50, Y:9.56, Z:1.54 [[ 9.99607259e-01 -2.57288064e-02 -1.11065959e-02 2.14499206e+02] [ 2.57285147e-02 9.99668953e-01 -1.69161781e-04 9.56310207e+00] [ 1.11072714e-02 -1.16660872e-04 9.99938306e-01 1.54099040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.814391418 meters Centerline goodness [0,1] 0.9988072069809781 Centerline is valid? [True, True] Translation: X:214.53, Y:9.56, Z:1.54 [[ 9.99585194e-01 -2.64560691e-02 -1.13805352e-02 2.14529829e+02] [ 2.64558144e-02 9.99649969e-01 -1.72947018e-04 9.55928936e+00] [ 1.13811272e-02 -1.28206050e-04 9.99935225e-01 1.54004774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84439141800001 meters Centerline goodness [0,1] 0.9990152737329506 Centerline is valid? [True, True] Translation: X:214.56, Y:9.56, Z:1.54 [[ 9.99557855e-01 -2.71070538e-02 -1.22189291e-02 2.14560770e+02] [ 2.71068108e-02 9.99632526e-01 -1.85532689e-04 9.55519201e+00] [ 1.22194682e-02 -1.45765542e-04 9.99925329e-01 1.53965009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.87439141800002 meters Centerline goodness [0,1] 0.9991621106432895 Centerline is valid? [True, True] Translation: X:214.59, Y:9.56, Z:1.54 [[ 9.99559521e-01 -2.70789775e-02 -1.21446785e-02 2.14590947e+02] [ 2.70787353e-02 9.99633287e-01 -1.84405264e-04 9.55522102e+00] [ 1.21452184e-02 -1.44538496e-04 9.99926234e-01 1.54047928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90439141800002 meters Centerline goodness [0,1] 0.9992688378700203 Centerline is valid? [True, True] Translation: X:214.62, Y:9.55, Z:1.54 [[ 9.99578797e-01 -2.64960221e-02 -1.18401276e-02 2.14621903e+02] [ 2.64957511e-02 9.99648910e-01 -1.79780952e-04 9.55386402e+00] [ 1.18407341e-02 -1.34007845e-04 9.99929887e-01 1.54062585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.934391418 meters Centerline goodness [0,1] 0.9991014147493366 Centerline is valid? [True, True] Translation: X:214.65, Y:9.55, Z:1.54 [[ 9.99601997e-01 -2.56008889e-02 -1.18508619e-02 2.14651940e+02] [ 2.56005556e-02 9.99672236e-01 -1.79846875e-04 9.55138428e+00] [ 1.18515819e-02 -1.23613354e-04 9.99929760e-01 1.54062244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.964391418 meters Centerline goodness [0,1] 0.999350104821803 Centerline is valid? [True, True] Translation: X:214.68, Y:9.55, Z:1.54 [[ 9.99612953e-01 -2.51827884e-02 -1.18224535e-02 2.14682091e+02] [ 2.51824291e-02 9.99682856e-01 -1.79275608e-04 9.55050062e+00] [ 1.18232187e-02 -1.18511878e-04 9.99930096e-01 1.54083581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.994391418 meters Centerline goodness [0,1] 0.9991404251750597 Centerline is valid? [True, True] Translation: X:214.71, Y:9.55, Z:1.54 [[ 9.99627085e-01 -2.46617795e-02 -1.17255447e-02 2.14712169e+02] [ 2.46613903e-02 9.99695846e-01 -1.77806083e-04 9.54973860e+00] [ 1.17263633e-02 -1.11428457e-04 9.99931238e-01 1.54110782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.024391418 meters Centerline goodness [0,1] 0.999309681198226 Centerline is valid? [True, True] Translation: X:214.74, Y:9.55, Z:1.54 [[ 9.99641061e-01 -2.41194162e-02 -1.16620612e-02 2.14741686e+02] [ 2.41189932e-02 9.99709079e-01 -1.76934754e-04 9.54883336e+00] [ 1.16629361e-02 -1.04405930e-04 9.99931980e-01 1.54128645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.054391418 meters Centerline goodness [0,1] 0.9994357012978871 Centerline is valid? [True, True] Translation: X:214.77, Y:9.55, Z:1.54 [[ 9.99675888e-01 -2.26044704e-02 -1.17114116e-02 2.14771197e+02] [ 2.26039372e-02 9.99744483e-01 -1.77912826e-04 9.54658857e+00] [ 1.17124408e-02 -8.68688511e-05 9.99931403e-01 1.54114819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.084391418 meters Centerline goodness [0,1] 0.9994134897360704 Centerline is valid? [True, True] Translation: X:214.80, Y:9.55, Z:1.54 [[ 9.99692298e-01 -2.19171480e-02 -1.16166885e-02 2.14800745e+02] [ 2.19165733e-02 9.99759787e-01 -1.76786257e-04 9.54584407e+00] [ 1.16177727e-02 -7.78661460e-05 9.99932508e-01 1.54159967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.114391418 meters Centerline goodness [0,1] 0.9991218349467874 Centerline is valid? [True, True] Translation: X:214.83, Y:9.55, Z:1.54 [[ 9.99710621e-01 -2.12626144e-02 -1.12505635e-02 2.14830001e+02] [ 2.12620292e-02 9.99773923e-01 -1.71638168e-04 9.54527691e+00] [ 1.12516694e-02 -6.76213094e-05 9.99936696e-01 1.54166314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.144391418 meters Centerline goodness [0,1] 0.9993506493506493 Centerline is valid? [True, True] Translation: X:214.86, Y:9.54, Z:1.54 [[ 9.99743208e-01 -1.97084513e-02 -1.11845754e-02 2.14859641e+02] [ 1.97077718e-02 9.99805768e-01 -1.70976949e-04 9.54376153e+00] [ 1.11857727e-02 -4.94900162e-05 9.99937436e-01 1.54231960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.174391418 meters Centerline goodness [0,1] 0.9996654259545815 Centerline is valid? [True, True] Translation: X:214.89, Y:9.54, Z:1.54 [[ 9.99747530e-01 -1.93548116e-02 -1.14134557e-02 2.14888414e+02] [ 1.93540663e-02 9.99812677e-01 -1.75764993e-04 9.54301204e+00] [ 1.14147196e-02 -4.51761600e-05 9.99934849e-01 1.54221260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.204391418 meters Centerline goodness [0,1] 0.9993924920395508 Centerline is valid? [True, True] Translation: X:214.92, Y:9.54, Z:1.54 [[ 9.99751692e-01 -1.90558761e-02 -1.15510855e-02 2.14918486e+02] [ 1.90550691e-02 9.99818420e-01 -1.79928583e-04 9.54224773e+00] [ 1.15524167e-02 -4.02228260e-05 9.99933268e-01 1.54200368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.234391418 meters Centerline goodness [0,1] 0.999455314869904 Centerline is valid? [True, True] Translation: X:214.95, Y:9.54, Z:1.54 [[ 9.99741148e-01 -1.92650855e-02 -1.21034186e-02 2.14946867e+02] [ 1.92641918e-02 9.99814410e-01 -1.90430318e-04 9.53967783e+00] [ 1.21048410e-02 -4.27815537e-05 9.99926733e-01 1.54196482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.264391418 meters Centerline goodness [0,1] 0.9993737605677904 Centerline is valid? [True, True] Translation: X:214.98, Y:9.54, Z:1.54 [[ 9.99722154e-01 -1.98568161e-02 -1.27012170e-02 2.14975584e+02] [ 1.98558456e-02 9.99802833e-01 -2.02516670e-04 9.53809004e+00] [ 1.27027341e-02 -4.97330024e-05 9.99919316e-01 1.54141881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.294391418 meters Centerline goodness [0,1] 0.9994166545136357 Centerline is valid? [True, True] Translation: X:215.00, Y:9.53, Z:1.54 [[ 9.99684152e-01 -2.12863394e-02 -1.33599038e-02 2.15003299e+02] [ 2.12853775e-02 9.99773418e-01 -2.14197520e-04 9.53326243e+00] [ 1.33614362e-02 -7.02407293e-05 9.99910730e-01 1.54003457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.324391418 meters Centerline goodness [0,1] 0.9995185161925098 Centerline is valid? [True, True] Translation: X:215.03, Y:9.53, Z:1.54 [[ 9.99656391e-01 -2.26659244e-02 -1.31664629e-02 2.15031753e+02] [ 2.26650780e-02 9.99743091e-01 -2.13520529e-04 9.53134414e+00] [ 1.31679200e-02 -8.49717479e-05 9.99913296e-01 1.54027794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.354391418 meters Centerline goodness [0,1] 0.9992906765693781 Centerline is valid? [True, True] Translation: X:215.06, Y:9.53, Z:1.54 [[ 9.99620641e-01 -2.40847474e-02 -1.33603792e-02 2.15060364e+02] [ 2.40839508e-02 9.99709915e-01 -2.20537132e-04 9.53055680e+00] [ 1.33618152e-02 -1.01317247e-04 9.99910722e-01 1.54161992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.384391418 meters Centerline goodness [0,1] 0.9995394695526575 Centerline is valid? [True, True] Translation: X:215.09, Y:9.53, Z:1.54 [[ 9.99566270e-01 -2.65717994e-02 -1.26968664e-02 2.15089022e+02] [ 2.65712327e-02 9.99646900e-01 -2.13353957e-04 9.52628950e+00] [ 1.26980523e-02 -1.24109973e-04 9.99919369e-01 1.54277901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.414391418 meters Centerline goodness [0,1] 0.9995007384909821 Centerline is valid? [True, True] Translation: X:215.12, Y:9.52, Z:1.54 [[ 9.99547793e-01 -2.74769444e-02 -1.22158545e-02 2.15117749e+02] [ 2.74764582e-02 9.99622429e-01 -2.07665630e-04 9.52233594e+00] [ 1.22169482e-02 -1.28076695e-04 9.99925362e-01 1.54224050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.444391418 meters Centerline goodness [0,1] 0.9994140788482464 Centerline is valid? [True, True] Translation: X:215.15, Y:9.52, Z:1.54 [[ 9.99522278e-01 -2.84740904e-02 -1.20184321e-02 2.15147494e+02] [ 2.84736838e-02 9.99594521e-01 -2.04974954e-04 9.52351706e+00] [ 1.20193953e-02 -1.37332002e-04 9.99927755e-01 1.54409537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.474391418 meters Centerline goodness [0,1] 0.9995180823869589 Centerline is valid? [True, True] Translation: X:215.18, Y:9.52, Z:1.54 [[ 9.99510819e-01 -2.90329798e-02 -1.16278991e-02 2.15177588e+02] [ 2.90326313e-02 9.99578445e-01 -1.98811694e-04 9.52246191e+00] [ 1.16287694e-02 -1.38874068e-04 9.99932374e-01 1.54468442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.504391418 meters Centerline goodness [0,1] 0.9994349336570256 Centerline is valid? [True, True] Translation: X:215.21, Y:9.52, Z:1.55 [[ 9.99480692e-01 -3.03370430e-02 -1.08632367e-02 2.15207142e+02] [ 3.03368118e-02 9.99539716e-01 -1.86104529e-04 9.51971165e+00] [ 1.08638824e-02 -1.43548084e-04 9.99940976e-01 1.54522904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.534391418 meters Centerline goodness [0,1] 0.9995194617972128 Centerline is valid? [True, True] Translation: X:215.24, Y:9.52, Z:1.55 [[ 9.99458720e-01 -3.10642778e-02 -1.08294477e-02 2.15237751e+02] [ 3.10640891e-02 9.99517377e-01 -1.85675697e-04 9.51895428e+00] [ 1.08299890e-02 -1.50831733e-04 9.99941343e-01 1.54570273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.564391418 meters Centerline goodness [0,1] 0.9993943697268398 Centerline is valid? [True, True] Translation: X:215.27, Y:9.52, Z:1.55 [[ 9.99430007e-01 -3.20721531e-02 -1.05374976e-02 2.15266996e+02] [ 3.20720304e-02 9.99485544e-01 -1.80670359e-04 9.51714084e+00] [ 1.05378710e-02 -1.57391565e-04 9.99944463e-01 1.54611280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.59439141800001 meters Centerline goodness [0,1] 0.9992683487676903 Centerline is valid? [True, True] Translation: X:215.30, Y:9.51, Z:1.55 [[ 9.99372462e-01 -3.39383001e-02 -1.01427290e-02 2.15297173e+02] [ 3.39382825e-02 9.99423915e-01 -1.73902394e-04 9.51345228e+00] [ 1.01427879e-02 -1.70433540e-04 9.99948546e-01 1.54608472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62439141800002 meters Centerline goodness [0,1] 0.9993947110266953 Centerline is valid? [True, True] Translation: X:215.33, Y:9.51, Z:1.55 [[ 9.99340817e-01 -3.47164794e-02 -1.06158792e-02 2.15328126e+02] [ 3.47165040e-02 9.99397184e-01 -1.82014802e-04 9.51188432e+00] [ 1.06157987e-02 -1.86651393e-04 9.99943633e-01 1.54603571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.65439141800002 meters Centerline goodness [0,1] 0.9994153023722018 Centerline is valid? [True, True] Translation: X:215.36, Y:9.51, Z:1.55 [[ 9.99320019e-01 -3.53045679e-02 -1.06342440e-02 2.15358008e+02] [ 3.53046258e-02 9.99376581e-01 -1.82338730e-04 9.50973701e+00] [ 1.06340518e-02 -1.93223263e-04 9.99943438e-01 1.54582505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.684391418 meters Centerline goodness [0,1] 0.9994351700765658 Centerline is valid? [True, True] Translation: X:215.39, Y:9.51, Z:1.55 [[ 9.99290984e-01 -3.59884478e-02 -1.10617105e-02 2.15388066e+02] [ 3.59885521e-02 9.99352184e-01 -1.89686433e-04 9.51001925e+00] [ 1.10613711e-02 -2.08543004e-04 9.99938799e-01 1.54633700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.714391418 meters Centerline goodness [0,1] 0.9994573950789908 Centerline is valid? [True, True] Translation: X:215.42, Y:9.51, Z:1.55 [[ 9.99299103e-01 -3.56523277e-02 -1.14111687e-02 2.15418943e+02] [ 3.56524168e-02 9.99364231e-01 -1.95678948e-04 9.50991291e+00] [ 1.14108902e-02 -2.11293945e-04 9.99934871e-01 1.54593036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.744391418 meters Centerline goodness [0,1] 0.9992474601781011 Centerline is valid? [True, True] Translation: X:215.45, Y:9.51, Z:1.55 [[ 9.99311066e-01 -3.50737698e-02 -1.21336132e-02 2.15448110e+02] [ 3.50738266e-02 9.99384702e-01 -2.08178915e-04 9.50910987e+00] [ 1.21334491e-02 -2.17536753e-04 9.99926363e-01 1.54523861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.774391418 meters Centerline goodness [0,1] 0.9994983592166043 Centerline is valid? [True, True] Translation: X:215.48, Y:9.51, Z:1.55 [[ 9.99391086e-01 -3.24599448e-02 -1.27987721e-02 2.15477696e+02] [ 3.24597885e-02 9.99473018e-01 -2.19997689e-04 9.51015071e+00] [ 1.27991685e-02 -1.95581707e-04 9.99918068e-01 1.54510095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.804391418 meters Centerline goodness [0,1] 0.9993933054393306 Centerline is valid? [True, True] Translation: X:215.51, Y:9.51, Z:1.55 [[ 9.99450011e-01 -3.07238628e-02 -1.24787495e-02 2.15507576e+02] [ 3.07235723e-02 9.99527896e-01 -2.15026191e-04 9.51218820e+00] [ 1.24794647e-02 -1.68483834e-04 9.99922114e-01 1.54597486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.834391418 meters Centerline goodness [0,1] 0.9994149847478166 Centerline is valid? [True, True] Translation: X:215.54, Y:9.51, Z:1.55 [[ 9.99507414e-01 -2.87667953e-02 -1.25459672e-02 2.15536876e+02] [ 2.87663422e-02 9.99586140e-01 -2.16612687e-04 9.51360962e+00] [ 1.25470062e-02 -1.44395600e-04 9.99921273e-01 1.54677496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.864391418 meters Centerline goodness [0,1] 0.9993501184461542 Centerline is valid? [True, True] Translation: X:215.57, Y:9.52, Z:1.55 [[ 9.99614126e-01 -2.50663586e-02 -1.19698619e-02 2.15566190e+02] [ 2.50656765e-02 9.99685785e-01 -2.07026363e-04 9.51658684e+00] [ 1.19712902e-02 -9.30862085e-05 9.99928337e-01 1.54685222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.894391418 meters Centerline goodness [0,1] 0.9994978239035822 Centerline is valid? [True, True] Translation: X:215.60, Y:9.52, Z:1.55 [[ 9.99647702e-01 -2.35321555e-02 -1.22763671e-02 2.15595551e+02] [ 2.35313157e-02 9.99723078e-01 -2.12871268e-04 9.51822289e+00] [ 1.22779768e-02 -7.60827958e-05 9.99924620e-01 1.54692510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.924391418 meters Centerline goodness [0,1] 0.9993736951983299 Centerline is valid? [True, True] Translation: X:215.62, Y:9.52, Z:1.55 [[ 9.99667922e-01 -2.24797283e-02 -1.25979074e-02 2.15624484e+02] [ 2.24787349e-02 9.99747297e-01 -2.20470146e-04 9.51956769e+00] [ 1.25996800e-02 -6.27880884e-05 9.99920619e-01 1.54648185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.954391418 meters Centerline goodness [0,1] 0.9994341164881688 Centerline is valid? [True, True] Translation: X:215.65, Y:9.52, Z:1.55 [[ 9.99671699e-01 -2.21258674e-02 -1.29205550e-02 2.15653027e+02] [ 2.21247409e-02 9.99755191e-01 -2.30134353e-04 9.52039290e+00] [ 1.29224839e-02 -5.58051334e-05 9.99916500e-01 1.54656057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.984391418 meters Centerline goodness [0,1] 0.9993717803744189 Centerline is valid? [True, True] Translation: X:215.68, Y:9.52, Z:1.55 [[ 9.99672395e-01 -2.21205546e-02 -1.28756981e-02 2.15682005e+02] [ 2.21193842e-02 9.99755309e-01 -2.33312426e-04 9.52012159e+00] [ 1.28777085e-02 -5.15665220e-05 9.99917078e-01 1.54654612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.014391418 meters Centerline goodness [0,1] 0.9994560328054062 Centerline is valid? [True, True] Translation: X:215.71, Y:9.52, Z:1.55 [[ 9.99655928e-01 -2.28268550e-02 -1.29213377e-02 2.15709670e+02] [ 2.28256987e-02 9.99739432e-01 -2.36977077e-04 9.51954634e+00] [ 1.29233803e-02 -5.80430221e-05 9.99916488e-01 1.54696343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.044391418 meters Centerline goodness [0,1] 0.9995184254606365 Centerline is valid? [True, True] Translation: X:215.74, Y:9.52, Z:1.55 [[ 9.99621032e-01 -2.45746425e-02 -1.24048405e-02 2.15738093e+02] [ 2.45736816e-02 9.99697995e-01 -2.29905554e-04 9.51881335e+00] [ 1.24067440e-02 -7.50141721e-05 9.99923031e-01 1.54788509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.074391418 meters Centerline goodness [0,1] 0.9993918422984167 Centerline is valid? [True, True] Translation: X:215.77, Y:9.52, Z:1.55 [[ 9.99528848e-01 -2.84369076e-02 -1.15509530e-02 2.15766616e+02] [ 2.84362929e-02 9.99595583e-01 -2.17487444e-04 9.51585979e+00] [ 1.15524663e-02 -1.11081309e-04 9.99933262e-01 1.54944169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.104391418 meters Centerline goodness [0,1] 0.9995166950345669 Centerline is valid? [True, True] Translation: X:215.80, Y:9.51, Z:1.55 [[ 9.99464452e-01 -3.07378285e-02 -1.12247851e-02 2.15796476e+02] [ 3.07373674e-02 9.99527473e-01 -2.13628245e-04 9.51438102e+00] [ 1.12260476e-02 -1.31506508e-04 9.99936977e-01 1.55026292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.134391418 meters Centerline goodness [0,1] 0.9995595822322889 Centerline is valid? [True, True] Translation: X:215.83, Y:9.51, Z:1.55 [[ 9.99378847e-01 -3.35380544e-02 -1.08221699e-02 2.15826345e+02] [ 3.35377858e-02 9.99437429e-01 -2.06345355e-04 9.51188881e+00] [ 1.08230021e-02 -1.56734433e-04 9.99941417e-01 1.55058700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.164391418 meters Centerline goodness [0,1] 0.9994981599197056 Centerline is valid? [True, True] Translation: X:215.86, Y:9.51, Z:1.55 [[ 9.99151439e-01 -3.98644013e-02 -1.03552775e-02 2.15855665e+02] [ 3.98644942e-02 9.99205076e-01 -1.97520754e-04 9.50503590e+00] [ 1.03549199e-02 -2.15454756e-04 9.99946363e-01 1.55084370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.194391418 meters Centerline goodness [0,1] 0.9994586378495429 Centerline is valid? [True, True] Translation: X:215.89, Y:9.50, Z:1.55 [[ 9.99006603e-01 -4.33447051e-02 -1.03462027e-02 2.15886500e+02] [ 4.33449858e-02 9.99060145e-01 -1.97205431e-04 9.50305671e+00] [ 1.03450265e-02 -2.51446480e-04 9.99946457e-01 1.55103565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.224391418 meters Centerline goodness [0,1] 0.999394887845592 Centerline is valid? [True, True] Translation: X:215.92, Y:9.50, Z:1.55 [[ 9.98831986e-01 -4.71627135e-02 -1.05044155e-02 2.15916583e+02] [ 4.71632130e-02 9.98887176e-01 -2.00294359e-04 9.50002094e+00] [ 1.05021724e-02 -2.95361574e-04 9.99944807e-01 1.55057327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.254391418 meters Centerline goodness [0,1] 0.9994768451670957 Centerline is valid? [True, True] Translation: X:215.95, Y:9.49, Z:1.55 [[ 9.98651965e-01 -5.07722112e-02 -1.07904762e-02 2.15946928e+02] [ 5.07729481e-02 9.98710201e-01 -2.05821023e-04 9.49441731e+00] [ 1.07870086e-02 -3.42320716e-04 9.99941760e-01 1.55015180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.284391418 meters Centerline goodness [0,1] 0.9994551893217107 Centerline is valid? [True, True] Translation: X:215.98, Y:9.49, Z:1.55 [[ 9.98276278e-01 -5.76009446e-02 -1.12518771e-02 2.15977708e+02] [ 5.76021810e-02 9.98339593e-01 -2.14432620e-04 9.49433493e+00] [ 1.12455460e-02 -4.34069665e-04 9.99936673e-01 1.55005413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.314391418 meters Centerline goodness [0,1] 0.9994149847478166 Centerline is valid? [True, True] Translation: X:216.01, Y:9.49, Z:1.55 [[ 9.98119702e-01 -6.01619695e-02 -1.17302211e-02 2.16007790e+02] [ 6.01634905e-02 9.98188511e-01 -2.23484576e-04 9.49025276e+00] [ 1.17224172e-02 -4.82666689e-04 9.99931174e-01 1.54963169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34439141800001 meters Centerline goodness [0,1] 0.9995598037982644 Centerline is valid? [True, True] Translation: X:216.04, Y:9.49, Z:1.55 [[ 9.97984575e-01 -6.23050709e-02 -1.20360713e-02 2.16038450e+02] [ 6.23068278e-02 9.98057016e-01 -2.29311643e-04 9.48935095e+00] [ 1.20269726e-02 -5.21079938e-04 9.99927538e-01 1.54969869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.37439141800002 meters Centerline goodness [0,1] 0.9994545835955527 Centerline is valid? [True, True] Translation: X:216.07, Y:9.50, Z:1.55 [[ 9.97780150e-01 -6.55482315e-02 -1.17559544e-02 2.16068458e+02] [ 6.55501310e-02 9.97849252e-01 -2.24077256e-04 9.49654714e+00] [ 1.17453582e-02 -5.47024514e-04 9.99930871e-01 1.55119408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40439141800002 meters Centerline goodness [0,1] 0.9994545835955527 Centerline is valid? [True, True] Translation: X:216.10, Y:9.50, Z:1.55 [[ 9.97782824e-01 -6.55075086e-02 -1.17559552e-02 2.16099327e+02] [ 6.55094059e-02 9.97851927e-01 -2.24034565e-04 9.49709732e+00] [ 1.17453785e-02 -5.46587801e-04 9.99930871e-01 1.55141052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.434391418 meters Centerline goodness [0,1] 0.9992050541818334 Centerline is valid? [True, True] Translation: X:216.13, Y:9.49, Z:1.55 [[ 9.97707875e-01 -6.66470273e-02 -1.17119173e-02 2.16130949e+02] [ 6.66489939e-02 9.97776459e-01 -2.22744333e-04 9.49358653e+00] [ 1.17007206e-02 -5.58353730e-04 9.99931388e-01 1.55134527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.464391418 meters Centerline goodness [0,1] 0.9993270666414317 Centerline is valid? [True, True] Translation: X:216.16, Y:9.50, Z:1.55 [[ 9.97650065e-01 -6.75587538e-02 -1.14088758e-02 2.16162199e+02] [ 6.75606843e-02 9.97715143e-01 -2.16552900e-04 9.49880687e+00] [ 1.13974382e-02 -5.54747441e-04 9.99934893e-01 1.55263898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.494391418 meters Centerline goodness [0,1] 0.9994120611456409 Centerline is valid? [True, True] Translation: X:216.19, Y:9.50, Z:1.55 [[ 9.97526603e-01 -6.94379031e-02 -1.09111712e-02 2.16192966e+02] [ 6.94397849e-02 9.97586123e-01 -2.06740487e-04 9.50356421e+00] [ 1.08991886e-02 -5.51440247e-04 9.99940450e-01 1.55365632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.524391418 meters Centerline goodness [0,1] 0.9992657085912094 Centerline is valid? [True, True] Translation: X:216.22, Y:9.50, Z:1.55 [[ 9.97452002e-01 -7.04701601e-02 -1.11113055e-02 2.16223985e+02] [ 7.04721799e-02 9.97513723e-01 -2.10133151e-04 9.50012114e+00] [ 1.10984879e-02 -5.73440189e-04 9.99938245e-01 1.55339091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.554391418 meters Centerline goodness [0,1] 0.999264690434673 Centerline is valid? [True, True] Translation: X:216.25, Y:9.50, Z:1.55 [[ 9.97371581e-01 -7.15831660e-02 -1.12151521e-02 2.16254772e+02] [ 7.15852997e-02 9.97434459e-01 -2.11580555e-04 9.50088920e+00] [ 1.12015248e-02 -5.91815592e-04 9.99937086e-01 1.55224257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.584391418 meters Centerline goodness [0,1] 0.999349791303983 Centerline is valid? [True, True] Translation: X:216.29, Y:9.51, Z:1.55 [[ 9.97166737e-01 -7.42903275e-02 -1.18087109e-02 2.16285968e+02] [ 7.42928863e-02 9.97236440e-01 -2.22438046e-04 9.50940857e+00] [ 1.17926018e-02 -6.55495394e-04 9.99930250e-01 1.55336974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.614391418 meters Centerline goodness [0,1] 0.9990759602662914 Centerline is valid? [True, True] Translation: X:216.32, Y:9.51, Z:1.55 [[ 9.97037795e-01 -7.59157598e-02 -1.23463277e-02 2.16315779e+02] [ 7.59186849e-02 9.97113985e-01 -2.32263337e-04 9.50559114e+00] [ 1.23283285e-02 -7.05741638e-04 9.99923754e-01 1.55219397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.644391418 meters Centerline goodness [0,1] 0.9991612321499717 Centerline is valid? [True, True] Translation: X:216.35, Y:9.51, Z:1.55 [[ 9.96905810e-01 -7.75346142e-02 -1.29302108e-02 2.16346537e+02] [ 7.75379616e-02 9.96989371e-01 -2.42983809e-04 9.50684162e+00] [ 1.29101224e-02 -7.60350216e-04 9.99916372e-01 1.55179955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.674391418 meters Centerline goodness [0,1] 0.9991629872983323 Centerline is valid? [True, True] Translation: X:216.38, Y:9.51, Z:1.55 [[ 9.96616198e-01 -8.09386620e-02 -1.43208797e-02 2.16376409e+02] [ 8.09431280e-02 9.96718685e-01 -2.68442026e-04 9.50730859e+00] [ 1.42956158e-02 -8.91643130e-04 9.99897415e-01 1.55110533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.704391418 meters Centerline goodness [0,1] 0.9991185729275971 Centerline is valid? [True, True] Translation: X:216.41, Y:9.52, Z:1.55 [[ 9.96423931e-01 -8.31755760e-02 -1.48719277e-02 2.16407206e+02] [ 8.31806478e-02 9.96534446e-01 -2.78278173e-04 9.51857011e+00] [ 1.48435342e-02 -9.59773552e-04 9.99889368e-01 1.55236997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.734391418 meters Centerline goodness [0,1] 0.9989348815838938 Centerline is valid? [True, True] Translation: X:216.44, Y:9.52, Z:1.55 [[ 9.96245742e-01 -8.51863447e-02 -1.54178199e-02 2.16437256e+02] [ 8.51920487e-02 9.96364508e-01 -2.87628152e-04 9.51732763e+00] [ 1.53862705e-02 -1.02692734e-03 9.99881097e-01 1.55187090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.764391418 meters Centerline goodness [0,1] 0.9987199127022433 Centerline is valid? [True, True] Translation: X:216.47, Y:9.52, Z:1.55 [[ 9.95882194e-01 -8.92592178e-02 -1.58570738e-02 2.16467653e+02] [ 8.92657756e-02 9.96007798e-01 -2.95164428e-04 9.52262412e+00] [ 1.58201153e-02 -1.12154500e-03 9.99874225e-01 1.55256944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.794391418 meters Centerline goodness [0,1] 0.9986592927769399 Centerline is valid? [True, True] Translation: X:216.50, Y:9.52, Z:1.55 [[ 9.95756871e-01 -9.07030847e-02 -1.55307723e-02 2.16499213e+02] [ 9.07095562e-02 9.95877348e-01 -2.88698862e-04 9.52477629e+00] [ 1.54929302e-02 -1.12131559e-03 9.99879349e-01 1.55311636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.824391418 meters Centerline goodness [0,1] 0.9986579995806248 Centerline is valid? [True, True] Translation: X:216.53, Y:9.53, Z:1.55 [[ 9.95674399e-01 -9.17164970e-02 -1.48517628e-02 2.16530970e+02] [ 9.17225452e-02 9.95784565e-01 -2.74846009e-04 9.52778797e+00] [ 1.48143641e-02 -1.08858435e-03 9.99889669e-01 1.55381941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.854391418 meters Centerline goodness [0,1] 0.9984693449635159 Centerline is valid? [True, True] Translation: X:216.56, Y:9.53, Z:1.55 [[ 9.95625482e-01 -9.23307980e-02 -1.43151123e-02 2.16563253e+02] [ 9.23365005e-02 9.95727825e-01 -2.63485385e-04 9.53049131e+00] [ 1.42782834e-02 -1.05947461e-03 9.99897499e-01 1.55467901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.884391418 meters Centerline goodness [0,1] 0.9982595567111913 Centerline is valid? [True, True] Translation: X:216.59, Y:9.53, Z:1.56 [[ 9.95670780e-01 -9.19555885e-02 -1.35598031e-02 2.16594579e+02] [ 9.19606902e-02 9.95762607e-01 -2.48120648e-04 9.53472398e+00] [ 1.35251609e-02 -9.99922369e-04 9.99908031e-01 1.55598939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.914391418 meters Centerline goodness [0,1] 0.9984467812690216 Centerline is valid? [True, True] Translation: X:216.63, Y:9.54, Z:1.56 [[ 9.95767412e-01 -9.09446908e-02 -1.32786840e-02 2.16626266e+02] [ 9.09495113e-02 9.95855475e-01 -2.41644287e-04 9.53854409e+00] [ 1.32456264e-02 -9.67068313e-04 9.99911805e-01 1.55612819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.944391418 meters Centerline goodness [0,1] 0.9984085436079991 Centerline is valid? [True, True] Translation: X:216.66, Y:9.54, Z:1.56 [[ 9.95914884e-01 -8.93519716e-02 -1.30295309e-02 2.16656702e+02] [ 8.93564842e-02 9.95999680e-01 -2.36572958e-04 9.54193145e+00] [ 1.29985468e-02 -9.28666540e-04 9.99915084e-01 1.55639494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.974391418 meters Centerline goodness [0,1] 0.9981432803438061 Centerline is valid? [True, True] Translation: X:216.69, Y:9.55, Z:1.56 [[ 9.96105516e-01 -8.71885053e-02 -1.31135925e-02 2.16688363e+02] [ 8.71928964e-02 9.96191419e-01 -2.37594368e-04 9.54651094e+00] [ 1.30843638e-02 -9.06743049e-04 9.99913985e-01 1.55651340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.004391418 meters Centerline goodness [0,1] 0.9983848977451495 Centerline is valid? [True, True] Translation: X:216.72, Y:9.56, Z:1.56 [[ 9.96537246e-01 -8.20741440e-02 -1.33173851e-02 2.16718665e+02] [ 8.20782236e-02 9.96625861e-01 -2.40859570e-04 9.55830555e+00] [ 1.32922188e-02 -8.53041781e-04 9.99911291e-01 1.55700403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.034391418 meters Centerline goodness [0,1] 0.9981808297089327 Centerline is valid? [True, True] Translation: X:216.75, Y:9.56, Z:1.56 [[ 9.96759507e-01 -7.93136583e-02 -1.34100186e-02 2.16749772e+02] [ 7.93175494e-02 9.96849371e-01 -2.42277917e-04 9.56356915e+00] [ 1.33869846e-02 -8.22156997e-04 9.99910052e-01 1.55694876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.064391418 meters Centerline goodness [0,1] 0.9983862855226758 Centerline is valid? [True, True] Translation: X:216.78, Y:9.57, Z:1.56 [[ 9.96958611e-01 -7.66972074e-02 -1.38226438e-02 2.16781608e+02] [ 7.67011006e-02 9.97054100e-01 -2.49043512e-04 9.56888150e+00] [ 1.38010246e-02 -8.11925919e-04 9.99904432e-01 1.55727466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.09439141800001 meters Centerline goodness [0,1] 0.9983450991893081 Centerline is valid? [True, True] Translation: X:216.81, Y:9.58, Z:1.56 [[ 9.97296982e-01 -7.21397604e-02 -1.39493331e-02 2.16811801e+02] [ 7.21432866e-02 9.97394247e-01 -2.50908397e-04 9.58081946e+00] [ 1.39310850e-02 -7.56120548e-04 9.99902672e-01 1.55764935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12439141800002 meters Centerline goodness [0,1] 0.9984017496635262 Centerline is valid? [True, True] Translation: X:216.84, Y:9.58, Z:1.56 [[ 9.97470502e-01 -6.97266287e-02 -1.38128565e-02 2.16841906e+02] [ 6.97298573e-02 9.97565880e-01 -2.48316712e-04 9.58452785e+00] [ 1.37965487e-02 -7.15479919e-04 9.99904567e-01 1.55773025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.15439141800002 meters Centerline goodness [0,1] 0.9986125126135217 Centerline is valid? [True, True] Translation: X:216.87, Y:9.59, Z:1.56 [[ 9.97621222e-01 -6.74940994e-02 -1.40158631e-02 2.16872905e+02] [ 6.74972097e-02 9.97719431e-01 -2.51545667e-04 9.58885795e+00] [ 1.40008768e-02 -6.95084356e-04 9.99901741e-01 1.55751655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.184391418 meters Centerline goodness [0,1] 0.9991174431066002 Centerline is valid? [True, True] Translation: X:216.90, Y:9.60, Z:1.56 [[ 9.97945902e-01 -6.23149152e-02 -1.48602849e-02 2.16902330e+02] [ 6.23178429e-02 9.98056319e-01 -2.66406443e-04 9.59809650e+00] [ 1.48480023e-02 -6.60201681e-04 9.99889544e-01 1.55716946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.214391418 meters Centerline goodness [0,1] 0.9987977219995782 Centerline is valid? [True, True] Translation: X:216.93, Y:9.60, Z:1.56 [[ 9.98086619e-01 -5.99500567e-02 -1.51357761e-02 2.16933177e+02] [ 5.99528273e-02 9.98201175e-01 -2.71031302e-04 9.60278467e+00] [ 1.51247978e-02 -6.36919856e-04 9.99885411e-01 1.55664326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.244391418 meters Centerline goodness [0,1] 0.9990945652860542 Centerline is valid? [True, True] Translation: X:216.96, Y:9.61, Z:1.56 [[ 9.98248330e-01 -5.69986780e-02 -1.58562788e-02 2.16964260e+02] [ 5.70013570e-02 9.98374061e-01 -2.83310029e-04 9.60812008e+00] [ 1.58466457e-02 -6.21015644e-04 9.99874241e-01 1.55655494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.274391418 meters Centerline goodness [0,1] 0.9988381672616659 Centerline is valid? [True, True] Translation: X:216.99, Y:9.62, Z:1.56 [[ 9.98550927e-01 -5.14987748e-02 -1.56180323e-02 2.16994155e+02] [ 5.15007059e-02 9.98672919e-01 -2.78788375e-04 9.61810908e+00] [ 1.56116631e-02 -5.25955297e-04 9.99877992e-01 1.55718465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.304391418 meters Centerline goodness [0,1] 0.9988178920482131 Centerline is valid? [True, True] Translation: X:217.03, Y:9.62, Z:1.56 [[ 9.98690856e-01 -4.88748589e-02 -1.50937616e-02 2.17025074e+02] [ 4.88763677e-02 9.98804800e-01 -2.69126648e-04 9.62302187e+00] [ 1.50888751e-02 -4.68953920e-04 9.99886046e-01 1.55787228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.334391418 meters Centerline goodness [0,1] 0.9989837613532911 Centerline is valid? [True, True] Translation: X:217.06, Y:9.63, Z:1.56 [[ 9.98804639e-01 -4.66254520e-02 -1.46751779e-02 2.17057388e+02] [ 4.66266485e-02 9.98912352e-01 -2.60787804e-04 9.63165347e+00] [ 1.46713758e-02 -4.23778291e-04 9.99892280e-01 1.55974930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.364391418 meters Centerline goodness [0,1] 0.9986278814489572 Centerline is valid? [True, True] Translation: X:217.09, Y:9.63, Z:1.56 [[ 9.98886527e-01 -4.47932696e-02 -1.48077702e-02 2.17088647e+02] [ 4.47943110e-02 9.98996197e-01 -2.61501003e-04 9.63415905e+00] [ 1.48046196e-02 -4.02094036e-04 9.99890325e-01 1.55974587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.394391418 meters Centerline goodness [0,1] 0.9990254030805737 Centerline is valid? [True, True] Translation: X:217.12, Y:9.64, Z:1.56 [[ 9.98972312e-01 -4.30429591e-02 -1.41994422e-02 2.17120399e+02] [ 4.30437612e-02 9.99073157e-01 -2.49260824e-04 9.64023773e+00] [ 1.41970105e-02 -3.62192739e-04 9.99899152e-01 1.56077854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.424391418 meters Centerline goodness [0,1] 0.9989187814030401 Centerline is valid? [True, True] Translation: X:217.15, Y:9.64, Z:1.56 [[ 9.98980870e-01 -4.28840890e-02 -1.40775258e-02 2.17152195e+02] [ 4.28848776e-02 9.99079990e-01 -2.45988851e-04 9.64355971e+00] [ 1.40751233e-02 -3.57974813e-04 9.99900876e-01 1.56108346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.454391418 meters Centerline goodness [0,1] 0.9990228359001593 Centerline is valid? [True, True] Translation: X:217.18, Y:9.65, Z:1.56 [[ 9.98962378e-01 -4.32392504e-02 -1.43015808e-02 2.17183857e+02] [ 4.32401154e-02 9.99064678e-01 -2.48877384e-04 9.64511927e+00] [ 1.42989655e-02 -3.69782861e-04 9.99897696e-01 1.56130027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.484391418 meters Centerline goodness [0,1] 0.998728732758438 Centerline is valid? [True, True] Translation: X:217.22, Y:9.65, Z:1.56 [[ 9.98925392e-01 -4.41748344e-02 -1.40230041e-02 2.17215970e+02] [ 4.41757719e-02 9.99023745e-01 -2.43042270e-04 9.64665736e+00] [ 1.40200504e-02 -3.76695934e-04 9.99901643e-01 1.56069771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.514391418 meters Centerline goodness [0,1] 0.9989811080450011 Centerline is valid? [True, True] Translation: X:217.25, Y:9.65, Z:1.56 [[ 9.98889316e-01 -4.48669417e-02 -1.43907214e-02 2.17246976e+02] [ 4.48680224e-02 9.98992892e-01 -2.47914659e-04 9.64675023e+00] [ 1.43873515e-02 -3.98043906e-04 9.99896417e-01 1.56075917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.544391418 meters Centerline goodness [0,1] 0.9986445559861914 Centerline is valid? [True, True] Translation: X:217.28, Y:9.64, Z:1.56 [[ 9.98867657e-01 -4.53801761e-02 -1.42844104e-02 2.17278436e+02] [ 4.53813119e-02 9.98969708e-01 -2.44783924e-04 9.64124528e+00] [ 1.42808016e-02 -4.03738539e-04 9.99897943e-01 1.55893617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.574391418 meters Centerline goodness [0,1] 0.9988504768392371 Centerline is valid? [True, True] Translation: X:217.31, Y:9.65, Z:1.56 [[ 9.98842631e-01 -4.58625506e-02 -1.44922604e-02 2.17310031e+02] [ 4.58637854e-02 9.98947672e-01 -2.47311514e-04 9.65052318e+00] [ 1.44883521e-02 -4.17644635e-04 9.99894951e-01 1.56099288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.604391418 meters Centerline goodness [0,1] 0.9990449712430229 Centerline is valid? [True, True] Translation: X:217.34, Y:9.65, Z:1.56 [[ 9.98860940e-01 -4.53018877e-02 -1.49853975e-02 2.17342031e+02] [ 4.53031636e-02 9.98973252e-01 -2.54484173e-04 9.65253695e+00] [ 1.49815399e-02 -4.24691616e-04 9.99887680e-01 1.56121699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.634391418 meters Centerline goodness [0,1] 0.998742406479804 Centerline is valid? [True, True] Translation: X:217.37, Y:9.65, Z:1.56 [[ 9.98903136e-01 -4.44676024e-02 -1.46682172e-02 2.17373359e+02] [ 4.44687582e-02 9.99010745e-01 -2.47511387e-04 9.64616246e+00] [ 1.46647128e-02 -4.05037503e-04 9.99892385e-01 1.55915141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.664391418 meters Centerline goodness [0,1] 0.9989330146603785 Centerline is valid? [True, True] Translation: X:217.41, Y:9.66, Z:1.56 [[ 9.99025507e-01 -4.16259518e-02 -1.46736767e-02 2.17405607e+02] [ 4.16268247e-02 9.99133198e-01 -2.46070718e-04 9.65711561e+00] [ 1.46712004e-02 -3.64987644e-04 9.99892306e-01 1.56122834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.694391418 meters Centerline goodness [0,1] 0.9987404197177686 Centerline is valid? [True, True] Translation: X:217.44, Y:9.66, Z:1.56 [[ 9.99099550e-01 -3.97859291e-02 -1.47366294e-02 2.17437906e+02] [ 3.97866268e-02 9.99208168e-01 -2.45942841e-04 9.66244920e+00] [ 1.47347455e-02 -3.40599391e-04 9.99891380e-01 1.56242137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.724391418 meters Centerline goodness [0,1] 0.9988907849829352 Centerline is valid? [True, True] Translation: X:217.47, Y:9.67, Z:1.56 [[ 9.99195520e-01 -3.74307952e-02 -1.43961003e-02 2.17469858e+02] [ 3.74312336e-02 9.99299177e-01 -2.39087555e-04 9.66514763e+00] [ 1.43949605e-02 -2.99968581e-04 9.99896342e-01 1.56273646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.754391418 meters Centerline goodness [0,1] 0.9987608426270136 Centerline is valid? [True, True] Translation: X:217.50, Y:9.67, Z:1.56 [[ 9.99297349e-01 -3.47391504e-02 -1.40712319e-02 2.17501648e+02] [ 3.47393184e-02 9.99396381e-01 -2.32553810e-04 9.66822018e+00] [ 1.40708170e-02 -2.56434600e-04 9.99900968e-01 1.56352118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.784391418 meters Centerline goodness [0,1] 0.9988698637439495 Centerline is valid? [True, True] Translation: X:217.53, Y:9.67, Z:1.56 [[ 9.99475500e-01 -2.94245044e-02 -1.35248981e-02 2.17532475e+02] [ 2.94241841e-02 9.99566990e-01 -2.22710790e-04 9.67448668e+00] [ 1.35255948e-02 -1.75365112e-04 9.99908510e-01 1.56407342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.814391418 meters Centerline goodness [0,1] 0.9988228999464954 Centerline is valid? [True, True] Translation: X:217.56, Y:9.68, Z:1.56 [[ 9.99545247e-01 -2.68242895e-02 -1.37752136e-02 2.17563887e+02] [ 2.68237181e-02 9.99640154e-01 -2.26273020e-04 9.67794798e+00] [ 1.37763262e-02 -1.43332325e-04 9.99905092e-01 1.56416587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84439141800001 meters Centerline goodness [0,1] 0.9988430637386181 Centerline is valid? [True, True] Translation: X:217.59, Y:9.68, Z:1.56 [[ 9.99607471e-01 -2.43260256e-02 -1.38978136e-02 2.17594053e+02] [ 2.43252084e-02 9.99704072e-01 -2.27868795e-04 9.68084920e+00] [ 1.38992440e-02 -1.10287863e-04 9.99903395e-01 1.56385039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.87439141800002 meters Centerline goodness [0,1] 0.9994640024012692 Centerline is valid? [True, True] Translation: X:217.63, Y:9.68, Z:1.56 [[ 9.99661796e-01 -2.16702515e-02 -1.43768477e-02 2.17625299e+02] [ 2.16691087e-02 9.99765170e-01 -2.35280182e-04 9.68460329e+00] [ 1.43785702e-02 -7.63328670e-05 9.99896620e-01 1.56373565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90439141800002 meters Centerline goodness [0,1] 0.9990567251211251 Centerline is valid? [True, True] Translation: X:217.66, Y:9.69, Z:1.56 [[ 9.99669469e-01 -2.11332963e-02 -1.46402247e-02 2.17655036e+02] [ 2.11320556e-02 9.99776665e-01 -2.39453831e-04 9.68523559e+00] [ 1.46420155e-02 -7.00033584e-05 9.99892797e-01 1.56331783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.934391418 meters Centerline goodness [0,1] 0.999422286888052 Centerline is valid? [True, True] Translation: X:217.68, Y:9.69, Z:1.56 [[ 9.99656071e-01 -2.14106108e-02 -1.51434963e-02 2.17684420e+02] [ 2.14093080e-02 9.99770764e-01 -2.48155009e-04 9.68557867e+00] [ 1.51453380e-02 -7.61421145e-05 9.99885300e-01 1.56300582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.964391418 meters Centerline goodness [0,1] 0.999056016820064 Centerline is valid? [True, True] Translation: X:217.71, Y:9.69, Z:1.56 [[ 9.99640783e-01 -2.21501601e-02 -1.50888999e-02 2.17713819e+02] [ 2.21489418e-02 9.99754651e-01 -2.47864160e-04 9.68575759e+00] [ 1.50906881e-02 -8.64280434e-05 9.99886125e-01 1.56319478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.994391418 meters Centerline goodness [0,1] 0.9992300782753754 Centerline is valid? [True, True] Translation: X:217.74, Y:9.68, Z:1.56 [[ 9.99582389e-01 -2.44098605e-02 -1.54662914e-02 2.17743530e+02] [ 2.44088440e-02 9.99702027e-01 -2.54522528e-04 9.68471681e+00] [ 1.54678957e-02 -1.23098056e-04 9.99880357e-01 1.56371919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.024391418 meters Centerline goodness [0,1] 0.9990377419009944 Centerline is valid? [True, True] Translation: X:217.77, Y:9.68, Z:1.56 [[ 9.99545259e-01 -2.62298486e-02 -1.48751493e-02 2.17774265e+02] [ 2.62291077e-02 9.99655928e-01 -2.44929194e-04 9.68407118e+00] [ 1.48764556e-02 -1.45344078e-04 9.99889329e-01 1.56446368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.054391418 meters Centerline goodness [0,1] 0.9989495122735556 Centerline is valid? [True, True] Translation: X:217.81, Y:9.68, Z:1.56 [[ 9.99428920e-01 -3.04530231e-02 -1.46439959e-02 2.17805092e+02] [ 3.04527643e-02 9.99536178e-01 -2.40712145e-04 9.68048881e+00] [ 1.46445341e-02 -2.05375477e-04 9.99892742e-01 1.56490866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.084391418 meters Centerline goodness [0,1] 0.9990376801676575 Centerline is valid? [True, True] Translation: X:217.84, Y:9.68, Z:1.57 [[ 9.99354565e-01 -3.29651401e-02 -1.42742058e-02 2.17836678e+02] [ 3.29651597e-02 9.99456474e-01 -2.33975127e-04 9.67926416e+00] [ 1.42741604e-02 -2.36727363e-04 9.99898091e-01 1.56535253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.114391418 meters Centerline goodness [0,1] 0.9991022188021034 Centerline is valid? [True, True] Translation: X:217.87, Y:9.68, Z:1.57 [[ 9.99264152e-01 -3.55442190e-02 -1.44140021e-02 2.17869135e+02] [ 3.55445201e-02 9.99368066e-01 -2.35372434e-04 9.67797115e+00] [ 1.44132595e-02 -2.77139551e-04 9.99896085e-01 1.56559553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.144391418 meters Centerline goodness [0,1] 0.9989766549408379 Centerline is valid? [True, True] Translation: X:217.90, Y:9.67, Z:1.56 [[ 9.99047336e-01 -4.09234326e-02 -1.51556402e-02 2.17900571e+02] [ 4.09244006e-02 9.99162215e-01 -2.46388250e-04 9.67282716e+00] [ 1.51530261e-02 -3.74081968e-04 9.99885116e-01 1.56438152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.174391418 meters Centerline goodness [0,1] 0.999059889323334 Centerline is valid? [True, True] Translation: X:217.93, Y:9.67, Z:1.56 [[ 9.98930270e-01 -4.37078974e-02 -1.50975128e-02 2.17932413e+02] [ 4.37091895e-02 9.99044267e-01 -2.44533802e-04 9.67116977e+00] [ 1.50937716e-02 -4.15627829e-04 9.99885996e-01 1.56456082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.204391418 meters Centerline goodness [0,1] 0.9988696950309235 Centerline is valid? [True, True] Translation: X:217.96, Y:9.67, Z:1.56 [[ 9.98800653e-01 -4.64698562e-02 -1.54210199e-02 2.17964067e+02] [ 4.64715476e-02 9.98919583e-01 -2.48830420e-04 9.66920409e+00] [ 1.54159219e-02 -4.68106676e-04 9.99881058e-01 1.56460118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.234391418 meters Centerline goodness [0,1] 0.9992335696493582 Centerline is valid? [True, True] Translation: X:218.00, Y:9.66, Z:1.56 [[ 9.98684652e-01 -4.90232062e-02 -1.50230441e-02 2.17995668e+02] [ 4.90251134e-02 9.98797517e-01 -2.41517283e-04 9.66365778e+00] [ 1.50168191e-02 -4.95306840e-04 9.99887119e-01 1.56414959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.264391418 meters Centerline goodness [0,1] 0.9992335696493582 Centerline is valid? [True, True] Translation: X:218.03, Y:9.66, Z:1.56 [[ 9.98688330e-01 -4.89482001e-02 -1.50230605e-02 2.18027375e+02] [ 4.89501141e-02 9.98801196e-01 -2.40496219e-04 9.66408400e+00] [ 1.50168226e-02 -4.95199759e-04 9.99887119e-01 1.56437174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.294391418 meters Centerline goodness [0,1] 0.9988498157575241 Centerline is valid? [True, True] Translation: X:218.06, Y:9.66, Z:1.57 [[ 9.98395057e-01 -5.48937974e-02 -1.39277380e-02 2.18058137e+02] [ 5.48960288e-02 9.98492051e-01 -2.22336997e-04 9.66243245e+00] [ 1.39189406e-02 -5.42597346e-04 9.99902980e-01 1.56561588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.324391418 meters Centerline goodness [0,1] 0.9986557992660238 Centerline is valid? [True, True] Translation: X:218.09, Y:9.66, Z:1.57 [[ 9.98244912e-01 -5.77444895e-02 -1.31403834e-02 2.18089558e+02] [ 5.77467287e-02 9.98331243e-01 -2.09274695e-04 9.65964101e+00] [ 1.31305398e-02 -5.49906757e-04 9.99913640e-01 1.56639308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.354391418 meters Centerline goodness [0,1] 0.9988686333945267 Centerline is valid? [True, True] Translation: X:218.12, Y:9.66, Z:1.57 [[ 9.98093018e-01 -6.04111454e-02 -1.26815215e-02 2.18121392e+02] [ 6.04134549e-02 9.98173419e-01 -2.01234704e-04 9.65739118e+00] [ 1.26705145e-02 -5.65283577e-04 9.99919566e-01 1.56745469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.384391418 meters Centerline goodness [0,1] 0.9985726459309757 Centerline is valid? [True, True] Translation: X:218.15, Y:9.65, Z:1.57 [[ 9.97827118e-01 -6.49065307e-02 -1.13218343e-02 2.18151316e+02] [ 6.49086643e-02 9.97891193e-01 -1.79292382e-04 9.65134586e+00] [ 1.13095960e-02 -5.55982340e-04 9.99935890e-01 1.56835594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.414391418 meters Centerline goodness [0,1] 0.998719125589736 Centerline is valid? [True, True] Translation: X:218.18, Y:9.66, Z:1.57 [[ 9.97723642e-01 -6.65470498e-02 -1.09098284e-02 2.18183027e+02] [ 6.65491348e-02 9.97783134e-01 -1.72212109e-04 9.65992545e+00] [ 1.08971030e-02 -5.54219549e-04 9.99940471e-01 1.57004962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.444391418 meters Centerline goodness [0,1] 0.9990391185514178 Centerline is valid? [True, True] Translation: X:218.21, Y:9.65, Z:1.57 [[ 9.97631382e-01 -6.79245372e-02 -1.08574077e-02 2.18213894e+02] [ 6.79266961e-02 9.97690300e-01 -1.70230656e-04 9.65408415e+00] [ 1.08438932e-02 -5.67680386e-04 9.99941042e-01 1.56977382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.474391418 meters Centerline goodness [0,1] 0.999037453744305 Centerline is valid? [True, True] Translation: X:218.25, Y:9.66, Z:1.57 [[ 9.97545176e-01 -6.91435202e-02 -1.10813067e-02 2.18246081e+02] [ 6.91458510e-02 9.97606546e-01 -1.73109377e-04 9.65881075e+00] [ 1.10667535e-02 -5.93541956e-04 9.99938585e-01 1.57026516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.504391418 meters Centerline goodness [0,1] 0.9990605918271489 Centerline is valid? [True, True] Translation: X:218.28, Y:9.66, Z:1.57 [[ 9.97558503e-01 -6.89812908e-02 -1.08910194e-02 2.18279182e+02] [ 6.89835440e-02 9.97617784e-01 -1.69091266e-04 9.66032908e+00] [ 1.08767388e-02 -5.82622685e-04 9.99940677e-01 1.57022115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.534391418 meters Centerline goodness [0,1] 0.9989521182181733 Centerline is valid? [True, True] Translation: X:218.31, Y:9.66, Z:1.57 [[ 9.97597906e-01 -6.83969462e-02 -1.09669853e-02 2.18310250e+02] [ 6.83992080e-02 9.97658017e-01 -1.69152784e-04 9.65930906e+00] [ 1.09528703e-02 -5.81386643e-04 9.99939847e-01 1.57012850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.564391418 meters Centerline goodness [0,1] 0.9989972477651426 Centerline is valid? [True, True] Translation: X:218.34, Y:9.66, Z:1.57 [[ 9.97650367e-01 -6.76883162e-02 -1.05847575e-02 2.18342737e+02] [ 6.76903907e-02 9.97706362e-01 -1.62552032e-04 9.66261233e+00] [ 1.05714828e-02 -5.54316276e-04 9.99943967e-01 1.57046975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.59439141800001 meters Centerline goodness [0,1] 0.9988667707241976 Centerline is valid? [True, True] Translation: X:218.37, Y:9.67, Z:1.57 [[ 9.97774641e-01 -6.57178884e-02 -1.12661068e-02 2.18374821e+02] [ 6.57201240e-02 9.97838081e-01 -1.72066808e-04 9.66721736e+00] [ 1.12530583e-02 -5.68726042e-04 9.99936521e-01 1.57044342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62439141800002 meters Centerline goodness [0,1] 0.9988211085866163 Centerline is valid? [True, True] Translation: X:218.41, Y:9.67, Z:1.57 [[ 9.97852125e-01 -6.44233371e-02 -1.18646726e-02 2.18406613e+02] [ 6.44257370e-02 9.97922488e-01 -1.80219743e-04 9.66962856e+00] [ 1.18516340e-02 -5.84557624e-04 9.99929596e-01 1.57010806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.65439141800002 meters Centerline goodness [0,1] 0.9989949533829442 Centerline is valid? [True, True] Translation: X:218.44, Y:9.67, Z:1.57 [[ 9.97940971e-01 -6.28664029e-02 -1.27135013e-02 2.18438540e+02] [ 6.28690462e-02 9.98021766e-01 -1.92036506e-04 9.67310603e+00] [ 1.27004236e-02 -6.07644600e-04 9.99919162e-01 1.57012376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.684391418 meters Centerline goodness [0,1] 0.9991648285757115 Centerline is valid? [True, True] Translation: X:218.47, Y:9.68, Z:1.57 [[ 9.98185295e-01 -5.86151665e-02 -1.37978145e-02 2.18468704e+02] [ 5.86178831e-02 9.98280472e-01 -2.07793463e-04 9.67711103e+00] [ 1.37862687e-02 -6.01382301e-04 9.99904784e-01 1.56905499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.714391418 meters Centerline goodness [0,1] 0.999506956204849 Centerline is valid? [True, True] Translation: X:218.50, Y:9.68, Z:1.57 [[ 9.98327033e-01 -5.60131850e-02 -1.43407615e-02 2.18500428e+02] [ 5.60158581e-02 9.98429856e-01 -2.15523257e-04 9.68324437e+00] [ 1.43303166e-02 -5.88147368e-04 9.99897143e-01 1.56952288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.744391418 meters Centerline goodness [0,1] 0.9990981705745942 Centerline is valid? [True, True] Translation: X:218.53, Y:9.69, Z:1.57 [[ 9.98492300e-01 -5.31316217e-02 -1.37897675e-02 2.18532238e+02] [ 5.31338303e-02 9.98587379e-01 -2.06414153e-04 9.68797952e+00] [ 1.37812549e-02 -5.26600224e-04 9.99904895e-01 1.56978965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.774391418 meters Centerline goodness [0,1] 0.9996564459331787 Centerline is valid? [True, True] Translation: X:218.56, Y:9.70, Z:1.57 [[ 9.98873571e-01 -4.57010404e-02 -1.27672748e-02 2.18562876e+02] [ 4.57023343e-02 9.98955084e-01 -1.90546899e-04 9.69716439e+00] [ 1.27626422e-02 -3.93161998e-04 9.99918477e-01 1.57191265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.804391418 meters Centerline goodness [0,1] 0.9990754875190815 Centerline is valid? [True, True] Translation: X:218.59, Y:9.70, Z:1.57 [[ 9.99052017e-01 -4.18669236e-02 -1.19259289e-02 2.18594781e+02] [ 4.18677855e-02 9.99123144e-01 -1.77499727e-04 9.70300531e+00] [ 1.19229030e-02 -3.21980774e-04 9.99928868e-01 1.57286664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.834391418 meters Centerline goodness [0,1] 0.9995911340649881 Centerline is valid? [True, True] Translation: X:218.62, Y:9.71, Z:1.57 [[ 9.99220641e-01 -3.76956167e-02 -1.17111880e-02 2.18624695e+02] [ 3.76961675e-02 9.99289232e-01 -1.73779600e-04 9.70749425e+00] [ 1.17094148e-02 -2.67822743e-04 9.99931407e-01 1.57398134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.864391418 meters Centerline goodness [0,1] 0.9995260357196717 Centerline is valid? [True, True] Translation: X:218.66, Y:9.71, Z:1.57 [[ 9.99361115e-01 -3.40213643e-02 -1.09502577e-02 2.18655961e+02] [ 3.40216295e-02 9.99421084e-01 -1.62115984e-04 9.71165331e+00] [ 1.09494338e-02 -2.10533199e-04 9.99940031e-01 1.57468453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.894391418 meters Centerline goodness [0,1] 0.9993957182320442 Centerline is valid? [True, True] Translation: X:218.69, Y:9.72, Z:1.58 [[ 9.99570115e-01 -2.73290644e-02 -1.06163863e-02 2.18687641e+02] [ 2.73289429e-02 9.99626482e-01 -1.56543030e-04 9.71912016e+00] [ 1.06166991e-02 -1.33658883e-04 9.99943632e-01 1.57518011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.924391418 meters Centerline goodness [0,1] 0.999372226431432 Centerline is valid? [True, True] Translation: X:218.72, Y:9.72, Z:1.57 [[ 9.99636299e-01 -2.48596452e-02 -1.04530837e-02 2.18720027e+02] [ 2.48593997e-02 9.99690946e-01 -1.53437675e-04 9.72185969e+00] [ 1.04536675e-02 -1.06475515e-04 9.99945353e-01 1.57493031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.954391418 meters Centerline goodness [0,1] 0.9993938869166161 Centerline is valid? [True, True] Translation: X:218.75, Y:9.72, Z:1.58 [[ 9.99683439e-01 -2.26425844e-02 -1.09697375e-02 2.18751919e+02] [ 2.26421907e-02 9.99743620e-01 -1.60098573e-04 9.72435485e+00] [ 1.09705501e-02 -8.83309973e-05 9.99939818e-01 1.57529748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.984391418 meters Centerline goodness [0,1] 0.9994383236120112 Centerline is valid? [True, True] Translation: X:218.78, Y:9.73, Z:1.57 [[ 9.99720659e-01 -2.06144792e-02 -1.15606211e-02 2.18783334e+02] [ 2.06139167e-02 9.99787497e-01 -1.67832317e-04 9.72574312e+00] [ 1.15616242e-02 -7.05242450e-05 9.99933160e-01 1.57430650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.014391418 meters Centerline goodness [0,1] 0.9991560450974876 Centerline is valid? [True, True] Translation: X:218.81, Y:9.73, Z:1.57 [[ 9.99745893e-01 -1.89001881e-02 -1.22854405e-02 2.18814314e+02] [ 1.88994316e-02 9.99821374e-01 -1.77680673e-04 9.72823368e+00] [ 1.22866042e-02 -5.45523194e-05 9.99924515e-01 1.57453681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.044391418 meters Centerline goodness [0,1] 0.9995891714236291 Centerline is valid? [True, True] Translation: X:218.84, Y:9.73, Z:1.57 [[ 9.99772466e-01 -1.70599820e-02 -1.28052195e-02 2.18844794e+02] [ 1.70590130e-02 9.99854467e-01 -1.84898479e-04 9.73013305e+00] [ 1.28065103e-02 -3.35879984e-05 9.99917993e-01 1.57457154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.074391418 meters Centerline goodness [0,1] 0.9994594594594595 Centerline is valid? [True, True] Translation: X:218.87, Y:9.73, Z:1.57 [[ 9.99804793e-01 -1.37281548e-02 -1.42095976e-02 2.18874533e+02] [ 1.37266231e-02 9.99905764e-01 -2.05322662e-04 9.73313412e+00] [ 1.42110772e-02 1.02327912e-05 9.99899017e-01 1.57430684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.104391418 meters Centerline goodness [0,1] 0.999566264015094 Centerline is valid? [True, True] Translation: X:218.90, Y:9.74, Z:1.57 [[ 9.99825816e-01 -1.19374807e-02 -1.43468964e-02 2.18902747e+02] [ 1.19357223e-02 9.99928745e-01 -2.08182619e-04 9.73516724e+00] [ 1.43483593e-02 3.69057850e-05 9.99897056e-01 1.57402668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.134391418 meters Centerline goodness [0,1] 0.9995875930628813 Centerline is valid? [True, True] Translation: X:218.93, Y:9.74, Z:1.58 [[ 9.99840549e-01 -1.05616406e-02 -1.43989348e-02 2.18930574e+02] [ 1.05596824e-02 9.99944223e-01 -2.12022606e-04 9.73674327e+00] [ 1.44003710e-02 5.99406206e-05 9.99896307e-01 1.57500856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.164391418 meters Centerline goodness [0,1] 0.9994144945135968 Centerline is valid? [True, True] Translation: X:218.96, Y:9.74, Z:1.58 [[ 9.99854272e-01 -9.32159608e-03 -1.43018110e-02 2.18958255e+02] [ 9.31947168e-03 9.99956550e-01 -2.15180804e-04 9.73849011e+00] [ 1.43031954e-02 8.18641241e-05 9.99897701e-01 1.57527609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.194391418 meters Centerline goodness [0,1] 0.9995442114858706 Centerline is valid? [True, True] Translation: X:218.99, Y:9.74, Z:1.58 [[ 9.99870234e-01 -8.05404604e-03 -1.39516454e-02 2.18985968e+02] [ 8.05186073e-03 9.99967561e-01 -2.12799377e-04 9.73981826e+00] [ 1.39529067e-02 1.00435057e-04 9.99902648e-01 1.57554684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.224391418 meters Centerline goodness [0,1] 0.9994359597362027 Centerline is valid? [True, True] Translation: X:219.01, Y:9.74, Z:1.58 [[ 9.99897571e-01 -5.92958915e-03 -1.30264375e-02 2.19014255e+02] [ 5.92748741e-03 9.99982412e-01 -1.99947300e-04 9.73980837e+00] [ 1.30273940e-02 1.22712775e-04 9.99915132e-01 1.57688774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.254391418 meters Centerline goodness [0,1] 0.9993930986648171 Centerline is valid? [True, True] Translation: X:219.04, Y:9.74, Z:1.58 [[ 9.99903116e-01 -6.17413086e-03 -1.24755268e-02 2.19041652e+02] [ 6.17219143e-03 9.99980933e-01 -1.93955849e-04 9.73937452e+00] [ 1.24764864e-02 1.16935718e-04 9.99922159e-01 1.57720775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.284391418 meters Centerline goodness [0,1] 0.9995452281438811 Centerline is valid? [True, True] Translation: X:219.07, Y:9.74, Z:1.58 [[ 9.99899170e-01 -6.98898595e-03 -1.23613507e-02 2.19069938e+02] [ 6.98709470e-03 9.99975571e-01 -1.96177648e-04 9.73885082e+00] [ 1.23624198e-02 1.09787939e-04 9.99923576e-01 1.57752040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.314391418 meters Centerline goodness [0,1] 0.9992211332511196 Centerline is valid? [True, True] Translation: X:219.10, Y:9.74, Z:1.58 [[ 9.99888952e-01 -8.10616270e-03 -1.25049382e-02 2.19097774e+02] [ 8.10427908e-03 9.99967140e-01 -2.01296946e-04 9.73829486e+00] [ 1.25061590e-02 9.99310831e-05 9.99921790e-01 1.57754452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34439141800001 meters Centerline goodness [0,1] 0.9992878107734806 Centerline is valid? [True, True] Translation: X:219.13, Y:9.73, Z:1.58 [[ 9.99864599e-01 -1.13489946e-02 -1.19156649e-02 2.19127169e+02] [ 1.13475031e-02 9.99935596e-01 -1.92770925e-04 9.73372125e+00] [ 1.19170853e-02 5.75317789e-05 9.99928987e-01 1.57822668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.37439141800002 meters Centerline goodness [0,1] 0.9993962654706973 Centerline is valid? [True, True] Translation: X:219.16, Y:9.73, Z:1.58 [[ 9.99830531e-01 -1.39290101e-02 -1.20370809e-02 2.19155491e+02] [ 1.39276529e-02 9.99902986e-01 -1.96579149e-04 9.73091533e+00] [ 1.20386513e-02 2.88975500e-05 9.99927532e-01 1.57870731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40439141800002 meters Centerline goodness [0,1] 0.9994642436191415 Centerline is valid? [True, True] Translation: X:219.18, Y:9.72, Z:1.58 [[ 9.99739600e-01 -1.91259028e-02 -1.24471535e-02 2.19184276e+02] [ 1.91248247e-02 9.99817083e-01 -2.05651331e-04 9.72372637e+00] [ 1.24488099e-02 -3.24518484e-05 9.99922510e-01 1.57790015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.434391418 meters Centerline goodness [0,1] 0.9994206257242179 Centerline is valid? [True, True] Translation: X:219.21, Y:9.72, Z:1.58 [[ 9.99673807e-01 -2.21726090e-02 -1.26749462e-02 2.19214372e+02] [ 2.21717305e-02 9.99754155e-01 -2.09843256e-04 9.72003573e+00] [ 1.26764829e-02 -7.12506836e-05 9.99919648e-01 1.57754372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.464391418 meters Centerline goodness [0,1] 0.9992057358749785 Centerline is valid? [True, True] Translation: X:219.24, Y:9.72, Z:1.58 [[ 9.99596959e-01 -2.49513399e-02 -1.35406930e-02 2.19244778e+02] [ 2.49505940e-02 9.99688660e-01 -2.24045470e-04 9.71569727e+00] [ 1.35420675e-02 -1.13893161e-04 9.99908296e-01 1.57660724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.494391418 meters Centerline goodness [0,1] 0.999015811206915 Centerline is valid? [True, True] Translation: X:219.28, Y:9.71, Z:1.57 [[ 9.99432037e-01 -3.02983611e-02 -1.47516898e-02 2.19275143e+02] [ 3.02980625e-02 9.99540879e-01 -2.43777590e-04 9.70723170e+00] [ 1.47523031e-02 -2.03308487e-04 9.99891158e-01 1.57477059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.524391418 meters Centerline goodness [0,1] 0.999101296700475 Centerline is valid? [True, True] Translation: X:219.31, Y:9.70, Z:1.57 [[ 9.99361606e-01 -3.24452203e-02 -1.49562387e-02 2.19306094e+02] [ 3.24451582e-02 9.99473487e-01 -2.46858897e-04 9.70460772e+00] [ 1.49563734e-02 -2.38556226e-04 9.99888119e-01 1.57496487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.554391418 meters Centerline goodness [0,1] 0.9990374949201121 Centerline is valid? [True, True] Translation: X:219.34, Y:9.70, Z:1.57 [[ 9.99271730e-01 -3.50611449e-02 -1.50573849e-02 2.19337732e+02] [ 3.50613959e-02 9.99385130e-01 -2.47394419e-04 9.69820187e+00] [ 1.50568005e-02 -2.80718683e-04 9.99886601e-01 1.57443702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.584391418 meters Centerline goodness [0,1] 0.9991020844468199 Centerline is valid? [True, True] Translation: X:219.37, Y:9.70, Z:1.57 [[ 9.99259600e-01 -3.55143230e-02 -1.47981484e-02 2.19369906e+02] [ 3.55146368e-02 9.99369127e-01 -2.41669790e-04 9.69611864e+00] [ 1.47973954e-02 -2.84060007e-04 9.99890472e-01 1.57484635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.614391418 meters Centerline goodness [0,1] 0.9991248665955176 Centerline is valid? [True, True] Translation: X:219.40, Y:9.69, Z:1.58 [[ 9.99275451e-01 -3.51442296e-02 -1.46101222e-02 2.19402169e+02] [ 3.51445126e-02 9.99382213e-01 -2.37454920e-04 9.69481182e+00] [ 1.46094414e-02 -2.76182752e-04 9.99893238e-01 1.57512929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.644391418 meters Centerline goodness [0,1] 0.999189298743413 Centerline is valid? [True, True] Translation: X:219.43, Y:9.69, Z:1.58 [[ 9.99333871e-01 -3.33152044e-02 -1.48966786e-02 2.19433895e+02] [ 3.33153086e-02 9.99444862e-01 -2.41236090e-04 9.69442879e+00] [ 1.48964457e-02 -2.55212047e-04 9.99889009e-01 1.57561132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.674391418 meters Centerline goodness [0,1] 0.9987402852506618 Centerline is valid? [True, True] Translation: X:219.47, Y:9.70, Z:1.58 [[ 9.99381197e-01 -3.18283559e-02 -1.49725921e-02 2.19465116e+02] [ 3.18283033e-02 9.99493322e-01 -2.41860130e-04 9.69548538e+00] [ 1.49727038e-02 -2.34841736e-04 9.99887875e-01 1.57571087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.704391418 meters Centerline goodness [0,1] 0.9987832472356231 Centerline is valid? [True, True] Translation: X:219.50, Y:9.70, Z:1.58 [[ 9.99438954e-01 -2.99952528e-02 -1.49017333e-02 2.19496254e+02] [ 2.99950061e-02 9.99550020e-01 -2.40111156e-04 9.69598965e+00] [ 1.49022300e-02 -2.07001139e-04 9.99888934e-01 1.57618930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.734391418 meters Centerline goodness [0,1] 0.9988278169689478 Centerline is valid? [True, True] Translation: X:219.53, Y:9.70, Z:1.58 [[ 9.99566542e-01 -2.54875708e-02 -1.47347250e-02 2.19527876e+02] [ 2.54868485e-02 9.99675129e-01 -2.36826206e-04 9.69693080e+00] [ 1.47359743e-02 -1.38818153e-04 9.99891410e-01 1.57592161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.764391418 meters Centerline goodness [0,1] 0.9989128581173261 Centerline is valid? [True, True] Translation: X:219.56, Y:9.70, Z:1.58 [[ 9.99622677e-01 -2.29309241e-02 -1.51220774e-02 2.19557992e+02] [ 2.29298777e-02 9.99737046e-01 -2.42598935e-04 9.69759931e+00] [ 1.51236640e-02 -1.04239988e-04 9.99885625e-01 1.57611489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.794391418 meters Centerline goodness [0,1] 0.9988271920846128 Centerline is valid? [True, True] Translation: X:219.59, Y:9.70, Z:1.58 [[ 9.99686543e-01 -2.00149913e-02 -1.50404924e-02 2.19587911e+02] [ 2.00136235e-02 9.99799678e-01 -2.41468773e-04 9.69891824e+00] [ 1.50423125e-02 -5.96216694e-05 9.99886856e-01 1.57605814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.824391418 meters Centerline goodness [0,1] 0.9991064780342517 Centerline is valid? [True, True] Translation: X:219.62, Y:9.70, Z:1.58 [[ 9.99781309e-01 -1.39612531e-02 -1.55697517e-02 2.19617454e+02] [ 1.39590433e-02 9.99902536e-01 -2.50598560e-04 9.70190140e+00] [ 1.55717328e-02 3.32049184e-05 9.99878753e-01 1.57646019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.854391418 meters Centerline goodness [0,1] 0.999297947026912 Centerline is valid? [True, True] Translation: X:219.65, Y:9.70, Z:1.58 [[ 9.99812426e-01 -1.10699644e-02 -1.58923891e-02 2.19646102e+02] [ 1.10672527e-02 9.99938723e-01 -2.58570745e-04 9.70376346e+00] [ 1.58942777e-02 8.26371578e-05 9.99873675e-01 1.57676049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.884391418 meters Centerline goodness [0,1] 0.9991272324754668 Centerline is valid? [True, True] Translation: X:219.68, Y:9.71, Z:1.58 [[ 9.99833572e-01 -8.31874411e-03 -1.62365939e-02 2.19675014e+02] [ 8.31547651e-03 9.99965390e-01 -2.68751396e-04 9.70547147e+00] [ 1.62382676e-02 1.33691653e-04 9.99868142e-01 1.57641588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.914391418 meters Centerline goodness [0,1] 0.9992764109985528 Centerline is valid? [True, True] Translation: X:219.70, Y:9.71, Z:1.58 [[ 9.99852623e-01 -5.59381212e-03 -1.62309108e-02 2.19704152e+02] [ 5.59011373e-03 9.99984338e-01 -2.73221541e-04 9.70654442e+00] [ 1.62321850e-02 1.82448637e-04 9.99868233e-01 1.57707882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.944391418 meters Centerline goodness [0,1] 0.9993001208882102 Centerline is valid? [True, True] Translation: X:219.73, Y:9.71, Z:1.58 [[ 9.99864704e-01 -8.93470968e-04 -1.64248248e-02 2.19733092e+02] [ 8.88973012e-04 9.99999565e-01 -2.81150104e-04 9.70733494e+00] [ 1.64250689e-02 2.66510840e-04 9.99865064e-01 1.57693950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.974391418 meters Centerline goodness [0,1] 0.9994261180071417 Centerline is valid? [True, True] Translation: X:219.76, Y:9.71, Z:1.58 [[ 9.99865042e-01 7.35259739e-04 -1.64121065e-02 2.19760734e+02] [-7.40017867e-04 9.99999686e-01 -2.83844583e-04 9.70764832e+00] [ 1.64118926e-02 2.95951528e-04 9.99865272e-01 1.57706128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.004391418 meters Centerline goodness [0,1] 0.9991289013533898 Centerline is valid? [True, True] Translation: X:219.79, Y:9.71, Z:1.58 [[ 9.99868784e-01 1.82916758e-03 -1.60956161e-02 2.19788485e+02] [-1.83391107e-03 9.99998279e-01 -2.79952203e-04 9.70821135e+00] [ 1.60950763e-02 3.09433397e-04 9.99870418e-01 1.57709865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.034391418 meters Centerline goodness [0,1] 0.9994056842060578 Centerline is valid? [True, True] Translation: X:219.82, Y:9.71, Z:1.58 [[ 9.99874942e-01 2.35398506e-03 -1.56383920e-02 2.19816868e+02] [-2.35854815e-03 9.99997181e-01 -2.73350948e-04 9.70687758e+00] [ 1.56377044e-02 3.10200664e-04 9.99877676e-01 1.57809402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.064391418 meters Centerline goodness [0,1] 0.999385905471794 Centerline is valid? [True, True] Translation: X:219.84, Y:9.70, Z:1.58 [[ 9.99892844e-01 1.78262888e-03 -1.45300539e-02 2.19844432e+02] [-1.78652583e-03 9.99998372e-01 -2.55224206e-04 9.70391197e+00] [ 1.45295752e-02 2.81155174e-04 9.99894401e-01 1.57872873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.09439141800001 meters Centerline goodness [0,1] 0.9993650793650793 Centerline is valid? [True, True] Translation: X:219.87, Y:9.70, Z:1.58 [[ 9.99902264e-01 4.20722790e-04 -1.39744300e-02 2.19872860e+02] [-4.24211496e-04 9.99999880e-01 -2.46686001e-04 9.69980827e+00] [ 1.39743245e-02 2.52590005e-04 9.99902322e-01 1.57989505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12439141800002 meters Centerline goodness [0,1] 0.9994712128262617 Centerline is valid? [True, True] Translation: X:219.90, Y:9.69, Z:1.58 [[ 9.99907363e-01 -4.54169287e-03 -1.28311292e-02 2.19900838e+02] [ 4.53914596e-03 9.99989672e-01 -2.27610675e-04 9.69236409e+00] [ 1.28320304e-02 1.69347221e-04 9.99917652e-01 1.58076712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.15439141800002 meters Centerline goodness [0,1] 0.9992811383385839 Centerline is valid? [True, True] Translation: X:219.93, Y:9.69, Z:1.58 [[ 9.99887261e-01 -7.86364774e-03 -1.27917284e-02 2.19928377e+02] [ 7.86137062e-03 9.99969073e-01 -2.28288394e-04 9.68806739e+00] [ 1.27931279e-02 1.27702140e-04 9.99918156e-01 1.58057660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.184391418 meters Centerline goodness [0,1] 0.9992811383385839 Centerline is valid? [True, True] Translation: X:219.96, Y:9.69, Z:1.58 [[ 9.99884731e-01 -8.17914952e-03 -1.27916808e-02 2.19955766e+02] [ 8.17686443e-03 9.99966542e-01 -2.30928946e-04 9.68869704e+00] [ 1.27931416e-02 1.26306488e-04 9.99918156e-01 1.58076886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.214391418 meters Centerline goodness [0,1] 0.9991356411013197 Centerline is valid? [True, True] Translation: X:219.98, Y:9.68, Z:1.58 [[ 9.99774633e-01 -1.68258810e-02 -1.29449667e-02 2.19984360e+02] [ 1.68242304e-02 9.99858435e-01 -2.36402617e-04 9.67801635e+00] [ 1.29471118e-02 1.85602382e-05 9.99916182e-01 1.58025382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.244391418 meters Centerline goodness [0,1] 0.999156135946499 Centerline is valid? [True, True] Translation: X:220.01, Y:9.67, Z:1.58 [[ 9.99669757e-01 -2.23083483e-02 -1.27559899e-02 2.20012731e+02] [ 2.23071641e-02 9.99751137e-01 -2.35122241e-04 9.67221477e+00] [ 1.27580606e-02 -4.95053677e-05 9.99918611e-01 1.58037534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.274391418 meters Centerline goodness [0,1] 0.9990736061984167 Centerline is valid? [True, True] Translation: X:220.04, Y:9.67, Z:1.58 [[ 9.99536665e-01 -2.76542805e-02 -1.27159503e-02 2.20042730e+02] [ 2.76535082e-02 9.99617541e-01 -2.36590815e-04 9.66594701e+00] [ 1.27176297e-02 -1.15159441e-04 9.99919121e-01 1.58012214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.304391418 meters Centerline goodness [0,1] 0.9991395412285672 Centerline is valid? [True, True] Translation: X:220.07, Y:9.66, Z:1.58 [[ 9.99363150e-01 -3.34463491e-02 -1.24352487e-02 2.20073023e+02] [ 3.34460566e-02 9.99440497e-01 -2.31535742e-04 9.65842431e+00] [ 1.24360352e-02 -1.84521744e-04 9.99922652e-01 1.58007511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.334391418 meters Centerline goodness [0,1] 0.9990117953785664 Centerline is valid? [True, True] Translation: X:220.10, Y:9.65, Z:1.58 [[ 9.98917141e-01 -4.49299742e-02 -1.20765797e-02 2.20104667e+02] [ 4.49305409e-02 9.98990088e-01 -2.24517899e-04 9.64651768e+00] [ 1.20744710e-02 -3.18332480e-04 9.99927050e-01 1.58083453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.364391418 meters Centerline goodness [0,1] 0.9990546218487395 Centerline is valid? [True, True] Translation: X:220.14, Y:9.64, Z:1.58 [[ 9.98682201e-01 -4.99414808e-02 -1.18198918e-02 2.20135980e+02] [ 4.99423798e-02 9.98752077e-01 -2.19277012e-04 9.64089262e+00] [ 1.18160925e-02 -3.71325476e-04 9.99930119e-01 1.58119651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.394391418 meters Centerline goodness [0,1] 0.9992427429533025 Centerline is valid? [True, True] Translation: X:220.17, Y:9.64, Z:1.58 [[ 9.98432730e-01 -5.47067509e-02 -1.18006684e-02 2.20166971e+02] [ 5.47079856e-02 9.98502373e-01 -2.18398331e-04 9.63577093e+00] [ 1.17949433e-02 -4.27534756e-04 9.99930346e-01 1.58116753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.424391418 meters Centerline goodness [0,1] 0.9988857821599008 Centerline is valid? [True, True] Translation: X:220.20, Y:9.63, Z:1.58 [[ 9.97972674e-01 -6.25676358e-02 -1.16547268e-02 2.20197412e+02] [ 6.25693793e-02 9.98040594e-01 -2.15331934e-04 9.62848186e+00] [ 1.16453632e-02 -5.14333635e-04 9.99932058e-01 1.58117824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.454391418 meters Centerline goodness [0,1] 0.9992234232343373 Centerline is valid? [True, True] Translation: X:220.23, Y:9.62, Z:1.58 [[ 9.97785002e-01 -6.53997038e-02 -1.21642118e-02 2.20228619e+02] [ 6.54018171e-02 9.97858984e-01 -2.24407224e-04 9.62456074e+00] [ 1.21528442e-02 -5.71651390e-04 9.99925988e-01 1.58107592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.484391418 meters Centerline goodness [0,1] 0.999036184968676 Centerline is valid? [True, True] Translation: X:220.26, Y:9.62, Z:1.58 [[ 9.97607443e-01 -6.80332609e-02 -1.22827212e-02 2.20260142e+02] [ 6.80356238e-02 9.97682867e-01 -2.25851678e-04 9.61901611e+00] [ 1.22696259e-02 -6.10351281e-04 9.99924539e-01 1.58024454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.514391418 meters Centerline goodness [0,1] 0.9991180917184613 Centerline is valid? [True, True] Translation: X:220.29, Y:9.62, Z:1.58 [[ 9.97466979e-01 -7.01244887e-02 -1.19239797e-02 2.20292205e+02] [ 7.01268743e-02 9.97538056e-01 -2.18439623e-04 9.62197497e+00] [ 1.19099415e-02 -6.18305118e-04 9.99928883e-01 1.58082690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.544391418 meters Centerline goodness [0,1] 0.9987202081235313 Centerline is valid? [True, True] Translation: X:220.32, Y:9.62, Z:1.58 [[ 9.97333330e-01 -7.19818010e-02 -1.20352927e-02 2.20323634e+02] [ 7.19843797e-02 9.97405735e-01 -2.19354686e-04 9.61962042e+00] [ 1.20198595e-02 -6.47583342e-04 9.99927549e-01 1.58104470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.574391418 meters Centerline goodness [0,1] 0.9988482881373678 Centerline is valid? [True, True] Translation: X:220.35, Y:9.62, Z:1.58 [[ 9.97162916e-01 -7.43245930e-02 -1.19152979e-02 2.20354545e+02] [ 7.43272997e-02 9.97233877e-01 -2.16127886e-04 9.61821269e+00] [ 1.18984023e-02 -6.70117202e-04 9.99928987e-01 1.58157518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.604391418 meters Centerline goodness [0,1] 0.9987819220430108 Centerline is valid? [True, True] Translation: X:220.39, Y:9.62, Z:1.58 [[ 9.97114286e-01 -7.49767950e-02 -1.18987901e-02 2.20386239e+02] [ 7.49795491e-02 9.97185049e-01 -2.15095408e-04 9.61867921e+00] [ 1.18814227e-02 -6.77691212e-04 9.99929184e-01 1.58204145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.634391418 meters Centerline goodness [0,1] 0.9988660464920939 Centerline is valid? [True, True] Translation: X:220.42, Y:9.62, Z:1.58 [[ 9.97068648e-01 -7.55191680e-02 -1.22868423e-02 2.20418415e+02] [ 7.55221566e-02 9.97144099e-01 -2.21229296e-04 9.61897432e+00] [ 1.22684593e-02 -7.07348030e-04 9.99924489e-01 1.58251027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.664391418 meters Centerline goodness [0,1] 0.9985500241662639 Centerline is valid? [True, True] Translation: X:220.45, Y:9.62, Z:1.58 [[ 9.97065211e-01 -7.55727612e-02 -1.22361232e-02 2.20451035e+02] [ 7.55757415e-02 9.97140040e-01 -2.19312613e-04 9.62075334e+00] [ 1.22177025e-02 -7.06085111e-04 9.99925112e-01 1.58264351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.694391418 meters Centerline goodness [0,1] 0.9984849122511679 Centerline is valid? [True, True] Translation: X:220.48, Y:9.62, Z:1.58 [[ 9.97079732e-01 -7.53435786e-02 -1.24640544e-02 2.20482413e+02] [ 7.53466646e-02 9.97157375e-01 -2.22472982e-04 9.61730914e+00] [ 1.24453857e-02 -7.17301628e-04 9.99922296e-01 1.58218836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.724391418 meters Centerline goodness [0,1] 0.9985728676964406 Centerline is valid? [True, True] Translation: X:220.51, Y:9.62, Z:1.58 [[ 9.97104339e-01 -7.49083800e-02 -1.31023654e-02 2.20514797e+02] [ 7.49117652e-02 9.97190139e-01 -2.32916560e-04 9.62211314e+00] [ 1.30829970e-02 -7.49279209e-04 9.99914133e-01 1.58142091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.754391418 meters Centerline goodness [0,1] 0.9985117799949694 Centerline is valid? [True, True] Translation: X:220.55, Y:9.63, Z:1.58 [[ 9.97122129e-01 -7.45930920e-02 -1.35399937e-02 2.20546866e+02] [ 7.45966934e-02 9.97213756e-01 -2.39568409e-04 9.62582615e+00] [ 1.35201381e-02 -7.71159796e-04 9.99908301e-01 1.58194873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.784391418 meters Centerline goodness [0,1] 0.9985960647905622 Centerline is valid? [True, True] Translation: X:220.58, Y:9.62, Z:1.58 [[ 9.97141767e-01 -7.42027136e-02 -1.42216054e-02 2.20577747e+02] [ 7.42066700e-02 9.97242853e-01 -2.50020737e-04 9.62469416e+00] [ 1.42009465e-02 -8.06031857e-04 9.99898837e-01 1.58144171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.814391418 meters Centerline goodness [0,1] 0.9985114367779945 Centerline is valid? [True, True] Translation: X:220.61, Y:9.63, Z:1.58 [[ 9.97179918e-01 -7.35260868e-02 -1.50374834e-02 2.20609985e+02] [ 7.35304591e-02 9.97292937e-01 -2.62669635e-04 9.63205446e+00] [ 1.50160890e-02 -8.43784171e-04 9.99886896e-01 1.58096217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84439141800001 meters Centerline goodness [0,1] 0.9985698361621133 Centerline is valid? [True, True] Translation: X:220.64, Y:9.63, Z:1.58 [[ 9.97200262e-01 -7.31503372e-02 -1.55134017e-02 2.20641545e+02] [ 7.31549627e-02 9.97320550e-01 -2.69860809e-04 9.63078275e+00] [ 1.54915747e-02 -8.65777051e-04 9.99879624e-01 1.58061636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.87439141800002 meters Centerline goodness [0,1] 0.9987434028650415 Centerline is valid? [True, True] Translation: X:220.67, Y:9.63, Z:1.58 [[ 9.97253250e-01 -7.23794369e-02 -1.57217401e-02 2.20673290e+02] [ 7.23841099e-02 9.97376793e-01 -2.72345479e-04 9.63474053e+00] [ 1.57002110e-02 -8.66406754e-04 9.99876369e-01 1.58106995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90439141800002 meters Centerline goodness [0,1] 0.9986152780983153 Centerline is valid? [True, True] Translation: X:220.70, Y:9.64, Z:1.58 [[ 9.97376425e-01 -7.07862803e-02 -1.51515472e-02 2.20704865e+02] [ 7.07904530e-02 9.97491175e-01 -2.61420478e-04 9.64299771e+00] [ 1.51320396e-02 -8.11850265e-04 9.99885175e-01 1.58282416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.934391418 meters Centerline goodness [0,1] 0.9986995007761044 Centerline is valid? [True, True] Translation: X:220.74, Y:9.65, Z:1.58 [[ 9.97475159e-01 -6.95594047e-02 -1.43107335e-02 2.20737215e+02] [ 6.95630155e-02 9.97577529e-01 -2.45905573e-04 9.64655410e+00] [ 1.42931713e-02 -7.50213078e-04 9.99897566e-01 1.58389401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.964391418 meters Centerline goodness [0,1] 0.9985090611284937 Centerline is valid? [True, True] Translation: X:220.77, Y:9.65, Z:1.58 [[ 9.97566543e-01 -6.83145496e-02 -1.39325193e-02 2.20768538e+02] [ 6.83178647e-02 9.97663577e-01 -2.38424928e-04 9.64992439e+00] [ 1.39162549e-02 -7.13995238e-04 9.99902909e-01 1.58499700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.994391418 meters Centerline goodness [0,1] 0.9987392309308678 Centerline is valid? [True, True] Translation: X:220.80, Y:9.65, Z:1.59 [[ 9.97665863e-01 -6.69746225e-02 -1.33126185e-02 2.20800597e+02] [ 6.69775424e-02 9.97754457e-01 -2.26890583e-04 9.65488829e+00] [ 1.32979203e-02 -6.65285479e-04 9.99911357e-01 1.58596295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.024391418 meters Centerline goodness [0,1] 0.998592673500252 Centerline is valid? [True, True] Translation: X:220.83, Y:9.66, Z:1.59 [[ 9.97879450e-01 -6.38983176e-02 -1.23939061e-02 2.20831264e+02] [ 6.39006209e-02 9.97956245e-01 -2.10477497e-04 9.66052888e+00] [ 1.23820251e-02 -5.81947125e-04 9.99923170e-01 1.58668196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.054391418 meters Centerline goodness [0,1] 0.9987576855049272 Centerline is valid? [True, True] Translation: X:220.86, Y:9.66, Z:1.59 [[ 9.97997904e-01 -6.20931318e-02 -1.20260435e-02 2.20862318e+02] [ 6.20951824e-02 9.98070211e-01 -2.03167551e-04 9.66357670e+00] [ 1.20154511e-02 -5.43998574e-04 9.99927664e-01 1.58708665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.084391418 meters Centerline goodness [0,1] 0.998543812257302 Centerline is valid? [True, True] Translation: X:220.89, Y:9.67, Z:1.59 [[ 9.98098760e-01 -6.03587351e-02 -1.24775125e-02 2.20894437e+02] [ 6.03608270e-02 9.98176601e-01 -2.09211561e-04 9.66988585e+00] [ 1.24673887e-02 -5.44339171e-04 9.99922131e-01 1.58762075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.114391418 meters Centerline goodness [0,1] 0.9987964018750792 Centerline is valid? [True, True] Translation: X:220.93, Y:9.68, Z:1.59 [[ 9.98283639e-01 -5.71388446e-02 -1.28424806e-02 2.20926038e+02] [ 5.71408067e-02 9.98366106e-01 -2.14390930e-04 9.67745580e+00] [ 1.28337474e-02 -5.19806741e-04 9.99917509e-01 1.58786261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.144391418 meters Centerline goodness [0,1] 0.9986698758550798 Centerline is valid? [True, True] Translation: X:220.96, Y:9.68, Z:1.59 [[ 9.98366054e-01 -5.56113931e-02 -1.31375658e-02 2.20957155e+02] [ 5.56133250e-02 9.98452358e-01 -2.18514634e-04 9.67999321e+00] [ 1.31293854e-02 -5.12466124e-04 9.99913675e-01 1.58754351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.174391418 meters Centerline goodness [0,1] 0.9986460184479986 Centerline is valid? [True, True] Translation: X:220.99, Y:9.68, Z:1.59 [[ 9.98460509e-01 -5.39291963e-02 -1.29712729e-02 2.20989544e+02] [ 5.39309493e-02 9.98544644e-01 -2.14862952e-04 9.68414952e+00] [ 1.29639824e-02 -4.85020887e-04 9.99915846e-01 1.58796266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.204391418 meters Centerline goodness [0,1] 0.9985891172506739 Centerline is valid? [True, True] Translation: X:221.02, Y:9.69, Z:1.59 [[ 9.98534960e-01 -5.24722286e-02 -1.32135940e-02 2.21021929e+02] [ 5.24739343e-02 9.98622270e-01 -2.17818606e-04 9.68884749e+00] [ 1.32068187e-02 -4.75869770e-04 9.99912673e-01 1.58823511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.234391418 meters Centerline goodness [0,1] 0.9987103321423286 Centerline is valid? [True, True] Translation: X:221.05, Y:9.70, Z:1.59 [[ 9.98658150e-01 -4.99645500e-02 -1.36177587e-02 2.21054056e+02] [ 4.99661440e-02 9.98750887e-01 -2.23365704e-04 9.69673485e+00] [ 1.36119089e-02 -4.57360911e-04 9.99907249e-01 1.58849450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.264391418 meters Centerline goodness [0,1] 0.998644785600847 Centerline is valid? [True, True] Translation: X:221.09, Y:9.70, Z:1.59 [[ 9.98716017e-01 -4.87978772e-02 -1.36046076e-02 2.21085379e+02] [ 4.87993732e-02 9.98808576e-01 -2.22179667e-04 9.69974545e+00] [ 1.35992407e-02 -4.42001933e-04 9.99907428e-01 1.58905916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.294391418 meters Centerline goodness [0,1] 0.9988548889878491 Centerline is valid? [True, True] Translation: X:221.12, Y:9.70, Z:1.59 [[ 9.98771290e-01 -4.76222047e-02 -1.37126222e-02 2.21116630e+02] [ 4.76236252e-02 9.98865327e-01 -2.23112941e-04 9.70208457e+00] [ 1.37076880e-02 -4.30205981e-04 9.99905953e-01 1.58925874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.324391418 meters Centerline goodness [0,1] 0.9986614541282455 Centerline is valid? [True, True] Translation: X:221.15, Y:9.71, Z:1.59 [[ 9.98887142e-01 -4.49706298e-02 -1.42168609e-02 2.21148359e+02] [ 4.49719028e-02 9.98988226e-01 -2.30303428e-04 9.71075614e+00] [ 1.42128335e-02 -4.09312152e-04 9.99898909e-01 1.58944418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.354391418 meters Centerline goodness [0,1] 0.9988511616032678 Centerline is valid? [True, True] Translation: X:221.18, Y:9.72, Z:1.59 [[ 9.98962087e-01 -4.33022348e-02 -1.41302718e-02 2.21180755e+02] [ 4.33033416e-02 9.99061944e-01 -2.27761157e-04 9.71531875e+00] [ 1.41268794e-02 -3.84363228e-04 9.99900137e-01 1.59001162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.384391418 meters Centerline goodness [0,1] 0.9989346742233776 Centerline is valid? [True, True] Translation: X:221.21, Y:9.72, Z:1.59 [[ 9.99028690e-01 -4.17732737e-02 -1.40239202e-02 2.21212902e+02] [ 4.17742295e-02 9.99127051e-01 -2.24905241e-04 9.71878790e+00] [ 1.40210730e-02 -3.61151672e-04 9.99901635e-01 1.59037316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.414391418 meters Centerline goodness [0,1] 0.9989116052755133 Centerline is valid? [True, True] Translation: X:221.24, Y:9.72, Z:1.59 [[ 9.99161364e-01 -3.85724144e-02 -1.37381938e-02 2.21244225e+02] [ 3.85730424e-02 9.99255759e-01 -2.19352200e-04 9.72242327e+00] [ 1.37364302e-02 -3.10755689e-04 9.99905603e-01 1.59001697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.444391418 meters Centerline goodness [0,1] 0.998784051880453 Centerline is valid? [True, True] Translation: X:221.28, Y:9.73, Z:1.59 [[ 9.99215501e-01 -3.71914050e-02 -1.36081545e-02 2.21276672e+02] [ 3.71919064e-02 9.99308118e-01 -2.16314470e-04 9.72814542e+00] [ 1.36067843e-02 -2.89968436e-04 9.99907381e-01 1.59119975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.474391418 meters Centerline goodness [0,1] 0.9989540642076503 Centerline is valid? [True, True] Translation: X:221.31, Y:9.73, Z:1.59 [[ 9.99304432e-01 -3.47536457e-02 -1.35217192e-02 2.21307445e+02] [ 3.47539307e-02 9.99395877e-01 -2.13975650e-04 9.73250870e+00] [ 1.35209868e-02 -2.56106075e-04 9.99908554e-01 1.59146207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.504391418 meters Centerline goodness [0,1] 0.9988067334327723 Centerline is valid? [True, True] Translation: X:221.34, Y:9.73, Z:1.59 [[ 9.99338333e-01 -3.36905217e-02 -1.37056695e-02 2.21338994e+02] [ 3.36907259e-02 9.99432283e-01 -2.16055581e-04 9.73482525e+00] [ 1.37051676e-02 -2.45841331e-04 9.99906050e-01 1.59172030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.534391418 meters Centerline goodness [0,1] 0.9990183734875483 Centerline is valid? [True, True] Translation: X:221.37, Y:9.74, Z:1.59 [[ 9.99377208e-01 -3.25038191e-02 -1.37367112e-02 2.21370338e+02] [ 3.25039216e-02 9.99471585e-01 -2.15860811e-04 9.73724452e+00] [ 1.37364688e-02 -2.30770609e-04 9.99905624e-01 1.59237402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.564391418 meters Centerline goodness [0,1] 0.9987413333333334 Centerline is valid? [True, True] Translation: X:221.40, Y:9.74, Z:1.59 [[ 9.99446999e-01 -3.06306175e-02 -1.29406850e-02 2.21401805e+02] [ 3.06305578e-02 9.99530754e-01 -2.02858086e-04 9.73997343e+00] [ 1.29408263e-02 -1.93634495e-04 9.99916245e-01 1.59294645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.59439141800001 meters Centerline goodness [0,1] 0.9989960482751254 Centerline is valid? [True, True] Translation: X:221.43, Y:9.74, Z:1.59 [[ 9.99466966e-01 -3.00700585e-02 -1.27112478e-02 2.21433633e+02] [ 3.00699633e-02 9.99547777e-01 -1.98654918e-04 9.74090109e+00] [ 1.27114730e-02 -1.83677727e-04 9.99919189e-01 1.59355326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62439141800002 meters Centerline goodness [0,1] 0.9990802335778913 Centerline is valid? [True, True] Translation: X:221.47, Y:9.74, Z:1.59 [[ 9.99488185e-01 -2.95350456e-02 -1.22901736e-02 2.21466271e+02] [ 2.95349262e-02 9.99563731e-01 -1.91256881e-04 9.74177904e+00] [ 1.22904605e-02 -1.71830376e-04 9.99924455e-01 1.59394244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.65439141800002 meters Centerline goodness [0,1] 0.9989557805007991 Centerline is valid? [True, True] Translation: X:221.50, Y:9.74, Z:1.59 [[ 9.99492502e-01 -2.93568051e-02 -1.23659005e-02 2.21497258e+02] [ 2.93566814e-02 9.99568981e-01 -1.91561313e-04 9.74193260e+00] [ 1.23661942e-02 -1.71557705e-04 9.99923521e-01 1.59456391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.684391418 meters Centerline goodness [0,1] 0.9989507045269604 Centerline is valid? [True, True] Translation: X:221.53, Y:9.74, Z:1.59 [[ 9.99477639e-01 -3.01458837e-02 -1.16479722e-02 2.21529314e+02] [ 3.01458364e-02 9.99545495e-01 -1.79675558e-04 9.74229515e+00] [ 1.16480947e-02 -1.71556163e-04 9.99932144e-01 1.59466580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.714391418 meters Centerline goodness [0,1] 0.9989752567195406 Centerline is valid? [True, True] Translation: X:221.56, Y:9.74, Z:1.59 [[ 9.99446382e-01 -3.09816649e-02 -1.21270859e-02 2.21560626e+02] [ 3.09816904e-02 9.99519935e-01 -1.85807532e-04 9.74024565e+00] [ 1.21270207e-02 -1.90012954e-04 9.99926447e-01 1.59408169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.744391418 meters Centerline goodness [0,1] 0.9987645906108886 Centerline is valid? [True, True] Translation: X:221.59, Y:9.74, Z:1.59 [[ 9.99408319e-01 -3.20769313e-02 -1.24129552e-02 2.21592551e+02] [ 3.20770594e-02 9.99485381e-01 -1.88825282e-04 9.73988572e+00] [ 1.24126242e-02 -2.09457545e-04 9.99922938e-01 1.59394053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.774391418 meters Centerline goodness [0,1] 0.9987459082600009 Centerline is valid? [True, True] Translation: X:221.62, Y:9.74, Z:1.59 [[ 9.99271936e-01 -3.57922018e-02 -1.32104475e-02 2.21624250e+02] [ 3.57926840e-02 9.99359217e-01 -1.99999600e-04 9.73607914e+00] [ 1.32091409e-02 -2.72983387e-04 9.99912718e-01 1.59308325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.804391418 meters Centerline goodness [0,1] 0.9989982095660329 Centerline is valid? [True, True] Translation: X:221.66, Y:9.73, Z:1.59 [[ 9.99192464e-01 -3.78484805e-02 -1.34874645e-02 2.21655665e+02] [ 3.78491868e-02 9.99283442e-01 -2.02982725e-04 9.73133453e+00] [ 1.34854826e-02 -3.07670755e-04 9.99909019e-01 1.59238157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.834391418 meters Centerline goodness [0,1] 0.9989348557794725 Centerline is valid? [True, True] Translation: X:221.69, Y:9.73, Z:1.59 [[ 9.99107532e-01 -3.99082366e-02 -1.38373216e-02 2.21687638e+02] [ 3.99091963e-02 9.99203289e-01 -2.06876052e-04 9.72849933e+00] [ 1.38345533e-02 -3.45544961e-04 9.99904238e-01 1.59194575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.864391418 meters Centerline goodness [0,1] 0.9987665085812722 Centerline is valid? [True, True] Translation: X:221.72, Y:9.73, Z:1.59 [[ 9.99017608e-01 -4.20283372e-02 -1.40512906e-02 2.21719572e+02] [ 4.20295517e-02 9.99116346e-01 -2.08988930e-04 9.73003938e+00] [ 1.40476575e-02 -3.81785821e-04 9.99901254e-01 1.59295089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.894391418 meters Centerline goodness [0,1] 0.9988951919603969 Centerline is valid? [True, True] Translation: X:221.75, Y:9.72, Z:1.59 [[ 9.98812338e-01 -4.65694870e-02 -1.43246453e-02 2.21749823e+02] [ 4.65712260e-02 9.98914949e-01 -2.12337886e-04 9.72395914e+00] [ 1.43189908e-02 -4.55030592e-04 9.99897374e-01 1.59278233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.924391418 meters Centerline goodness [0,1] 0.9986225895316805 Centerline is valid? [True, True] Translation: X:221.78, Y:9.72, Z:1.59 [[ 9.98714987e-01 -4.86870691e-02 -1.40692662e-02 2.21781736e+02] [ 4.86889662e-02 9.98813967e-01 -2.07858612e-04 9.72192213e+00] [ 1.40626996e-02 -4.77426515e-04 9.99901001e-01 1.59299973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.954391418 meters Centerline goodness [0,1] 0.9987663249244906 Centerline is valid? [True, True] Translation: X:221.81, Y:9.72, Z:1.59 [[ 9.98516821e-01 -5.27177123e-02 -1.36014965e-02 2.21813420e+02] [ 5.27198696e-02 9.98609321e-01 -2.00146053e-04 9.71908783e+00] [ 1.35931324e-02 -5.17219920e-04 9.99907475e-01 1.59440103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.984391418 meters Centerline goodness [0,1] 0.9987067503392131 Centerline is valid? [True, True] Translation: X:221.84, Y:9.71, Z:1.59 [[ 9.98435726e-01 -5.43504818e-02 -1.31196524e-02 2.21844120e+02] [ 5.43526365e-02 9.98521784e-01 -1.92534298e-04 9.71428188e+00] [ 1.31107230e-02 -5.20854574e-04 9.99913915e-01 1.59427846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.014391418 meters Centerline goodness [0,1] 0.9988328417121151 Centerline is valid? [True, True] Translation: X:221.88, Y:9.72, Z:1.60 [[ 9.98378147e-01 -5.53560228e-02 -1.32961217e-02 2.21876592e+02] [ 5.53583356e-02 9.98466533e-01 -1.94319026e-04 9.71704871e+00] [ 1.32864893e-02 -5.42047298e-04 9.99911584e-01 1.59520593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.044391418 meters Centerline goodness [0,1] 0.9987055428231899 Centerline is valid? [True, True] Translation: X:221.91, Y:9.72, Z:1.60 [[ 9.98291801e-01 -5.69514490e-02 -1.30389021e-02 2.21909034e+02] [ 5.69538228e-02 9.98376796e-01 -1.89498210e-04 9.71538088e+00] [ 1.30285295e-02 -5.53440809e-04 9.99914972e-01 1.59528892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.074391418 meters Centerline goodness [0,1] 0.9987251402345741 Centerline is valid? [True, True] Translation: X:221.94, Y:9.71, Z:1.60 [[ 9.98266147e-01 -5.74097182e-02 -1.29932466e-02 2.21940231e+02] [ 5.74121264e-02 9.98350546e-01 -1.87893024e-04 9.71259249e+00] [ 1.29826017e-02 -5.58402672e-04 9.99915567e-01 1.59532954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.104391418 meters Centerline goodness [0,1] 0.9987251402345741 Centerline is valid? [True, True] Translation: X:221.97, Y:9.71, Z:1.60 [[ 9.98270719e-01 -5.73301551e-02 -1.29932597e-02 2.21971951e+02] [ 5.73325683e-02 9.98355118e-01 -1.86986872e-04 9.71297123e+00] [ 1.29826073e-02 -5.58273429e-04 9.99915567e-01 1.59555177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.134391418 meters Centerline goodness [0,1] 0.9985352184435103 Centerline is valid? [True, True] Translation: X:222.00, Y:9.71, Z:1.60 [[ 9.98254571e-01 -5.76136330e-02 -1.29799890e-02 2.22004386e+02] [ 5.76160788e-02 9.98338797e-01 -1.85751905e-04 9.71394655e+00] [ 1.29691284e-02 -5.62428378e-04 9.99915739e-01 1.59583590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.164391418 meters Centerline goodness [0,1] 0.9987031485851564 Centerline is valid? [True, True] Translation: X:222.04, Y:9.71, Z:1.60 [[ 9.98220983e-01 -5.82244694e-02 -1.28366801e-02 2.22036879e+02] [ 5.82269252e-02 9.98303357e-01 -1.82656415e-04 9.71439173e+00] [ 1.28255359e-02 -5.65108947e-04 9.99917590e-01 1.59616345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.194391418 meters Centerline goodness [0,1] 0.9986390507378897 Centerline is valid? [True, True] Translation: X:222.07, Y:9.71, Z:1.60 [[ 9.98181915e-01 -5.86997498e-02 -1.36822834e-02 2.22068667e+02] [ 5.87026003e-02 9.98275497e-01 -1.93525601e-04 9.71433387e+00] [ 1.36700482e-02 -6.10011860e-04 9.99906374e-01 1.59618303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.224391418 meters Centerline goodness [0,1] 0.998683120579427 Centerline is valid? [True, True] Translation: X:222.10, Y:9.71, Z:1.60 [[ 9.98161952e-01 -5.89379643e-02 -1.41079104e-02 2.22100416e+02] [ 5.89410352e-02 9.98261446e-01 -1.98374867e-04 9.71402509e+00] [ 1.40950748e-02 -6.33524599e-04 9.99900459e-01 1.59584349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.254391418 meters Centerline goodness [0,1] 0.9988331141002249 Centerline is valid? [True, True] Translation: X:222.13, Y:9.71, Z:1.60 [[ 9.98146599e-01 -5.90680172e-02 -1.46402086e-02 2.22132919e+02] [ 5.90713560e-02 9.98253742e-01 -2.04650152e-04 9.71337508e+00] [ 1.46267313e-02 -6.60546118e-04 9.99892805e-01 1.59525431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.284391418 meters Centerline goodness [0,1] 0.9984276061365858 Centerline is valid? [True, True] Translation: X:222.16, Y:9.71, Z:1.59 [[ 9.98146301e-01 -5.88109811e-02 -1.56598161e-02 2.22164274e+02] [ 5.88147961e-02 9.98268888e-01 -2.17211120e-04 9.71287726e+00] [ 1.56454816e-02 -7.04220414e-04 9.99877354e-01 1.59436972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.314391418 meters Centerline goodness [0,1] 0.998707627118644 Centerline is valid? [True, True] Translation: X:222.20, Y:9.71, Z:1.59 [[ 9.98171847e-01 -5.83699404e-02 -1.56816579e-02 2.22195113e+02] [ 5.83737337e-02 9.98294776e-01 -2.16118016e-04 9.71306312e+00] [ 1.56675320e-02 -6.99674004e-04 9.99877012e-01 1.59472183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34439141800001 meters Centerline goodness [0,1] 0.9989161158693388 Centerline is valid? [True, True] Translation: X:222.23, Y:9.72, Z:1.60 [[ 9.98221004e-01 -5.75509134e-02 -1.55794667e-02 2.22227484e+02] [ 5.75545748e-02 9.98342339e-01 -2.13616222e-04 9.71517445e+00] [ 1.55659350e-02 -6.83433378e-04 9.99878610e-01 1.59544950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.37439141800002 meters Centerline goodness [0,1] 0.998937955351643 Centerline is valid? [True, True] Translation: X:222.26, Y:9.72, Z:1.60 [[ 9.98359050e-01 -5.52895432e-02 -1.49088630e-02 2.22257565e+02] [ 5.52926547e-02 9.98470170e-01 -2.03734549e-04 9.71788952e+00] [ 1.48973194e-02 -6.20950382e-04 9.99888836e-01 1.59670888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40439141800002 meters Centerline goodness [0,1] 0.9987882653061224 Centerline is valid? [True, True] Translation: X:222.29, Y:9.72, Z:1.60 [[ 9.98467598e-01 -5.33393011e-02 -1.47436444e-02 2.22289782e+02] [ 5.33421427e-02 9.98576274e-01 -2.00729075e-04 9.72183418e+00] [ 1.47333602e-02 -5.86036107e-04 9.99891286e-01 1.59774068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.434391418 meters Centerline goodness [0,1] 0.9989343109254444 Centerline is valid? [True, True] Translation: X:222.32, Y:9.73, Z:1.60 [[ 9.98775633e-01 -4.74259849e-02 -1.40716614e-02 2.22319982e+02] [ 4.74279945e-02 9.98874641e-01 -1.91051134e-04 9.73003069e+00] [ 1.40648865e-02 -4.76573461e-04 9.99900971e-01 1.59888871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.464391418 meters Centerline goodness [0,1] 0.9986549382979631 Centerline is valid? [True, True] Translation: X:222.35, Y:9.73, Z:1.60 [[ 9.98941811e-01 -4.38371023e-02 -1.39128181e-02 2.22350323e+02] [ 4.38387209e-02 9.99038603e-01 -1.88758021e-04 9.73333903e+00] [ 1.39077169e-02 -4.21361869e-04 9.99903194e-01 1.59912497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.494391418 meters Centerline goodness [0,1] 0.9989144547795917 Centerline is valid? [True, True] Translation: X:222.38, Y:9.74, Z:1.60 [[ 9.99097505e-01 -4.02171374e-02 -1.36658909e-02 2.22380784e+02] [ 4.02183643e-02 9.99190897e-01 -1.85142414e-04 9.73575031e+00] [ 1.36622797e-02 -3.64644456e-04 9.99906600e-01 1.59923687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.524391418 meters Centerline goodness [0,1] 0.9988264413434046 Centerline is valid? [True, True] Translation: X:222.41, Y:9.74, Z:1.60 [[ 9.99235439e-01 -3.67415695e-02 -1.33638959e-02 2.22413423e+02] [ 3.67424426e-02 9.99324752e-01 -1.80267402e-04 9.74355830e+00] [ 1.33614953e-02 -3.10892602e-04 9.99910683e-01 1.60065856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.554391418 meters Centerline goodness [0,1] 0.999101834823147 Centerline is valid? [True, True] Translation: X:222.44, Y:9.75, Z:1.60 [[ 9.99457302e-01 -3.01598429e-02 -1.32470542e-02 2.22444005e+02] [ 3.01601356e-02 9.99545064e-01 -1.77725954e-04 9.75079570e+00] [ 1.32463878e-02 -2.21903448e-04 9.99912238e-01 1.60114215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.584391418 meters Centerline goodness [0,1] 0.9990784595272283 Centerline is valid? [True, True] Translation: X:222.48, Y:9.75, Z:1.60 [[ 9.99531351e-01 -2.76276302e-02 -1.31830112e-02 2.22475486e+02] [ 2.76277069e-02 9.99618267e-01 -1.76328461e-04 9.75440666e+00] [ 1.31828503e-02 -1.87970544e-04 9.99913085e-01 1.60156759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.614391418 meters Centerline goodness [0,1] 0.9989516025503873 Centerline is valid? [True, True] Translation: X:222.51, Y:9.76, Z:1.60 [[ 9.99587166e-01 -2.54592520e-02 -1.33162749e-02 2.22506384e+02] [ 2.54591470e-02 9.99675848e-01 -1.77432431e-04 9.75654706e+00] [ 1.33164757e-02 -1.61661818e-04 9.99911319e-01 1.60117628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.644391418 meters Centerline goodness [0,1] 0.9990995819487619 Centerline is valid? [True, True] Translation: X:222.54, Y:9.76, Z:1.60 [[ 9.99626743e-01 -2.30474376e-02 -1.46693484e-02 2.22536812e+02] [ 2.30470597e-02 9.99734362e-01 -1.94832957e-04 9.75941931e+00] [ 1.46699421e-02 -1.43325115e-04 9.99892380e-01 1.59943921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.674391418 meters Centerline goodness [0,1] 0.998972294780114 Centerline is valid? [True, True] Translation: X:222.57, Y:9.76, Z:1.60 [[ 9.99617126e-01 -2.27226184e-02 -1.57887622e-02 2.22567233e+02] [ 2.27221426e-02 9.99741797e-01 -2.09548640e-04 9.76073457e+00] [ 1.57894470e-02 -1.49286098e-04 9.99875328e-01 1.59877805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.704391418 meters Centerline goodness [0,1] 0.9989906365432523 Centerline is valid? [True, True] Translation: X:222.60, Y:9.76, Z:1.60 [[ 9.99603509e-01 -2.29796071e-02 -1.62715448e-02 2.22597219e+02] [ 2.29791297e-02 9.99735922e-01 -2.16329804e-04 9.76185025e+00] [ 1.62722190e-02 -1.57661908e-04 9.99867586e-01 1.59861560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.734391418 meters Centerline goodness [0,1] 0.9991857549979644 Centerline is valid? [True, True] Translation: X:222.63, Y:9.76, Z:1.60 [[ 9.99568218e-01 -2.43561277e-02 -1.64364383e-02 2.22626261e+02] [ 2.43558215e-02 9.99703329e-01 -2.18837722e-04 9.76235738e+00] [ 1.64368921e-02 -1.81579724e-04 9.99864889e-01 1.59859960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.764391418 meters Centerline goodness [0,1] 0.9991426795550507 Centerline is valid? [True, True] Translation: X:222.66, Y:9.76, Z:1.60 [[ 9.99547311e-01 -2.54353321e-02 -1.60691357e-02 2.22656944e+02] [ 2.54351784e-02 9.99676451e-01 -2.13969258e-04 9.76302074e+00] [ 1.60693790e-02 -1.94848938e-04 9.99870860e-01 1.59937390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.794391418 meters Centerline goodness [0,1] 0.9989913080802661 Centerline is valid? [True, True] Translation: X:222.69, Y:9.76, Z:1.60 [[ 9.99519035e-01 -2.67711780e-02 -1.56525859e-02 2.22687261e+02] [ 2.67711960e-02 9.99641566e-01 -2.08422671e-04 9.76300035e+00] [ 1.56525552e-02 -2.10716018e-04 9.99877469e-01 1.60029433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.824391418 meters Centerline goodness [0,1] 0.9990577351379133 Centerline is valid? [True, True] Translation: X:222.72, Y:9.76, Z:1.60 [[ 9.99459384e-01 -2.96935035e-02 -1.41150619e-02 2.22718985e+02] [ 2.96938134e-02 9.99559024e-01 -1.87667789e-04 9.76174136e+00] [ 1.41144100e-02 -2.31563680e-04 9.99900360e-01 1.60176065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.854391418 meters Centerline goodness [0,1] 0.9990777084271711 Centerline is valid? [True, True] Translation: X:222.75, Y:9.76, Z:1.60 [[ 9.99407195e-01 -3.16692545e-02 -1.35025134e-02 2.22750662e+02] [ 3.16697254e-02 9.99498372e-01 -1.78994329e-04 9.76160188e+00] [ 1.35014088e-02 -2.48732672e-04 9.99908821e-01 1.60272826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.884391418 meters Centerline goodness [0,1] 0.9988848859152514 Centerline is valid? [True, True] Translation: X:222.78, Y:9.76, Z:1.60 [[ 9.99348850e-01 -3.36739258e-02 -1.29592456e-02 2.22782190e+02] [ 3.36745363e-02 9.99432837e-01 -1.71159276e-04 9.75969923e+00] [ 1.29576592e-02 -2.65348762e-04 9.99916011e-01 1.60293661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.914391418 meters Centerline goodness [0,1] 0.9989083670455275 Centerline is valid? [True, True] Translation: X:222.81, Y:9.76, Z:1.60 [[ 9.99208589e-01 -3.78378628e-02 -1.22675398e-02 2.22813866e+02] [ 3.78387321e-02 9.99283846e-01 -1.61311109e-04 9.75697744e+00] [ 1.22648580e-02 -3.03004706e-04 9.99924738e-01 1.60335739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.944391418 meters Centerline goodness [0,1] 0.9988016007190396 Centerline is valid? [True, True] Translation: X:222.85, Y:9.76, Z:1.60 [[ 9.99118274e-01 -4.00933980e-02 -1.24576497e-02 2.22845945e+02] [ 4.00944804e-02 9.99195880e-01 -1.62954361e-04 9.75655079e+00] [ 1.24541656e-02 -3.36672312e-04 9.99922387e-01 1.60353643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.974391418 meters Centerline goodness [0,1] 0.9986101905108085 Centerline is valid? [True, True] Translation: X:222.88, Y:9.75, Z:1.60 [[ 9.98960165e-01 -4.39275212e-02 -1.22050146e-02 2.22878034e+02] [ 4.39288578e-02 9.99034649e-01 -1.58675899e-04 9.75485124e+00] [ 1.22002027e-02 -3.77641449e-04 9.99925503e-01 1.60336897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.004391418 meters Centerline goodness [0,1] 0.9989103728234163 Centerline is valid? [True, True] Translation: X:222.91, Y:9.75, Z:1.60 [[ 9.98886991e-01 -4.55490310e-02 -1.22501042e-02 2.22910107e+02] [ 4.55505116e-02 9.98962024e-01 -1.58258399e-04 9.75420231e+00] [ 1.22445974e-02 -3.99916259e-04 9.99924952e-01 1.60328962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.034391418 meters Centerline goodness [0,1] 0.9991046494276151 Centerline is valid? [True, True] Translation: X:222.94, Y:9.75, Z:1.60 [[ 9.98845225e-01 -4.64297295e-02 -1.23489453e-02 2.22940855e+02] [ 4.64313113e-02 9.98921472e-01 -1.58737826e-04 9.75254569e+00] [ 1.23429968e-02 -4.14823204e-04 9.99923736e-01 1.60320515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.064391418 meters Centerline goodness [0,1] 0.9989517146952485 Centerline is valid? [True, True] Translation: X:222.97, Y:9.75, Z:1.60 [[ 9.98812751e-01 -4.71345931e-02 -1.23052397e-02 2.22972194e+02] [ 4.71362284e-02 9.98888458e-01 -1.57250464e-04 9.74929855e+00] [ 1.22989738e-02 -4.22958821e-04 9.99924275e-01 1.60287004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09439141800001 meters Centerline goodness [0,1] 0.9993798913740752 Centerline is valid? [True, True] Translation: X:223.00, Y:9.75, Z:1.60 [[ 9.98785546e-01 -4.76035311e-02 -1.27018333e-02 2.23004693e+02] [ 4.76053285e-02 9.98866211e-01 -1.60979585e-04 9.75321105e+00] [ 1.26950953e-02 -4.43890865e-04 9.99919316e-01 1.60342151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12439141800002 meters Centerline goodness [0,1] 0.999058360262803 Centerline is valid? [True, True] Translation: X:223.04, Y:9.75, Z:1.60 [[ 9.98813930e-01 -4.70968509e-02 -1.23539065e-02 2.23036145e+02] [ 4.70985233e-02 9.98890237e-01 -1.55689246e-04 9.75359689e+00] [ 1.23475291e-02 -4.26346166e-04 9.99923675e-01 1.60332707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.15439141800002 meters Centerline goodness [0,1] 0.9988898140438524 Centerline is valid? [True, True] Translation: X:223.07, Y:9.75, Z:1.60 [[ 9.98867138e-01 -4.59663515e-02 -1.23100014e-02 2.23068404e+02] [ 4.59679367e-02 9.98942904e-01 -1.54287401e-04 9.75458402e+00] [ 1.23040806e-02 -4.11752751e-04 9.99924217e-01 1.60358459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.184391418 meters Centerline goodness [0,1] 0.9990372066154604 Centerline is valid? [True, True] Translation: X:223.10, Y:9.76, Z:1.60 [[ 9.98926215e-01 -4.47084586e-02 -1.21478567e-02 2.23099317e+02] [ 4.47099198e-02 9.99000000e-01 -1.51395433e-04 9.75564587e+00] [ 1.21424775e-02 -3.91896832e-04 9.99926201e-01 1.60389503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.214391418 meters Centerline goodness [0,1] 0.9991236320109439 Centerline is valid? [True, True] Translation: X:223.13, Y:9.76, Z:1.60 [[ 9.99050070e-01 -4.19049886e-02 -1.19552867e-02 2.23131299e+02] [ 4.19062130e-02 9.99121538e-01 -1.48191237e-04 9.75905322e+00] [ 1.19509944e-02 -3.52950326e-04 9.99928522e-01 1.60401654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.244391418 meters Centerline goodness [0,1] 0.9989942866924871 Centerline is valid? [True, True] Translation: X:223.16, Y:9.76, Z:1.60 [[ 9.99103457e-01 -4.05074522e-02 -1.23056240e-02 2.23163572e+02] [ 4.05086558e-02 9.99179176e-01 -1.51526276e-04 9.76239867e+00] [ 1.23016612e-02 -3.47093862e-04 9.99924271e-01 1.60417251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.274391418 meters Centerline goodness [0,1] 0.9992083529462108 Centerline is valid? [True, True] Translation: X:223.19, Y:9.76, Z:1.60 [[ 9.99170649e-01 -3.87103074e-02 -1.26303569e-02 2.23194526e+02] [ 3.87114437e-02 9.99250419e-01 -1.54592653e-04 9.76440036e+00] [ 1.26268737e-02 -3.34474908e-04 9.99920222e-01 1.60377599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.304391418 meters Centerline goodness [0,1] 0.998887438755643 Centerline is valid? [True, True] Translation: X:223.23, Y:9.76, Z:1.60 [[ 9.99188788e-01 -3.80965079e-02 -1.30545955e-02 2.23225875e+02] [ 3.80976859e-02 9.99274007e-01 -1.58525471e-04 9.76419692e+00] [ 1.30511572e-02 -3.38953005e-04 9.99914773e-01 1.60313250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.334391418 meters Centerline goodness [0,1] 0.9994213707084995 Centerline is valid? [True, True] Translation: X:223.26, Y:9.77, Z:1.60 [[ 9.99176850e-01 -3.81200683e-02 -1.38738506e-02 2.23258055e+02] [ 3.81214229e-02 9.99273100e-01 -1.66908322e-04 9.76729426e+00] [ 1.38701282e-02 -3.62119993e-04 9.99903740e-01 1.60354689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.364391418 meters Centerline goodness [0,1] 0.9990775699330702 Centerline is valid? [True, True] Translation: X:223.29, Y:9.77, Z:1.60 [[ 9.99125802e-01 -3.91779122e-02 -1.45850060e-02 2.23290683e+02] [ 3.91795395e-02 9.99232172e-01 -1.74251102e-04 9.76813215e+00] [ 1.45806340e-02 -3.97335047e-04 9.99893618e-01 1.60253577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.394391418 meters Centerline goodness [0,1] 0.9991217924002913 Centerline is valid? [True, True] Translation: X:223.32, Y:9.77, Z:1.60 [[ 9.99081520e-01 -4.01009803e-02 -1.51005912e-02 2.23322286e+02] [ 4.01028463e-02 9.99195541e-01 -1.79334987e-04 9.76564360e+00] [ 1.50956349e-02 -4.26406418e-04 9.99885963e-01 1.60164610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.424391418 meters Centerline goodness [0,1] 0.9992692101020957 Centerline is valid? [True, True] Translation: X:223.35, Y:9.77, Z:1.60 [[ 9.98999146e-01 -4.20176282e-02 -1.53370774e-02 2.23353879e+02] [ 4.20197931e-02 9.99116762e-01 -1.81213486e-04 9.76763712e+00] [ 1.53311453e-02 -4.63428703e-04 9.99882364e-01 1.60255922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.454391418 meters Centerline goodness [0,1] 0.9993761025773418 Centerline is valid? [True, True] Translation: X:223.39, Y:9.77, Z:1.60 [[ 9.98977170e-01 -4.27106829e-02 -1.48462367e-02 2.23386292e+02] [ 4.27128033e-02 9.99087377e-01 -1.74370016e-04 9.76868429e+00] [ 1.48401352e-02 -4.59932723e-04 9.99889773e-01 1.60351759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.484391418 meters Centerline goodness [0,1] 0.9992495872730002 Centerline is valid? [True, True] Translation: X:223.42, Y:9.77, Z:1.60 [[ 9.98966268e-01 -4.30404742e-02 -1.46257606e-02 2.23417073e+02] [ 4.30425823e-02 9.99073224e-01 -1.70759572e-04 9.76865025e+00] [ 1.46195554e-02 -4.58947453e-04 9.99893023e-01 1.60403698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.514391418 meters Centerline goodness [0,1] 0.999334792498176 Centerline is valid? [True, True] Translation: X:223.45, Y:9.77, Z:1.61 [[ 9.98975055e-01 -4.30109682e-02 -1.41030504e-02 2.23449460e+02] [ 4.30129392e-02 9.99074502e-01 -1.63674505e-04 9.77010331e+00] [ 1.40970379e-02 -4.43106903e-04 9.99900534e-01 1.60519672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.544391418 meters Centerline goodness [0,1] 0.9993559329311492 Centerline is valid? [True, True] Translation: X:223.48, Y:9.77, Z:1.61 [[ 9.98997585e-01 -4.26437350e-02 -1.36138341e-02 2.23480869e+02] [ 4.26455504e-02 9.99090252e-01 -1.57052430e-04 9.77078686e+00] [ 1.36081462e-02 -4.23674448e-04 9.99907315e-01 1.60605167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.574391418 meters Centerline goodness [0,1] 0.9991178242533781 Centerline is valid? [True, True] Translation: X:223.51, Y:9.77, Z:1.61 [[ 9.99083063e-01 -4.10907408e-02 -1.20243148e-02 2.23512670e+02] [ 4.10920539e-02 9.99155355e-01 -1.37938882e-04 9.77390487e+00] [ 1.20198265e-02 -3.56291391e-04 9.99927696e-01 1.60751231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.604391418 meters Centerline goodness [0,1] 0.9989891168752958 Centerline is valid? [True, True] Translation: X:223.54, Y:9.78, Z:1.61 [[ 9.99150886e-01 -3.95752370e-02 -1.14589187e-02 2.23544244e+02] [ 3.95763391e-02 9.99216541e-01 -1.30648012e-04 9.77537348e+00] [ 1.14551115e-02 -3.22964975e-04 9.99934336e-01 1.60806257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.634391418 meters Centerline goodness [0,1] 0.9990090478242137 Centerline is valid? [True, True] Translation: X:223.58, Y:9.78, Z:1.61 [[ 9.99200155e-01 -3.85293615e-02 -1.07023077e-02 2.23576008e+02] [ 3.85302702e-02 9.99257426e-01 -1.21340662e-04 9.77681527e+00] [ 1.06990357e-02 -2.91119201e-04 9.99942721e-01 1.60875532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.664391418 meters Centerline goodness [0,1] 0.9992476030783782 Centerline is valid? [True, True] Translation: X:223.61, Y:9.78, Z:1.61 [[ 9.99238321e-01 -3.76669267e-02 -1.01970703e-02 2.23608116e+02] [ 3.76677147e-02 9.99290313e-01 -1.14834183e-04 9.77956932e+00] [ 1.01941590e-02 -2.69353618e-04 9.99948002e-01 1.60954298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.694391418 meters Centerline goodness [0,1] 0.9992459984058252 Centerline is valid? [True, True] Translation: X:223.64, Y:9.78, Z:1.61 [[ 9.99279948e-01 -3.65869817e-02 -1.00488394e-02 2.23640805e+02] [ 3.65877010e-02 9.99330440e-01 -1.12304957e-04 9.78080322e+00] [ 1.00462200e-02 -2.55439841e-04 9.99949503e-01 1.61004111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.724391418 meters Centerline goodness [0,1] 0.9992674308368525 Centerline is valid? [True, True] Translation: X:223.67, Y:9.78, Z:1.61 [[ 9.99374411e-01 -3.40094262e-02 -9.70281882e-03 2.23672841e+02] [ 3.40099841e-02 9.99421487e-01 -1.07542798e-04 9.78397707e+00] [ 9.70086309e-03 -2.22517193e-04 9.99952921e-01 1.61061698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.754391418 meters Centerline goodness [0,1] 0.9990723762269442 Centerline is valid? [True, True] Translation: X:223.71, Y:9.79, Z:1.61 [[ 9.99412612e-01 -3.29790834e-02 -9.31727006e-03 2.23705173e+02] [ 3.29795599e-02 9.99456021e-01 -1.02537230e-04 9.78571112e+00] [ 9.31558325e-03 -2.04802466e-04 9.99956588e-01 1.61072713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.784391418 meters Centerline goodness [0,1] 0.9990536820371645 Centerline is valid? [True, True] Translation: X:223.74, Y:9.79, Z:1.61 [[ 9.99459850e-01 -3.15368819e-02 -9.24302011e-03 2.23736395e+02] [ 3.15372957e-02 9.99502571e-01 -1.01017058e-04 9.78550873e+00] [ 9.24160813e-03 -1.90537364e-04 9.99957277e-01 1.61085007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.814391418 meters Centerline goodness [0,1] 0.9991161316748227 Centerline is valid? [True, True] Translation: X:223.77, Y:9.79, Z:1.61 [[ 9.99504139e-01 -3.00670074e-02 -9.35158291e-03 2.23768550e+02] [ 3.00673724e-02 9.99547869e-01 -1.01585640e-04 9.78765364e+00] [ 9.35040915e-03 -1.79642259e-04 9.99956268e-01 1.61063961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84439141800001 meters Centerline goodness [0,1] 0.9991146620600302 Centerline is valid? [True, True] Translation: X:223.80, Y:9.79, Z:1.61 [[ 9.99510039e-01 -2.97765881e-02 -9.64551635e-03 2.23801202e+02] [ 2.97769705e-02 9.99556562e-01 -1.03993348e-04 9.78793288e+00] [ 9.64433574e-03 -1.83271860e-04 9.99953476e-01 1.61026668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.87439141800002 meters Centerline goodness [0,1] 0.9990731160544921 Centerline is valid? [True, True] Translation: X:223.83, Y:9.79, Z:1.61 [[ 9.99527229e-01 -2.90457617e-02 -1.00827609e-02 2.23833899e+02] [ 2.90461517e-02 9.99578066e-01 -1.07785612e-04 9.78913981e+00] [ 1.00816374e-02 -1.85130750e-04 9.99949162e-01 1.60968342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90439141800002 meters Centerline goodness [0,1] 0.9991577765300393 Centerline is valid? [True, True] Translation: X:223.87, Y:9.79, Z:1.61 [[ 9.99512637e-01 -2.89414837e-02 -1.16995122e-02 2.23865907e+02] [ 2.89420168e-02 9.99581084e-01 -1.23781479e-04 9.78901648e+00] [ 1.16981935e-02 -2.14886326e-04 9.99931551e-01 1.60832307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.934391418 meters Centerline goodness [0,1] 0.9992224957885188 Centerline is valid? [True, True] Translation: X:223.90, Y:9.79, Z:1.61 [[ 9.99510967e-01 -2.88462044e-02 -1.20715902e-02 2.23897431e+02] [ 2.88467758e-02 9.99583837e-01 -1.26815844e-04 9.78755672e+00] [ 1.20702246e-02 -2.21472629e-04 9.99927128e-01 1.60740356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.964391418 meters Centerline goodness [0,1] 0.999223585739858 Centerline is valid? [True, True] Translation: X:223.93, Y:9.79, Z:1.61 [[ 9.99499957e-01 -2.90522293e-02 -1.24821702e-02 2.23929209e+02] [ 2.90528673e-02 9.99577868e-01 -1.30254292e-04 9.78754516e+00] [ 1.24806853e-02 -2.32453676e-04 9.99922086e-01 1.60727648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.994391418 meters Centerline goodness [0,1] 0.999223585739858 Centerline is valid? [True, True] Translation: X:223.96, Y:9.79, Z:1.61 [[ 9.99502251e-01 -2.89731964e-02 -1.24821805e-02 2.23960911e+02] [ 2.89738405e-02 9.99580162e-01 -1.29267696e-04 9.78779633e+00] [ 1.24806853e-02 -2.32453353e-04 9.99922086e-01 1.60749851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.024391418 meters Centerline goodness [0,1] 0.9990506192551677 Centerline is valid? [True, True] Translation: X:223.99, Y:9.79, Z:1.61 [[ 9.99502190e-01 -2.90006139e-02 -1.24232554e-02 2.23993139e+02] [ 2.90012662e-02 9.99579367e-01 -1.27677563e-04 9.78748178e+00] [ 1.24217325e-02 -2.32676134e-04 9.99922820e-01 1.60745443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.054391418 meters Centerline goodness [0,1] 0.9992669570091846 Centerline is valid? [True, True] Translation: X:224.03, Y:9.79, Z:1.61 [[ 9.99487758e-01 -2.93413883e-02 -1.27790379e-02 2.24025395e+02] [ 2.93421196e-02 9.99569419e-01 -1.30294511e-04 9.78747462e+00] [ 1.27773585e-02 -2.44736290e-04 9.99918336e-01 1.60833379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.084391418 meters Centerline goodness [0,1] 0.999050393870724 Centerline is valid? [True, True] Translation: X:224.06, Y:9.79, Z:1.61 [[ 9.99483290e-01 -2.97645921e-02 -1.21335108e-02 2.24056881e+02] [ 2.97652930e-02 9.99556908e-01 -1.22861237e-04 9.78596656e+00] [ 1.21317914e-02 -2.38359750e-04 9.99926379e-01 1.60868183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.114391418 meters Centerline goodness [0,1] 0.999287380150298 Centerline is valid? [True, True] Translation: X:224.09, Y:9.79, Z:1.61 [[ 9.99476347e-01 -3.01955548e-02 -1.16301349e-02 2.24089154e+02] [ 3.01962368e-02 9.99543983e-01 -1.16991032e-04 9.78523219e+00] [ 1.16283640e-02 -2.34256539e-04 9.99932361e-01 1.60979189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.144391418 meters Centerline goodness [0,1] 0.9988547226483998 Centerline is valid? [True, True] Translation: X:224.12, Y:9.78, Z:1.61 [[ 9.99473869e-01 -3.04888893e-02 -1.10640503e-02 2.24120899e+02] [ 3.04895339e-02 9.99535080e-01 -1.10447463e-04 9.78450288e+00] [ 1.10622738e-02 -2.26948383e-04 9.99938785e-01 1.61017877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.174391418 meters Centerline goodness [0,1] 0.9991156741367039 Centerline is valid? [True, True] Translation: X:224.15, Y:9.78, Z:1.61 [[ 9.99465834e-01 -3.08655757e-02 -1.07407414e-02 2.24152807e+02] [ 3.08662138e-02 9.99523519e-01 -1.06388022e-04 9.78354574e+00] [ 1.07389073e-02 -2.25194827e-04 9.99942311e-01 1.61058801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.204391418 meters Centerline goodness [0,1] 0.9993093773605266 Centerline is valid? [True, True] Translation: X:224.19, Y:9.78, Z:1.61 [[ 9.99422958e-01 -3.24063970e-02 -1.01772067e-02 2.24185387e+02] [ 3.24070577e-02 9.99474748e-01 -1.00034910e-04 9.78071532e+00] [ 1.01751029e-02 -2.29836140e-04 9.99948206e-01 1.61111892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.234391418 meters Centerline goodness [0,1] 0.9992870876450128 Centerline is valid? [True, True] Translation: X:224.22, Y:9.78, Z:1.61 [[ 9.99404705e-01 -3.31232851e-02 -9.64800588e-03 2.24216984e+02] [ 3.31239204e-02 9.99451248e-01 -9.39782249e-05 9.77897214e+00] [ 9.64582438e-03 -2.25657499e-04 9.99953452e-01 1.61153785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.264391418 meters Centerline goodness [0,1] 0.9993521637729982 Centerline is valid? [True, True] Translation: X:224.25, Y:9.78, Z:1.61 [[ 9.99372446e-01 -3.42323181e-02 -9.10284938e-03 2.24249405e+02] [ 3.42329388e-02 9.99413877e-01 -8.76617145e-05 9.77911134e+00] [ 9.10051486e-03 -2.24010584e-04 9.99958564e-01 1.61207327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.294391418 meters Centerline goodness [0,1] 0.9990307781774322 Centerline is valid? [True, True] Translation: X:224.28, Y:9.78, Z:1.61 [[ 9.99330792e-01 -3.54691917e-02 -8.93889618e-03 2.24281511e+02] [ 3.54698459e-02 9.99370743e-01 -8.53781088e-05 9.77835664e+00] [ 8.93629961e-03 -2.31740297e-04 9.99960044e-01 1.61212262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.324391418 meters Centerline goodness [0,1] 0.9990111142163081 Centerline is valid? [True, True] Translation: X:224.31, Y:9.77, Z:1.61 [[ 9.99229774e-01 -3.81508720e-02 -9.18533615e-03 2.24312680e+02] [ 3.81516826e-02 9.99271956e-01 -8.70210045e-05 9.77226286e+00] [ 9.18196875e-03 -2.63482051e-04 9.99957810e-01 1.61146131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.354391418 meters Centerline goodness [0,1] 0.9989901160292222 Centerline is valid? [True, True] Translation: X:224.34, Y:9.77, Z:1.61 [[ 9.99164943e-01 -3.97311889e-02 -9.53148969e-03 2.24344617e+02] [ 3.97321396e-02 9.99210363e-01 -8.96663742e-05 9.77204967e+00] [ 9.52752582e-03 -2.89114981e-04 9.99954570e-01 1.61142252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.384391418 meters Centerline goodness [0,1] 0.999271621071574 Centerline is valid? [True, True] Translation: X:224.38, Y:9.77, Z:1.61 [[ 9.99102736e-01 -4.10425517e-02 -1.04513825e-02 2.24375768e+02] [ 4.10437749e-02 9.99157344e-01 -9.75176315e-05 9.76905481e+00] [ 1.04465780e-02 -3.31534059e-04 9.99945378e-01 1.61096694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.414391418 meters Centerline goodness [0,1] 0.9993566235604452 Centerline is valid? [True, True] Translation: X:224.41, Y:9.77, Z:1.61 [[ 9.98959557e-01 -4.43021738e-02 -1.08222788e-02 2.24407943e+02] [ 4.43036841e-02 9.99018105e-01 -1.00263675e-04 9.76500078e+00] [ 1.08160944e-02 -3.79307467e-04 9.99941432e-01 1.61066552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.444391418 meters Centerline goodness [0,1] 0.9990558952902049 Centerline is valid? [True, True] Translation: X:224.44, Y:9.76, Z:1.61 [[ 9.98903197e-01 -4.54699509e-02 -1.11752565e-02 2.24438934e+02] [ 4.54716432e-02 9.98965625e-01 -1.02744454e-04 9.76066582e+00] [ 1.11683689e-02 -4.05525512e-04 9.99937550e-01 1.61029018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.474391418 meters Centerline goodness [0,1] 0.9992525041112273 Centerline is valid? [True, True] Translation: X:224.47, Y:9.76, Z:1.61 [[ 9.98856256e-01 -4.64815249e-02 -1.12092537e-02 2.24471247e+02] [ 4.64832989e-02 9.98919062e-01 -1.02351850e-04 9.75902962e+00] [ 1.12018946e-02 -4.18808303e-04 9.99937169e-01 1.61060741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.504391418 meters Centerline goodness [0,1] 0.9989304126468008 Centerline is valid? [True, True] Translation: X:224.50, Y:9.76, Z:1.61 [[ 9.98803064e-01 -4.74821352e-02 -1.17424655e-02 2.24503592e+02] [ 4.74841619e-02 9.98871985e-01 -1.06302511e-04 9.76492339e+00] [ 1.17342673e-02 -4.51405859e-04 9.99931049e-01 1.61129371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.534391418 meters Centerline goodness [0,1] 0.9989959624874495 Centerline is valid? [True, True] Translation: X:224.54, Y:9.77, Z:1.61 [[ 9.98800748e-01 -4.74784031e-02 -1.19526818e-02 2.24536078e+02] [ 4.74805145e-02 9.98872159e-01 -1.07220721e-04 9.76577817e+00] [ 1.19442917e-02 -4.60427344e-04 9.99928558e-01 1.61170762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.564391418 meters Centerline goodness [0,1] 0.9989096506606234 Centerline is valid? [True, True] Translation: X:224.57, Y:9.76, Z:1.61 [[ 9.98862400e-01 -4.61606652e-02 -1.19623540e-02 2.24567195e+02] [ 4.61626962e-02 9.98933929e-01 -1.06429902e-04 9.76487963e+00] [ 1.19545142e-02 -4.45905687e-04 9.99928443e-01 1.61177723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59439141800001 meters Centerline goodness [0,1] 0.999292194839457 Centerline is valid? [True, True] Translation: X:224.60, Y:9.77, Z:1.61 [[ 9.98910469e-01 -4.51362979e-02 -1.18570552e-02 2.24599671e+02] [ 4.51382309e-02 9.98980745e-01 -1.04667367e-04 9.76888215e+00] [ 1.18496942e-02 -4.30653168e-04 9.99929697e-01 1.61276794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62439141800002 meters Centerline goodness [0,1] 0.9992926803129354 Centerline is valid? [True, True] Translation: X:224.63, Y:9.77, Z:1.61 [[ 9.98978920e-01 -4.36043261e-02 -1.18228272e-02 2.24630544e+02] [ 4.36061512e-02 9.99048794e-01 -1.03488687e-04 9.76978864e+00] [ 1.18160938e-02 -4.12164973e-04 9.99930103e-01 1.61341016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.65439141800002 meters Centerline goodness [0,1] 0.9991642021344992 Centerline is valid? [True, True] Translation: X:224.66, Y:9.76, Z:1.61 [[ 9.99102455e-01 -4.07238003e-02 -1.16557349e-02 2.24661068e+02] [ 4.07253897e-02 9.99170372e-01 -1.01051887e-04 9.76372768e+00] [ 1.16501802e-02 -3.73723157e-04 9.99932065e-01 1.61220986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.684391418 meters Centerline goodness [0,1] 0.9991853360488798 Centerline is valid? [True, True] Translation: X:224.69, Y:9.77, Z:1.61 [[ 9.99144315e-01 -3.95530052e-02 -1.20912130e-02 2.24693333e+02] [ 3.95546452e-02 9.99217403e-01 -1.03565966e-04 9.77334472e+00] [ 1.20858468e-02 -3.74786294e-04 9.99926893e-01 1.61374209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.714391418 meters Centerline goodness [0,1] 0.9996131112305212 Centerline is valid? [True, True] Translation: X:224.73, Y:9.78, Z:1.61 [[ 9.99197185e-01 -3.80927828e-02 -1.24066372e-02 2.24725772e+02] [ 3.80944096e-02 9.99274139e-01 -1.05258523e-04 9.77560195e+00] [ 1.24016413e-02 -3.67449498e-04 9.99923029e-01 1.61413986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.744391418 meters Centerline goodness [0,1] 0.999226056110932 Centerline is valid? [True, True] Translation: X:224.76, Y:9.78, Z:1.61 [[ 9.99225482e-01 -3.73025318e-02 -1.25282600e-02 2.24758392e+02] [ 3.73041414e-02 9.99303953e-01 -1.05261709e-04 9.77793001e+00] [ 1.25234663e-02 -3.62175801e-04 9.99921513e-01 1.61439589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.774391418 meters Centerline goodness [0,1] 0.9992914805908623 Centerline is valid? [True, True] Translation: X:224.79, Y:9.78, Z:1.61 [[ 9.99280097e-01 -3.58396969e-02 -1.24420359e-02 2.24789985e+02] [ 3.58411824e-02 9.99357493e-01 -1.03628898e-04 9.77788041e+00] [ 1.24377558e-02 -3.42382981e-04 9.99922590e-01 1.61429482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.804391418 meters Centerline goodness [0,1] 0.9992695241164464 Centerline is valid? [True, True] Translation: X:224.82, Y:9.78, Z:1.61 [[ 9.99303623e-01 -3.52107900e-02 -1.23478304e-02 2.24822602e+02] [ 3.52122158e-02 9.99379852e-01 -1.01985866e-04 9.77976965e+00] [ 1.23437640e-02 -3.32879625e-04 9.99923757e-01 1.61492613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.834391418 meters Centerline goodness [0,1] 0.9990119213833101 Centerline is valid? [True, True] Translation: X:224.85, Y:9.78, Z:1.62 [[ 9.99337064e-01 -3.43921113e-02 -1.19421671e-02 2.24854318e+02] [ 3.43933978e-02 9.99408367e-01 -9.76924549e-05 9.77974970e+00] [ 1.19384615e-02 -3.13104012e-04 9.99928685e-01 1.61504797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.864391418 meters Centerline goodness [0,1] 0.9992043010752688 Centerline is valid? [True, True] Translation: X:224.89, Y:9.78, Z:1.62 [[ 9.99397643e-01 -3.25237541e-02 -1.21060638e-02 2.24886463e+02] [ 3.25249509e-02 9.99470919e-01 -9.80590071e-05 9.78255689e+00] [ 1.21028480e-02 -2.95749190e-04 9.99926714e-01 1.61583613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.894391418 meters Centerline goodness [0,1] 0.9993114281410712 Centerline is valid? [True, True] Translation: X:224.92, Y:9.78, Z:1.62 [[ 9.99456647e-01 -3.08076339e-02 -1.17175675e-02 2.24919145e+02] [ 3.08086501e-02 9.99525296e-01 -9.38200026e-05 9.78477484e+00] [ 1.17148955e-02 -2.67233412e-04 9.99931343e-01 1.61674271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.924391418 meters Centerline goodness [0,1] 0.9990956267091579 Centerline is valid? [True, True] Translation: X:224.95, Y:9.79, Z:1.62 [[ 9.99568054e-01 -2.68189749e-02 -1.20186123e-02 2.24950429e+02] [ 2.68197683e-02 9.99640281e-01 -9.51889695e-05 9.78895277e+00] [ 1.20168419e-02 -2.27188544e-04 9.99927769e-01 1.61630546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.954391418 meters Centerline goodness [0,1] 0.9992261060234748 Centerline is valid? [True, True] Translation: X:224.98, Y:9.79, Z:1.62 [[ 9.99628775e-01 -2.42984657e-02 -1.23246636e-02 2.24981217e+02] [ 2.42991145e-02 9.99704728e-01 -9.71225490e-05 9.79083759e+00] [ 1.23233844e-02 -2.02391916e-04 9.99924044e-01 1.61619267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.984391418 meters Centerline goodness [0,1] 0.9990954319312528 Centerline is valid? [True, True] Translation: X:225.01, Y:9.79, Z:1.62 [[ 9.99683416e-01 -2.18829171e-02 -1.24179854e-02 2.25012665e+02] [ 2.18833955e-02 9.99760525e-01 -9.73738653e-05 9.79304770e+00] [ 1.24171424e-02 -1.74404647e-04 9.99922889e-01 1.61607885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.014391418 meters Centerline goodness [0,1] 0.9991818455841192 Centerline is valid? [True, True] Translation: X:225.04, Y:9.80, Z:1.62 [[ 9.99732876e-01 -1.94280241e-02 -1.25191300e-02 2.25043939e+02] [ 1.94283239e-02 9.99811248e-01 -9.76822264e-05 9.79533944e+00] [ 1.25186648e-02 -1.45569580e-04 9.99921628e-01 1.61631840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.044391418 meters Centerline goodness [0,1] 0.9995259948721263 Centerline is valid? [True, True] Translation: X:225.07, Y:9.80, Z:1.62 [[ 9.99805364e-01 -1.48488883e-02 -1.29901795e-02 2.25074254e+02] [ 1.48488282e-02 9.99889745e-01 -1.01077955e-04 9.79966213e+00] [ 1.29902482e-02 -9.18306625e-05 9.99915619e-01 1.61722721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.074391418 meters Centerline goodness [0,1] 0.9995467104127094 Centerline is valid? [True, True] Translation: X:225.10, Y:9.80, Z:1.62 [[ 9.99841081e-01 -1.26620581e-02 -1.25492799e-02 2.25104192e+02] [ 1.26618271e-02 9.99919831e-01 -9.78620071e-05 9.80137763e+00] [ 1.25495130e-02 -6.10503582e-05 9.99921250e-01 1.61787180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.104391418 meters Centerline goodness [0,1] 0.9992014675731089 Centerline is valid? [True, True] Translation: X:225.13, Y:9.80, Z:1.62 [[ 9.99879492e-01 -9.61523164e-03 -1.21880663e-02 2.25133257e+02] [ 9.61476714e-03 9.99953772e-01 -9.67061095e-05 9.80368218e+00] [ 1.21884327e-02 -2.04909633e-05 9.99925718e-01 1.61817495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.134391418 meters Centerline goodness [0,1] 0.9992671782050176 Centerline is valid? [True, True] Translation: X:225.16, Y:9.80, Z:1.62 [[ 9.99889763e-01 -8.73317030e-03 -1.20080973e-02 2.25160880e+02] [ 8.73261373e-03 9.99961865e-01 -9.87822000e-05 9.80427924e+00] [ 1.20085021e-02 -6.09076499e-06 9.99927895e-01 1.61907658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.164391418 meters Centerline goodness [0,1] 0.9992666566011691 Centerline is valid? [True, True] Translation: X:225.19, Y:9.80, Z:1.62 [[ 9.99898228e-01 -8.01552504e-03 -1.18019105e-02 2.25188295e+02] [ 8.01490500e-03 9.99967875e-01 -9.98340223e-05 9.80427063e+00] [ 1.18023316e-02 5.23267020e-06 9.99930350e-01 1.61910702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.194391418 meters Centerline goodness [0,1] 0.9992882101721238 Centerline is valid? [True, True] Translation: X:225.22, Y:9.80, Z:1.62 [[ 9.99900953e-01 -8.16090442e-03 -1.14666745e-02 2.25215982e+02] [ 8.16030429e-03 9.99966699e-01 -9.91235678e-05 9.80309520e+00] [ 1.14671016e-02 5.54219650e-06 9.99934251e-01 1.61955096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.224391418 meters Centerline goodness [0,1] 0.9990749704205658 Centerline is valid? [True, True] Translation: X:225.24, Y:9.80, Z:1.62 [[ 9.99888174e-01 -9.35645455e-03 -1.16660689e-02 2.25243691e+02] [ 9.35587036e-03 9.99956227e-01 -1.04650862e-04 9.80205019e+00] [ 1.16665374e-02 -4.50706910e-06 9.99931944e-01 1.61969238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.254391418 meters Centerline goodness [0,1] 0.9990738547028797 Centerline is valid? [True, True] Translation: X:225.27, Y:9.80, Z:1.62 [[ 9.99848055e-01 -1.21956298e-02 -1.24552922e-02 2.25271113e+02] [ 1.21951471e-02 9.99925630e-01 -1.14701798e-04 9.79794889e+00] [ 1.24557648e-02 -3.72097519e-05 9.99922423e-01 1.61897714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.284391418 meters Centerline goodness [0,1] 0.9991609113793326 Centerline is valid? [True, True] Translation: X:225.30, Y:9.80, Z:1.62 [[ 9.99807160e-01 -1.47411106e-02 -1.29746492e-02 2.25300288e+02] [ 1.47407694e-02 9.99891342e-01 -1.21938913e-04 9.79568511e+00] [ 1.29750369e-02 -6.93409137e-05 9.99915818e-01 1.61891462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.314391418 meters Centerline goodness [0,1] 0.9991010466385566 Centerline is valid? [True, True] Translation: X:225.33, Y:9.79, Z:1.62 [[ 9.99762373e-01 -1.72758334e-02 -1.32944471e-02 2.25329196e+02] [ 1.72756665e-02 9.99850756e-01 -1.27402584e-04 9.79244494e+00] [ 1.32946640e-02 -1.02298125e-04 9.99911617e-01 1.61855353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34439141800001 meters Centerline goodness [0,1] 0.99914164932083 Centerline is valid? [True, True] Translation: X:225.36, Y:9.79, Z:1.62 [[ 9.99714283e-01 -1.96298759e-02 -1.36389177e-02 2.25359060e+02] [ 1.96299097e-02 9.99807306e-01 -1.31409136e-04 9.78929489e+00] [ 1.36388691e-02 -1.36359132e-04 9.99906977e-01 1.61828628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.37439141800002 meters Centerline goodness [0,1] 0.9991851438864348 Centerline is valid? [True, True] Translation: X:225.39, Y:9.78, Z:1.62 [[ 9.99617452e-01 -2.39823982e-02 -1.37765519e-02 2.25388888e+02] [ 2.39828383e-02 9.99712361e-01 -1.33286877e-04 9.78373737e+00] [ 1.37757858e-02 -1.97164929e-04 9.99905090e-01 1.61852367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40439141800002 meters Centerline goodness [0,1] 0.9990798793144031 Centerline is valid? [True, True] Translation: X:225.42, Y:9.78, Z:1.62 [[ 9.99576937e-01 -2.54983503e-02 -1.39922091e-02 2.25419738e+02] [ 2.54989508e-02 9.99674840e-01 -1.35514581e-04 9.78197309e+00] [ 1.39911148e-02 -2.21329402e-04 9.99902095e-01 1.61896873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.434391418 meters Centerline goodness [0,1] 0.9990588436610982 Centerline is valid? [True, True] Translation: X:225.45, Y:9.78, Z:1.62 [[ 9.99532067e-01 -2.70519172e-02 -1.42773045e-02 2.25449842e+02] [ 2.70527050e-02 9.99633999e-01 -1.37985046e-04 9.77839876e+00] [ 1.42758118e-02 -2.48319230e-04 9.99898065e-01 1.61904827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.464391418 meters Centerline goodness [0,1] 0.9986291393565523 Centerline is valid? [True, True] Translation: X:225.48, Y:9.78, Z:1.62 [[ 9.99529126e-01 -2.72018435e-02 -1.41980843e-02 2.25480866e+02] [ 2.72026438e-02 9.99629930e-01 -1.36787436e-04 9.77814359e+00] [ 1.41965509e-02 -2.49502403e-04 9.99899193e-01 1.61910694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.494391418 meters Centerline goodness [0,1] 0.9990155584565669 Centerline is valid? [True, True] Translation: X:225.51, Y:9.78, Z:1.62 [[ 9.99531616e-01 -2.70058159e-02 -1.43956375e-02 2.25512282e+02] [ 2.70066268e-02 9.99635245e-01 -1.38100124e-04 9.77802596e+00] [ 1.43941161e-02 -2.50742168e-04 9.99896368e-01 1.61983884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.524391418 meters Centerline goodness [0,1] 0.9989344926053787 Centerline is valid? [True, True] Translation: X:225.54, Y:9.78, Z:1.62 [[ 9.99556827e-01 -2.61630471e-02 -1.42001723e-02 2.25542850e+02] [ 2.61637623e-02 9.99657661e-01 -1.35437946e-04 9.77651681e+00] [ 1.41988545e-02 -2.36152009e-04 9.99899163e-01 1.61970455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.554391418 meters Centerline goodness [0,1] 0.9990379476215927 Centerline is valid? [True, True] Translation: X:225.57, Y:9.78, Z:1.62 [[ 9.99575120e-01 -2.55998573e-02 -1.39365412e-02 2.25573911e+02] [ 2.56005020e-02 9.99672245e-01 -1.32167119e-04 9.77636510e+00] [ 1.39353569e-02 -2.24671488e-04 9.99902873e-01 1.62019558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.584391418 meters Centerline goodness [0,1] 0.9989322171443216 Centerline is valid? [True, True] Translation: X:225.60, Y:9.78, Z:1.62 [[ 9.99598930e-01 -2.50064526e-02 -1.32912046e-02 2.25604578e+02] [ 2.50069916e-02 9.99687268e-01 -1.25659690e-04 9.77598615e+00] [ 1.32901903e-02 -2.06763751e-04 9.99911660e-01 1.62060237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.614391418 meters Centerline goodness [0,1] 0.9988704899516229 Centerline is valid? [True, True] Translation: X:225.64, Y:9.78, Z:1.62 [[ 9.99622341e-01 -2.43355701e-02 -1.27653872e-02 2.25635660e+02] [ 2.43360173e-02 9.99703828e-01 -1.20322911e-04 9.77719076e+00] [ 1.27645346e-02 -1.90381215e-04 9.99918512e-01 1.62158314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.644391418 meters Centerline goodness [0,1] 0.9988722204489839 Centerline is valid? [True, True] Translation: X:225.67, Y:9.78, Z:1.62 [[ 9.99642581e-01 -2.32752048e-02 -1.31519965e-02 2.25667478e+02] [ 2.32755949e-02 9.99729079e-01 -1.23424481e-04 9.77640060e+00] [ 1.31513061e-02 -1.82740177e-04 9.99913501e-01 1.62173461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.674391418 meters Centerline goodness [0,1] 0.9987830394124428 Centerline is valid? [True, True] Translation: X:225.70, Y:9.78, Z:1.62 [[ 9.99639160e-01 -2.33807588e-02 -1.32246187e-02 2.25697819e+02] [ 2.33811679e-02 9.99726615e-01 -1.23694662e-04 9.77521143e+00] [ 1.32238954e-02 -1.85557002e-04 9.99912543e-01 1.62148030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.704391418 meters Centerline goodness [0,1] 0.9987209004860578 Centerline is valid? [True, True] Translation: X:225.73, Y:9.77, Z:1.62 [[ 9.99615176e-01 -2.41389560e-02 -1.36678551e-02 2.25728274e+02] [ 2.41394676e-02 9.99708592e-01 -1.27563209e-04 9.77209688e+00] [ 1.36669514e-02 -2.02420627e-04 9.99906582e-01 1.62070694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.734391418 meters Centerline goodness [0,1] 0.9988282664735082 Centerline is valid? [True, True] Translation: X:225.76, Y:9.77, Z:1.62 [[ 9.99586644e-01 -2.50215606e-02 -1.41585183e-02 2.25759023e+02] [ 2.50222002e-02 9.99686887e-01 -1.31999223e-04 9.77161517e+00] [ 1.41573879e-02 -2.22332619e-04 9.99899754e-01 1.62076659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.764391418 meters Centerline goodness [0,1] 0.9989807185933917 Centerline is valid? [True, True] Translation: X:225.79, Y:9.77, Z:1.62 [[ 9.99558972e-01 -2.58158957e-02 -1.46765735e-02 2.25790010e+02] [ 2.58166686e-02 9.99666685e-01 -1.36829028e-04 9.76998656e+00] [ 1.46752139e-02 -2.42131551e-04 9.99892284e-01 1.62067843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.794391418 meters Centerline goodness [0,1] 0.9989770039001726 Centerline is valid? [True, True] Translation: X:225.82, Y:9.77, Z:1.62 [[ 9.99483442e-01 -2.81375983e-02 -1.55281653e-02 2.25820542e+02] [ 2.81387436e-02 9.99604017e-01 -1.44768380e-04 9.76714671e+00] [ 1.55260899e-02 -2.92249464e-04 9.99879420e-01 1.61984454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.824391418 meters Centerline goodness [0,1] 0.9987028452345511 Centerline is valid? [True, True] Translation: X:225.85, Y:9.77, Z:1.62 [[ 9.99444886e-01 -2.90490556e-02 -1.63117215e-02 2.25850860e+02] [ 2.90504437e-02 9.99577935e-01 -1.51887859e-04 9.76569597e+00] [ 1.63092491e-02 -3.22059204e-04 9.99866943e-01 1.61912960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.854391418 meters Centerline goodness [0,1] 0.9988736106093129 Centerline is valid? [True, True] Translation: X:225.88, Y:9.77, Z:1.62 [[ 9.99413474e-01 -2.97975407e-02 -1.68764675e-02 2.25881700e+02] [ 2.97991358e-02 9.99555895e-01 -1.57001885e-04 9.76511405e+00] [ 1.68736508e-02 -3.45994348e-04 9.99857570e-01 1.61907570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.884391418 meters Centerline goodness [0,1] 0.9989807185933917 Centerline is valid? [True, True] Translation: X:225.91, Y:9.76, Z:1.62 [[ 9.99384256e-01 -3.04280429e-02 -1.74712095e-02 2.25911927e+02] [ 3.04298523e-02 9.99536892e-01 -1.62328147e-04 9.76365473e+00] [ 1.74680578e-02 -3.69418131e-04 9.99847354e-01 1.61896768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.914391418 meters Centerline goodness [0,1] 0.9989807185933917 Centerline is valid? [True, True] Translation: X:225.94, Y:9.76, Z:1.62 [[ 9.99384256e-01 -3.04280419e-02 -1.74712108e-02 2.25941933e+02] [ 3.04298538e-02 9.99536892e-01 -1.62189747e-04 9.76393322e+00] [ 1.74680549e-02 -3.69556510e-04 9.99847354e-01 1.61917798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.944391418 meters Centerline goodness [0,1] 0.9989568475507207 Centerline is valid? [True, True] Translation: X:225.97, Y:9.76, Z:1.62 [[ 9.99376199e-01 -3.07010057e-02 -1.74545674e-02 2.25972436e+02] [ 3.07028557e-02 9.99528543e-01 -1.62035241e-04 9.76491681e+00] [ 1.74513129e-02 -3.73970899e-04 9.99847644e-01 1.62017305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.974391418 meters Centerline goodness [0,1] 0.9990645065271931 Centerline is valid? [True, True] Translation: X:226.00, Y:9.77, Z:1.62 [[ 9.99381503e-01 -3.05966643e-02 -1.73336694e-02 2.26002488e+02] [ 3.05984731e-02 9.99531744e-01 -1.60912915e-04 9.76545783e+00] [ 1.73304762e-02 -3.69570426e-04 9.99849748e-01 1.62094874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.004391418 meters Centerline goodness [0,1] 0.9987470002336101 Centerline is valid? [True, True] Translation: X:226.03, Y:9.77, Z:1.62 [[ 9.99409950e-01 -2.96746848e-02 -1.72963862e-02 2.26032449e+02] [ 2.96763478e-02 9.99559547e-01 -1.60566805e-04 9.76612307e+00] [ 1.72935327e-02 -3.52821510e-04 9.99850393e-01 1.62191778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.034391418 meters Centerline goodness [0,1] 0.9989605430632159 Centerline is valid? [True, True] Translation: X:226.06, Y:9.77, Z:1.62 [[ 9.99434642e-01 -2.89358783e-02 -1.71205168e-02 2.26063328e+02] [ 2.89373993e-02 9.99581213e-01 -1.58934165e-04 9.76745385e+00] [ 1.71179459e-02 -3.36578923e-04 9.99853421e-01 1.62310075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.064391418 meters Centerline goodness [0,1] 0.9989171974522293 Centerline is valid? [True, True] Translation: X:226.09, Y:9.77, Z:1.62 [[ 9.99466132e-01 -2.80422773e-02 -1.67655091e-02 2.26093479e+02] [ 2.80436102e-02 9.99606689e-01 -1.55638536e-04 9.76862280e+00] [ 1.67632795e-02 -3.14609956e-04 9.99859437e-01 1.62385251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09439141800001 meters Centerline goodness [0,1] 0.9988975109188822 Centerline is valid? [True, True] Translation: X:226.12, Y:9.77, Z:1.63 [[ 9.99545259e-01 -2.57644917e-02 -1.56673619e-02 2.26122564e+02] [ 2.57653732e-02 9.99668007e-01 -1.45615268e-04 9.77077748e+00] [ 1.56659122e-02 -2.58126377e-04 9.99877249e-01 1.62542428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12439141800002 meters Centerline goodness [0,1] 0.9989187126319806 Centerline is valid? [True, True] Translation: X:226.15, Y:9.77, Z:1.63 [[ 9.99575607e-01 -2.49323218e-02 -1.50659967e-02 2.26153411e+02] [ 2.49330405e-02 9.99689114e-01 -1.40159261e-04 9.77233303e+00] [ 1.50648074e-02 -2.35541327e-04 9.99886492e-01 1.62622683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.15439141800002 meters Centerline goodness [0,1] 0.9988527237188748 Centerline is valid? [True, True] Translation: X:226.18, Y:9.77, Z:1.63 [[ 9.99595425e-01 -2.47590061e-02 -1.39992331e-02 2.26183242e+02] [ 2.47596076e-02 9.99693425e-01 -1.30375056e-04 9.77208066e+00] [ 1.39981692e-02 -2.16293209e-04 9.99901997e-01 1.62663144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.184391418 meters Centerline goodness [0,1] 0.9991726771319474 Centerline is valid? [True, True] Translation: X:226.21, Y:9.77, Z:1.63 [[ 9.99581926e-01 -2.51893305e-02 -1.41940247e-02 2.26213729e+02] [ 2.51899902e-02 9.99682673e-01 -1.32331388e-04 9.77250680e+00] [ 1.41928538e-02 -2.25271278e-04 9.99899251e-01 1.62719794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.214391418 meters Centerline goodness [0,1] 0.9989181850964088 Centerline is valid? [True, True] Translation: X:226.24, Y:9.77, Z:1.63 [[ 9.99552998e-01 -2.62803050e-02 -1.42530797e-02 2.26243847e+02] [ 2.62810811e-02 9.99654584e-01 -1.32881960e-04 9.77211575e+00] [ 1.42516487e-02 -2.41763782e-04 9.99898411e-01 1.62719281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.244391418 meters Centerline goodness [0,1] 0.9987076544988454 Centerline is valid? [True, True] Translation: X:226.27, Y:9.77, Z:1.63 [[ 9.99517841e-01 -2.75464541e-02 -1.43275374e-02 2.26274313e+02] [ 2.75473704e-02 9.99620490e-01 -1.33428246e-04 9.77062831e+00] [ 1.43257755e-02 -2.61322069e-04 9.99897347e-01 1.62646367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.274391418 meters Centerline goodness [0,1] 0.9988766426451886 Centerline is valid? [True, True] Translation: X:226.31, Y:9.77, Z:1.63 [[ 9.99439707e-01 -2.97649191e-02 -1.53075617e-02 2.26305666e+02] [ 2.97662327e-02 9.99556877e-01 -1.42066948e-04 9.76910953e+00] [ 1.53050072e-02 -3.13661096e-04 9.99882822e-01 1.62569090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.304391418 meters Centerline goodness [0,1] 0.9988358063628474 Centerline is valid? [True, True] Translation: X:226.34, Y:9.77, Z:1.62 [[ 9.99413179e-01 -3.05626726e-02 -1.54667869e-02 2.26335627e+02] [ 3.05641163e-02 9.99532798e-01 -1.43087280e-04 9.76693058e+00] [ 1.54639339e-02 -3.29725360e-04 9.99880372e-01 1.62497817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.334391418 meters Centerline goodness [0,1] 0.9988119988119988 Centerline is valid? [True, True] Translation: X:226.37, Y:9.77, Z:1.62 [[ 9.99380484e-01 -3.11995047e-02 -1.62861780e-02 2.26366694e+02] [ 3.12011984e-02 9.99513113e-01 -1.50151031e-04 9.76714301e+00] [ 1.62829332e-02 -3.58090261e-04 9.99867360e-01 1.62455728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.364391418 meters Centerline goodness [0,1] 0.9988530892254105 Centerline is valid? [True, True] Translation: X:226.40, Y:9.77, Z:1.63 [[ 9.99403342e-01 -3.08148014e-02 -1.56015303e-02 2.26397644e+02] [ 3.08163183e-02 9.99525054e-01 -1.43226871e-04 9.76808665e+00] [ 1.55985339e-02 -3.37640310e-04 9.99878278e-01 1.62516964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.394391418 meters Centerline goodness [0,1] 0.9988540627718948 Centerline is valid? [True, True] Translation: X:226.43, Y:9.77, Z:1.63 [[ 9.99428596e-01 -3.00440692e-02 -1.54866461e-02 2.26428081e+02] [ 3.00454783e-02 9.99548523e-01 -1.41723386e-04 9.76865782e+00] [ 1.54839121e-02 -3.23661282e-04 9.99880065e-01 1.62561078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.424391418 meters Centerline goodness [0,1] 0.9988960597826086 Centerline is valid? [True, True] Translation: X:226.46, Y:9.77, Z:1.63 [[ 9.99503668e-01 -2.80785890e-02 -1.42832088e-02 2.26458606e+02] [ 2.80795888e-02 9.99605682e-01 -1.30581452e-04 9.77172253e+00] [ 1.42812432e-02 -2.70549989e-04 9.99897981e-01 1.62675025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.454391418 meters Centerline goodness [0,1] 0.9989159545976278 Centerline is valid? [True, True] Translation: X:226.49, Y:9.77, Z:1.63 [[ 9.99537438e-01 -2.69211670e-02 -1.41478352e-02 2.26488706e+02] [ 2.69220320e-02 9.99637528e-01 -1.29343825e-04 9.77284953e+00] [ 1.41461891e-02 -2.51604478e-04 9.99899906e-01 1.62730722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.484391418 meters Centerline goodness [0,1] 0.9988290398126464 Centerline is valid? [True, True] Translation: X:226.52, Y:9.77, Z:1.63 [[ 9.99575103e-01 -2.57246892e-02 -1.37060138e-02 2.26518810e+02] [ 2.57253904e-02 9.99669040e-01 -1.25173286e-04 9.77321102e+00] [ 1.37046977e-02 -2.27472456e-04 9.99906060e-01 1.62701334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.514391418 meters Centerline goodness [0,1] 0.9989361475776081 Centerline is valid? [True, True] Translation: X:226.55, Y:9.78, Z:1.63 [[ 9.99600845e-01 -2.48351144e-02 -1.34672713e-02 2.26550515e+02] [ 2.48357160e-02 9.99691539e-01 -1.22596042e-04 9.77566534e+00] [ 1.34661619e-02 -2.11922218e-04 9.99909305e-01 1.62773024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.544391418 meters Centerline goodness [0,1] 0.9987447876776444 Centerline is valid? [True, True] Translation: X:226.58, Y:9.78, Z:1.63 [[ 9.99625337e-01 -2.36240606e-02 -1.38234822e-02 2.26580838e+02] [ 2.36245893e-02 9.99720893e-01 -1.25069931e-04 9.77647755e+00] [ 1.38225786e-02 -2.01551017e-04 9.99904443e-01 1.62713806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.574391418 meters Centerline goodness [0,1] 0.9988953797132236 Centerline is valid? [True, True] Translation: X:226.61, Y:9.78, Z:1.63 [[ 9.99625517e-01 -2.36125007e-02 -1.38302408e-02 2.26611331e+02] [ 2.36130356e-02 9.99721166e-01 -1.24640184e-04 9.77662871e+00] [ 1.38293276e-02 -2.01980460e-04 9.99904350e-01 1.62707584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.604391418 meters Centerline goodness [0,1] 0.9987887545421704 Centerline is valid? [True, True] Translation: X:226.64, Y:9.78, Z:1.63 [[ 9.99588595e-01 -2.50813476e-02 -1.39128428e-02 2.26642075e+02] [ 2.50820331e-02 9.99685388e-01 -1.25248336e-04 9.77527559e+00] [ 1.39116071e-02 -2.23765574e-04 9.99903204e-01 1.62662628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.634391418 meters Centerline goodness [0,1] 0.9988522360142833 Centerline is valid? [True, True] Translation: X:226.67, Y:9.77, Z:1.63 [[ 9.99562408e-01 -2.61931196e-02 -1.37445409e-02 2.26672971e+02] [ 2.61938955e-02 9.99656873e-01 -1.23596560e-04 9.77435197e+00] [ 1.37430621e-02 -2.36480592e-04 9.99905532e-01 1.62690644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.664391418 meters Centerline goodness [0,1] 0.9987450012762699 Centerline is valid? [True, True] Translation: X:226.70, Y:9.77, Z:1.63 [[ 9.99539407e-01 -2.72212601e-02 -1.34155801e-02 2.26703967e+02] [ 2.72220952e-02 9.99629403e-01 -1.20388677e-04 9.77334515e+00] [ 1.34138854e-02 -2.44866972e-04 9.99910000e-01 1.62725987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.694391418 meters Centerline goodness [0,1] 0.9986192246415295 Centerline is valid? [True, True] Translation: X:226.74, Y:9.77, Z:1.63 [[ 9.99488785e-01 -2.93851810e-02 -1.25968301e-02 2.26735740e+02] [ 2.93860951e-02 9.99568129e-01 -1.12558859e-04 9.77166693e+00] [ 1.25946975e-02 -2.57670331e-04 9.99920650e-01 1.62819164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.724391418 meters Centerline goodness [0,1] 0.9985935002663825 Centerline is valid? [True, True] Translation: X:226.77, Y:9.77, Z:1.63 [[ 9.99470610e-01 -3.02196782e-02 -1.20528042e-02 2.26767036e+02] [ 3.02205869e-02 9.99543248e-01 -1.06764319e-04 9.76999735e+00] [ 1.20505255e-02 -2.57535019e-04 9.99927357e-01 1.62813392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.754391418 meters Centerline goodness [0,1] 0.9990452954280259 Centerline is valid? [True, True] Translation: X:226.80, Y:9.77, Z:1.63 [[ 9.99463016e-01 -3.04145019e-02 -1.21917270e-02 2.26798065e+02] [ 3.04154613e-02 9.99537337e-01 -1.06754936e-04 9.76833329e+00] [ 1.21893332e-02 -2.64119391e-04 9.99925672e-01 1.62785625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.784391418 meters Centerline goodness [0,1] 0.9988924151739121 Centerline is valid? [True, True] Translation: X:226.83, Y:9.77, Z:1.63 [[ 9.99468276e-01 -3.00889354e-02 -1.25627272e-02 2.26829810e+02] [ 3.00899394e-02 9.99547189e-01 -1.09123160e-04 9.76956865e+00] [ 1.25603221e-02 -2.68946564e-04 9.99921080e-01 1.62821206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.814391418 meters Centerline goodness [0,1] 0.999020338622085 Centerline is valid? [True, True] Translation: X:226.86, Y:9.77, Z:1.63 [[ 9.99487991e-01 -2.93004570e-02 -1.28545384e-02 2.26861600e+02] [ 2.93014535e-02 9.99570614e-01 -1.10843349e-04 9.77002892e+00] [ 1.28522666e-02 -2.65870064e-04 9.99917371e-01 1.62820337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84439141800001 meters Centerline goodness [0,1] 0.9989593288733142 Centerline is valid? [True, True] Translation: X:226.89, Y:9.77, Z:1.63 [[ 9.99511374e-01 -2.84232678e-02 -1.30050648e-02 2.26892016e+02] [ 2.84242189e-02 9.99595944e-01 -1.11738244e-04 9.76972893e+00] [ 1.30029860e-02 -2.57975162e-04 9.99915424e-01 1.62776965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.87439141800002 meters Centerline goodness [0,1] 0.998596580760398 Centerline is valid? [True, True] Translation: X:226.92, Y:9.77, Z:1.63 [[ 9.99574653e-01 -2.61113414e-02 -1.29889152e-02 2.26923343e+02] [ 2.61121000e-02 9.99659015e-01 -1.11217158e-04 9.77264432e+00] [ 1.29873902e-02 -2.27998000e-04 9.99915634e-01 1.62845703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90439141800002 meters Centerline goodness [0,1] 0.998935739979992 Centerline is valid? [True, True] Translation: X:226.95, Y:9.77, Z:1.63 [[ 9.99609144e-01 -2.50147561e-02 -1.24828364e-02 2.26953812e+02] [ 2.50153760e-02 9.99687061e-01 -1.06499532e-04 9.77267379e+00] [ 1.24815941e-02 -2.05804940e-04 9.99922081e-01 1.62930208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.934391418 meters Centerline goodness [0,1] 0.9987454816074846 Centerline is valid? [True, True] Translation: X:226.99, Y:9.77, Z:1.63 [[ 9.99643957e-01 -2.40457311e-02 -1.15655878e-02 2.26985513e+02] [ 2.40462021e-02 9.99710843e-01 -9.83592464e-05 9.77352534e+00] [ 1.15646087e-02 -1.79784235e-04 9.99933112e-01 1.63046476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.964391418 meters Centerline goodness [0,1] 0.9988958957046097 Centerline is valid? [True, True] Translation: X:227.02, Y:9.77, Z:1.63 [[ 9.99706113e-01 -2.17750197e-02 -1.06552954e-02 2.27016127e+02] [ 2.17752940e-02 9.99762886e-01 -9.02844807e-05 9.77447161e+00] [ 1.06547348e-02 -1.41764242e-04 9.99943227e-01 1.63153388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.994391418 meters Centerline goodness [0,1] 0.9990866027996687 Centerline is valid? [True, True] Translation: X:227.05, Y:9.78, Z:1.63 [[ 9.99729052e-01 -2.06246328e-02 -1.07910279e-02 2.27047809e+02] [ 2.06248503e-02 9.99787281e-01 -9.11390833e-05 9.77618561e+00] [ 1.07906121e-02 -1.31448946e-04 9.99941771e-01 1.63211723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.024391418 meters Centerline goodness [0,1] 0.9989375717139093 Centerline is valid? [True, True] Translation: X:227.08, Y:9.78, Z:1.63 [[ 9.99765655e-01 -1.80802831e-02 -1.19053695e-02 2.27077881e+02] [ 1.80803725e-02 9.99836532e-01 -1.00137337e-04 9.77731049e+00] [ 1.19052338e-02 -1.15139643e-04 9.99929124e-01 1.63096857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.054391418 meters Centerline goodness [0,1] 0.999000297783639 Centerline is valid? [True, True] Translation: X:227.11, Y:9.78, Z:1.63 [[ 9.99777019e-01 -1.69102126e-02 -1.26473733e-02 2.27107713e+02] [ 1.69102221e-02 9.99857006e-01 -1.06197247e-04 9.77761656e+00] [ 1.26473606e-02 -1.07696324e-04 9.99920013e-01 1.63023300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.084391418 meters Centerline goodness [0,1] 0.9987890118761817 Centerline is valid? [True, True] Translation: X:227.14, Y:9.78, Z:1.63 [[ 9.99784646e-01 -1.61064800e-02 -1.30859612e-02 2.27137619e+02] [ 1.61064186e-02 9.99870277e-01 -1.10084874e-04 9.77804462e+00] [ 1.30860367e-02 -1.00706802e-04 9.99914369e-01 1.62998436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.114391418 meters Centerline goodness [0,1] 0.9988291145977476 Centerline is valid? [True, True] Translation: X:227.17, Y:9.78, Z:1.63 [[ 9.99796961e-01 -1.52365279e-02 -1.31865502e-02 2.27166257e+02] [ 1.52363801e-02 9.99883913e-01 -1.11680140e-04 9.77779381e+00] [ 1.31867210e-02 -8.92578259e-05 9.99913047e-01 1.62977708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.144391418 meters Centerline goodness [0,1] 0.9989592183517417 Centerline is valid? [True, True] Translation: X:227.19, Y:9.78, Z:1.63 [[ 9.99816139e-01 -1.39691587e-02 -1.31358362e-02 2.27194931e+02] [ 1.39688729e-02 9.99902424e-01 -1.13511244e-04 9.77771959e+00] [ 1.31361401e-02 -7.00024524e-05 9.99913715e-01 1.63080409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.174391418 meters Centerline goodness [0,1] 0.9989582447487031 Centerline is valid? [True, True] Translation: X:227.22, Y:9.78, Z:1.63 [[ 9.99825141e-01 -1.36477323e-02 -1.27838778e-02 2.27223523e+02] [ 1.36473899e-02 9.99906864e-01 -1.14024242e-04 9.77755987e+00] [ 1.27842434e-02 -6.04622611e-05 9.99918276e-01 1.63122265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.204391418 meters Centerline goodness [0,1] 0.9990020171992781 Centerline is valid? [True, True] Translation: X:227.25, Y:9.78, Z:1.63 [[ 9.99826193e-01 -1.34300684e-02 -1.29312263e-02 2.27251416e+02] [ 1.34296665e-02 9.99909811e-01 -1.17917497e-04 9.77717810e+00] [ 1.29316437e-02 -5.57650545e-05 9.99916381e-01 1.63137593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.234391418 meters Centerline goodness [0,1] 0.9991067250840103 Centerline is valid? [True, True] Translation: X:227.28, Y:9.78, Z:1.63 [[ 9.99821346e-01 -1.33908090e-02 -1.33402607e-02 2.27278873e+02] [ 1.33903557e-02 9.99910338e-01 -1.23303195e-04 9.77553480e+00] [ 1.33407158e-02 -5.53496706e-05 9.99911007e-01 1.63088513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.264391418 meters Centerline goodness [0,1] 0.9989170594980252 Centerline is valid? [True, True] Translation: X:227.31, Y:9.77, Z:1.63 [[ 9.99809170e-01 -1.39212817e-02 -1.37048249e-02 2.27307169e+02] [ 1.39208085e-02 9.99903092e-01 -1.29930583e-04 9.77455862e+00] [ 1.37053056e-02 -6.08764550e-05 9.99906076e-01 1.63095168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.294391418 meters Centerline goodness [0,1] 0.998793242156074 Centerline is valid? [True, True] Translation: X:227.33, Y:9.77, Z:1.63 [[ 9.99806076e-01 -1.41726059e-02 -1.36728546e-02 2.27334634e+02] [ 1.41721178e-02 9.99899562e-01 -1.32588852e-04 9.77263356e+00] [ 1.36733604e-02 -6.12101669e-05 9.99906513e-01 1.63002783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.324391418 meters Centerline goodness [0,1] 0.9990253617814692 Centerline is valid? [True, True] Translation: X:227.36, Y:9.77, Z:1.63 [[ 9.99787561e-01 -1.51505423e-02 -1.39747685e-02 2.27362973e+02] [ 1.51501081e-02 9.99885221e-01 -1.36941959e-04 9.76965922e+00] [ 1.39752392e-02 -7.48063858e-05 9.99902339e-01 1.63032845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.354391418 meters Centerline goodness [0,1] 0.9987689956702607 Centerline is valid? [True, True] Translation: X:227.39, Y:9.77, Z:1.63 [[ 9.99775101e-01 -1.58080235e-02 -1.41369961e-02 2.27391019e+02] [ 1.58076247e-02 9.99875042e-01 -1.39957939e-04 9.76822646e+00] [ 1.41374420e-02 -8.35458670e-05 9.99900058e-01 1.63027193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.384391418 meters Centerline goodness [0,1] 0.9987716548773773 Centerline is valid? [True, True] Translation: X:227.42, Y:9.76, Z:1.63 [[ 9.99753106e-01 -1.74288447e-02 -1.37826752e-02 2.27418507e+02] [ 1.74285965e-02 9.99848101e-01 -1.38134579e-04 9.76448370e+00] [ 1.37829891e-02 -1.02112210e-04 9.99905005e-01 1.63022433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.414391418 meters Centerline goodness [0,1] 0.9989648033126294 Centerline is valid? [True, True] Translation: X:227.45, Y:9.76, Z:1.63 [[ 9.99735560e-01 -1.84635940e-02 -1.37078649e-02 2.27447109e+02] [ 1.84634064e-02 9.99829527e-01 -1.40246984e-04 9.76329439e+00] [ 1.37081175e-02 -1.12883983e-04 9.99906033e-01 1.63105145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.444391418 meters Centerline goodness [0,1] 0.9989620623186257 Centerline is valid? [True, True] Translation: X:227.48, Y:9.76, Z:1.63 [[ 9.99708959e-01 -1.97965324e-02 -1.37874762e-02 2.27475474e+02] [ 1.97964172e-02 9.99804021e-01 -1.44844246e-04 9.76141688e+00] [ 1.37876415e-02 -1.28140540e-04 9.99904938e-01 1.63120678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.474391418 meters Centerline goodness [0,1] 0.9990302314795294 Centerline is valid? [True, True] Translation: X:227.50, Y:9.76, Z:1.63 [[ 9.99643472e-01 -2.29379610e-02 -1.36667222e-02 2.27504513e+02] [ 2.29380897e-02 9.99736877e-01 -1.47358850e-04 9.75759644e+00] [ 1.36665062e-02 -1.66182187e-04 9.99906595e-01 1.63184994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.504391418 meters Centerline goodness [0,1] 0.9989065292818842 Centerline is valid? [True, True] Translation: X:227.53, Y:9.75, Z:1.63 [[ 9.99603012e-01 -2.47126390e-02 -1.35316131e-02 2.27533778e+02] [ 2.47129008e-02 9.99694579e-01 -1.47890126e-04 9.75387517e+00] [ 1.35311350e-02 -1.86573996e-04 9.99908433e-01 1.63154916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.534391418 meters Centerline goodness [0,1] 0.9990086479645645 Centerline is valid? [True, True] Translation: X:227.56, Y:9.75, Z:1.63 [[ 9.99554173e-01 -2.66954581e-02 -1.33718851e-02 2.27564747e+02] [ 2.66958907e-02 9.99643591e-01 -1.46173138e-04 9.75272912e+00] [ 1.33710214e-02 -2.10866413e-04 9.99910582e-01 1.63249248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.564391418 meters Centerline goodness [0,1] 0.9989863794741843 Centerline is valid? [True, True] Translation: X:227.60, Y:9.75, Z:1.63 [[ 9.99509056e-01 -2.86352349e-02 -1.27149350e-02 2.27595062e+02] [ 2.86357830e-02 9.99589902e-01 -1.38991767e-04 9.75042175e+00] [ 1.27137006e-02 -2.25178588e-04 9.99919152e-01 1.63329997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59439141800001 meters Centerline goodness [0,1] 0.9989042019640072 Centerline is valid? [True, True] Translation: X:227.63, Y:9.75, Z:1.63 [[ 9.99399880e-01 -3.26448584e-02 -1.15841334e-02 2.27626818e+02] [ 3.26455846e-02 9.99466983e-01 -1.26443787e-04 9.74545294e+00] [ 1.15820866e-02 -2.51802903e-04 9.99932894e-01 1.63421027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62439141800002 meters Centerline goodness [0,1] 0.9989265643745658 Centerline is valid? [True, True] Translation: X:227.66, Y:9.74, Z:1.63 [[ 9.99341916e-01 -3.43667742e-02 -1.16043409e-02 2.27657913e+02] [ 3.43676245e-02 9.99409251e-01 -1.26191705e-04 9.74280978e+00] [ 1.16018225e-02 -2.72704971e-04 9.99932659e-01 1.63415359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.65439141800002 meters Centerline goodness [0,1] 0.999053428691628 Centerline is valid? [True, True] Translation: X:227.69, Y:9.74, Z:1.63 [[ 9.99277931e-01 -3.61712926e-02 -1.16298759e-02 2.27689784e+02] [ 3.61722764e-02 9.99345561e-01 -1.25810169e-04 9.74064179e+00] [ 1.16268155e-02 -2.94959759e-04 9.99932363e-01 1.63443546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.684391418 meters Centerline goodness [0,1] 0.9992012443771808 Centerline is valid? [True, True] Translation: X:227.72, Y:9.74, Z:1.63 [[ 9.99127643e-01 -4.00060664e-02 -1.19778327e-02 2.27720974e+02] [ 4.00073947e-02 9.99199375e-01 -1.28789693e-04 9.73597529e+00] [ 1.19733953e-02 -3.50524538e-04 9.99928255e-01 1.63442207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.714391418 meters Centerline goodness [0,1] 0.999052950585066 Centerline is valid? [True, True] Translation: X:227.75, Y:9.73, Z:1.63 [[ 9.99045642e-01 -4.19041542e-02 -1.23225881e-02 2.27752605e+02] [ 4.19057119e-02 9.99121561e-01 -1.31881555e-04 9.73457574e+00] [ 1.23172898e-02 -3.84631132e-04 9.99924065e-01 1.63462248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.744391418 meters Centerline goodness [0,1] 0.9989071038251366 Centerline is valid? [True, True] Translation: X:227.78, Y:9.73, Z:1.63 [[ 9.98855250e-01 -4.60706925e-02 -1.28716877e-02 2.27782342e+02] [ 4.60727502e-02 9.98938078e-01 -1.36781691e-04 9.72911066e+00] [ 1.28643206e-02 -4.56408943e-04 9.99917147e-01 1.63392576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.774391418 meters Centerline goodness [0,1] 0.9988035264483627 Centerline is valid? [True, True] Translation: X:227.81, Y:9.73, Z:1.63 [[ 9.98755192e-01 -4.81169782e-02 -1.31462001e-02 2.27813996e+02] [ 4.81193191e-02 9.98841585e-01 -1.38367919e-04 9.72634126e+00] [ 1.31376291e-02 -4.94390517e-04 9.99913575e-01 1.63355533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.804391418 meters Centerline goodness [0,1] 0.9988035264483627 Centerline is valid? [True, True] Translation: X:227.85, Y:9.73, Z:1.63 [[ 9.98759038e-01 -4.80370833e-02 -1.31462134e-02 2.27845707e+02] [ 4.80394340e-02 9.98845430e-01 -1.37092400e-04 9.72659398e+00] [ 1.31376207e-02 -4.94614377e-04 9.99913575e-01 1.63377743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.834391418 meters Centerline goodness [0,1] 0.9992240421114443 Centerline is valid? [True, True] Translation: X:227.88, Y:9.72, Z:1.63 [[ 9.98651729e-01 -5.01225683e-02 -1.35074968e-02 2.27877371e+02] [ 5.01252536e-02 9.98742930e-01 -1.39891385e-04 9.72488730e+00] [ 1.34975287e-02 -5.37363930e-04 9.99908760e-01 1.63396696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.864391418 meters Centerline goodness [0,1] 0.9989496460307123 Centerline is valid? [True, True] Translation: X:227.91, Y:9.72, Z:1.63 [[ 9.98548703e-01 -5.20659967e-02 -1.37702658e-02 2.27908974e+02] [ 5.20689835e-02 9.98643480e-01 -1.41777191e-04 9.72125301e+00] [ 1.37589680e-02 -5.75432313e-04 9.99905175e-01 1.63343044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.894391418 meters Centerline goodness [0,1] 0.9989480770849112 Centerline is valid? [True, True] Translation: X:227.94, Y:9.72, Z:1.63 [[ 9.98355151e-01 -5.54727914e-02 -1.44831739e-02 2.27940618e+02] [ 5.54764638e-02 9.98459984e-01 -1.48381312e-04 9.71834833e+00] [ 1.44691007e-02 -6.55338028e-04 9.99895102e-01 1.63319895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.924391418 meters Centerline goodness [0,1] 0.9989282336870863 Centerline is valid? [True, True] Translation: X:227.97, Y:9.72, Z:1.63 [[ 9.98288750e-01 -5.66700586e-02 -1.44248306e-02 2.27971395e+02] [ 5.66738344e-02 9.98392736e-01 -1.47214392e-04 9.71544636e+00] [ 1.44099887e-02 -6.70547987e-04 9.99895946e-01 1.63342520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.954391418 meters Centerline goodness [0,1] 0.9986796328121725 Centerline is valid? [True, True] Translation: X:228.00, Y:9.72, Z:1.63 [[ 9.98242211e-01 -5.75449452e-02 -1.41798276e-02 2.28003192e+02] [ 5.75486939e-02 9.98342690e-01 -1.43864681e-04 9.71757187e+00] [ 1.41646059e-02 -6.72418759e-04 9.99899451e-01 1.63383131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.984391418 meters Centerline goodness [0,1] 0.9986801583809943 Centerline is valid? [True, True] Translation: X:228.04, Y:9.72, Z:1.63 [[ 9.98222508e-01 -5.77447419e-02 -1.47434643e-02 2.28035828e+02] [ 5.77488341e-02 9.98331133e-01 -1.48372551e-04 9.71823758e+00] [ 1.47274271e-02 -7.03309054e-04 9.99891298e-01 1.63403145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.014391418 meters Centerline goodness [0,1] 0.9988027725267801 Centerline is valid? [True, True] Translation: X:228.07, Y:9.72, Z:1.63 [[ 9.98259446e-01 -5.70377134e-02 -1.49925596e-02 2.28067176e+02] [ 5.70418813e-02 9.98371775e-01 -1.49823735e-04 9.71766053e+00] [ 1.49766940e-02 -7.05640848e-04 9.99887594e-01 1.63392489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.044391418 meters Centerline goodness [0,1] 0.9987385947946011 Centerline is valid? [True, True] Translation: X:228.10, Y:9.72, Z:1.63 [[ 9.98443861e-01 -5.37294567e-02 -1.49332561e-02 2.28098701e+02] [ 5.37332358e-02 9.98555315e-01 -1.48332716e-04 9.72298858e+00] [ 1.49196521e-02 -6.54310280e-04 9.99888482e-01 1.63426200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.074391418 meters Centerline goodness [0,1] 0.9988017154389506 Centerline is valid? [True, True] Translation: X:228.13, Y:9.73, Z:1.63 [[ 9.98578922e-01 -5.11681675e-02 -1.48981331e-02 2.28130067e+02] [ 5.11716554e-02 9.98689862e-01 -1.47244149e-04 9.72567284e+00] [ 1.48861487e-02 -6.15327227e-04 9.99889006e-01 1.63469877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.104391418 meters Centerline goodness [0,1] 0.9988861100018915 Centerline is valid? [True, True] Translation: X:228.16, Y:9.73, Z:1.64 [[ 9.98874715e-01 -4.53222053e-02 -1.39714459e-02 2.28160620e+02] [ 4.53247072e-02 9.98972298e-01 -1.37681614e-04 9.73306292e+00] [ 1.39633275e-02 -4.95725013e-04 9.99902385e-01 1.63622492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.134391418 meters Centerline goodness [0,1] 0.9988037022267928 Centerline is valid? [True, True] Translation: X:228.19, Y:9.74, Z:1.64 [[ 9.99024708e-01 -4.19429738e-02 -1.37992374e-02 2.28191593e+02] [ 4.19450980e-02 9.99119908e-01 -1.35575120e-04 9.73666386e+00] [ 1.37927792e-02 -4.43367472e-04 9.99904777e-01 1.63672009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.164391418 meters Centerline goodness [0,1] 0.9990143651043305 Centerline is valid? [True, True] Translation: X:228.22, Y:9.74, Z:1.64 [[ 9.99174589e-01 -3.83898985e-02 -1.32798884e-02 2.28222210e+02] [ 3.83915634e-02 9.99262764e-01 -1.29636097e-04 9.73780933e+00] [ 1.32750747e-02 -3.80306584e-04 9.99911810e-01 1.63694932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.194391418 meters Centerline goodness [0,1] 0.9988203075626712 Centerline is valid? [True, True] Translation: X:228.25, Y:9.74, Z:1.64 [[ 9.99299979e-01 -3.51514386e-02 -1.28034535e-02 2.28253120e+02] [ 3.51527296e-02 9.99381944e-01 -1.24267045e-04 9.74218717e+00] [ 1.27999084e-02 -3.25896284e-04 9.99918025e-01 1.63754616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.224391418 meters Centerline goodness [0,1] 0.998820829209745 Centerline is valid? [True, True] Translation: X:228.28, Y:9.75, Z:1.64 [[ 9.99524092e-01 -2.82029331e-02 -1.24973439e-02 2.28283875e+02] [ 2.82036231e-02 9.99602191e-01 -1.21058237e-04 9.75416195e+00] [ 1.24957866e-02 -2.31469754e-04 9.99921898e-01 1.63917266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.254391418 meters Centerline goodness [0,1] 0.999052731291443 Centerline is valid? [True, True] Translation: X:228.31, Y:9.76, Z:1.64 [[ 9.99614005e-01 -2.48436440e-02 -1.24352250e-02 2.28313787e+02] [ 2.48440691e-02 9.99691331e-01 -1.20314773e-04 9.75609872e+00] [ 1.24343757e-02 -1.88673258e-04 9.99922672e-01 1.63900322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.284391418 meters Centerline goodness [0,1] 0.9990931331196221 Centerline is valid? [True, True] Translation: X:228.34, Y:9.76, Z:1.64 [[ 9.99691082e-01 -2.14750638e-02 -1.25124781e-02 2.28344011e+02] [ 2.14752303e-02 9.99769373e-01 -1.21062221e-04 9.75990726e+00] [ 1.25121922e-02 -1.47683527e-04 9.99921709e-01 1.63928622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.314391418 meters Centerline goodness [0,1] 0.9989662883422641 Centerline is valid? [True, True] Translation: X:228.37, Y:9.77, Z:1.64 [[ 9.99805066e-01 -1.52872637e-02 -1.24952026e-02 2.28373074e+02] [ 1.52869453e-02 9.99883141e-01 -1.20996646e-04 9.76710552e+00] [ 1.24955921e-02 -7.00404198e-05 9.99921925e-01 1.63928012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34439141800001 meters Centerline goodness [0,1] 0.9989874699405139 Centerline is valid? [True, True] Translation: X:228.40, Y:9.77, Z:1.64 [[ 9.99837725e-01 -1.27710244e-02 -1.27053181e-02 2.28401417e+02] [ 1.27704699e-02 9.99918446e-01 -1.24776733e-04 9.77078205e+00] [ 1.27058754e-02 -3.74963968e-05 9.99919276e-01 1.63998736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.37439141800002 meters Centerline goodness [0,1] 0.9990065315267708 Centerline is valid? [True, True] Translation: X:228.43, Y:9.77, Z:1.64 [[ 9.99874034e-01 -8.26920284e-03 -1.35475736e-02 2.28429065e+02] [ 8.26812158e-03 9.99965809e-01 -1.35819902e-04 9.77478912e+00] [ 1.35482336e-02 2.37898076e-05 9.99908218e-01 1.63919521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.404391418 meters Centerline goodness [0,1] 0.9992400092887753 Centerline is valid? [True, True] Translation: X:228.46, Y:9.78, Z:1.64 [[ 9.99889539e-01 -6.87706263e-03 -1.31763189e-02 2.28456540e+02] [ 6.87588411e-03 9.99976352e-01 -1.34741453e-04 9.77658481e+00] [ 1.31769339e-02 4.41277271e-05 9.99913179e-01 1.63941272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.434391418 meters Centerline goodness [0,1] 0.9992820339555706 Centerline is valid? [True, True] Translation: X:228.48, Y:9.78, Z:1.64 [[ 9.99893753e-01 -5.88322209e-03 -1.33368069e-02 2.28484486e+02] [ 5.88186947e-03 9.99982692e-01 -1.40642451e-04 9.77797934e+00] [ 1.33374035e-02 6.21821510e-05 9.99911051e-01 1.63945150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.464391418 meters Centerline goodness [0,1] 0.9992166162054583 Centerline is valid? [True, True] Translation: X:228.51, Y:9.78, Z:1.64 [[ 9.99899474e-01 -5.61378465e-03 -1.30202378e-02 2.28512775e+02] [ 5.61241989e-03 9.99984240e-01 -1.41355840e-04 9.77860379e+00] [ 1.30208262e-02 6.82665879e-05 9.99915223e-01 1.63933979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.494391418 meters Centerline goodness [0,1] 0.9992615566386058 Centerline is valid? [True, True] Translation: X:228.54, Y:9.78, Z:1.64 [[ 9.99899512e-01 -6.51884536e-03 -1.25885199e-02 2.28541082e+02] [ 6.51760775e-03 9.99978750e-01 -1.39335875e-04 9.77703199e+00] [ 1.25891607e-02 5.72748384e-05 9.99920752e-01 1.63903967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.524391418 meters Centerline goodness [0,1] 0.999157202755947 Centerline is valid? [True, True] Translation: X:228.57, Y:9.78, Z:1.64 [[ 9.99890857e-01 -8.13150981e-03 -1.23350078e-02 2.28569300e+02] [ 8.13041538e-03 9.99966938e-01 -1.38869649e-04 9.77533989e+00] [ 1.23357292e-02 3.85657553e-05 9.99923911e-01 1.63940035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.554391418 meters Centerline goodness [0,1] 0.9993246523014583 Centerline is valid? [True, True] Translation: X:228.60, Y:9.77, Z:1.64 [[ 9.99872494e-01 -1.02715718e-02 -1.22266273e-02 2.28596414e+02] [ 1.02706212e-02 9.99947246e-01 -1.40536312e-04 9.77334716e+00] [ 1.22274258e-02 1.49433355e-05 9.99925242e-01 1.63977624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.584391418 meters Centerline goodness [0,1] 0.9991585324806462 Centerline is valid? [True, True] Translation: X:228.62, Y:9.77, Z:1.64 [[ 9.99804511e-01 -1.60423765e-02 -1.15577699e-02 2.28624894e+02] [ 1.60418981e-02 9.99871311e-01 -1.34109554e-04 9.76699800e+00] [ 1.15584340e-02 -5.13252302e-05 9.99933198e-01 1.64074819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.614391418 meters Centerline goodness [0,1] 0.9990294539623596 Centerline is valid? [True, True] Translation: X:228.65, Y:9.76, Z:1.64 [[ 9.99750207e-01 -1.94407905e-02 -1.10263312e-02 2.28654794e+02] [ 1.94405540e-02 9.99811006e-01 -1.28639855e-04 9.76330488e+00] [ 1.10267482e-02 -8.57502660e-05 9.99939200e-01 1.64140900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.644391418 meters Centerline goodness [0,1] 0.9988647830474269 Centerline is valid? [True, True] Translation: X:228.68, Y:9.75, Z:1.64 [[ 9.99589317e-01 -2.69645395e-02 -9.70107940e-03 2.28683925e+02] [ 2.69647072e-02 9.99636380e-01 -1.13532469e-04 9.75439830e+00] [ 9.70061325e-03 -1.48100922e-04 9.99952937e-01 1.64258917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.674391418 meters Centerline goodness [0,1] 0.9988248625508876 Centerline is valid? [True, True] Translation: X:228.72, Y:9.75, Z:1.64 [[ 9.99486359e-01 -3.06652175e-02 -9.30927748e-03 2.28715444e+02] [ 3.06655307e-02 9.99529696e-01 -1.09123158e-04 9.74987678e+00] [ 9.30824558e-03 -1.76406827e-04 9.99956662e-01 1.64301033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.704391418 meters Centerline goodness [0,1] 0.998904986522911 Centerline is valid? [True, True] Translation: X:228.75, Y:9.75, Z:1.64 [[ 9.99379539e-01 -3.40101001e-02 -9.15695404e-03 2.28747470e+02] [ 3.40105476e-02 9.99421468e-01 -1.06889303e-04 9.74668207e+00] [ 9.15529176e-03 -2.04610039e-04 9.99958069e-01 1.64334914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.734391418 meters Centerline goodness [0,1] 0.9987820243595128 Centerline is valid? [True, True] Translation: X:228.78, Y:9.74, Z:1.64 [[ 9.99133129e-01 -4.04710607e-02 -9.75105697e-03 2.28777793e+02] [ 4.04718829e-02 9.99180671e-01 -1.13074112e-04 9.73595143e+00] [ 9.74764388e-03 -2.81667544e-04 9.99952451e-01 1.64248472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.764391418 meters Centerline goodness [0,1] 0.9987609206989247 Centerline is valid? [True, True] Translation: X:228.81, Y:9.74, Z:1.64 [[ 9.99014183e-01 -4.32770958e-02 -9.88708524e-03 2.28809855e+02] [ 4.32780842e-02 9.99063058e-01 -1.14061426e-04 9.73563337e+00] [ 9.88275786e-03 -3.13945125e-04 9.99951115e-01 1.64271662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.794391418 meters Centerline goodness [0,1] 0.99895121030331 Centerline is valid? [True, True] Translation: X:228.84, Y:9.73, Z:1.64 [[ 9.98913158e-01 -4.55331300e-02 -9.96180897e-03 2.28840731e+02] [ 4.55342554e-02 9.98962771e-01 -1.13924139e-04 9.72962303e+00] [ 9.95666362e-03 -3.39803233e-04 9.99950373e-01 1.64217984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.824391418 meters Centerline goodness [0,1] 0.9988237271046883 Centerline is valid? [True, True] Translation: X:228.87, Y:9.72, Z:1.64 [[ 9.98828175e-01 -4.72737736e-02 -1.03666569e-02 2.28871830e+02] [ 4.72750987e-02 9.98881901e-01 -1.17323060e-04 9.72167480e+00] [ 1.03606123e-02 -3.72899151e-04 9.99946258e-01 1.64154225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.854391418 meters Centerline goodness [0,1] 0.9988663797627795 Centerline is valid? [True, True] Translation: X:228.90, Y:9.73, Z:1.64 [[ 9.98731525e-01 -4.92087802e-02 -1.06694158e-02 2.28903405e+02] [ 4.92103010e-02 9.98788432e-01 -1.20110498e-04 9.72563143e+00] [ 1.06623995e-02 -4.05087020e-04 9.99943073e-01 1.64183380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.884391418 meters Centerline goodness [0,1] 0.998660331149394 Centerline is valid? [True, True] Translation: X:228.93, Y:9.72, Z:1.64 [[ 9.98738006e-01 -4.90125001e-02 -1.09622067e-02 2.28934861e+02] [ 4.90141010e-02 9.98798079e-01 -1.22734789e-04 9.71621006e+00] [ 1.09550465e-02 -4.14722808e-04 9.99939906e-01 1.64082400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.914391418 meters Centerline goodness [0,1] 0.9989315344004023 Centerline is valid? [True, True] Translation: X:228.97, Y:9.73, Z:1.64 [[ 9.98761413e-01 -4.84875758e-02 -1.11621698e-02 2.28967151e+02] [ 4.84892115e-02 9.98823699e-01 -1.24205105e-04 9.72677078e+00] [ 1.11550621e-02 -4.17193546e-04 9.99937693e-01 1.64192745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.944391418 meters Centerline goodness [0,1] 0.998656647495907 Centerline is valid? [True, True] Translation: X:229.00, Y:9.73, Z:1.64 [[ 9.98862336e-01 -4.62698540e-02 -1.15383936e-02 2.28999038e+02] [ 4.62714651e-02 9.98928894e-01 -1.27426063e-04 9.72807180e+00] [ 1.15319307e-02 -4.06617281e-04 9.99933422e-01 1.64153330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.974391418 meters Centerline goodness [0,1] 0.9988427143608627 Centerline is valid? [True, True] Translation: X:229.03, Y:9.73, Z:1.64 [[ 9.98919005e-01 -4.47795887e-02 -1.24743776e-02 2.29030178e+02] [ 4.47813677e-02 9.98996802e-01 -1.36808812e-04 9.72827552e+00] [ 1.24679895e-02 -4.21958765e-04 9.99922183e-01 1.64068176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.004391418 meters Centerline goodness [0,1] 0.9988446106337836 Centerline is valid? [True, True] Translation: X:229.06, Y:9.73, Z:1.64 [[ 9.99079456e-01 -4.11991081e-02 -1.19529806e-02 2.29061984e+02] [ 4.12004940e-02 9.99150891e-01 -1.30376971e-04 9.73339011e+00] [ 1.19482026e-02 -3.62211753e-04 9.99928552e-01 1.64175469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.034391418 meters Centerline goodness [0,1] 0.9986999098324562 Centerline is valid? [True, True] Translation: X:229.09, Y:9.73, Z:1.64 [[ 9.99164505e-01 -3.89708577e-02 -1.23111105e-02 2.29092532e+02] [ 3.89721657e-02 9.99240288e-01 -1.33733223e-04 9.73246268e+00] [ 1.23069693e-02 -3.46169149e-04 9.99924206e-01 1.64125358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.064391418 meters Centerline goodness [0,1] 0.9987178678773357 Centerline is valid? [True, True] Translation: X:229.12, Y:9.74, Z:1.64 [[ 9.99253555e-01 -3.66262042e-02 -1.22822681e-02 2.29124249e+02] [ 3.66273347e-02 9.99328985e-01 -1.32961990e-04 9.73724188e+00] [ 1.22788964e-02 -3.17004002e-04 9.99924561e-01 1.64175030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09439141800001 meters Centerline goodness [0,1] 0.998784270981806 Centerline is valid? [True, True] Translation: X:229.16, Y:9.74, Z:1.64 [[ 9.99412625e-01 -3.18007867e-02 -1.27716367e-02 2.29155138e+02] [ 3.18016224e-02 9.99494191e-01 -1.37705983e-04 9.74305779e+00] [ 1.27695559e-02 -2.68533670e-04 9.99918430e-01 1.64170794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12439141800002 meters Centerline goodness [0,1] 0.9988894243865641 Centerline is valid? [True, True] Translation: X:229.19, Y:9.75, Z:1.64 [[ 9.99481084e-01 -2.92463153e-02 -1.34987319e-02 2.29185611e+02] [ 2.92470197e-02 9.99572204e-01 -1.45266806e-04 9.74500885e+00] [ 1.34972057e-02 -2.49606252e-04 9.99908877e-01 1.64129850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.154391418 meters Centerline goodness [0,1] 0.9988661893463792 Centerline is valid? [True, True] Translation: X:229.22, Y:9.75, Z:1.64 [[ 9.99540465e-01 -2.68381538e-02 -1.40915528e-02 2.29216381e+02] [ 2.68386842e-02 9.99639766e-01 -1.51500349e-04 9.74782348e+00] [ 1.40905425e-02 -2.26768005e-04 9.99900698e-01 1.64096955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.184391418 meters Centerline goodness [0,1] 0.998969874072361 Centerline is valid? [True, True] Translation: X:229.25, Y:9.75, Z:1.64 [[ 9.99590849e-01 -2.45657749e-02 -1.46512150e-02 2.29246193e+02] [ 2.45661052e-02 9.99698195e-01 -1.57460410e-04 9.75032103e+00] [ 1.46506613e-02 -2.02527304e-04 9.99892653e-01 1.64069544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.214391418 meters Centerline goodness [0,1] 0.9990952130457654 Centerline is valid? [True, True] Translation: X:229.27, Y:9.75, Z:1.64 [[ 9.99671769e-01 -2.05921996e-02 -1.52419149e-02 2.29274854e+02] [ 2.05920874e-02 9.99787947e-01 -1.64316450e-04 9.75455622e+00] [ 1.52420665e-02 -1.49600329e-04 9.99883822e-01 1.64066071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.244391418 meters Centerline goodness [0,1] 0.9992008412197687 Centerline is valid? [True, True] Translation: X:229.30, Y:9.76, Z:1.64 [[ 9.99696866e-01 -1.91966625e-02 -1.54163869e-02 2.29303526e+02] [ 1.91963401e-02 9.99815719e-01 -1.68899834e-04 9.75688997e+00] [ 1.54167882e-02 -1.27089571e-04 9.99881146e-01 1.64094928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.274391418 meters Centerline goodness [0,1] 0.9990744441406003 Centerline is valid? [True, True] Translation: X:229.33, Y:9.76, Z:1.64 [[ 9.99738090e-01 -1.69279459e-02 -1.54011777e-02 2.29331935e+02] [ 1.69272900e-02 9.99856708e-01 -1.72952499e-04 9.76107826e+00] [ 1.54018985e-02 -8.77930000e-05 9.99881380e-01 1.64291845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.304391418 meters Centerline goodness [0,1] 0.999283607248209 Centerline is valid? [True, True] Translation: X:229.36, Y:9.76, Z:1.64 [[ 9.99745283e-01 -1.64402587e-02 -1.54624469e-02 2.29359407e+02] [ 1.64394667e-02 9.99864847e-01 -1.78336043e-04 9.76248420e+00] [ 1.54632890e-02 -7.59037622e-05 9.99880433e-01 1.64347419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.334391418 meters Centerline goodness [0,1] 0.9991566341268001 Centerline is valid? [True, True] Translation: X:229.39, Y:9.76, Z:1.64 [[ 9.99748235e-01 -1.64411829e-02 -1.52693841e-02 2.29387440e+02] [ 1.64403355e-02 9.99864832e-01 -1.81031314e-04 9.76404391e+00] [ 1.52702965e-02 -7.00480603e-05 9.99883400e-01 1.64399798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.364391418 meters Centerline goodness [0,1] 0.9990735476807109 Centerline is valid? [True, True] Translation: X:229.42, Y:9.77, Z:1.64 [[ 9.99745419e-01 -1.65811630e-02 -1.53023288e-02 2.29415248e+02] [ 1.65802516e-02 9.99862521e-01 -1.86430553e-04 9.76546518e+00] [ 1.53033163e-02 -6.73333701e-05 9.99882895e-01 1.64433314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.394391418 meters Centerline goodness [0,1] 0.9990338975931449 Centerline is valid? [True, True] Translation: X:229.44, Y:9.77, Z:1.64 [[ 9.99730508e-01 -1.73130966e-02 -1.54650531e-02 2.29442761e+02] [ 1.73121751e-02 9.99850114e-01 -1.93470768e-04 9.76580754e+00] [ 1.54660847e-02 -7.43150772e-05 9.99880390e-01 1.64441800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.424391418 meters Centerline goodness [0,1] 0.9990961259537974 Centerline is valid? [True, True] Translation: X:229.47, Y:9.77, Z:1.64 [[ 9.99708890e-01 -1.85399538e-02 -1.54403831e-02 2.29470141e+02] [ 1.85391174e-02 9.99828116e-01 -1.97311370e-04 9.76558353e+00] [ 1.54413873e-02 -8.89971450e-05 9.99880771e-01 1.64438048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.454391418 meters Centerline goodness [0,1] 0.9990101929070845 Centerline is valid? [True, True] Translation: X:229.50, Y:9.76, Z:1.65 [[ 9.99649847e-01 -2.19558837e-02 -1.47689744e-02 2.29498823e+02] [ 2.19554368e-02 9.99758932e-01 -1.92417718e-04 9.76368768e+00] [ 1.47696388e-02 -1.31908942e-04 9.99890914e-01 1.64542418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.484391418 meters Centerline goodness [0,1] 0.9991398300639882 Centerline is valid? [True, True] Translation: X:229.53, Y:9.76, Z:1.65 [[ 9.99599518e-01 -2.42539738e-02 -1.45790428e-02 2.29527125e+02] [ 2.42537476e-02 9.99705816e-01 -1.92352288e-04 9.76220739e+00] [ 1.45794192e-02 -1.61321170e-04 9.99893702e-01 1.64605439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.514391418 meters Centerline goodness [0,1] 0.9989519357746243 Centerline is valid? [True, True] Translation: X:229.56, Y:9.76, Z:1.65 [[ 9.99460821e-01 -2.97993625e-02 -1.37864100e-02 2.29557080e+02] [ 2.97996782e-02 9.99555874e-01 -1.82564726e-04 9.75831087e+00] [ 1.37857274e-02 -2.28364291e-04 9.99904946e-01 1.64730851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.544391418 meters Centerline goodness [0,1] 0.9989268354270564 Centerline is valid? [True, True] Translation: X:229.59, Y:9.76, Z:1.65 [[ 9.99356462e-01 -3.31967868e-02 -1.35880215e-02 2.29587388e+02] [ 3.31974036e-02 9.99448798e-01 -1.80215676e-04 9.75622151e+00] [ 1.35865144e-02 -2.70987335e-04 9.99907662e-01 1.64782162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.574391418 meters Centerline goodness [0,1] 0.9989519357746243 Centerline is valid? [True, True] Translation: X:229.62, Y:9.75, Z:1.65 [[ 9.99235482e-01 -3.65768143e-02 -1.38053549e-02 2.29617180e+02] [ 3.65777735e-02 9.99330793e-01 -1.83098132e-04 9.75295933e+00] [ 1.38028134e-02 -3.22010993e-04 9.99904685e-01 1.64802906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.604391418 meters Centerline goodness [0,1] 0.9989711718143071 Centerline is valid? [True, True] Translation: X:229.65, Y:9.75, Z:1.65 [[ 9.98958409e-01 -4.36307306e-02 -1.33587789e-02 2.29648497e+02] [ 4.36322622e-02 9.99047644e-01 -1.76918570e-04 9.74774134e+00] [ 1.33537757e-02 -4.06139452e-04 9.99910752e-01 1.64842688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.634391418 meters Centerline goodness [0,1] 0.9990547012856063 Centerline is valid? [True, True] Translation: X:229.68, Y:9.75, Z:1.65 [[ 9.98796220e-01 -4.72104186e-02 -1.33149549e-02 2.29680259e+02] [ 4.72122666e-02 9.98884864e-01 -1.75680129e-04 9.74584159e+00] [ 1.33084009e-02 -4.53160555e-04 9.99911337e-01 1.64878094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.664391418 meters Centerline goodness [0,1] 0.9986990641655126 Centerline is valid? [True, True] Translation: X:229.71, Y:9.74, Z:1.65 [[ 9.98642363e-01 -5.03726651e-02 -1.32674369e-02 2.29711273e+02] [ 5.03747891e-02 9.98730369e-01 -1.74256651e-04 9.74128362e+00] [ 1.32593699e-02 -4.94324260e-04 9.99911969e-01 1.64832891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.694391418 meters Centerline goodness [0,1] 0.9988884927542311 Centerline is valid? [True, True] Translation: X:229.74, Y:9.74, Z:1.65 [[ 9.98267157e-01 -5.71585047e-02 -1.39852928e-02 2.29740816e+02] [ 5.71615381e-02 9.98364926e-01 -1.83059478e-04 9.73505480e+00] [ 1.39728892e-02 -6.16678582e-04 9.99902184e-01 1.64779553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.724391418 meters Centerline goodness [0,1] 0.9988884927542311 Centerline is valid? [True, True] Translation: X:229.77, Y:9.74, Z:1.65 [[ 9.98271659e-01 -5.70798173e-02 -1.39853023e-02 2.29772533e+02] [ 5.70828532e-02 9.98369428e-01 -1.82332323e-04 9.73538954e+00] [ 1.39729057e-02 -6.16303765e-04 9.99902184e-01 1.64801783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.754391418 meters Centerline goodness [0,1] 0.9988244185070115 Centerline is valid? [True, True] Translation: X:229.80, Y:9.73, Z:1.65 [[ 9.98072784e-01 -6.03015975e-02 -1.46436294e-02 2.29804020e+02] [ 6.03052847e-02 9.98179962e-01 -1.90038354e-04 9.73277126e+00] [ 1.46284371e-02 -6.93416131e-04 9.99892758e-01 1.64745001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.784391418 meters Centerline goodness [0,1] 0.9987202349732508 Centerline is valid? [True, True] Translation: X:229.84, Y:9.73, Z:1.65 [[ 9.97667730e-01 -6.65571740e-02 -1.51407598e-02 2.29835002e+02] [ 6.65618392e-02 9.97782282e-01 -1.96156886e-04 9.73285569e+00] [ 1.51202375e-02 -8.12097421e-04 9.99885353e-01 1.64722407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.814391418 meters Centerline goodness [0,1] 0.9988673308862087 Centerline is valid? [True, True] Translation: X:229.87, Y:9.73, Z:1.65 [[ 9.97465687e-01 -6.95090667e-02 -1.51885788e-02 2.29866585e+02] [ 6.95141083e-02 9.97580949e-01 -1.96392125e-04 9.73156893e+00] [ 1.51654879e-02 -8.59926106e-04 9.99884628e-01 1.64754453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84439141800001 meters Centerline goodness [0,1] 0.9986771653543307 Centerline is valid? [True, True] Translation: X:229.90, Y:9.73, Z:1.65 [[ 9.97277353e-01 -7.20406497e-02 -1.57488698e-02 2.29896377e+02] [ 7.20463895e-02 9.97401261e-01 -2.03333719e-04 9.72895706e+00] [ 1.57225909e-02 -9.31869098e-04 9.99875958e-01 1.64526532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.87439141800002 meters Centerline goodness [0,1] 0.9988054822079718 Centerline is valid? [True, True] Translation: X:229.93, Y:9.73, Z:1.65 [[ 9.96947505e-01 -7.66850869e-02 -1.46652861e-02 2.29925889e+02] [ 7.66905680e-02 9.97054924e-01 -1.89092024e-04 9.72659280e+00] [ 1.46365963e-02 -9.36174303e-04 9.99892441e-01 1.64827517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.904391418 meters Centerline goodness [0,1] 0.9987374534435958 Centerline is valid? [True, True] Translation: X:229.96, Y:9.73, Z:1.65 [[ 9.96840414e-01 -7.80732384e-02 -1.46204779e-02 2.29957457e+02] [ 7.80788449e-02 9.96947169e-01 -1.87814330e-04 9.72707429e+00] [ 1.45905074e-02 -9.54329115e-04 9.99893097e-01 1.64855038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.934391418 meters Centerline goodness [0,1] 0.9985320331341092 Centerline is valid? [True, True] Translation: X:229.99, Y:9.73, Z:1.65 [[ 9.96782922e-01 -7.87796504e-02 -1.47503813e-02 2.29988944e+02] [ 7.87854474e-02 9.96891578e-01 -1.88571411e-04 9.72544519e+00] [ 1.47193865e-02 -9.74150631e-04 9.99891189e-01 1.64833991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.964391418 meters Centerline goodness [0,1] 0.9988647830474269 Centerline is valid? [True, True] Translation: X:230.02, Y:9.73, Z:1.65 [[ 9.96769675e-01 -7.89266929e-02 -1.48590762e-02 2.30021101e+02] [ 7.89326080e-02 9.96879936e-01 -1.88884625e-04 9.72888998e+00] [ 1.48276230e-02 -9.84591173e-04 9.99889580e-01 1.64879384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.994391418 meters Centerline goodness [0,1] 0.9985269670251047 Centerline is valid? [True, True] Translation: X:230.05, Y:9.73, Z:1.65 [[ 9.96883136e-01 -7.74965518e-02 -1.47749067e-02 2.30051730e+02] [ 7.75022543e-02 9.96992159e-01 -1.87086408e-04 9.73079051e+00] [ 1.47449647e-02 -9.58585294e-04 9.99890828e-01 1.64831603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.024391418 meters Centerline goodness [0,1] 0.9984845614699753 Centerline is valid? [True, True] Translation: X:230.08, Y:9.73, Z:1.65 [[ 9.96995765e-01 -7.60424323e-02 -1.47307169e-02 2.30081833e+02] [ 7.60479471e-02 9.97104145e-01 -1.86232469e-04 9.73315946e+00] [ 1.47022204e-02 -9.34567794e-04 9.99891480e-01 1.64851342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.054391418 meters Centerline goodness [0,1] 0.9985439658992593 Centerline is valid? [True, True] Translation: X:230.11, Y:9.74, Z:1.65 [[ 9.97280754e-01 -7.21921377e-02 -1.48119363e-02 2.30111615e+02] [ 7.21972924e-02 9.97390353e-01 -1.87119612e-04 9.73947675e+00] [ 1.47867909e-02 -8.82770906e-04 9.99890280e-01 1.64899665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.084391418 meters Centerline goodness [0,1] 0.9986725663716814 Centerline is valid? [True, True] Translation: X:230.14, Y:9.75, Z:1.65 [[ 9.97455065e-01 -6.96854613e-02 -1.50774326e-02 2.30142875e+02] [ 6.96905218e-02 9.97568642e-01 -1.90148353e-04 9.74632717e+00] [ 1.50540246e-02 -8.61089710e-04 9.99886311e-01 1.64969171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.114391418 meters Centerline goodness [0,1] 0.9987199932852107 Centerline is valid? [True, True] Translation: X:230.17, Y:9.75, Z:1.65 [[ 9.97610887e-01 -6.73065626e-02 -1.55674509e-02 2.30173732e+02] [ 6.73116785e-02 9.97731978e-01 -1.95694651e-04 9.74764338e+00] [ 1.55453151e-02 -8.52644133e-04 9.99878801e-01 1.64958355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.144391418 meters Centerline goodness [0,1] 0.9988401029145051 Centerline is valid? [True, True] Translation: X:230.20, Y:9.76, Z:1.65 [[ 9.97921725e-01 -6.23636642e-02 -1.62174334e-02 2.30204757e+02] [ 6.23685729e-02 9.98053165e-01 -2.03397994e-04 9.75640961e+00] [ 1.61985453e-02 -8.08482897e-04 9.99868468e-01 1.64960634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.174391418 meters Centerline goodness [0,1] 0.9985642498205313 Centerline is valid? [True, True] Translation: X:230.24, Y:9.76, Z:1.65 [[ 9.98043819e-01 -6.02659041e-02 -1.66299875e-02 2.30235744e+02] [ 6.02707839e-02 9.98182042e-01 -2.08052300e-04 9.76353446e+00] [ 1.66122933e-02 -7.94657070e-04 9.99861691e-01 1.65027063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.204391418 meters Centerline goodness [0,1] 0.9987565072607331 Centerline is valid? [True, True] Translation: X:230.27, Y:9.76, Z:1.65 [[ 9.98191766e-01 -5.77864968e-02 -1.65505244e-02 2.30265985e+02] [ 5.77909977e-02 9.98328682e-01 -2.06591444e-04 9.76420181e+00] [ 1.65348014e-02 -7.50253440e-04 9.99863009e-01 1.64964817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.234391418 meters Centerline goodness [0,1] 0.9989441675817214 Centerline is valid? [True, True] Translation: X:230.30, Y:9.77, Z:1.65 [[ 9.98456890e-01 -5.30923911e-02 -1.62799764e-02 2.30295476e+02] [ 5.30961253e-02 9.98589385e-01 -2.03077578e-04 9.77342212e+00] [ 1.62677935e-02 -6.61639457e-04 9.99867452e-01 1.65080556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.264391418 meters Centerline goodness [0,1] 0.9988364713348847 Centerline is valid? [True, True] Translation: X:230.33, Y:9.79, Z:1.65 [[ 9.98590599e-01 -5.05931487e-02 -1.60358687e-02 2.30326323e+02] [ 5.05964559e-02 9.98719159e-01 -1.99661615e-04 9.78506258e+00] [ 1.60254309e-02 -6.11977914e-04 9.99871397e-01 1.65267619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.294391418 meters Centerline goodness [0,1] 0.9986846013493444 Centerline is valid? [True, True] Translation: X:230.36, Y:9.79, Z:1.65 [[ 9.98722063e-01 -4.80346228e-02 -1.57135335e-02 2.30357103e+02] [ 4.80374920e-02 9.98845514e-01 -1.95011899e-04 9.78815433e+00] [ 1.57047598e-02 -5.60076055e-04 9.99876516e-01 1.65310842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.324391418 meters Centerline goodness [0,1] 0.9989388118937963 Centerline is valid? [True, True] Translation: X:230.39, Y:9.80, Z:1.65 [[ 9.98973529e-01 -4.26318027e-02 -1.53107029e-02 2.30388279e+02] [ 4.26339021e-02 9.99090744e-01 -1.89403291e-04 9.79854718e+00] [ 1.53048561e-02 -4.63546133e-04 9.99882766e-01 1.65428198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.354391418 meters Centerline goodness [0,1] 0.9987254922786074 Centerline is valid? [True, True] Translation: X:230.42, Y:9.80, Z:1.65 [[ 9.99083606e-01 -4.01188856e-02 -1.49138630e-02 2.30418993e+02] [ 4.01206065e-02 9.99194827e-01 -1.83907183e-04 9.80248064e+00] [ 1.49092329e-02 -4.14614576e-04 9.99888765e-01 1.65434326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.384391418 meters Centerline goodness [0,1] 0.998869502154345 Centerline is valid? [True, True] Translation: X:230.45, Y:9.81, Z:1.66 [[ 9.99296196e-01 -3.47847686e-02 -1.40404018e-02 2.30450402e+02] [ 3.47857752e-02 9.99394777e-01 -1.72589996e-04 9.81223662e+00] [ 1.40379077e-02 -3.15937735e-04 9.99901414e-01 1.65547961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.414391418 meters Centerline goodness [0,1] 0.9989985510952015 Centerline is valid? [True, True] Translation: X:230.48, Y:9.82, Z:1.66 [[ 9.99364503e-01 -3.26429498e-02 -1.43187807e-02 2.30481455e+02] [ 3.26437853e-02 9.99467034e-01 -1.75430713e-04 9.81673715e+00] [ 1.43168758e-02 -2.92099974e-04 9.99897466e-01 1.65582607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.444391418 meters Centerline goodness [0,1] 0.9987837145783544 Centerline is valid? [True, True] Translation: X:230.51, Y:9.82, Z:1.66 [[ 9.99449564e-01 -3.01011335e-02 -1.39459751e-02 2.30513086e+02] [ 3.01016864e-02 9.99546827e-01 -1.70311605e-04 9.82113653e+00] [ 1.39447817e-02 -2.49579509e-04 9.99902736e-01 1.65615960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.474391418 meters Centerline goodness [0,1] 0.9987388042153866 Centerline is valid? [True, True] Translation: X:230.54, Y:9.83, Z:1.66 [[ 9.99564997e-01 -2.61745178e-02 -1.35908791e-02 2.30544685e+02] [ 2.61746873e-02 9.99657370e-01 -1.65435140e-04 9.82819237e+00] [ 1.35905526e-02 -1.90373835e-04 9.99907626e-01 1.65676867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.504391418 meters Centerline goodness [0,1] 0.9986524640657084 Centerline is valid? [True, True] Translation: X:230.58, Y:9.83, Z:1.66 [[ 9.99612024e-01 -2.43255767e-02 -1.35671718e-02 2.30575555e+02] [ 2.43255828e-02 9.99704076e-01 -1.64599438e-04 9.83149881e+00] [ 1.35671609e-02 -1.65493782e-04 9.99907948e-01 1.65709980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.534391418 meters Centerline goodness [0,1] 0.99893130423631 Centerline is valid? [True, True] Translation: X:230.61, Y:9.84, Z:1.66 [[ 9.99666130e-01 -2.19121555e-02 -1.36925677e-02 2.30606244e+02] [ 2.19119411e-02 9.99759891e-01 -1.65701999e-04 9.83585780e+00] [ 1.36929109e-02 -1.34384062e-04 9.99906239e-01 1.65660901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.564391418 meters Centerline goodness [0,1] 0.9991215666109612 Centerline is valid? [True, True] Translation: X:230.64, Y:9.84, Z:1.66 [[ 9.99687774e-01 -2.09472386e-02 -1.36223574e-02 2.30636913e+02] [ 2.09469387e-02 9.99780575e-01 -1.64713014e-04 9.83894058e+00] [ 1.36228186e-02 -1.20685099e-04 9.99907198e-01 1.65765764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59439141800001 meters Centerline goodness [0,1] 0.9990361549006168 Centerline is valid? [True, True] Translation: X:230.67, Y:9.84, Z:1.66 [[ 9.99700395e-01 -2.04460553e-02 -1.34565840e-02 2.30666757e+02] [ 2.04457155e-02 9.99790951e-01 -1.62838571e-04 9.84035951e+00] [ 1.34571003e-02 -1.12339705e-04 9.99909443e-01 1.65757178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62439141800002 meters Centerline goodness [0,1] 0.9990779852906491 Centerline is valid? [True, True] Translation: X:230.70, Y:9.84, Z:1.66 [[ 9.99695522e-01 -2.03160238e-02 -1.40043679e-02 2.30696961e+02] [ 2.03156409e-02 9.99793602e-01 -1.69614359e-04 9.84251044e+00] [ 1.40049233e-02 -1.14944995e-04 9.99901920e-01 1.65719600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.654391418 meters Centerline goodness [0,1] 0.9988634901573958 Centerline is valid? [True, True] Translation: X:230.73, Y:9.84, Z:1.66 [[ 9.99677335e-01 -2.11899889e-02 -1.40074805e-02 2.30727163e+02] [ 2.11896917e-02 9.99775459e-01 -1.69652057e-04 9.84320727e+00] [ 1.40079301e-02 -1.27216877e-04 9.99901876e-01 1.65671176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.684391418 meters Centerline goodness [0,1] 0.9989684518181037 Centerline is valid? [True, True] Translation: X:230.76, Y:9.84, Z:1.66 [[ 9.99644064e-01 -2.24772799e-02 -1.43706814e-02 2.30757275e+02] [ 2.24771000e-02 9.99747343e-01 -1.74050977e-04 9.84307823e+00] [ 1.43709627e-02 -1.49022217e-04 9.99896721e-01 1.65654697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.714391418 meters Centerline goodness [0,1] 0.9987741935483871 Centerline is valid? [True, True] Translation: X:230.79, Y:9.84, Z:1.66 [[ 9.99552941e-01 -2.62079975e-02 -1.43895753e-02 2.30787240e+02] [ 2.62082027e-02 9.99656491e-01 -1.74340378e-04 9.84140023e+00] [ 1.43892015e-02 -2.02862468e-04 9.99896450e-01 1.65597365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.744391418 meters Centerline goodness [0,1] 0.9990535191877474 Centerline is valid? [True, True] Translation: X:230.82, Y:9.84, Z:1.66 [[ 9.99497426e-01 -2.82404830e-02 -1.44003315e-02 2.30817187e+02] [ 2.82409008e-02 9.99601131e-01 -1.74379798e-04 9.84009258e+00] [ 1.43995122e-02 -2.32386174e-04 9.99896295e-01 1.65618114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.774391418 meters Centerline goodness [0,1] 0.9988617327434388 Centerline is valid? [True, True] Translation: X:230.85, Y:9.84, Z:1.66 [[ 9.99345963e-01 -3.31555322e-02 -1.44345692e-02 2.30848718e+02] [ 3.31564707e-02 9.99450158e-01 -1.74358866e-04 9.83712273e+00] [ 1.44324135e-02 -3.04354543e-04 9.99895801e-01 1.65618463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.804391418 meters Centerline goodness [0,1] 0.998946983860916 Centerline is valid? [True, True] Translation: X:230.88, Y:9.84, Z:1.66 [[ 9.99267438e-01 -3.55903198e-02 -1.40682498e-02 2.30880512e+02] [ 3.55914622e-02 9.99366409e-01 -1.69237813e-04 9.83598426e+00] [ 1.40653595e-02 -3.31595744e-04 9.99901023e-01 1.65655137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.834391418 meters Centerline goodness [0,1] 0.9989279588336192 Centerline is valid? [True, True] Translation: X:230.91, Y:9.84, Z:1.66 [[ 9.99187274e-01 -3.77865528e-02 -1.40345038e-02 2.30913062e+02] [ 3.77879201e-02 9.99285767e-01 -1.67843342e-04 9.83508093e+00] [ 1.40308221e-02 -3.62627776e-04 9.99901497e-01 1.65723653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.864391418 meters Centerline goodness [0,1] 0.9990144405879076 Centerline is valid? [True, True] Translation: X:230.95, Y:9.83, Z:1.66 [[ 9.99029784e-01 -4.19891298e-02 -1.32817172e-02 2.30945421e+02] [ 4.19907390e-02 9.99117987e-01 -1.57801408e-04 9.83213244e+00] [ 1.32766285e-02 -4.00060816e-04 9.99911782e-01 1.65788548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.894391418 meters Centerline goodness [0,1] 0.9989499849997857 Centerline is valid? [True, True] Translation: X:230.98, Y:9.83, Z:1.66 [[ 9.98948918e-01 -4.39550531e-02 -1.30004482e-02 2.30976158e+02] [ 4.39567792e-02 9.99033422e-01 -1.53074467e-04 9.83024955e+00] [ 1.29946107e-02 -4.18544258e-04 9.99915479e-01 1.65808549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.924391418 meters Centerline goodness [0,1] 0.9987567254721228 Centerline is valid? [True, True] Translation: X:231.01, Y:9.83, Z:1.66 [[ 9.98871748e-01 -4.58423525e-02 -1.23979456e-02 2.31008258e+02] [ 4.58440844e-02 9.98948597e-01 -1.44621230e-04 9.82923211e+00] [ 1.23915402e-02 -4.23914405e-04 9.99923132e-01 1.65867744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.954391418 meters Centerline goodness [0,1] 0.9988209316783502 Centerline is valid? [True, True] Translation: X:231.04, Y:9.83, Z:1.66 [[ 9.98779693e-01 -4.77762780e-02 -1.25121097e-02 2.31040671e+02] [ 4.77782061e-02 9.98857959e-01 -1.44945176e-04 9.82927345e+00] [ 1.25047453e-02 -4.53037858e-04 9.99921710e-01 1.65911518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.984391418 meters Centerline goodness [0,1] 0.998740715444378 Centerline is valid? [True, True] Translation: X:231.07, Y:9.83, Z:1.66 [[ 9.98572539e-01 -5.20085755e-02 -1.21652392e-02 2.31071564e+02] [ 5.20107197e-02 9.98646517e-01 -1.40270613e-04 9.82683838e+00] [ 1.21560690e-02 -4.92652463e-04 9.99925991e-01 1.65935273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.014391418 meters Centerline goodness [0,1] 0.9989951467727107 Centerline is valid? [True, True] Translation: X:231.10, Y:9.83, Z:1.66 [[ 9.98468242e-01 -5.39979606e-02 -1.20577382e-02 2.31104116e+02] [ 5.40002184e-02 9.98540914e-01 -1.38476393e-04 9.82602075e+00] [ 1.20476223e-02 -5.12856215e-04 9.99927293e-01 1.65963337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.044391418 meters Centerline goodness [0,1] 0.9987983606205609 Centerline is valid? [True, True] Translation: X:231.14, Y:9.82, Z:1.66 [[ 9.98335983e-01 -5.64104483e-02 -1.19635064e-02 2.31135307e+02] [ 5.64128543e-02 9.98407518e-01 -1.36521301e-04 9.82341649e+00] [ 1.19521560e-02 -5.38601416e-04 9.99928425e-01 1.65954632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.074391418 meters Centerline goodness [0,1] 0.9987583490323686 Centerline is valid? [True, True] Translation: X:231.17, Y:9.82, Z:1.66 [[ 9.98042746e-01 -6.13189425e-02 -1.22745764e-02 2.31165887e+02] [ 6.13218537e-02 9.98118035e-01 -1.39409498e-04 9.82231018e+00] [ 1.22600245e-02 -6.13563140e-04 9.99924655e-01 1.65988101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.104391418 meters Centerline goodness [0,1] 0.998993295778268 Centerline is valid? [True, True] Translation: X:231.20, Y:9.82, Z:1.66 [[ 9.97922750e-01 -6.32995584e-02 -1.19728946e-02 2.31198442e+02] [ 6.33024786e-02 9.97994378e-01 -1.35287886e-04 9.82098352e+00] [ 1.19574452e-02 -6.22907048e-04 9.99928313e-01 1.66023055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.134391418 meters Centerline goodness [0,1] 0.9988046703238063 Centerline is valid? [True, True] Translation: X:231.23, Y:9.82, Z:1.66 [[ 9.97718922e-01 -6.62244317e-02 -1.30872890e-02 2.31228099e+02] [ 6.62281800e-02 9.97804493e-01 -1.47252475e-04 9.81834368e+00] [ 1.30683075e-02 -7.19830752e-04 9.99914347e-01 1.65974434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.164391418 meters Centerline goodness [0,1] 0.9987566188608056 Centerline is valid? [True, True] Translation: X:231.26, Y:9.82, Z:1.66 [[ 9.97666927e-01 -6.69700251e-02 -1.32558558e-02 2.31260038e+02] [ 6.69739430e-02 9.97754714e-01 -1.48632484e-04 9.82182142e+00] [ 1.32360466e-02 -7.39511219e-04 9.99912126e-01 1.66019403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.194391418 meters Centerline goodness [0,1] 0.9989922164804769 Centerline is valid? [True, True] Translation: X:231.29, Y:9.82, Z:1.66 [[ 9.97639795e-01 -6.73259747e-02 -1.34926715e-02 2.31290763e+02] [ 6.73300779e-02 9.97730744e-01 -1.50430511e-04 9.82106658e+00] [ 1.34721810e-02 -7.58387156e-04 9.99908958e-01 1.66032409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.224391418 meters Centerline goodness [0,1] 0.9987584553472044 Centerline is valid? [True, True] Translation: X:231.32, Y:9.82, Z:1.66 [[ 9.97654968e-01 -6.71040466e-02 -1.34763672e-02 2.31322038e+02] [ 6.71081288e-02 9.97745697e-01 -1.49569291e-04 9.81922708e+00] [ 1.34560241e-02 -7.55155242e-04 9.99909178e-01 1.66012211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.254391418 meters Centerline goodness [0,1] 0.9987757206065553 Centerline is valid? [True, True] Translation: X:231.35, Y:9.83, Z:1.66 [[ 9.97742785e-01 -6.56826027e-02 -1.39689051e-02 2.31353888e+02] [ 6.56868642e-02 9.97840274e-01 -1.54020083e-04 9.82813870e+00] [ 1.39488526e-02 -7.63901148e-04 9.99902418e-01 1.66101209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.284391418 meters Centerline goodness [0,1] 0.9989268083279674 Centerline is valid? [True, True] Translation: X:231.39, Y:9.82, Z:1.66 [[ 9.97835214e-01 -6.42833851e-02 -1.38755972e-02 2.31385106e+02] [ 6.42874688e-02 9.97931410e-01 -1.51990554e-04 9.82446770e+00] [ 1.38566647e-02 -7.40365493e-04 9.99903718e-01 1.66050401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.314391418 meters Centerline goodness [0,1] 0.9989448069427396 Centerline is valid? [True, True] Translation: X:231.42, Y:9.83, Z:1.66 [[ 9.98012976e-01 -6.13449837e-02 -1.43837553e-02 2.31416926e+02] [ 6.13490805e-02 9.98116359e-01 -1.56661913e-04 9.83378069e+00] [ 1.43662719e-02 -7.26079540e-04 9.99896536e-01 1.66101244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34439141800001 meters Centerline goodness [0,1] 0.9991397109428768 Centerline is valid? [True, True] Translation: X:231.45, Y:9.84, Z:1.66 [[ 9.98138932e-01 -5.91718784e-02 -1.47431758e-02 2.31448312e+02] [ 5.91759570e-02 9.98247555e-01 -1.59829977e-04 9.83738519e+00] [ 1.47267966e-02 -7.12909012e-04 9.99891301e-01 1.66103488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.37439141800002 meters Centerline goodness [0,1] 0.9990298587905573 Centerline is valid? [True, True] Translation: X:231.48, Y:9.84, Z:1.66 [[ 9.98294339e-01 -5.63788615e-02 -1.51603472e-02 2.31478559e+02] [ 5.63828719e-02 9.98409207e-01 -1.63091732e-04 9.84070165e+00] [ 1.51454252e-02 -6.91970364e-04 9.99885062e-01 1.66092639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.404391418 meters Centerline goodness [0,1] 0.9990496760259179 Centerline is valid? [True, True] Translation: X:231.51, Y:9.85, Z:1.66 [[ 9.98615741e-01 -5.02367338e-02 -1.55843935e-02 2.31509728e+02] [ 5.02402410e-02 9.98737148e-01 -1.66625041e-04 9.85108862e+00] [ 1.55730834e-02 -6.16569297e-04 9.99878542e-01 1.66141614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.434391418 meters Centerline goodness [0,1] 0.9992000691832058 Centerline is valid? [True, True] Translation: X:231.54, Y:9.86, Z:1.66 [[ 9.98788299e-01 -4.67964982e-02 -1.52322733e-02 2.31541490e+02] [ 4.67994589e-02 9.98904292e-01 -1.62218608e-04 9.85762906e+00] [ 1.52231745e-02 -5.50840103e-04 9.99883969e-01 1.66256895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.464391418 meters Centerline goodness [0,1] 0.999264880759335 Centerline is valid? [True, True] Translation: X:231.57, Y:9.86, Z:1.66 [[ 9.98951774e-01 -4.32415492e-02 -1.50174009e-02 2.31572442e+02] [ 4.32440369e-02 9.99064526e-01 -1.59179574e-04 9.86200488e+00] [ 1.50102356e-02 -4.90400319e-04 9.99887220e-01 1.66339287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.494391418 meters Centerline goodness [0,1] 0.9991316429315734 Centerline is valid? [True, True] Translation: X:231.60, Y:9.87, Z:1.66 [[ 9.99231948e-01 -3.63507317e-02 -1.46334710e-02 2.31602888e+02] [ 3.63523595e-02 9.99339023e-01 -1.54831781e-04 9.87165570e+00] [ 1.46294268e-02 -3.77248334e-04 9.99892913e-01 1.66481949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.524391418 meters Centerline goodness [0,1] 0.999346960099262 Centerline is valid? [True, True] Translation: X:231.63, Y:9.88, Z:1.67 [[ 9.99359251e-01 -3.28369387e-02 -1.42415764e-02 2.31634579e+02] [ 3.28381321e-02 9.99460672e-01 -1.50099801e-04 9.87576011e+00] [ 1.42388244e-02 -3.17663144e-04 9.99898572e-01 1.66522914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.554391418 meters Centerline goodness [0,1] 0.99926066062148 Centerline is valid? [True, True] Translation: X:231.67, Y:9.88, Z:1.67 [[ 9.99463985e-01 -2.96307804e-02 -1.39197295e-02 2.31666425e+02] [ 2.96316228e-02 9.99560876e-01 -1.45760644e-04 9.88037995e+00] [ 1.39179361e-02 -2.66781662e-04 9.99903105e-01 1.66571112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.584391418 meters Centerline goodness [0,1] 0.9995851709532335 Centerline is valid? [True, True] Translation: X:231.70, Y:9.89, Z:1.67 [[ 9.99631692e-01 -2.32528179e-02 -1.39924169e-02 2.31697474e+02] [ 2.32530541e-02 9.99729601e-01 -1.45837663e-04 9.88849211e+00] [ 1.39920245e-02 -1.79582478e-04 9.99902091e-01 1.66634575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.614391418 meters Centerline goodness [0,1] 0.9995851709532335 Centerline is valid? [True, True] Translation: X:231.73, Y:9.89, Z:1.67 [[ 9.99632627e-01 -2.32125753e-02 -1.39924228e-02 2.31728325e+02] [ 2.32128154e-02 9.99730536e-01 -1.45271589e-04 9.88877501e+00] [ 1.39920245e-02 -1.79585308e-04 9.99902091e-01 1.66656191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.644391418 meters Centerline goodness [0,1] 0.9995412643627943 Centerline is valid? [True, True] Translation: X:231.76, Y:9.89, Z:1.67 [[ 9.99698896e-01 -2.02483708e-02 -1.38607938e-02 2.31758528e+02] [ 2.02483273e-02 9.99794971e-01 -1.43488727e-04 9.89230774e+00] [ 1.38608574e-02 -1.37212369e-04 9.99903924e-01 1.66671980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.674391418 meters Centerline goodness [0,1] 0.9994750541350423 Centerline is valid? [True, True] Translation: X:231.79, Y:9.90, Z:1.67 [[ 9.99811036e-01 -1.42361951e-02 -1.32371805e-02 2.31788833e+02] [ 1.42356303e-02 9.99898659e-01 -1.36899401e-04 9.89989569e+00] [ 1.32377880e-02 -5.15660762e-05 9.99912375e-01 1.66751304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.704391418 meters Centerline goodness [0,1] 0.9994295493439818 Centerline is valid? [True, True] Translation: X:231.82, Y:9.90, Z:1.67 [[ 9.99840952e-01 -1.18641720e-02 -1.33158248e-02 2.31817807e+02] [ 1.18633850e-02 9.99929618e-01 -1.38094567e-04 9.90296743e+00] [ 1.33165260e-02 -1.98981521e-05 9.99911331e-01 1.66721733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.734391418 meters Centerline goodness [0,1] 0.9995399176233459 Centerline is valid? [True, True] Translation: X:231.85, Y:9.91, Z:1.67 [[ 9.99866564e-01 -9.75866092e-03 -1.31005157e-02 2.31846870e+02] [ 9.75769040e-03 9.99952383e-01 -1.37999708e-04 9.90565284e+00] [ 1.31012386e-02 1.01505180e-05 9.99914175e-01 1.66758327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.764391418 meters Centerline goodness [0,1] 0.9995396755808855 Centerline is valid? [True, True] Translation: X:231.87, Y:9.91, Z:1.67 [[ 9.99893598e-01 -6.97084919e-03 -1.28140419e-02 2.31874694e+02] [ 6.96964280e-03 9.99975702e-01 -1.38800241e-04 9.90908862e+00] [ 1.28146981e-02 4.94761769e-05 9.99917887e-01 1.66767722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.794391418 meters Centerline goodness [0,1] 0.9995165685154258 Centerline is valid? [True, True] Translation: X:231.90, Y:9.91, Z:1.67 [[ 9.99895542e-01 -6.56856912e-03 -1.28747730e-02 2.31902395e+02] [ 6.56726390e-03 9.99978425e-01 -1.43653788e-04 9.91016304e+00] [ 1.28754388e-02 5.90867503e-05 9.99917106e-01 1.66771777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.824391418 meters Centerline goodness [0,1] 0.9997367324104341 Centerline is valid? [True, True] Translation: X:231.93, Y:9.91, Z:1.67 [[ 9.99893294e-01 -6.57159967e-03 -1.30466557e-02 2.31929007e+02] [ 6.57021178e-03 9.99978405e-01 -1.49238100e-04 9.91081116e+00] [ 1.30473547e-02 6.35028844e-05 9.99914878e-01 1.66733672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.854391418 meters Centerline goodness [0,1] 0.9996265049652869 Centerline is valid? [True, True] Translation: X:231.96, Y:9.91, Z:1.67 [[ 9.99878160e-01 -8.19984036e-03 -1.32826171e-02 2.31956630e+02] [ 8.19849722e-03 9.99966380e-01 -1.55568986e-04 9.90971185e+00] [ 1.32834462e-02 4.66525324e-05 9.99911770e-01 1.66670453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.884391418 meters Centerline goodness [0,1] 0.9995172686180717 Centerline is valid? [True, True] Translation: X:231.98, Y:9.91, Z:1.67 [[ 9.99868434e-01 -9.54599302e-03 -1.31144496e-02 2.31983365e+02] [ 9.54475876e-03 9.99954435e-01 -1.56702149e-04 9.90874001e+00] [ 1.31153480e-02 3.15072739e-05 9.99913990e-01 1.66623036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.914391418 meters Centerline goodness [0,1] 0.9995609220636663 Centerline is valid? [True, True] Translation: X:232.01, Y:9.90, Z:1.67 [[ 9.99830239e-01 -1.34941008e-02 -1.25459758e-02 2.32012079e+02] [ 1.34932646e-02 9.99908950e-01 -1.51292896e-04 9.90443065e+00] [ 1.25468750e-02 -1.80189590e-05 9.99921285e-01 1.66645644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.944391418 meters Centerline goodness [0,1] 0.9995837532313894 Centerline is valid? [True, True] Translation: X:232.04, Y:9.90, Z:1.67 [[ 9.99801790e-01 -1.58577024e-02 -1.20380623e-02 2.32042048e+02] [ 1.58570950e-02 9.99874258e-01 -1.45908428e-04 9.90188559e+00] [ 1.20388624e-02 -4.50091902e-05 9.99927529e-01 1.66673678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.974391418 meters Centerline goodness [0,1] 0.9994087893319319 Centerline is valid? [True, True] Translation: X:232.07, Y:9.90, Z:1.67 [[ 9.99758320e-01 -1.84543434e-02 -1.19473118e-02 2.32072211e+02] [ 1.84539272e-02 9.99829701e-01 -1.45090328e-04 9.89890204e+00] [ 1.19479548e-02 -7.54195594e-05 9.99928618e-01 1.66655736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.004391418 meters Centerline goodness [0,1] 0.9995415347669468 Centerline is valid? [True, True] Translation: X:232.10, Y:9.89, Z:1.67 [[ 9.99636261e-01 -2.40348163e-02 -1.22340801e-02 2.32102570e+02] [ 2.40348014e-02 9.99711111e-01 -1.48272981e-04 9.89212880e+00] [ 1.22341096e-02 -1.45824637e-04 9.99925150e-01 1.66606244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.034391418 meters Centerline goodness [0,1] 0.9993449495611162 Centerline is valid? [True, True] Translation: X:232.13, Y:9.89, Z:1.67 [[ 9.99562128e-01 -2.68322467e-02 -1.24733122e-02 2.32134211e+02] [ 2.68324567e-02 9.99639933e-01 -1.50541613e-04 9.88947492e+00] [ 1.24728603e-02 -1.84213914e-04 9.99922194e-01 1.66609092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.064391418 meters Centerline goodness [0,1] 0.9994774088187262 Centerline is valid? [True, True] Translation: X:232.17, Y:9.88, Z:1.67 [[ 9.99492598e-01 -2.93458202e-02 -1.23842623e-02 2.32165498e+02] [ 2.93462277e-02 9.99569296e-01 -1.48861345e-04 9.88496307e+00] [ 1.23832968e-02 -2.14645570e-04 9.99923301e-01 1.66567462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09439141800001 meters Centerline goodness [0,1] 0.9991950572162033 Centerline is valid? [True, True] Translation: X:232.20, Y:9.88, Z:1.67 [[ 9.99410909e-01 -3.19332540e-02 -1.25738817e-02 2.32197413e+02] [ 3.19338897e-02 9.99489972e-01 -1.50266064e-04 9.88278405e+00] [ 1.25722672e-02 -2.51355408e-04 9.99920934e-01 1.66597898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12439141800002 meters Centerline goodness [0,1] 0.9994134642539048 Centerline is valid? [True, True] Translation: X:232.23, Y:9.88, Z:1.67 [[ 9.99273311e-01 -3.59448927e-02 -1.26812652e-02 2.32229764e+02] [ 3.59458751e-02 9.99353727e-01 -1.50530233e-04 9.87679174e+00] [ 1.26784804e-02 -3.05418328e-04 9.99919578e-01 1.66612527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.154391418 meters Centerline goodness [0,1] 0.9991544165474178 Centerline is valid? [True, True] Translation: X:232.26, Y:9.87, Z:1.67 [[ 9.99191147e-01 -3.81280667e-02 -1.27789590e-02 2.32262390e+02] [ 3.81292558e-02 9.99272804e-01 -1.50663024e-04 9.87238077e+00] [ 1.27754107e-02 -3.36711037e-04 9.99918334e-01 1.66654024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.184391418 meters Centerline goodness [0,1] 0.99911274615884 Centerline is valid? [True, True] Translation: X:232.29, Y:9.87, Z:1.67 [[ 9.99187187e-01 -3.82470634e-02 -1.27329098e-02 2.32294173e+02] [ 3.82482665e-02 9.99268256e-01 -1.49105198e-04 9.87101265e+00] [ 1.27292954e-02 -3.38027723e-04 9.99918922e-01 1.66665689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.214391418 meters Centerline goodness [0,1] 0.9994574652777778 Centerline is valid? [True, True] Translation: X:232.33, Y:9.87, Z:1.67 [[ 9.99213347e-01 -3.75869556e-02 -1.26454386e-02 2.32326430e+02] [ 3.75881022e-02 9.99293307e-01 -1.47072401e-04 9.87081444e+00] [ 1.26420302e-02 -3.28361334e-04 9.99920032e-01 1.66707925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.244391418 meters Centerline goodness [0,1] 0.9994581238078724 Centerline is valid? [True, True] Translation: X:232.36, Y:9.87, Z:1.67 [[ 9.99249190e-01 -3.66090386e-02 -1.26820719e-02 2.32357452e+02] [ 3.66101246e-02 9.99329614e-01 -1.46592455e-04 9.86957127e+00] [ 1.26789366e-02 -3.17809840e-04 9.99919569e-01 1.66690531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.274391418 meters Centerline goodness [0,1] 0.9993500584947355 Centerline is valid? [True, True] Translation: X:232.39, Y:9.87, Z:1.67 [[ 9.99365000e-01 -3.31033528e-02 -1.31819607e-02 2.32389636e+02] [ 3.31042336e-02 9.99451893e-01 -1.51434597e-04 9.87144087e+00] [ 1.31797486e-02 -2.85040272e-04 9.99913103e-01 1.66682158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.304391418 meters Centerline goodness [0,1] 0.9994153313122563 Centerline is valid? [True, True] Translation: X:232.42, Y:9.87, Z:1.67 [[ 9.99440579e-01 -3.05151692e-02 -1.36876783e-02 2.32421743e+02] [ 3.05158917e-02 9.99534270e-01 -1.56115746e-04 9.87251099e+00] [ 1.36860675e-02 -2.61663298e-04 9.99906307e-01 1.66671602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.334391418 meters Centerline goodness [0,1] 0.9990682758770124 Centerline is valid? [True, True] Translation: X:232.45, Y:9.88, Z:1.67 [[ 9.99613545e-01 -2.41758123e-02 -1.37218847e-02 2.32453503e+02] [ 2.41759545e-02 9.99707707e-01 -1.55532435e-04 9.87543583e+00] [ 1.37216340e-02 -1.76267332e-04 9.99905838e-01 1.66656077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.364391418 meters Centerline goodness [0,1] 0.9989164824686864 Centerline is valid? [True, True] Translation: X:232.48, Y:9.88, Z:1.67 [[ 9.99688025e-01 -2.07913233e-02 -1.38410039e-02 2.32483601e+02] [ 2.07911515e-02 9.99783828e-01 -1.56320298e-04 9.87706254e+00] [ 1.38412620e-02 -1.31498879e-04 9.99904196e-01 1.66642629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.394391418 meters Centerline goodness [0,1] 0.9992436193892766 Centerline is valid? [True, True] Translation: X:232.51, Y:9.88, Z:1.67 [[ 9.99762260e-01 -1.68396187e-02 -1.38509846e-02 2.32513880e+02] [ 1.68390693e-02 9.99858201e-01 -1.56293936e-04 9.88011088e+00] [ 1.38516524e-02 -7.69809096e-05 9.99904058e-01 1.66764226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.424391418 meters Centerline goodness [0,1] 0.9992632080787067 Centerline is valid? [True, True] Translation: X:232.54, Y:9.88, Z:1.67 [[ 9.99857307e-01 -9.79799508e-03 -1.37609714e-02 2.32543384e+02] [ 9.79678219e-03 9.99951998e-01 -1.55548391e-04 9.88394847e+00] [ 1.37618349e-02 2.07129558e-05 9.99905301e-01 1.66831172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.454391418 meters Centerline goodness [0,1] 0.999306202978991 Centerline is valid? [True, True] Translation: X:232.57, Y:9.89, Z:1.67 [[ 9.99882311e-01 -6.92081617e-03 -1.36918240e-02 2.32572436e+02] [ 6.91931557e-03 9.99976049e-01 -1.56967022e-04 9.88522046e+00] [ 1.36925824e-02 6.22104975e-05 9.99906250e-01 1.66909187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.484391418 meters Centerline goodness [0,1] 0.9993284374255323 Centerline is valid? [True, True] Translation: X:232.60, Y:9.89, Z:1.67 [[ 9.99888949e-01 -2.15932880e-03 -1.47453749e-02 2.32600112e+02] [ 2.15702709e-03 9.99997659e-01 -1.71999360e-04 9.88643122e+00] [ 1.47457118e-02 1.40174086e-04 9.99891266e-01 1.66819387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.514391418 meters Centerline goodness [0,1] 0.999199342162209 Centerline is valid? [True, True] Translation: X:232.63, Y:9.89, Z:1.67 [[ 9.99881231e-01 -6.55125138e-04 -1.53978787e-02 2.32628277e+02] [ 6.52412578e-04 9.99999771e-01 -1.81187048e-04 9.88704995e+00] [ 1.53979939e-02 1.71119759e-04 9.99881429e-01 1.66707915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.544391418 meters Centerline goodness [0,1] 0.9991130148840429 Centerline is valid? [True, True] Translation: X:232.66, Y:9.89, Z:1.67 [[ 9.99870288e-01 7.21776826e-05 -1.61059632e-02 2.32656996e+02] [-7.52930625e-05 9.99999979e-01 -1.92823924e-04 9.88572863e+00] [ 1.61059489e-02 1.94011580e-04 9.99870272e-01 1.66676078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.574391418 meters Centerline goodness [0,1] 0.9992221093800644 Centerline is valid? [True, True] Translation: X:232.69, Y:9.88, Z:1.67 [[ 9.99861164e-01 2.16950928e-04 -1.66614802e-02 2.32685424e+02] [-2.20352182e-04 9.99999955e-01 -2.02303232e-04 9.88467556e+00] [ 1.66614356e-02 2.05946538e-04 9.99861167e-01 1.66631828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.604391418 meters Centerline goodness [0,1] 0.9992653096503739 Centerline is valid? [True, True] Translation: X:232.71, Y:9.88, Z:1.67 [[ 9.99851721e-01 -7.87381882e-04 -1.72022177e-02 2.32713702e+02] [ 7.83877390e-04 9.99999671e-01 -2.10465044e-04 9.88129254e+00] [ 1.72023778e-02 1.96949407e-04 9.99852009e-01 1.66571685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.634391418 meters Centerline goodness [0,1] 0.9991373360938578 Centerline is valid? [True, True] Translation: X:232.74, Y:9.88, Z:1.67 [[ 9.99851406e-01 -2.26721021e-03 -1.70887660e-02 2.32742380e+02] [ 2.26394232e-03 9.99997415e-01 -2.10573653e-04 9.87817619e+00] [ 1.70891992e-02 1.71854382e-04 9.99853954e-01 1.66635619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.664391418 meters Centerline goodness [0,1] 0.9990518058788036 Centerline is valid? [True, True] Translation: X:232.77, Y:9.87, Z:1.67 [[ 9.99845327e-01 -6.63170733e-03 -1.62893231e-02 2.32771342e+02] [ 6.62929628e-03 9.99978006e-01 -2.02007567e-04 9.87085864e+00] [ 1.62903044e-02 9.39895733e-05 9.99867300e-01 1.66747791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.694391418 meters Centerline goodness [0,1] 0.9991624251014755 Centerline is valid? [True, True] Translation: X:232.80, Y:9.87, Z:1.67 [[ 9.99823194e-01 -9.37137057e-03 -1.63020801e-02 2.32799307e+02] [ 9.36928822e-03 9.99956086e-01 -2.04106677e-04 9.86739922e+00] [ 1.63032770e-02 5.13317024e-05 9.99867091e-01 1.66743346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.724391418 meters Centerline goodness [0,1] 0.9989937483942793 Centerline is valid? [True, True] Translation: X:232.83, Y:9.86, Z:1.67 [[ 9.99790141e-01 -1.31795046e-02 -1.56836001e-02 2.32827107e+02] [ 1.31779877e-02 9.99913147e-01 -2.00068963e-04 9.86330123e+00] [ 1.56848747e-02 -6.65131253e-06 9.99876985e-01 1.66807100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.754391418 meters Centerline goodness [0,1] 0.9991454452230388 Centerline is valid? [True, True] Translation: X:232.86, Y:9.85, Z:1.67 [[ 9.99676884e-01 -2.06590255e-02 -1.48098714e-02 2.32856181e+02] [ 2.06584538e-02 9.99786573e-01 -1.91606508e-04 9.85343048e+00] [ 1.48106690e-02 -1.14404446e-04 9.99890309e-01 1.66918390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.784391418 meters Centerline goodness [0,1] 0.9987410378968932 Centerline is valid? [True, True] Translation: X:232.89, Y:9.85, Z:1.67 [[ 9.99596737e-01 -2.46684789e-02 -1.40651648e-02 2.32885977e+02] [ 2.46683487e-02 9.99695673e-01 -1.82779718e-04 9.84862310e+00] [ 1.40653933e-02 -1.64258379e-04 9.99901064e-01 1.66968890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.814391418 meters Centerline goodness [0,1] 0.9987695963003034 Centerline is valid? [True, True] Translation: X:232.92, Y:9.84, Z:1.67 [[ 9.99406971e-01 -3.18223417e-02 -1.31546770e-02 2.32916220e+02] [ 3.18228420e-02 9.99493510e-01 -1.71332463e-04 9.83863518e+00] [ 1.31534665e-02 -2.47388349e-04 9.99913459e-01 1.67014262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84439141800001 meters Centerline goodness [0,1] 0.9990879008993722 Centerline is valid? [True, True] Translation: X:232.95, Y:9.83, Z:1.67 [[ 9.99312360e-01 -3.48169173e-02 -1.27510648e-02 2.32947298e+02] [ 3.48176337e-02 9.99393669e-01 -1.65869267e-04 9.83392647e+00] [ 1.27491085e-02 -2.78206694e-04 9.99918688e-01 1.67083492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.87439141800002 meters Centerline goodness [0,1] 0.9991081855823336 Centerline is valid? [True, True] Translation: X:232.98, Y:9.83, Z:1.67 [[ 9.99216361e-01 -3.76692661e-02 -1.21527715e-02 2.32978965e+02] [ 3.76701350e-02 9.99290216e-01 -1.57485890e-04 9.82983126e+00] [ 1.21500780e-02 -3.00434065e-04 9.99926140e-01 1.67124165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.904391418 meters Centerline goodness [0,1] 0.999002589024235 Centerline is valid? [True, True] Translation: X:233.01, Y:9.83, Z:1.67 [[ 9.99113643e-01 -4.03288351e-02 -1.20629142e-02 2.33011535e+02] [ 4.03298930e-02 9.99186407e-01 -1.55639911e-04 9.82632914e+00] [ 1.20593766e-02 -3.30994079e-04 9.99927228e-01 1.67143787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.934391418 meters Centerline goodness [0,1] 0.9990480421400013 Centerline is valid? [True, True] Translation: X:233.04, Y:9.82, Z:1.67 [[ 9.98904805e-01 -4.52114385e-02 -1.20464233e-02 2.33042075e+02] [ 4.52128562e-02 9.98977364e-01 -1.54764643e-04 9.81849849e+00] [ 1.20411014e-02 -3.90058061e-04 9.99927427e-01 1.67089682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.964391418 meters Centerline goodness [0,1] 0.998983997967996 Centerline is valid? [True, True] Translation: X:233.07, Y:9.82, Z:1.67 [[ 9.98806873e-01 -4.72993337e-02 -1.21491970e-02 2.33074580e+02] [ 4.73009366e-02 9.98880672e-01 -1.55537555e-04 9.81582015e+00] [ 1.21429549e-02 -4.19316418e-04 9.99926184e-01 1.67068712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.994391418 meters Centerline goodness [0,1] 0.9986250661025913 Centerline is valid? [True, True] Translation: X:233.11, Y:9.81, Z:1.67 [[ 9.98670738e-01 -5.00472523e-02 -1.23299984e-02 2.33105346e+02] [ 5.00491283e-02 9.98746745e-01 -1.56557114e-04 9.81030473e+00] [ 1.23223811e-02 -4.60756666e-04 9.99923970e-01 1.66999042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.024391418 meters Centerline goodness [0,1] 0.9984952845183851 Centerline is valid? [True, True] Translation: X:233.14, Y:9.81, Z:1.67 [[ 9.98629997e-01 -5.08525927e-02 -1.23346092e-02 2.33137685e+02] [ 5.08545484e-02 9.98706058e-01 -1.55238942e-04 9.80852349e+00] [ 1.23265432e-02 -4.72244714e-04 9.99923914e-01 1.66997797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.054391418 meters Centerline goodness [0,1] 0.9987287596932073 Centerline is valid? [True, True] Translation: X:233.17, Y:9.81, Z:1.67 [[ 9.98557166e-01 -5.22041264e-02 -1.25823256e-02 2.33169773e+02] [ 5.22062813e-02 9.98636310e-01 -1.57352137e-04 9.80919031e+00] [ 1.25733816e-02 -4.99751323e-04 9.99920827e-01 1.67026553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.084391418 meters Centerline goodness [0,1] 0.9985811998390615 Centerline is valid? [True, True] Translation: X:233.20, Y:9.81, Z:1.67 [[ 9.98537790e-01 -5.24907217e-02 -1.29230495e-02 2.33202154e+02] [ 5.24930325e-02 9.98621277e-01 -1.60556718e-04 9.80881089e+00] [ 1.29136599e-02 -5.18048105e-04 9.99916481e-01 1.67016967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.114391418 meters Centerline goodness [0,1] 0.9989625018526752 Centerline is valid? [True, True] Translation: X:233.23, Y:9.81, Z:1.67 [[ 9.98525403e-01 -5.25968371e-02 -1.34384884e-02 2.33233504e+02] [ 5.25993586e-02 9.98615682e-01 -1.65989494e-04 9.80723171e+00] [ 1.34286158e-02 -5.41111146e-04 9.99909686e-01 1.66992515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.144391418 meters Centerline goodness [0,1] 0.9989196746314184 Centerline is valid? [True, True] Translation: X:233.27, Y:9.81, Z:1.67 [[ 9.98483277e-01 -5.31464110e-02 -1.43737466e-02 2.33266058e+02] [ 5.31493675e-02 9.98586558e-01 -1.76501124e-04 9.80737541e+00] [ 1.43628106e-02 -5.87722120e-04 9.99896677e-01 1.66895631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.174391418 meters Centerline goodness [0,1] 0.9991309692871828 Centerline is valid? [True, True] Translation: X:233.30, Y:9.81, Z:1.67 [[ 9.98466679e-01 -5.33782992e-02 -1.46645010e-02 2.33297955e+02] [ 5.33814189e-02 9.98574180e-01 -1.78882995e-04 9.80741441e+00] [ 1.46531406e-02 -6.04203163e-04 9.99892454e-01 1.66891877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.204391418 meters Centerline goodness [0,1] 0.999067183955564 Centerline is valid? [True, True] Translation: X:233.33, Y:9.81, Z:1.67 [[ 9.98415023e-01 -5.41452746e-02 -1.53535522e-02 2.33329592e+02] [ 5.41488018e-02 9.98532860e-01 -1.86191813e-04 9.80875461e+00] [ 1.53411078e-02 -6.45479751e-04 9.99882110e-01 1.66922127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.234391418 meters Centerline goodness [0,1] 0.9991510675325778 Centerline is valid? [True, True] Translation: X:233.36, Y:9.81, Z:1.67 [[ 9.98389320e-01 -5.45403322e-02 -1.56242835e-02 2.33360709e+02] [ 5.45440560e-02 9.98511347e-01 -1.88013326e-04 9.80609211e+00] [ 1.56112787e-02 -6.64501297e-04 9.99877916e-01 1.66871808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.264391418 meters Centerline goodness [0,1] 0.9990877267423358 Centerline is valid? [True, True] Translation: X:233.39, Y:9.81, Z:1.67 [[ 9.98363738e-01 -5.49540919e-02 -1.58080773e-02 2.33392455e+02] [ 5.49579862e-02 9.98488650e-01 -1.88288764e-04 9.80642332e+00] [ 1.57945330e-02 -6.80799422e-04 9.99875027e-01 1.66902710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.294391418 meters Centerline goodness [0,1] 0.9991942324003392 Centerline is valid? [True, True] Translation: X:233.42, Y:9.81, Z:1.67 [[ 9.98347089e-01 -5.53321549e-02 -1.55384250e-02 2.33424195e+02] [ 5.53359871e-02 9.98467774e-01 -1.83539452e-04 9.80947652e+00] [ 1.55247722e-02 -6.76598008e-04 9.99879255e-01 1.66999922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.324391418 meters Centerline goodness [0,1] 0.999000574138261 Centerline is valid? [True, True] Translation: X:233.46, Y:9.81, Z:1.67 [[ 9.98234941e-01 -5.71179026e-02 -1.62649553e-02 2.33455625e+02] [ 5.71223566e-02 9.98367167e-01 -1.90981123e-04 9.80575357e+00] [ 1.62493058e-02 -7.38448549e-04 9.99867699e-01 1.66953665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.354391418 meters Centerline goodness [0,1] 0.9989215250904016 Centerline is valid? [True, True] Translation: X:233.49, Y:9.81, Z:1.67 [[ 9.98094877e-01 -5.96681971e-02 -1.56946787e-02 2.33487254e+02] [ 5.96726734e-02 9.98217981e-01 -1.83351909e-04 9.81103220e+00] [ 1.56776508e-02 -7.53540835e-04 9.99876814e-01 1.67160275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.384391418 meters Centerline goodness [0,1] 0.9987475588010529 Centerline is valid? [True, True] Translation: X:233.52, Y:9.81, Z:1.67 [[ 9.98042846e-01 -6.06991085e-02 -1.50364530e-02 2.33518205e+02] [ 6.07033473e-02 9.98155836e-01 -1.74767536e-04 9.80830829e+00] [ 1.50193316e-02 -7.38337542e-04 9.99886931e-01 1.67228839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.414391418 meters Centerline goodness [0,1] 0.998792475213965 Centerline is valid? [True, True] Translation: X:233.55, Y:9.81, Z:1.67 [[ 9.97989315e-01 -6.16481542e-02 -1.47252459e-02 2.33550372e+02] [ 6.16523377e-02 9.98097671e-01 -1.70102217e-04 9.81309809e+00] [ 1.47077201e-02 -7.38085637e-04 9.99891563e-01 1.67361288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.444391418 meters Centerline goodness [0,1] 0.9990075175268182 Centerline is valid? [True, True] Translation: X:233.58, Y:9.81, Z:1.67 [[ 9.97964694e-01 -6.21399411e-02 -1.43212356e-02 2.33581814e+02] [ 6.21439631e-02 9.98067183e-01 -1.64429021e-04 9.80872152e+00] [ 1.43037729e-02 -7.25883981e-04 9.99897432e-01 1.67369778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.474391418 meters Centerline goodness [0,1] 0.9984978313762827 Centerline is valid? [True, True] Translation: X:233.61, Y:9.81, Z:1.67 [[ 9.97910069e-01 -6.29829125e-02 -1.44446268e-02 2.33614116e+02] [ 6.29871070e-02 9.98014327e-01 -1.64821502e-04 9.81363598e+00] [ 1.44263254e-02 -7.45348217e-04 9.99895657e-01 1.67438963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.504391418 meters Centerline goodness [0,1] 0.9990670455027353 Centerline is valid? [True, True] Translation: X:233.65, Y:9.81, Z:1.67 [[ 9.97911237e-01 -6.30562836e-02 -1.40381322e-02 2.33646225e+02] [ 6.30602680e-02 9.98009708e-01 -1.59082962e-04 9.81489205e+00] [ 1.40202234e-02 -7.26497705e-04 9.99901448e-01 1.67499286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.534391418 meters Centerline goodness [0,1] 0.9990670455027353 Centerline is valid? [True, True] Translation: X:233.68, Y:9.82, Z:1.68 [[ 9.97916237e-01 -6.29770987e-02 -1.40381448e-02 2.33677958e+02] [ 6.29810909e-02 9.98014708e-01 -1.57969398e-04 9.81517048e+00] [ 1.40202234e-02 -7.26497446e-04 9.99901448e-01 1.67521516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.564391418 meters Centerline goodness [0,1] 0.9985777362656024 Centerline is valid? [True, True] Translation: X:233.71, Y:9.82, Z:1.68 [[ 9.97906555e-01 -6.31534650e-02 -1.39336761e-02 2.33710162e+02] [ 6.31574306e-02 9.98003564e-01 -1.55677221e-04 9.81922898e+00] [ 1.39156899e-02 -7.24663860e-04 9.99902910e-01 1.67556616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59439141800001 meters Centerline goodness [0,1] 0.9987527218146841 Centerline is valid? [True, True] Translation: X:233.74, Y:9.82, Z:1.68 [[ 9.97930789e-01 -6.27570773e-02 -1.39888763e-02 2.33741707e+02] [ 6.27610495e-02 9.98028570e-01 -1.55297139e-04 9.82122726e+00] [ 1.39710442e-02 -7.22980759e-04 9.99902139e-01 1.67603856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62439141800002 meters Centerline goodness [0,1] 0.9991720799898102 Centerline is valid? [True, True] Translation: X:233.77, Y:9.83, Z:1.68 [[ 9.97962833e-01 -6.21937283e-02 -1.42170666e-02 2.33774064e+02] [ 6.21977886e-02 9.98063831e-01 -1.56811731e-04 9.82663009e+00] [ 1.41992926e-02 -7.27777821e-04 9.99898920e-01 1.67642514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.654391418 meters Centerline goodness [0,1] 0.9990219217112117 Centerline is valid? [True, True] Translation: X:233.81, Y:9.83, Z:1.68 [[ 9.97974390e-01 -6.19872035e-02 -1.43074788e-02 2.33805579e+02] [ 6.19913090e-02 9.98076677e-01 -1.56792548e-04 9.82711834e+00] [ 1.42896800e-02 -7.30464391e-04 9.99897630e-01 1.67626244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.684391418 meters Centerline goodness [0,1] 0.9994025519566423 Centerline is valid? [True, True] Translation: X:233.84, Y:9.83, Z:1.68 [[ 9.98047277e-01 -6.08637485e-02 -1.40440743e-02 2.33838186e+02] [ 6.08676092e-02 9.98145836e-01 -1.52771417e-04 9.83366447e+00] [ 1.40273325e-02 -7.02356128e-04 9.99901365e-01 1.67735155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.714391418 meters Centerline goodness [0,1] 0.9992326057298773 Centerline is valid? [True, True] Translation: X:233.87, Y:9.83, Z:1.68 [[ 9.98059716e-01 -6.06169450e-02 -1.42263803e-02 2.33869635e+02] [ 6.06208981e-02 9.98160850e-01 -1.53591619e-04 9.83443464e+00] [ 1.42095261e-02 -7.09122345e-04 9.99898788e-01 1.67727924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.744391418 meters Centerline goodness [0,1] 0.9995305765373619 Centerline is valid? [True, True] Translation: X:233.90, Y:9.84, Z:1.68 [[ 9.98089383e-01 -6.01535888e-02 -1.41112871e-02 2.33901773e+02] [ 6.01574461e-02 9.98188889e-01 -1.51341396e-04 9.83858499e+00] [ 1.40948337e-02 -6.97846751e-04 9.99900419e-01 1.67776139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.774391418 meters Centerline goodness [0,1] 0.9993177699605585 Centerline is valid? [True, True] Translation: X:233.93, Y:9.84, Z:1.68 [[ 9.98093472e-01 -6.00126166e-02 -1.44189812e-02 2.33934776e+02] [ 6.00166511e-02 9.98197364e-01 -1.53138846e-04 9.83987733e+00] [ 1.44021793e-02 -7.12532083e-04 9.99896029e-01 1.67763916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.804391418 meters Centerline goodness [0,1] 0.9992713713220325 Centerline is valid? [True, True] Translation: X:233.97, Y:9.84, Z:1.68 [[ 9.98068703e-01 -6.02455210e-02 -1.51439946e-02 2.33965784e+02] [ 6.02500287e-02 9.98183304e-01 -1.58816324e-04 9.84146620e+00] [ 1.51260506e-02 -7.53916509e-04 9.99885311e-01 1.67605772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.834391418 meters Centerline goodness [0,1] 0.9994869163673679 Centerline is valid? [True, True] Translation: X:234.00, Y:9.84, Z:1.68 [[ 9.98049897e-01 -6.04722626e-02 -1.54760661e-02 2.33997624e+02] [ 6.04770232e-02 9.98169577e-01 -1.60635322e-04 9.84286137e+00] [ 1.54574523e-02 -7.75624342e-04 9.99880226e-01 1.67624479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.864391418 meters Centerline goodness [0,1] 0.9995293010120028 Centerline is valid? [True, True] Translation: X:234.03, Y:9.84, Z:1.68 [[ 9.98027151e-01 -6.08681596e-02 -1.53906833e-02 2.34029921e+02] [ 6.08729337e-02 9.98145511e-01 -1.58509881e-04 9.84496266e+00] [ 1.53717896e-02 -7.78678880e-04 9.99881544e-01 1.67630788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.894391418 meters Centerline goodness [0,1] 0.9994208618433753 Centerline is valid? [True, True] Translation: X:234.06, Y:9.84, Z:1.68 [[ 9.97968353e-01 -6.19751219e-02 -1.47733167e-02 2.34061040e+02] [ 6.19796566e-02 9.98077401e-01 -1.51139225e-04 9.84460258e+00] [ 1.47542804e-02 -7.64812933e-04 9.99890857e-01 1.67684510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.924391418 meters Centerline goodness [0,1] 0.9994848790538945 Centerline is valid? [True, True] Translation: X:234.09, Y:9.85, Z:1.68 [[ 9.97935720e-01 -6.25503224e-02 -1.45518498e-02 2.34092767e+02] [ 6.25547979e-02 9.98041520e-01 -1.47851339e-04 9.84864130e+00] [ 1.45325985e-02 -7.62741892e-04 9.99894105e-01 1.67797196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.954391418 meters Centerline goodness [0,1] 0.9993988449234601 Centerline is valid? [True, True] Translation: X:234.12, Y:9.85, Z:1.68 [[ 9.97894379e-01 -6.32610609e-02 -1.43124298e-02 2.34124505e+02] [ 6.32654849e-02 9.97996722e-01 -1.43907894e-04 9.85185120e+00] [ 1.42928618e-02 -7.61877932e-04 9.99897562e-01 1.67861073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.984391418 meters Centerline goodness [0,1] 0.9993543666336676 Centerline is valid? [True, True] Translation: X:234.16, Y:9.85, Z:1.68 [[ 9.97863826e-01 -6.36923800e-02 -1.45281231e-02 2.34156289e+02] [ 6.36970062e-02 9.97969273e-01 -1.44539323e-04 9.85365141e+00] [ 1.45078265e-02 -7.81167383e-04 9.99894451e-01 1.67883787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.014391418 meters Centerline goodness [0,1] 0.9996770790725711 Centerline is valid? [True, True] Translation: X:234.19, Y:9.85, Z:1.68 [[ 9.97854599e-01 -6.38725864e-02 -1.43698202e-02 2.34188899e+02] [ 6.38771475e-02 9.97957760e-01 -1.41816070e-04 9.85482371e+00] [ 1.43495317e-02 -7.76391305e-04 9.99896739e-01 1.67928967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.044391418 meters Centerline goodness [0,1] 0.9994819323921772 Centerline is valid? [True, True] Translation: X:234.22, Y:9.86, Z:1.68 [[ 9.97862015e-01 -6.39167765e-02 -1.36398041e-02 2.34221730e+02] [ 6.39209082e-02 9.97954959e-01 -1.33267652e-04 9.85927890e+00] [ 1.36204282e-02 -7.38885937e-04 9.99906965e-01 1.68002844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.074391418 meters Centerline goodness [0,1] 0.9991357891325483 Centerline is valid? [True, True] Translation: X:234.25, Y:9.86, Z:1.68 [[ 9.97880548e-01 -6.37522299e-02 -1.30408676e-02 2.34254064e+02] [ 6.37560098e-02 9.97965508e-01 -1.26106846e-04 9.86140375e+00] [ 1.30223756e-02 -7.05594112e-04 9.99914956e-01 1.68066302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.104391418 meters Centerline goodness [0,1] 0.9993737853595336 Centerline is valid? [True, True] Translation: X:234.28, Y:9.86, Z:1.68 [[ 9.97968743e-01 -6.23418707e-02 -1.31102497e-02 2.34284889e+02] [ 6.23455899e-02 9.98054614e-01 -1.25220856e-04 9.86457456e+00] [ 1.30925517e-02 -6.92399754e-04 9.99914049e-01 1.68158618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.134391418 meters Centerline goodness [0,1] 0.9991559355048155 Centerline is valid? [True, True] Translation: X:234.32, Y:9.87, Z:1.68 [[ 9.97993037e-01 -6.19978215e-02 -1.28906281e-02 2.34316294e+02] [ 6.20014074e-02 9.98076055e-01 -1.21662422e-04 9.86636517e+00] [ 1.28733700e-02 -6.77818834e-04 9.99916905e-01 1.68169841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.164391418 meters Centerline goodness [0,1] 0.9992424242424243 Centerline is valid? [True, True] Translation: X:234.35, Y:9.87, Z:1.68 [[ 9.98013287e-01 -6.15121537e-02 -1.36284166e-02 2.34348312e+02] [ 6.15161297e-02 9.98106081e-01 -1.27664397e-04 9.86860538e+00] [ 1.36104584e-02 -7.10956679e-04 9.99907121e-01 1.68157936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.194391418 meters Centerline goodness [0,1] 0.9994593074810217 Centerline is valid? [True, True] Translation: X:234.38, Y:9.87, Z:1.68 [[ 9.98038306e-01 -6.10143397e-02 -1.40282090e-02 2.34380138e+02] [ 6.10185191e-02 9.98136626e-01 -1.30285462e-04 9.87073704e+00] [ 1.40100185e-02 -7.25950661e-04 9.99901591e-01 1.68141546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.224391418 meters Centerline goodness [0,1] 0.9993701403066765 Centerline is valid? [True, True] Translation: X:234.41, Y:9.87, Z:1.68 [[ 9.97978855e-01 -6.16684496e-02 -1.53364389e-02 2.34412170e+02] [ 6.16735415e-02 9.98096365e-01 -1.41169248e-04 9.87378855e+00] [ 1.53159496e-02 -8.04968575e-04 9.99882380e-01 1.68050322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.254391418 meters Centerline goodness [0,1] 0.9994560013926365 Centerline is valid? [True, True] Translation: X:234.44, Y:9.87, Z:1.68 [[ 9.97934785e-01 -6.22336196e-02 -1.59104040e-02 2.34444326e+02] [ 6.22391918e-02 9.98061252e-01 -1.45171491e-04 9.87440535e+00] [ 1.58885922e-02 -8.45379003e-04 9.99873411e-01 1.68003137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.284391418 meters Centerline goodness [0,1] 0.9993261162558149 Centerline is valid? [True, True] Translation: X:234.48, Y:9.88, Z:1.68 [[ 9.97902973e-01 -6.25509369e-02 -1.66444474e-02 2.34476880e+02] [ 6.25571017e-02 9.98041375e-01 -1.50520366e-04 9.87600804e+00] [ 1.66212624e-02 -8.91023668e-04 9.99861460e-01 1.67957180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.314391418 meters Centerline goodness [0,1] 0.9995863450317861 Centerline is valid? [True, True] Translation: X:234.51, Y:9.87, Z:1.68 [[ 9.97842490e-01 -6.32664865e-02 -1.75418594e-02 2.34507593e+02] [ 6.32734803e-02 9.97996214e-01 -1.56590856e-04 9.87459820e+00] [ 1.75166162e-02 -9.53681483e-04 9.99846117e-01 1.67838200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34439141800001 meters Centerline goodness [0,1] 0.9995648768601514 Centerline is valid? [True, True] Translation: X:234.54, Y:9.87, Z:1.68 [[ 9.97831147e-01 -6.33112216e-02 -1.80191809e-02 2.34539014e+02] [ 6.33186513e-02 9.97993348e-01 -1.58469235e-04 9.87487961e+00] [ 1.79930555e-02 -9.82824694e-04 9.99837629e-01 1.67807948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.37439141800002 meters Centerline goodness [0,1] 0.9994317560922303 Centerline is valid? [True, True] Translation: X:234.57, Y:9.88, Z:1.68 [[ 9.97932086e-01 -6.16509108e-02 -1.81856382e-02 2.34570870e+02] [ 6.16582361e-02 9.98097308e-01 -1.58142604e-04 9.88319641e+00] [ 1.81607862e-02 -9.63478798e-04 9.99834615e-01 1.67884444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.404391418 meters Centerline goodness [0,1] 0.9997601134009377 Centerline is valid? [True, True] Translation: X:234.60, Y:9.89, Z:1.68 [[ 9.98048719e-01 -5.98332843e-02 -1.78530707e-02 2.34602711e+02] [ 5.98400788e-02 9.98207965e-01 -1.53864401e-04 9.88607950e+00] [ 1.78302836e-02 -9.14764989e-04 9.99840609e-01 1.67933475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.434391418 meters Centerline goodness [0,1] 0.9993885261295888 Centerline is valid? [True, True] Translation: X:234.63, Y:9.89, Z:1.68 [[ 9.98178911e-01 -5.77470430e-02 -1.74396141e-02 2.34634551e+02] [ 5.77532289e-02 9.98330878e-01 -1.49146616e-04 9.88946973e+00] [ 1.74191180e-02 -8.58319016e-04 9.99847907e-01 1.67988883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.464391418 meters Centerline goodness [0,1] 0.9993209646682584 Centerline is valid? [True, True] Translation: X:234.67, Y:9.90, Z:1.68 [[ 9.98483496e-01 -5.23525993e-02 -1.70268662e-02 2.34665641e+02] [ 5.23577233e-02 9.98628383e-01 -1.45005490e-04 9.89698567e+00] [ 1.70111033e-02 -7.46702361e-04 9.99855022e-01 1.68058921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.494391418 meters Centerline goodness [0,1] 0.999321588795273 Centerline is valid? [True, True] Translation: X:234.70, Y:9.90, Z:1.68 [[ 9.98661374e-01 -4.89661573e-02 -1.66665723e-02 2.34696817e+02] [ 4.89706046e-02 9.98800210e-01 -1.41418603e-04 9.90112671e+00] [ 1.66535007e-02 -6.74942827e-04 9.99861093e-01 1.68132303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.524391418 meters Centerline goodness [0,1] 0.99942923627423 Centerline is valid? [True, True] Translation: X:234.73, Y:9.91, Z:1.68 [[ 9.98975192e-01 -4.22181097e-02 -1.63155505e-02 2.34727744e+02] [ 4.22214801e-02 9.99108266e-01 -1.37982091e-04 9.91142334e+00] [ 1.63068267e-02 -5.51026005e-04 9.99866883e-01 1.68312154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.554391418 meters Centerline goodness [0,1] 0.9993387263870214 Centerline is valid? [True, True] Translation: X:234.76, Y:9.92, Z:1.68 [[ 9.99248188e-01 -3.56206061e-02 -1.53045992e-02 2.34757291e+02] [ 3.56228004e-02 9.99365298e-01 -1.29300737e-04 9.91914048e+00] [ 1.52994911e-02 -4.15989155e-04 9.99882869e-01 1.68387926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.584391418 meters Centerline goodness [0,1] 0.9996029645314981 Centerline is valid? [True, True] Translation: X:234.79, Y:9.92, Z:1.68 [[ 9.99364197e-01 -3.23324784e-02 -1.50270844e-02 2.34789396e+02] [ 3.23342317e-02 9.99477104e-01 -1.26332383e-04 9.92326376e+00] [ 1.50233114e-02 -3.59637168e-04 9.99887079e-01 1.68436785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.614391418 meters Centerline goodness [0,1] 0.9996023769025161 Centerline is valid? [True, True] Translation: X:234.82, Y:9.93, Z:1.68 [[ 9.99442363e-01 -2.96894701e-02 -1.52806248e-02 2.34821756e+02] [ 2.96909928e-02 9.99559117e-01 -1.27256373e-04 9.92729605e+00] [ 1.52776660e-02 -3.26511510e-04 9.99883236e-01 1.68472168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.644391418 meters Centerline goodness [0,1] 0.9996022451054051 Centerline is valid? [True, True] Translation: X:234.85, Y:9.93, Z:1.69 [[ 9.99510383e-01 -2.72505812e-02 -1.53753246e-02 2.34852834e+02] [ 2.72518480e-02 9.99628591e-01 -1.27155060e-04 9.93115353e+00] [ 1.53730791e-02 -2.91913206e-04 9.99881785e-01 1.68528031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.674391418 meters Centerline goodness [0,1] 0.9994903837631836 Centerline is valid? [True, True] Translation: X:234.88, Y:9.94, Z:1.68 [[ 9.99607455e-01 -2.34653682e-02 -1.53072545e-02 2.34883500e+02] [ 2.34661869e-02 9.99724623e-01 -1.26150452e-04 9.93620016e+00] [ 1.53059994e-02 -2.33101964e-04 9.99882829e-01 1.68472523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.704391418 meters Centerline goodness [0,1] 0.9996448154150109 Centerline is valid? [True, True] Translation: X:234.91, Y:9.94, Z:1.68 [[ 9.99636994e-01 -2.20332884e-02 -1.55053272e-02 2.34914116e+02] [ 2.20339609e-02 9.99757215e-01 -1.27476894e-04 9.93788235e+00] [ 1.55043715e-02 -2.14213154e-04 9.99879777e-01 1.68453482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.734391418 meters Centerline goodness [0,1] 0.999578227668265 Centerline is valid? [True, True] Translation: X:234.94, Y:9.94, Z:1.68 [[ 9.99659331e-01 -2.09456728e-02 -1.55724493e-02 2.34944980e+02] [ 2.09462266e-02 9.99780596e-01 -1.27555616e-04 9.93987479e+00] [ 1.55717044e-02 -1.98671892e-04 9.99878734e-01 1.68471722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.764391418 meters Centerline goodness [0,1] 0.9997336233878665 Centerline is valid? [True, True] Translation: X:234.98, Y:9.94, Z:1.69 [[ 9.99667976e-01 -2.03379489e-02 -1.58210448e-02 2.34975732e+02] [ 2.03384489e-02 9.99793144e-01 -1.29312702e-04 9.94197174e+00] [ 1.58204021e-02 -1.92505744e-04 9.99874831e-01 1.68529677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.794391418 meters Centerline goodness [0,1] 0.9995551106662218 Centerline is valid? [True, True] Translation: X:235.01, Y:9.94, Z:1.69 [[ 9.99680602e-01 -2.03354972e-02 -1.50053765e-02 2.35006154e+02] [ 2.03359466e-02 9.99793196e-01 -1.22645868e-04 9.94370619e+00] [ 1.50047674e-02 -1.82541840e-04 9.99887405e-01 1.68599353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.824391418 meters Centerline goodness [0,1] 0.9995105672969966 Centerline is valid? [True, True] Translation: X:235.04, Y:9.94, Z:1.69 [[ 9.99680013e-01 -2.07336982e-02 -1.44908879e-02 2.35036378e+02] [ 2.07341667e-02 9.99785017e-01 -1.17926348e-04 9.94331458e+00] [ 1.44902177e-02 -1.82567872e-04 9.99894995e-01 1.68607980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.854391418 meters Centerline goodness [0,1] 0.9996443891271976 Centerline is valid? [True, True] Translation: X:235.07, Y:9.94, Z:1.69 [[ 9.99670371e-01 -2.15714816e-02 -1.39219231e-02 2.35066995e+02] [ 2.15720035e-02 9.99767291e-01 -1.12697782e-04 9.94234336e+00] [ 1.39211144e-02 -1.87663140e-04 9.99903079e-01 1.68661834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.884391418 meters Centerline goodness [0,1] 0.9995559798414848 Centerline is valid? [True, True] Translation: X:235.10, Y:9.94, Z:1.69 [[ 9.99630777e-01 -2.39505519e-02 -1.28327950e-02 2.35098530e+02] [ 2.39511958e-02 9.99713124e-01 -1.03529424e-04 9.94016085e+00] [ 1.28315932e-02 -2.03869588e-04 9.99917651e-01 1.68722966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.914391418 meters Centerline goodness [0,1] 0.9996228675377687 Centerline is valid? [True, True] Translation: X:235.13, Y:9.94, Z:1.69 [[ 9.99596934e-01 -2.54003559e-02 -1.26803850e-02 2.35130945e+02] [ 2.54011103e-02 9.99677335e-01 -1.01586209e-04 9.93911437e+00] [ 1.26788738e-02 -2.20550595e-04 9.99919596e-01 1.68794608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.944391418 meters Centerline goodness [0,1] 0.999622490673299 Centerline is valid? [True, True] Translation: X:235.16, Y:9.94, Z:1.69 [[ 9.99504912e-01 -2.86711284e-02 -1.29575190e-02 2.35162835e+02] [ 2.86722041e-02 9.99588863e-01 -1.02779982e-04 9.93524475e+00] [ 1.29551385e-02 -2.68791533e-04 9.99916043e-01 1.68709879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.974391418 meters Centerline goodness [0,1] 0.9995345435201809 Centerline is valid? [True, True] Translation: X:235.19, Y:9.93, Z:1.69 [[ 9.99447977e-01 -3.04081960e-02 -1.33821904e-02 2.35194774e+02] [ 3.04095135e-02 9.99537518e-01 -1.05070362e-04 9.93422752e+00] [ 1.33791964e-02 -3.01933538e-04 9.99910449e-01 1.68679765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.004391418 meters Centerline goodness [0,1] 0.9996454293628809 Centerline is valid? [True, True] Translation: X:235.23, Y:9.93, Z:1.69 [[ 9.99375211e-01 -3.26116086e-02 -1.36261279e-02 2.35226236e+02] [ 3.26131924e-02 9.99468043e-01 -1.06012037e-04 9.93017119e+00] [ 1.36223366e-02 -3.38445729e-04 9.99907154e-01 1.68589402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.034391418 meters Centerline goodness [0,1] 0.999535860316057 Centerline is valid? [True, True] Translation: X:235.26, Y:9.92, Z:1.68 [[ 9.99195997e-01 -3.72855399e-02 -1.47359272e-02 2.35257084e+02] [ 3.72879090e-02 9.99304558e-01 -1.14039064e-04 9.92442380e+00] [ 1.47299312e-02 -4.35524537e-04 9.99891414e-01 1.68402426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.064391418 meters Centerline goodness [0,1] 0.9995369859993386 Centerline is valid? [True, True] Translation: X:235.29, Y:9.92, Z:1.68 [[ 9.98972088e-01 -4.26616408e-02 -1.53216220e-02 2.35288263e+02] [ 4.26648382e-02 9.99089434e-01 -1.18267019e-04 9.91683529e+00] [ 1.53127161e-02 -5.35549072e-04 9.99882610e-01 1.68339527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09439141800001 meters Centerline goodness [0,1] 0.9995817189151109 Centerline is valid? [True, True] Translation: X:235.32, Y:9.91, Z:1.68 [[ 9.98859969e-01 -4.53028437e-02 -1.50470708e-02 2.35320036e+02] [ 4.53062359e-02 9.98973139e-01 -1.15538494e-04 9.91391003e+00] [ 1.50368538e-02 -5.66319365e-04 9.99886780e-01 1.68381234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12439141800002 meters Centerline goodness [0,1] 0.999406788970669 Centerline is valid? [True, True] Translation: X:235.35, Y:9.91, Z:1.68 [[ 9.98741763e-01 -4.79657016e-02 -1.46349681e-02 2.35352210e+02] [ 4.79692110e-02 9.98848809e-01 -1.11342288e-04 9.91383683e+00] [ 1.46234611e-02 -5.90825682e-04 9.99892897e-01 1.68478327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.154391418 meters Centerline goodness [0,1] 0.9995181989400377 Centerline is valid? [True, True] Translation: X:235.38, Y:9.91, Z:1.69 [[ 9.98635133e-01 -5.01810751e-02 -1.44821024e-02 2.35383734e+02] [ 5.01847590e-02 9.98739945e-01 -1.09148039e-04 9.90892350e+00] [ 1.44693313e-02 -6.17781751e-04 9.99895123e-01 1.68522478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.184391418 meters Centerline goodness [0,1] 0.999388058396713 Centerline is valid? [True, True] Translation: X:235.41, Y:9.90, Z:1.69 [[ 9.98432276e-01 -5.44238621e-02 -1.30780011e-02 2.35414540e+02] [ 5.44272360e-02 9.98517735e-01 -9.80556466e-05 9.90314881e+00] [ 1.30639526e-02 -6.13897532e-04 9.99914474e-01 1.68646073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.214391418 meters Centerline goodness [0,1] 0.99943186784372 Centerline is valid? [True, True] Translation: X:235.45, Y:9.90, Z:1.69 [[ 9.98348523e-01 -5.59752509e-02 -1.29227521e-02 2.35445802e+02] [ 5.59786812e-02 9.98431960e-01 -9.64008804e-05 9.89903617e+00] [ 1.29078848e-02 -6.27156943e-04 9.99916493e-01 1.68709009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.244391418 meters Centerline goodness [0,1] 0.9991259887252546 Centerline is valid? [True, True] Translation: X:235.48, Y:9.90, Z:1.69 [[ 9.98285875e-01 -5.73091590e-02 -1.18731622e-02 2.35477916e+02] [ 5.73121579e-02 9.98356304e-01 -8.77912269e-05 9.89952918e+00] [ 1.18586775e-02 -5.92835803e-04 9.99929508e-01 1.68813038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.274391418 meters Centerline goodness [0,1] 0.9992815153494448 Centerline is valid? [True, True] Translation: X:235.51, Y:9.89, Z:1.69 [[ 9.98180936e-01 -5.92601822e-02 -1.10927707e-02 2.35509301e+02] [ 5.92629286e-02 9.98242405e-01 -8.12405387e-05 9.89149895e+00] [ 1.10780885e-02 -5.76297323e-04 9.99938470e-01 1.68870214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.304391418 meters Centerline goodness [0,1] 0.9992175443934882 Centerline is valid? [True, True] Translation: X:235.54, Y:9.89, Z:1.69 [[ 9.98147877e-01 -5.99077527e-02 -1.05771939e-02 2.35541907e+02] [ 5.99102934e-02 9.98203762e-01 -7.67685098e-05 9.89457862e+00] [ 1.05627937e-02 -5.57056462e-04 9.99944057e-01 1.68961910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.334391418 meters Centerline goodness [0,1] 0.9993045141379235 Centerline is valid? [True, True] Translation: X:235.57, Y:9.89, Z:1.69 [[ 9.98088751e-01 -6.08897550e-02 -1.05490945e-02 2.35572841e+02] [ 6.08923452e-02 9.98144337e-01 -7.57789513e-05 9.88908515e+00] [ 1.05341331e-02 -5.66724987e-04 9.99944354e-01 1.68976360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.364391418 meters Centerline goodness [0,1] 0.999456025066365 Centerline is valid? [True, True] Translation: X:235.60, Y:9.89, Z:1.69 [[ 9.98056409e-01 -6.13118472e-02 -1.11473020e-02 2.35604898e+02] [ 6.13147744e-02 9.98118476e-01 -7.93000273e-05 9.88718055e+00] [ 1.11311902e-02 -6.04348409e-04 9.99937864e-01 1.68958512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.394391418 meters Centerline goodness [0,1] 0.9993484068547599 Centerline is valid? [True, True] Translation: X:235.64, Y:9.89, Z:1.69 [[ 9.98056666e-01 -6.12593924e-02 -1.14095323e-02 2.35637764e+02] [ 6.12624682e-02 9.98121688e-01 -8.00558000e-05 9.88984224e+00] [ 1.13930058e-02 -6.19075886e-04 9.99934906e-01 1.68981388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.424391418 meters Centerline goodness [0,1] 0.9993484068547599 Centerline is valid? [True, True] Translation: X:235.67, Y:9.89, Z:1.69 [[ 9.98064237e-01 -6.11359157e-02 -1.14095421e-02 2.35670358e+02] [ 6.11389994e-02 9.98129258e-01 -7.86442240e-05 9.88995252e+00] [ 1.13930058e-02 -6.19076000e-04 9.99934906e-01 1.69004207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.454391418 meters Centerline goodness [0,1] 0.9992395602485552 Centerline is valid? [True, True] Translation: X:235.70, Y:9.88, Z:1.69 [[ 9.98040470e-01 -6.12179585e-02 -1.29453604e-02 2.35701362e+02] [ 6.12219528e-02 9.98124173e-01 -8.78833865e-05 9.88290297e+00] [ 1.29264571e-02 -7.04829064e-04 9.99916201e-01 1.68801867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.484391418 meters Centerline goodness [0,1] 0.999174756227333 Centerline is valid? [True, True] Translation: X:235.73, Y:9.88, Z:1.69 [[ 9.98095076e-01 -6.02182041e-02 -1.34159541e-02 2.35733405e+02] [ 6.02224167e-02 9.98184979e-01 -9.01292366e-05 9.88411268e+00] [ 1.33970313e-02 -7.17983634e-04 9.99909998e-01 1.68788281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.514391418 meters Centerline goodness [0,1] 0.9990686391301523 Centerline is valid? [True, True] Translation: X:235.76, Y:9.88, Z:1.69 [[ 9.98224673e-01 -5.78279671e-02 -1.42628678e-02 2.35763452e+02] [ 5.78324956e-02 9.98326296e-01 -9.50886981e-05 9.88346417e+00] [ 1.42444947e-02 -7.29937353e-04 9.99898276e-01 1.68713808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.544391418 meters Centerline goodness [0,1] 0.9990693849283643 Centerline is valid? [True, True] Translation: X:235.80, Y:9.89, Z:1.69 [[ 9.98349174e-01 -5.56577738e-02 -1.41823176e-02 2.35795033e+02] [ 5.56620390e-02 9.98449663e-01 -9.41199926e-05 9.88861026e+00] [ 1.41655687e-02 -6.95452098e-04 9.99899421e-01 1.68806758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.574391418 meters Centerline goodness [0,1] 0.9991537743832317 Centerline is valid? [True, True] Translation: X:235.83, Y:9.89, Z:1.69 [[ 9.98499157e-01 -5.30210905e-02 -1.37185342e-02 2.35825751e+02] [ 5.30248405e-02 9.98593189e-01 -9.04920935e-05 9.88648180e+00] [ 1.37040328e-02 -6.37066809e-04 9.99905892e-01 1.68845886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.604391418 meters Centerline goodness [0,1] 0.999307164353606 Centerline is valid? [True, True] Translation: X:235.86, Y:9.90, Z:1.69 [[ 9.98855142e-01 -4.61393454e-02 -1.26319770e-02 2.35856327e+02] [ 4.61419789e-02 9.98934888e-01 -8.30395951e-05 9.89529219e+00] [ 1.26223540e-02 -4.99919891e-04 9.99920210e-01 1.69072292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.634391418 meters Centerline goodness [0,1] 0.9992843356249052 Centerline is valid? [True, True] Translation: X:235.89, Y:9.90, Z:1.69 [[ 9.99047521e-01 -4.20447438e-02 -1.16743646e-02 2.35888053e+02] [ 4.20467188e-02 9.99115643e-01 -7.63276141e-05 9.89942870e+00] [ 1.16672494e-02 -4.14613810e-04 9.99931849e-01 1.69223809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.664391418 meters Centerline goodness [0,1] 0.9992635910764566 Centerline is valid? [True, True] Translation: X:235.92, Y:9.90, Z:1.69 [[ 9.99239166e-01 -3.75017438e-02 -1.07102277e-02 2.35919603e+02] [ 3.75031535e-02 9.99296507e-01 -6.92620968e-05 9.90281606e+00] [ 1.07052906e-02 -3.32457913e-04 9.99942641e-01 1.69325607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.694391418 meters Centerline goodness [0,1] 0.9994581238078724 Centerline is valid? [True, True] Translation: X:235.95, Y:9.91, Z:1.69 [[ 9.99405000e-01 -3.29982928e-02 -1.00378661e-02 2.35949711e+02] [ 3.29993086e-02 9.99455372e-01 -6.44542712e-05 9.90531019e+00] [ 1.00345261e-02 -2.66826721e-04 9.99949617e-01 1.69408395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.724391418 meters Centerline goodness [0,1] 0.9993271985415401 Centerline is valid? [True, True] Translation: X:235.98, Y:9.91, Z:1.70 [[ 9.99676677e-01 -2.38244720e-02 -8.88458325e-03 2.35980314e+02] [ 2.38249071e-02 9.99716145e-01 -5.68811729e-05 9.91205273e+00] [ 8.88341648e-03 -1.54811589e-04 9.99960530e-01 1.69507172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.754391418 meters Centerline goodness [0,1] 0.9994140497840664 Centerline is valid? [True, True] Translation: X:236.01, Y:9.92, Z:1.70 [[ 9.99776560e-01 -1.90613192e-02 -9.13759941e-03 2.36010298e+02] [ 1.90615824e-02 9.99818310e-01 -5.82975751e-05 9.91535404e+00] [ 9.13705043e-03 -1.15892555e-04 9.99958250e-01 1.69527327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.784391418 meters Centerline goodness [0,1] 0.9992596947329457 Centerline is valid? [True, True] Translation: X:236.04, Y:9.92, Z:1.69 [[ 9.99895789e-01 -1.08377443e-02 -9.53699100e-03 2.36041046e+02] [ 1.08376592e-02 9.99941269e-01 -6.06058230e-05 9.92154310e+00] [ 9.53708772e-03 -4.27591512e-05 9.99954520e-01 1.69462779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.814391418 meters Centerline goodness [0,1] 0.9993683706139873 Centerline is valid? [True, True] Translation: X:236.07, Y:9.92, Z:1.69 [[ 9.99925116e-01 -7.10639570e-03 -9.96301604e-03 2.36070423e+02] [ 7.10611929e-03 9.99974749e-01 -6.31436994e-05 9.92409272e+00] [ 9.96321319e-03 -7.65940956e-06 9.99950366e-01 1.69431243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84439141800001 meters Centerline goodness [0,1] 0.9992374561537288 Centerline is valid? [True, True] Translation: X:236.10, Y:9.93, Z:1.69 [[ 9.99939329e-01 -1.00215047e-03 -1.09697274e-02 2.36098673e+02] [ 1.00144073e-03 9.99999496e-01 -7.01928883e-05 9.92769710e+00] [ 1.09697922e-02 5.92030977e-05 9.99939828e-01 1.69372678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.87439141800002 meters Centerline goodness [0,1] 0.9994122001132059 Centerline is valid? [True, True] Translation: X:236.13, Y:9.93, Z:1.69 [[ 9.99937381e-01 1.42842977e-03 -1.10993054e-02 2.36126443e+02] [-1.42931778e-03 9.99998976e-01 -7.20732142e-05 9.92905254e+00] [ 1.10991911e-02 8.79331355e-05 9.99938398e-01 1.69361045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.904391418 meters Centerline goodness [0,1] 0.999390243902439 Centerline is valid? [True, True] Translation: X:236.15, Y:9.93, Z:1.69 [[ 9.99933075e-01 3.30730982e-03 -1.10863320e-02 2.36154109e+02] [-3.30832260e-03 9.99994525e-01 -7.30160432e-05 9.92994544e+00] [ 1.10860298e-02 1.09688319e-04 9.99938542e-01 1.69338200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.934391418 meters Centerline goodness [0,1] 0.9994360698405813 Centerline is valid? [True, True] Translation: X:236.18, Y:9.93, Z:1.69 [[ 9.99918233e-01 5.57477593e-03 -1.15086167e-02 2.36181879e+02] [-5.57603231e-03 9.99984451e-01 -7.70839617e-05 9.92972543e+00] [ 1.15080081e-02 1.41250077e-04 9.99933771e-01 1.69318103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.964391418 meters Centerline goodness [0,1] 0.9994573121757441 Centerline is valid? [True, True] Translation: X:236.21, Y:9.93, Z:1.69 [[ 9.99923852e-01 5.42430833e-03 -1.10844986e-02 2.36209989e+02] [-5.42547971e-03 9.99985279e-01 -7.56093598e-05 9.92889707e+00] [ 1.10839253e-02 1.35742324e-04 9.99938562e-01 1.69343641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.994391418 meters Centerline goodness [0,1] 0.9993917671337026 Centerline is valid? [True, True] Translation: X:236.24, Y:9.93, Z:1.69 [[ 9.99932151e-01 4.58363559e-03 -1.07090357e-02 2.36238838e+02] [-4.58469143e-03 9.99989488e-01 -7.40454685e-05 9.92720562e+00] [ 1.07085837e-02 1.23138069e-04 9.99942654e-01 1.69392127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.024391418 meters Centerline goodness [0,1] 0.9992618323925315 Centerline is valid? [True, True] Translation: X:236.27, Y:9.92, Z:1.69 [[ 9.99946566e-01 1.14302903e-03 -1.02741693e-02 2.36267342e+02] [-1.14382686e-03 9.99999343e-01 -7.17787921e-05 9.91904977e+00] [ 1.02740805e-02 8.35268275e-05 9.99947217e-01 1.69472323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.054391418 meters Centerline goodness [0,1] 0.9993514635306325 Centerline is valid? [True, True] Translation: X:236.30, Y:9.92, Z:1.69 [[ 9.99948510e-01 -1.55577591e-03 -1.00278150e-02 2.36295295e+02] [ 1.55514319e-03 9.99998788e-01 -7.08939482e-05 9.91627118e+00] [ 1.00279132e-02 5.52956096e-05 9.99949718e-01 1.69411319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.084391418 meters Centerline goodness [0,1] 0.9991998789005904 Centerline is valid? [True, True] Translation: X:236.32, Y:9.91, Z:1.69 [[ 9.99936503e-01 -4.64615744e-03 -1.02665585e-02 2.36324116e+02] [ 4.64564727e-03 9.99989206e-01 -7.35402125e-05 9.91076035e+00] [ 1.02667894e-02 2.58407333e-05 9.99947295e-01 1.69465952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.114391418 meters Centerline goodness [0,1] 0.9990721960902775 Centerline is valid? [True, True] Translation: X:236.35, Y:9.90, Z:1.69 [[ 9.99885719e-01 -1.11942290e-02 -1.01606098e-02 2.36352063e+02] [ 1.11940587e-02 9.99937342e-01 -7.36290138e-05 9.90136070e+00] [ 1.01607974e-02 -4.01178634e-05 9.99948377e-01 1.69474713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.144391418 meters Centerline goodness [0,1] 0.9987744044035435 Centerline is valid? [True, True] Translation: X:236.38, Y:9.90, Z:1.69 [[ 9.99850770e-01 -1.40881003e-02 -9.99817801e-03 2.36381423e+02] [ 1.40880723e-02 9.99900756e-01 -7.32349912e-05 9.89680104e+00] [ 9.99821749e-03 -6.76309926e-05 9.99950014e-01 1.69464006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.174391418 meters Centerline goodness [0,1] 0.9991424406140125 Centerline is valid? [True, True] Translation: X:236.41, Y:9.89, Z:1.69 [[ 9.99808091e-01 -1.67650554e-02 -1.01347802e-02 2.36412307e+02] [ 1.67651614e-02 9.99859452e-01 -7.45081247e-05 9.89252711e+00] [ 1.01346049e-02 -9.54173999e-05 9.99948639e-01 1.69499577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.204391418 meters Centerline goodness [0,1] 0.9989074550128535 Centerline is valid? [True, True] Translation: X:236.44, Y:9.89, Z:1.70 [[ 9.99767620e-01 -1.91637650e-02 -9.87201306e-03 2.36442745e+02] [ 1.91639824e-02 9.99816351e-01 -7.25763326e-05 9.88827929e+00] [ 9.87159091e-03 -1.16627617e-04 9.99951268e-01 1.69512667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.234391418 meters Centerline goodness [0,1] 0.9987420579079783 Centerline is valid? [True, True] Translation: X:236.47, Y:9.88, Z:1.70 [[ 9.99687489e-01 -2.31739664e-02 -9.37505617e-03 2.36473503e+02] [ 2.31743417e-02 9.99731437e-01 -6.86094863e-05 9.87937248e+00] [ 9.37412832e-03 -1.48672710e-04 9.99956051e-01 1.69518456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.264391418 meters Centerline goodness [0,1] 0.9985937999360818 Centerline is valid? [True, True] Translation: X:236.50, Y:9.88, Z:1.70 [[ 9.99651899e-01 -2.48101007e-02 -8.97442783e-03 2.36504506e+02] [ 2.48105192e-02 9.99692170e-01 -6.47161696e-05 9.87515888e+00] [ 8.97327084e-03 -1.57966572e-04 9.99959727e-01 1.69511192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.294391418 meters Centerline goodness [0,1] 0.9988263912598156 Centerline is valid? [True, True] Translation: X:236.54, Y:9.87, Z:1.70 [[ 9.99608854e-01 -2.63967394e-02 -9.23860778e-03 2.36536194e+02] [ 2.63972543e-02 9.99651530e-01 -6.62299008e-05 9.87115189e+00] [ 9.23713665e-03 -1.77669883e-04 9.99957321e-01 1.69558758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.324391418 meters Centerline goodness [0,1] 0.9986781511171755 Centerline is valid? [True, True] Translation: X:236.57, Y:9.86, Z:1.70 [[ 9.99535532e-01 -2.90836357e-02 -9.10289935e-03 2.36566978e+02] [ 2.90842529e-02 9.99576962e-01 -6.46033939e-05 9.86390642e+00] [ 9.10092737e-03 -2.00177639e-04 9.99958566e-01 1.69513336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.354391418 meters Centerline goodness [0,1] 0.9988086373790023 Centerline is valid? [True, True] Translation: X:236.60, Y:9.86, Z:1.70 [[ 9.99502464e-01 -3.01985570e-02 -9.10339849e-03 2.36599246e+02] [ 3.01992301e-02 9.99543897e-01 -6.35523920e-05 9.86053852e+00] [ 9.10116560e-03 -2.11394853e-04 9.99958561e-01 1.69504299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.384391418 meters Centerline goodness [0,1] 0.9988930282064928 Centerline is valid? [True, True] Translation: X:236.63, Y:9.86, Z:1.70 [[ 9.99471652e-01 -3.12414043e-02 -8.96616243e-03 2.36631707e+02] [ 3.12421049e-02 9.99511844e-01 -6.19496371e-05 9.85739654e+00] [ 8.96372094e-03 -2.18204881e-04 9.99959801e-01 1.69522539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.414391418 meters Centerline goodness [0,1] 0.9987249505918354 Centerline is valid? [True, True] Translation: X:236.66, Y:9.86, Z:1.70 [[ 9.99446138e-01 -3.20507228e-02 -8.95363201e-03 2.36663530e+02] [ 3.20514599e-02 9.99486218e-01 -6.12005397e-05 9.85885242e+00] [ 8.95099331e-03 -2.25810334e-04 9.99959914e-01 1.69550277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.444391418 meters Centerline goodness [0,1] 0.9989622601550256 Centerline is valid? [True, True] Translation: X:236.70, Y:9.85, Z:1.70 [[ 9.99379357e-01 -3.39420339e-02 -9.42548974e-03 2.36695848e+02] [ 3.39429421e-02 9.99423770e-01 -6.36436755e-05 9.85405195e+00] [ 9.42221869e-03 -2.56324677e-04 9.99955577e-01 1.69531755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.474391418 meters Centerline goodness [0,1] 0.9988117467323036 Centerline is valid? [True, True] Translation: X:236.73, Y:9.85, Z:1.69 [[ 9.99358764e-01 -3.44899647e-02 -9.61788678e-03 2.36726986e+02] [ 3.44909444e-02 9.99405008e-01 -6.40302311e-05 9.85073958e+00] [ 9.61437262e-03 -2.67740826e-04 9.99953745e-01 1.69493091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.504391418 meters Centerline goodness [0,1] 0.998495985764823 Centerline is valid? [True, True] Translation: X:236.76, Y:9.85, Z:1.69 [[ 9.99291521e-01 -3.63237715e-02 -9.85084310e-03 2.36759148e+02] [ 3.63248997e-02 9.99340031e-01 -6.44271737e-05 9.84566930e+00] [ 9.84668208e-03 -2.93449359e-04 9.99951477e-01 1.69439944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.534391418 meters Centerline goodness [0,1] 0.999025774615075 Centerline is valid? [True, True] Translation: X:236.79, Y:9.84, Z:1.69 [[ 9.99247031e-01 -3.73888082e-02 -1.03656999e-02 2.36791522e+02] [ 3.73901235e-02 9.99300743e-01 -6.69430746e-05 9.84307875e+00] [ 1.03609545e-02 -3.20682129e-04 9.99946272e-01 1.69413606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.564391418 meters Centerline goodness [0,1] 0.999050793115086 Centerline is valid? [True, True] Translation: X:236.82, Y:9.84, Z:1.69 [[ 9.99164582e-01 -3.94487325e-02 -1.06740869e-02 2.36823048e+02] [ 3.94502530e-02 9.99221533e-01 -6.81482529e-05 9.83680898e+00] [ 1.06684659e-02 -3.53004109e-04 9.99943028e-01 1.69413014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59439141800001 meters Centerline goodness [0,1] 0.9984773505900266 Centerline is valid? [True, True] Translation: X:236.86, Y:9.84, Z:1.69 [[ 9.99122888e-01 -4.04836919e-02 -1.07016093e-02 2.36855331e+02] [ 4.04852872e-02 9.99180132e-01 -6.76126984e-05 9.83663932e+00] [ 1.06955726e-02 -3.65704332e-04 9.99942734e-01 1.69427315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62439141800002 meters Centerline goodness [0,1] 0.9988815025852062 Centerline is valid? [True, True] Translation: X:236.89, Y:9.83, Z:1.69 [[ 9.99086691e-01 -4.12967364e-02 -1.09710384e-02 2.36886103e+02] [ 4.12984709e-02 9.99146852e-01 -6.84984427e-05 9.83358149e+00] [ 1.09645072e-02 -3.84651227e-04 9.99939814e-01 1.69458188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.654391418 meters Centerline goodness [0,1] 0.998779281459811 Centerline is valid? [True, True] Translation: X:236.92, Y:9.83, Z:1.69 [[ 9.99051732e-01 -4.20228189e-02 -1.13894283e-02 2.36917922e+02] [ 4.20247442e-02 9.99116568e-01 -7.03310936e-05 9.83086827e+00] [ 1.13823220e-02 -4.08373409e-04 9.99935136e-01 1.69436051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.684391418 meters Centerline goodness [0,1] 0.998734844491302 Centerline is valid? [True, True] Translation: X:236.95, Y:9.83, Z:1.69 [[ 9.99025347e-01 -4.25895310e-02 -1.15969280e-02 2.36950493e+02] [ 4.25915760e-02 9.99092565e-01 -7.06919525e-05 9.82768850e+00] [ 1.15894153e-02 -4.23308390e-04 9.99932751e-01 1.69443595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.714391418 meters Centerline goodness [0,1] 0.9987370548118212 Centerline is valid? [True, True] Translation: X:236.98, Y:9.83, Z:1.70 [[ 9.99028953e-01 -4.25331540e-02 -1.14927119e-02 2.36982343e+02] [ 4.25351689e-02 9.99094968e-01 -6.91599833e-05 9.82619720e+00] [ 1.14852523e-02 -4.19751618e-04 9.99933954e-01 1.69513210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.744391418 meters Centerline goodness [0,1] 0.9986728180496746 Centerline is valid? [True, True] Translation: X:237.01, Y:9.83, Z:1.70 [[ 9.99047917e-01 -4.21926626e-02 -1.10922443e-02 2.37014213e+02] [ 4.21945279e-02 9.99109412e-01 -6.59049676e-05 9.82534792e+00] [ 1.10851464e-02 -4.02189792e-04 9.99938477e-01 1.69576270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.774391418 meters Centerline goodness [0,1] 0.9985660966197837 Centerline is valid? [True, True] Translation: X:237.05, Y:9.83, Z:1.70 [[ 9.99093322e-01 -4.10957215e-02 -1.11209321e-02 2.37046209e+02] [ 4.10975384e-02 9.99155137e-01 -6.51921950e-05 9.82720175e+00] [ 1.11142155e-02 -3.91909847e-04 9.99938158e-01 1.69627212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.804391418 meters Centerline goodness [0,1] 0.9985018884645411 Centerline is valid? [True, True] Translation: X:237.08, Y:9.83, Z:1.70 [[ 9.99117737e-01 -4.03662759e-02 -1.15892563e-02 2.37078422e+02] [ 4.03682114e-02 9.99184869e-01 -6.69624187e-05 9.82666015e+00] [ 1.15825126e-02 -4.00934210e-04 9.99932840e-01 1.69606556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.834391418 meters Centerline goodness [0,1] 0.9987167350373409 Centerline is valid? [True, True] Translation: X:237.11, Y:9.83, Z:1.70 [[ 9.99158487e-01 -3.93939967e-02 -1.14206532e-02 2.37109792e+02] [ 3.93958225e-02 9.99223681e-01 -6.51504865e-05 9.82533796e+00] [ 1.14143537e-02 -3.84830364e-04 9.99934780e-01 1.69627207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.864391418 meters Centerline goodness [0,1] 0.9987746392580229 Centerline is valid? [True, True] Translation: X:237.14, Y:9.82, Z:1.70 [[ 9.99230954e-01 -3.74159378e-02 -1.17280812e-02 2.37141168e+02] [ 3.74177344e-02 9.99299709e-01 -6.62750691e-05 9.82457009e+00] [ 1.17223479e-02 -3.72614128e-04 9.99931221e-01 1.69648889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.894391418 meters Centerline goodness [0,1] 0.9986511549485753 Centerline is valid? [True, True] Translation: X:237.17, Y:9.83, Z:1.70 [[ 9.99278587e-01 -3.62583425e-02 -1.12977154e-02 2.37172461e+02] [ 3.62599408e-02 9.99342390e-01 -6.34001484e-05 9.82505397e+00] [ 1.12925847e-02 -3.46300080e-04 9.99936177e-01 1.69702253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.924391418 meters Centerline goodness [0,1] 0.998669623059867 Centerline is valid? [True, True] Translation: X:237.20, Y:9.82, Z:1.70 [[ 9.99329034e-01 -3.48926171e-02 -1.11349429e-02 2.37203212e+02] [ 3.48940908e-02 9.99391014e-01 -6.19599486e-05 9.82436243e+00] [ 1.11303238e-02 -3.26625333e-04 9.99938003e-01 1.69736280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.954391418 meters Centerline goodness [0,1] 0.9985661873234091 Centerline is valid? [True, True] Translation: X:237.23, Y:9.83, Z:1.70 [[ 9.99437113e-01 -3.17304266e-02 -1.08920265e-02 2.37234964e+02] [ 3.17316561e-02 9.99496422e-01 -5.99613728e-05 9.82617745e+00] [ 1.08884441e-02 -2.85694418e-04 9.99940678e-01 1.69769449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.984391418 meters Centerline goodness [0,1] 0.9985678180286437 Centerline is valid? [True, True] Translation: X:237.27, Y:9.83, Z:1.70 [[ 9.99499354e-01 -2.97029723e-02 -1.08983580e-02 2.37265344e+02] [ 2.97040882e-02 9.99558734e-01 -5.94963374e-05 9.82649272e+00] [ 1.08953162e-02 -2.64259238e-04 9.99940609e-01 1.69777740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.014391418 meters Centerline goodness [0,1] 0.9987731618580252 Centerline is valid? [True, True] Translation: X:237.30, Y:9.83, Z:1.70 [[ 9.99610403e-01 -2.52918869e-02 -1.18052012e-02 2.37296682e+02] [ 2.52928929e-02 9.99680082e-01 -6.40985607e-05 9.82988952e+00] [ 1.18030457e-02 -2.34514101e-04 9.99930314e-01 1.69721209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.044391418 meters Centerline goodness [0,1] 0.9990079783865929 Centerline is valid? [True, True] Translation: X:237.33, Y:9.83, Z:1.70 [[ 9.99671600e-01 -2.24634739e-02 -1.23322405e-02 2.37326385e+02] [ 2.24643589e-02 9.99747642e-01 -6.67666343e-05 9.83168413e+00] [ 1.23306282e-02 -2.10291169e-04 9.99923953e-01 1.69739471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.074391418 meters Centerline goodness [0,1] 0.9986490765171504 Centerline is valid? [True, True] Translation: X:237.36, Y:9.83, Z:1.70 [[ 9.99739079e-01 -1.94838898e-02 -1.19227778e-02 2.37357120e+02] [ 1.94845036e-02 9.99810157e-01 -6.46879488e-05 9.83396561e+00] [ 1.19217748e-02 -1.67638337e-04 9.99928919e-01 1.69793118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.104391418 meters Centerline goodness [0,1] 0.9990921374883878 Centerline is valid? [True, True] Translation: X:237.39, Y:9.84, Z:1.70 [[ 9.99790806e-01 -1.64635605e-02 -1.21365666e-02 2.37386297e+02] [ 1.64639714e-02 9.99864457e-01 -6.60555224e-05 9.83529132e+00] [ 1.21360091e-02 -1.33774382e-04 9.99926347e-01 1.69831334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.134391418 meters Centerline goodness [0,1] 0.9990734501347709 Centerline is valid? [True, True] Translation: X:237.41, Y:9.84, Z:1.70 [[ 9.99842383e-01 -1.34846349e-02 -1.15487583e-02 2.37414705e+02] [ 1.34847903e-02 9.99909074e-01 -6.44107934e-05 9.83827283e+00] [ 1.15485767e-02 -9.13319426e-05 9.99933309e-01 1.69933725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.164391418 meters Centerline goodness [0,1] 0.999094908333158 Centerline is valid? [True, True] Translation: X:237.44, Y:9.84, Z:1.70 [[ 9.99907542e-01 -8.06775386e-03 -1.09461678e-02 2.37443438e+02] [ 8.06753627e-03 9.99967455e-01 -6.40344334e-05 9.84230966e+00] [ 1.09463282e-02 -2.42800929e-05 9.99940087e-01 1.70038199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.194391418 meters Centerline goodness [0,1] 0.9990516532844408 Centerline is valid? [True, True] Translation: X:237.47, Y:9.84, Z:1.70 [[ 9.99921142e-01 -6.09255766e-03 -1.09813310e-02 2.37471166e+02] [ 6.09218373e-03 9.99981440e-01 -6.75022244e-05 9.84387321e+00] [ 1.09815385e-02 5.96615125e-07 9.99939701e-01 1.70110740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.224391418 meters Centerline goodness [0,1] 0.9991358232864008 Centerline is valid? [True, True] Translation: X:237.50, Y:9.84, Z:1.70 [[ 9.99934875e-01 -3.71085723e-03 -1.07923441e-02 2.37498762e+02] [ 3.71031991e-03 9.99993114e-01 -6.98091942e-05 9.84448698e+00] [ 1.07925288e-02 2.97615989e-05 9.99941759e-01 1.70154264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.254391418 meters Centerline goodness [0,1] 0.9991788263533573 Centerline is valid? [True, True] Translation: X:237.53, Y:9.84, Z:1.70 [[ 9.99934044e-01 -3.67236706e-03 -1.08821364e-02 2.37526269e+02] [ 3.67177979e-03 9.99993256e-01 -7.39448426e-05 9.84407202e+00] [ 1.08823346e-02 3.39831570e-05 9.99940785e-01 1.70132995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.284391418 meters Centerline goodness [0,1] 0.999222819694169 Centerline is valid? [True, True] Translation: X:237.55, Y:9.84, Z:1.70 [[ 9.99926344e-01 -4.44211150e-03 -1.12948873e-02 2.37554274e+02] [ 4.44148578e-03 9.99990133e-01 -8.04822722e-05 9.84278198e+00] [ 1.12951334e-02 3.03102628e-05 9.99936207e-01 1.70111711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.314391418 meters Centerline goodness [0,1] 0.9994328088565847 Centerline is valid? [True, True] Translation: X:237.58, Y:9.84, Z:1.70 [[ 9.99898249e-01 -7.75902616e-03 -1.19703536e-02 2.37582990e+02] [ 7.75852754e-03 9.99969898e-01 -8.80925928e-05 9.83793642e+00] [ 1.19706768e-02 -4.78868894e-06 9.99928349e-01 1.70072391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34439141800001 meters Centerline goodness [0,1] 0.9994328088565847 Centerline is valid? [True, True] Translation: X:237.61, Y:9.84, Z:1.70 [[ 9.99895693e-01 -8.08172984e-03 -1.19703373e-02 2.37610389e+02] [ 8.08122844e-03 9.99967342e-01 -9.02562917e-05 9.83827661e+00] [ 1.19706758e-02 -6.48815319e-06 9.99928349e-01 1.70091611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37439141800002 meters Centerline goodness [0,1] 0.998970934139785 Centerline is valid? [True, True] Translation: X:237.64, Y:9.84, Z:1.70 [[ 9.99863574e-01 -1.09371558e-02 -1.23779125e-02 2.37638340e+02] [ 1.09367879e-02 9.99940187e-01 -9.74111038e-05 9.83543525e+00] [ 1.23782375e-02 -3.79767897e-05 9.99923386e-01 1.70064977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.404391418 meters Centerline goodness [0,1] 0.9993278440598219 Centerline is valid? [True, True] Translation: X:237.67, Y:9.83, Z:1.70 [[ 9.99763840e-01 -1.75295503e-02 -1.28444090e-02 2.37667364e+02] [ 1.75296618e-02 9.99846338e-01 -1.03911481e-04 9.82784496e+00] [ 1.28442568e-02 -1.21271204e-04 9.99917502e-01 1.70055572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.434391418 meters Centerline goodness [0,1] 0.9989109947643979 Centerline is valid? [True, True] Translation: X:237.70, Y:9.82, Z:1.70 [[ 9.99695720e-01 -2.12518580e-02 -1.25230407e-02 2.37695535e+02] [ 2.12522384e-02 9.99774140e-01 -1.02718176e-04 9.82360246e+00] [ 1.25223952e-02 -1.63455725e-04 9.99921578e-01 1.70064062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.464391418 meters Centerline goodness [0,1] 0.9990555147444643 Centerline is valid? [True, True] Translation: X:237.73, Y:9.82, Z:1.70 [[ 9.99612472e-01 -2.49536873e-02 -1.23377235e-02 2.37725544e+02] [ 2.49543225e-02 9.99688587e-01 -1.02484686e-04 9.81975531e+00] [ 1.23364388e-02 -2.05434562e-04 9.99923882e-01 1.70122706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.494391418 meters Centerline goodness [0,1] 0.9990987403324181 Centerline is valid? [True, True] Translation: X:237.76, Y:9.82, Z:1.70 [[ 9.99525595e-01 -2.81385486e-02 -1.25222937e-02 2.37756365e+02] [ 2.81394492e-02 9.99604002e-01 -1.04301273e-04 9.81624948e+00] [ 1.25202698e-02 -2.48118655e-04 9.99921588e-01 1.70179706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.524391418 meters Centerline goodness [0,1] 0.9989520895334703 Centerline is valid? [True, True] Translation: X:237.79, Y:9.81, Z:1.70 [[ 9.99325348e-01 -3.43452344e-02 -1.30097361e-02 2.37786112e+02] [ 3.43467380e-02 9.99409971e-01 -1.07905394e-04 9.80853828e+00] [ 1.30057660e-02 -3.39009401e-04 9.99915364e-01 1.70129109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.554391418 meters Centerline goodness [0,1] 0.9989300325186196 Centerline is valid? [True, True] Translation: X:237.82, Y:9.81, Z:1.70 [[ 9.99242463e-01 -3.65884637e-02 -1.32583413e-02 2.37817012e+02] [ 3.65902298e-02 9.99330347e-01 -1.09424716e-04 9.80578666e+00] [ 1.32534665e-02 -3.75783931e-04 9.99912098e-01 1.70122539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.584391418 meters Centerline goodness [0,1] 0.9991400465633324 Centerline is valid? [True, True] Translation: X:237.85, Y:9.80, Z:1.70 [[ 9.99133140e-01 -3.95975004e-02 -1.28455182e-02 2.37847840e+02] [ 3.95994081e-02 9.99215630e-01 -1.05904744e-04 9.80139028e+00] [ 1.28396361e-02 -4.02861977e-04 9.99917487e-01 1.70144455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.614391418 meters Centerline goodness [0,1] 0.9991422235239968 Centerline is valid? [True, True] Translation: X:237.88, Y:9.80, Z:1.70 [[ 9.99117812e-01 -4.00177815e-02 -1.27347720e-02 2.37879632e+02] [ 4.00196951e-02 9.99198886e-01 -1.04635758e-04 9.80035563e+00] [ 1.27287573e-02 -4.05098245e-04 9.99918904e-01 1.70157661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.644391418 meters Centerline goodness [0,1] 0.9989090527640827 Centerline is valid? [True, True] Translation: X:237.91, Y:9.80, Z:1.70 [[ 9.99108708e-01 -4.03243552e-02 -1.24794513e-02 2.37910792e+02] [ 4.03262226e-02 9.99186562e-01 -1.02059997e-04 9.79983070e+00] [ 1.24734155e-02 -4.01280099e-04 9.99922123e-01 1.70170283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.674391418 meters Centerline goodness [0,1] 0.9989496460307123 Centerline is valid? [True, True] Translation: X:237.94, Y:9.80, Z:1.70 [[ 9.99116934e-01 -4.01558644e-02 -1.23636234e-02 2.37940771e+02] [ 4.01576891e-02 9.99193350e-01 -1.00740488e-04 9.79847351e+00] [ 1.23576956e-02 -3.95843018e-04 9.99923562e-01 1.70168894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.704391418 meters Centerline goodness [0,1] 0.9990762512596574 Centerline is valid? [True, True] Translation: X:237.97, Y:9.80, Z:1.70 [[ 9.99134535e-01 -3.97142977e-02 -1.23675449e-02 2.37972296e+02] [ 3.97160939e-02 9.99211000e-01 -1.00433192e-04 9.79863332e+00] [ 1.23617755e-02 -3.90844303e-04 9.99923514e-01 1.70177189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.734391418 meters Centerline goodness [0,1] 0.9991178694446778 Centerline is valid? [True, True] Translation: X:238.00, Y:9.80, Z:1.70 [[ 9.99144536e-01 -3.95596812e-02 -1.20510314e-02 2.38003214e+02] [ 3.95613809e-02 9.99217137e-01 -9.74049988e-05 9.80053435e+00] [ 1.20454504e-02 -3.79433771e-04 9.99927379e-01 1.70267857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.764391418 meters Centerline goodness [0,1] 0.9990144891069593 Centerline is valid? [True, True] Translation: X:238.03, Y:9.80, Z:1.70 [[ 9.99159160e-01 -3.91332586e-02 -1.22294882e-02 2.38034864e+02] [ 3.91349831e-02 9.99233928e-01 -9.83557422e-05 9.80283928e+00] [ 1.22239686e-02 -3.80327775e-04 9.99925212e-01 1.70291606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.794391418 meters Centerline goodness [0,1] 0.9989715604995277 Centerline is valid? [True, True] Translation: X:238.07, Y:9.80, Z:1.70 [[ 9.99187582e-01 -3.84664859e-02 -1.20210689e-02 2.38066297e+02] [ 3.84681098e-02 9.99259824e-01 -9.61909392e-05 9.80328342e+00] [ 1.20158713e-02 -3.66315008e-04 9.99927740e-01 1.70256023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.824391418 meters Centerline goodness [0,1] 0.9991387821118743 Centerline is valid? [True, True] Translation: X:238.10, Y:9.80, Z:1.70 [[ 9.99194424e-01 -3.81745783e-02 -1.23775493e-02 2.38096323e+02] [ 3.81762827e-02 9.99271015e-01 -9.86348333e-05 9.80070648e+00] [ 1.23722916e-02 -3.73973446e-04 9.99923390e-01 1.70209136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.854391418 meters Centerline goodness [0,1] 0.9987814358047776 Centerline is valid? [True, True] Translation: X:238.13, Y:9.80, Z:1.70 [[ 9.99197603e-01 -3.79698082e-02 -1.27453448e-02 2.38127597e+02] [ 3.79716035e-02 9.99278813e-01 -1.01192161e-04 9.80178190e+00] [ 1.27399952e-02 -3.82850213e-04 9.99918770e-01 1.70179769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.884391418 meters Centerline goodness [0,1] 0.9989719488911735 Centerline is valid? [True, True] Translation: X:238.16, Y:9.80, Z:1.70 [[ 9.99213147e-01 -3.74340038e-02 -1.31065445e-02 2.38158573e+02] [ 3.74358615e-02 9.99299027e-01 -1.03653887e-04 9.80355355e+00] [ 1.31012374e-02 -3.87082460e-04 9.99914100e-01 1.70181774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.914391418 meters Centerline goodness [0,1] 0.9990137653181131 Centerline is valid? [True, True] Translation: X:238.19, Y:9.80, Z:1.70 [[ 9.99212639e-01 -3.71802658e-02 -1.38466802e-02 2.38189403e+02] [ 3.71823228e-02 9.99308492e-01 -1.08939100e-04 9.80329609e+00] [ 1.38411555e-02 -4.05998407e-04 9.99904124e-01 1.70139483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.944391418 meters Centerline goodness [0,1] 0.9989484089427304 Centerline is valid? [True, True] Translation: X:238.22, Y:9.81, Z:1.70 [[ 9.99211799e-01 -3.70021282e-02 -1.43743941e-02 2.38219731e+02] [ 3.70043331e-02 9.99315099e-01 -1.12644543e-04 9.80600500e+00] [ 1.43687171e-02 -4.19359109e-04 9.99896677e-01 1.70122816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.974391418 meters Centerline goodness [0,1] 0.9989904725850212 Centerline is valid? [True, True] Translation: X:238.25, Y:9.80, Z:1.70 [[ 9.99200301e-01 -3.69296486e-02 -1.53283642e-02 2.38249607e+02] [ 3.69321447e-02 9.99317768e-01 -1.20290361e-04 9.80486502e+00] [ 1.53223490e-02 -4.45915200e-04 9.99882506e-01 1.70003327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.004391418 meters Centerline goodness [0,1] 0.9990559110458408 Centerline is valid? [True, True] Translation: X:238.28, Y:9.80, Z:1.70 [[ 9.99164436e-01 -3.72520820e-02 -1.68140473e-02 2.38279365e+02] [ 3.72551280e-02 9.99305778e-01 -1.32137652e-04 9.80488577e+00] [ 1.68072971e-02 -4.94382244e-04 9.99858625e-01 1.69881190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.034391418 meters Centerline goodness [0,1] 0.9992019489247311 Centerline is valid? [True, True] Translation: X:238.31, Y:9.81, Z:1.70 [[ 9.99129384e-01 -3.81080392e-02 -1.69779891e-02 2.38308912e+02] [ 3.81112612e-02 9.99273493e-01 -1.33852916e-04 9.80844002e+00] [ 1.69707553e-02 -5.13316195e-04 9.99855855e-01 1.70008372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.064391418 meters Centerline goodness [0,1] 0.9989482762247324 Centerline is valid? [True, True] Translation: X:238.34, Y:9.81, Z:1.70 [[ 9.99030355e-01 -4.06733662e-02 -1.68531302e-02 2.38338929e+02] [ 4.06768940e-02 9.99172344e-01 -1.33554231e-04 9.80890521e+00] [ 1.68446137e-02 -5.52108261e-04 9.99857967e-01 1.70082927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09439141800001 meters Centerline goodness [0,1] 0.9990105679760852 Centerline is valid? [True, True] Translation: X:238.37, Y:9.81, Z:1.70 [[ 9.98984389e-01 -4.19908757e-02 -1.63388421e-02 2.38369177e+02] [ 4.19943629e-02 9.99117839e-01 -1.29757191e-04 9.80847199e+00] [ 1.63298772e-02 -5.56513855e-04 9.99866504e-01 1.70172223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12439141800002 meters Centerline goodness [0,1] 0.9988642816581488 Centerline is valid? [True, True] Translation: X:238.40, Y:9.81, Z:1.70 [[ 9.98946739e-01 -4.32374027e-02 -1.53603072e-02 2.38399078e+02] [ 4.32406291e-02 9.99064679e-01 -1.22154885e-04 9.80514592e+00] [ 1.53512221e-02 -5.42163125e-04 9.99882016e-01 1.70187543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.154391418 meters Centerline goodness [0,1] 0.9988020931845407 Centerline is valid? [True, True] Translation: X:238.43, Y:9.81, Z:1.70 [[ 9.98901023e-01 -4.48548673e-02 -1.35936118e-02 2.38429355e+02] [ 4.48575420e-02 9.98993388e-01 -1.08230418e-04 9.80689354e+00] [ 1.35847829e-02 -5.01664535e-04 9.99907597e-01 1.70476721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.184391418 meters Centerline goodness [0,1] 0.9988661417322835 Centerline is valid? [True, True] Translation: X:238.46, Y:9.81, Z:1.71 [[ 9.98909363e-01 -4.47883440e-02 -1.31942340e-02 2.38460692e+02] [ 4.47908612e-02 9.98996380e-01 -1.04806168e-04 9.80767288e+00] [ 1.31856861e-02 -4.86289240e-04 9.99912947e-01 1.70563726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.214391418 meters Centerline goodness [0,1] 0.9988679007945659 Centerline is valid? [True, True] Translation: X:238.49, Y:9.81, Z:1.71 [[ 9.98947497e-01 -4.39993578e-02 -1.29597646e-02 2.38491527e+02] [ 4.40017267e-02 9.99031450e-01 -1.02429191e-04 9.81309907e+00] [ 1.29517193e-02 -4.67930637e-04 9.99916013e-01 1.70683320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.244391418 meters Centerline goodness [0,1] 0.9987824590129522 Centerline is valid? [True, True] Translation: X:238.52, Y:9.81, Z:1.71 [[ 9.98976907e-01 -4.33594583e-02 -1.28490095e-02 2.38521951e+02] [ 4.33617392e-02 9.99059432e-01 -1.01152734e-04 9.81420039e+00] [ 1.28413101e-02 -4.56106154e-04 9.99917443e-01 1.70704475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.274391418 meters Centerline goodness [0,1] 0.9989070349118272 Centerline is valid? [True, True] Translation: X:238.55, Y:9.82, Z:1.71 [[ 9.99003137e-01 -4.27605198e-02 -1.28167837e-02 2.38553228e+02] [ 4.27627448e-02 9.99085250e-01 -1.00525401e-04 9.81505012e+00] [ 1.28093581e-02 -4.47655660e-04 9.99917857e-01 1.70717935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.304391418 meters Centerline goodness [0,1] 0.9988855244343511 Centerline is valid? [True, True] Translation: X:238.59, Y:9.82, Z:1.71 [[ 9.99020922e-01 -4.23864889e-02 -1.26721707e-02 2.38585014e+02] [ 4.23886403e-02 9.99101193e-01 -9.88864062e-05 9.81607271e+00] [ 1.26649723e-02 -4.38366498e-04 9.99919700e-01 1.70734761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.334391418 meters Centerline goodness [0,1] 0.9989901752466708 Centerline is valid? [True, True] Translation: X:238.62, Y:9.82, Z:1.71 [[ 9.99056502e-01 -4.16463000e-02 -1.23163047e-02 2.38616682e+02] [ 4.16482822e-02 9.99132329e-01 -9.56152449e-05 9.81866694e+00] [ 1.23096002e-02 -4.17427899e-04 9.99924147e-01 1.70727927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.364391418 meters Centerline goodness [0,1] 0.9990964298472336 Centerline is valid? [True, True] Translation: X:238.65, Y:9.82, Z:1.71 [[ 9.99083162e-01 -4.09745602e-02 -1.24065210e-02 2.38646770e+02] [ 4.09765247e-02 9.99160105e-01 -9.59111767e-05 9.81867788e+00] [ 1.24000307e-02 -4.12552872e-04 9.99923032e-01 1.70717779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.394391418 meters Centerline goodness [0,1] 0.9987802313354364 Centerline is valid? [True, True] Translation: X:238.68, Y:9.82, Z:1.71 [[ 9.99150063e-01 -3.92495603e-02 -1.25945829e-02 2.38677675e+02] [ 3.92514528e-02 9.99229360e-01 -9.69878668e-05 9.82225190e+00] [ 1.25886838e-02 -3.97450244e-04 9.99920680e-01 1.70758554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.424391418 meters Centerline goodness [0,1] 0.9990746777144539 Centerline is valid? [True, True] Translation: X:238.71, Y:9.82, Z:1.71 [[ 9.99205529e-01 -3.78436585e-02 -1.24967385e-02 2.38708060e+02] [ 3.78454168e-02 9.99283601e-01 -9.58347663e-05 9.82396921e+00] [ 1.24914126e-02 -3.77185650e-04 9.99921908e-01 1.70787542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.454391418 meters Centerline goodness [0,1] 0.9990745220116526 Centerline is valid? [True, True] Translation: X:238.74, Y:9.83, Z:1.71 [[ 9.99262107e-01 -3.62024328e-02 -1.28306474e-02 2.38739599e+02] [ 3.62041560e-02 9.99344410e-01 -9.80116054e-05 9.82637616e+00] [ 1.28257840e-02 -3.66583475e-04 9.99917679e-01 1.70812215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.484391418 meters Centerline goodness [0,1] 0.9987387538888421 Centerline is valid? [True, True] Translation: X:238.77, Y:9.83, Z:1.71 [[ 9.99330011e-01 -3.40938270e-02 -1.33093795e-02 2.38769671e+02] [ 3.40955000e-02 9.99418574e-01 -1.01246200e-04 9.82724896e+00] [ 1.33050929e-02 -3.52611581e-04 9.99911421e-01 1.70779396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.514391418 meters Centerline goodness [0,1] 0.9990538068504384 Centerline is valid? [True, True] Translation: X:238.80, Y:9.83, Z:1.71 [[ 9.99478670e-01 -2.94483230e-02 -1.32357508e-02 2.38800471e+02] [ 2.94495740e-02 9.99566262e-01 -1.00421960e-04 9.83261392e+00] [ 1.32329672e-02 -2.89417615e-04 9.99912399e-01 1.70788677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.544391418 meters Centerline goodness [0,1] 0.9990770457072137 Centerline is valid? [True, True] Translation: X:238.83, Y:9.84, Z:1.71 [[ 9.99549434e-01 -2.68536478e-02 -1.34093099e-02 2.38831271e+02] [ 2.68547003e-02 9.99639342e-01 -1.01597758e-04 9.83521987e+00] [ 1.34072020e-02 -2.58551018e-04 9.99910086e-01 1.70804293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.574391418 meters Centerline goodness [0,1] 0.9989901752466708 Centerline is valid? [True, True] Translation: X:238.86, Y:9.84, Z:1.71 [[ 9.99606769e-01 -2.47666681e-02 -1.31499149e-02 2.38861463e+02] [ 2.47674997e-02 9.99693233e-01 -9.96324109e-05 9.83753571e+00] [ 1.31483485e-02 -2.26097281e-04 9.99913531e-01 1.70817749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.604391418 meters Centerline goodness [0,1] 0.9989486521720846 Centerline is valid? [True, True] Translation: X:238.89, Y:9.84, Z:1.71 [[ 9.99681507e-01 -2.15521428e-02 -1.31296933e-02 2.38890727e+02] [ 2.15526956e-02 9.99767709e-01 -9.94090713e-05 9.84152346e+00] [ 1.31287859e-02 -1.83602874e-04 9.99913797e-01 1.70825799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.634391418 meters Centerline goodness [0,1] 0.999181050774852 Centerline is valid? [True, True] Translation: X:238.92, Y:9.84, Z:1.71 [[ 9.99694511e-01 -2.09507472e-02 -1.31130100e-02 2.38920739e+02] [ 2.09512448e-02 9.99780494e-01 -9.94377514e-05 9.84287940e+00] [ 1.31122149e-02 -1.75326510e-04 9.99914016e-01 1.70830413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.664391418 meters Centerline goodness [0,1] 0.9991178138587242 Centerline is valid? [True, True] Translation: X:238.95, Y:9.84, Z:1.71 [[ 9.99685293e-01 -2.11274839e-02 -1.35256711e-02 2.38949906e+02] [ 2.11280224e-02 9.99776773e-01 -1.03095676e-04 9.84326190e+00] [ 1.35248299e-02 -1.82707451e-04 9.99908519e-01 1.70801879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.694391418 meters Centerline goodness [0,1] 0.9988644488371115 Centerline is valid? [True, True] Translation: X:238.98, Y:9.84, Z:1.71 [[ 9.99619697e-01 -2.38656820e-02 -1.38163441e-02 2.38978439e+02] [ 2.38664759e-02 9.99715149e-01 -1.07442405e-04 9.84183270e+00] [ 1.38149727e-02 -2.22345900e-04 9.99904544e-01 1.70748384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.724391418 meters Centerline goodness [0,1] 0.9990765033056984 Centerline is valid? [True, True] Translation: X:239.01, Y:9.84, Z:1.71 [[ 9.99561456e-01 -2.62695291e-02 -1.36677815e-02 2.39006771e+02] [ 2.62704979e-02 9.99654865e-01 -1.08685408e-04 9.83924580e+00] [ 1.36659194e-02 -2.50421680e-04 9.99906586e-01 1.70741376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.754391418 meters Centerline goodness [0,1] 0.9990764839224247 Centerline is valid? [True, True] Translation: X:239.04, Y:9.84, Z:1.71 [[ 9.99489529e-01 -2.90824934e-02 -1.32246237e-02 2.39036737e+02] [ 2.90836380e-02 9.99576976e-01 -1.05799716e-04 9.83776423e+00] [ 1.32221063e-02 -2.78874461e-04 9.99912545e-01 1.70759742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.784391418 meters Centerline goodness [0,1] 0.9985492925172929 Centerline is valid? [True, True] Translation: X:239.07, Y:9.83, Z:1.71 [[ 9.99277156e-01 -3.57796773e-02 -1.28444928e-02 2.39066260e+02] [ 3.57813067e-02 9.99359639e-01 -1.03004509e-04 9.82993134e+00] [ 1.28399531e-02 -3.56662682e-04 9.99917501e-01 1.70765843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.814391418 meters Centerline goodness [0,1] 0.9986549818212387 Centerline is valid? [True, True] Translation: X:239.10, Y:9.83, Z:1.71 [[ 9.99157279e-01 -3.91859714e-02 -1.22143583e-02 2.39096236e+02] [ 3.91876975e-02 9.99231862e-01 -9.80802978e-05 9.82586572e+00] [ 1.22088194e-02 -3.80654934e-04 9.99925397e-01 1.70827703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84439141800001 meters Centerline goodness [0,1] 0.9987378252729453 Centerline is valid? [True, True] Translation: X:239.13, Y:9.82, Z:1.71 [[ 9.98852933e-01 -4.60895480e-02 -1.29835513e-02 2.39127539e+02] [ 4.60920834e-02 9.98937190e-01 -1.04052086e-04 9.82242496e+00] [ 1.29745479e-02 -4.94506197e-04 9.99915705e-01 1.70802917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87439141800002 meters Centerline goodness [0,1] 0.9987397340838917 Centerline is valid? [True, True] Translation: X:239.16, Y:9.82, Z:1.71 [[ 9.98694234e-01 -4.93025742e-02 -1.33821960e-02 2.39158940e+02] [ 4.93055622e-02 9.98783735e-01 -1.06754763e-04 9.81877147e+00] [ 1.33711830e-02 -5.53201330e-04 9.99910449e-01 1.70769011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.904391418 meters Centerline goodness [0,1] 0.9986541049798116 Centerline is valid? [True, True] Translation: X:239.19, Y:9.82, Z:1.71 [[ 9.98527691e-01 -5.24062349e-02 -1.40013227e-02 2.39190266e+02] [ 5.24098179e-02 9.98625655e-01 -1.11143999e-04 9.81601104e+00] [ 1.39879047e-02 -6.22826414e-04 9.99901970e-01 1.70733655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.934391418 meters Centerline goodness [0,1] 0.9986144641545083 Centerline is valid? [True, True] Translation: X:239.22, Y:9.81, Z:1.71 [[ 9.98376232e-01 -5.51773022e-02 -1.41550403e-02 2.39220632e+02] [ 5.51812480e-02 9.98476348e-01 -1.11957158e-04 9.81271709e+00] [ 1.41396505e-02 -6.69317425e-04 9.99899806e-01 1.70673427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.964391418 meters Centerline goodness [0,1] 0.9986357435197817 Centerline is valid? [True, True] Translation: X:239.25, Y:9.81, Z:1.71 [[ 9.98089887e-01 -6.00897097e-02 -1.43459060e-02 2.39249893e+02] [ 6.00942693e-02 9.98192700e-01 -1.13420879e-04 9.80788022e+00] [ 1.43267941e-02 -7.48902508e-04 9.99897086e-01 1.70634673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.994391418 meters Centerline goodness [0,1] 0.998469569592654 Centerline is valid? [True, True] Translation: X:239.28, Y:9.81, Z:1.71 [[ 9.97974840e-01 -6.20035677e-02 -1.42047676e-02 2.39281005e+02] [ 6.20082339e-02 9.98075632e-01 -1.12120890e-04 9.80652432e+00] [ 1.41843843e-02 -7.68918725e-04 9.99899101e-01 1.70667226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.024391418 meters Centerline goodness [0,1] 0.9987844493345908 Centerline is valid? [True, True] Translation: X:239.31, Y:9.81, Z:1.71 [[ 9.97875359e-01 -6.36753203e-02 -1.37920821e-02 2.39312281e+02] [ 6.36798854e-02 9.97970371e-01 -1.08359257e-04 9.80569357e+00] [ 1.37709891e-02 -7.70149178e-04 9.99904879e-01 1.70750851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.054391418 meters Centerline goodness [0,1] 0.9981133657554923 Centerline is valid? [True, True] Translation: X:239.34, Y:9.81, Z:1.71 [[ 9.97770999e-01 -6.55229990e-02 -1.26399940e-02 2.39343083e+02] [ 6.55269866e-02 9.97850793e-01 -9.88616512e-05 9.80507119e+00] [ 1.26193058e-02 -7.29619431e-04 9.99920107e-01 1.70873668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.084391418 meters Centerline goodness [0,1] 0.998196497850477 Centerline is valid? [True, True] Translation: X:239.38, Y:9.81, Z:1.71 [[ 9.97766002e-01 -6.56534148e-02 -1.23545332e-02 2.39375353e+02] [ 6.56572422e-02 9.97842231e-01 -9.59851172e-05 9.80600422e+00] [ 1.23341767e-02 -7.15393889e-04 9.99923675e-01 1.70921052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.114391418 meters Centerline goodness [0,1] 0.9983259745966645 Centerline is valid? [True, True] Translation: X:239.41, Y:9.82, Z:1.71 [[ 9.97825045e-01 -6.49413369e-02 -1.13049855e-02 2.39407195e+02] [ 6.49445052e-02 9.97888873e-01 -8.70101456e-05 9.82141868e+00] [ 1.12867698e-02 -6.47375785e-04 9.99936093e-01 1.71115205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.144391418 meters Centerline goodness [0,1] 0.9983630983609998 Centerline is valid? [True, True] Translation: X:239.44, Y:9.82, Z:1.71 [[ 9.97866402e-01 -6.43283689e-02 -1.11581269e-02 2.39438909e+02] [ 6.43314274e-02 9.97928585e-01 -8.49752850e-05 9.82292269e+00] [ 1.11404801e-02 -6.33024250e-04 9.99937743e-01 1.71149031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.174391418 meters Centerline goodness [0,1] 0.9984879032258065 Centerline is valid? [True, True] Translation: X:239.47, Y:9.83, Z:1.71 [[ 9.97933264e-01 -6.32904612e-02 -1.11138946e-02 2.39470778e+02] [ 6.32934414e-02 9.97994957e-01 -8.37312368e-05 9.82761830e+00] [ 1.10969102e-02 -6.19878450e-04 9.99938235e-01 1.71181224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.204391418 meters Centerline goodness [0,1] 0.9984217171717171 Centerline is valid? [True, True] Translation: X:239.50, Y:9.83, Z:1.71 [[ 9.98076901e-01 -6.07544254e-02 -1.23044687e-02 2.39502232e+02] [ 6.07578967e-02 9.98152528e-01 -9.18397812e-05 9.83306951e+00] [ 1.22873162e-02 -6.55930474e-04 9.99924293e-01 1.71082346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.234391418 meters Centerline goodness [0,1] 0.9984217171717171 Centerline is valid? [True, True] Translation: X:239.53, Y:9.83, Z:1.71 [[ 9.98081876e-01 -6.06726280e-02 -1.23044741e-02 2.39533967e+02] [ 6.06761020e-02 9.98157504e-01 -9.11169824e-05 9.83322796e+00] [ 1.22873314e-02 -6.55645314e-04 9.99924293e-01 1.71104584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.264391418 meters Centerline goodness [0,1] 0.9986323851203501 Centerline is valid? [True, True] Translation: X:239.56, Y:9.83, Z:1.71 [[ 9.98182550e-01 -5.88682138e-02 -1.28891540e-02 2.39564801e+02] [ 5.88718867e-02 9.98265542e-01 -9.46052189e-05 9.83497944e+00] [ 1.28723675e-02 -6.64375534e-04 9.99916927e-01 1.71072673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.294391418 meters Centerline goodness [0,1] 0.9989017487539072 Centerline is valid? [True, True] Translation: X:239.60, Y:9.84, Z:1.71 [[ 9.98363013e-01 -5.55251322e-02 -1.37205968e-02 2.39596787e+02] [ 5.55289891e-02 9.98457070e-01 -9.99918071e-05 9.84312774e+00] [ 1.37049789e-02 -6.62062749e-04 9.99905863e-01 1.71024403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.324391418 meters Centerline goodness [0,1] 0.9990287777378967 Centerline is valid? [True, True] Translation: X:239.63, Y:9.85, Z:1.71 [[ 9.98454044e-01 -5.37505615e-02 -1.41562414e-02 2.39629052e+02] [ 5.37545038e-02 9.98554176e-01 -1.02143731e-04 9.84603449e+00] [ 1.41412643e-02 -6.58975914e-04 9.99899790e-01 1.71001591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.354391418 meters Centerline goodness [0,1] 0.9988137603795967 Centerline is valid? [True, True] Translation: X:239.66, Y:9.85, Z:1.71 [[ 9.98549939e-01 -5.18876398e-02 -1.43419406e-02 2.39660623e+02] [ 5.18915112e-02 9.98652723e-01 -1.02320524e-04 9.84923710e+00] [ 1.43279272e-02 -6.42052821e-04 9.99897144e-01 1.71015672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.384391418 meters Centerline goodness [0,1] 0.9987070792708775 Centerline is valid? [True, True] Translation: X:239.69, Y:9.86, Z:1.71 [[ 9.98763596e-01 -4.74587417e-02 -1.47968675e-02 2.39692508e+02] [ 4.74623930e-02 9.98873020e-01 -1.04508859e-04 9.85948348e+00] [ 1.47851516e-02 -5.97915095e-04 9.99890515e-01 1.71076129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.414391418 meters Centerline goodness [0,1] 0.9988331141002249 Centerline is valid? [True, True] Translation: X:239.72, Y:9.86, Z:1.71 [[ 9.98864559e-01 -4.51456133e-02 -1.52140205e-02 2.39724027e+02] [ 4.51492223e-02 9.98980248e-01 -1.06346298e-04 9.86272150e+00] [ 1.52033070e-02 -5.80675645e-04 9.99884254e-01 1.71069986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.444391418 meters Centerline goodness [0,1] 0.9986854937878981 Centerline is valid? [True, True] Translation: X:239.75, Y:9.87, Z:1.71 [[ 9.98977431e-01 -4.26626720e-02 -1.49662401e-02 2.39754721e+02] [ 4.26658993e-02 9.99089391e-01 -1.03735129e-04 9.86543564e+00] [ 1.49570373e-02 -5.34919038e-04 9.99887994e-01 1.71079747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.474391418 meters Centerline goodness [0,1] 0.9986802894848872 Centerline is valid? [True, True] Translation: X:239.79, Y:9.87, Z:1.71 [[ 9.99082054e-01 -4.01900554e-02 -1.48259684e-02 2.39786621e+02] [ 4.01929613e-02 9.99191931e-01 -1.02028438e-04 9.86959538e+00] [ 1.48180885e-02 -4.93964792e-04 9.99890084e-01 1.71116500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.504391418 meters Centerline goodness [0,1] 0.9987666135034556 Centerline is valid? [True, True] Translation: X:239.82, Y:9.88, Z:1.71 [[ 9.99299593e-01 -3.47431028e-02 -1.39010885e-02 2.39817204e+02] [ 3.47451362e-02 9.99396201e-01 -9.52800802e-05 9.87835450e+00] [ 1.38960054e-02 -3.87781869e-04 9.99903371e-01 1.71279280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.534391418 meters Centerline goodness [0,1] 0.9988280667362724 Centerline is valid? [True, True] Translation: X:239.85, Y:9.88, Z:1.71 [[ 9.99400877e-01 -3.19469079e-02 -1.33147595e-02 2.39848574e+02] [ 3.19485287e-02 9.99489511e-01 -9.10107992e-05 9.88436883e+00] [ 1.33108700e-02 -3.34430703e-04 9.99911351e-01 1.71423685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.564391418 meters Centerline goodness [0,1] 0.9988924151739121 Centerline is valid? [True, True] Translation: X:239.88, Y:9.89, Z:1.72 [[ 9.99565585e-01 -2.65656839e-02 -1.27634693e-02 2.39879338e+02] [ 2.65667396e-02 9.99647038e-01 -8.68580851e-05 9.89436288e+00] [ 1.27612717e-02 -2.52263412e-04 9.99918540e-01 1.71507735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59439141800001 meters Centerline goodness [0,1] 0.9990826862360269 Centerline is valid? [True, True] Translation: X:239.91, Y:9.90, Z:1.72 [[ 9.99635823e-01 -2.38282781e-02 -1.26662416e-02 2.39909882e+02] [ 2.38291054e-02 9.99716043e-01 -8.56152069e-05 9.89776101e+00] [ 1.26646850e-02 -2.16241180e-04 9.99919776e-01 1.71521709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62439141800002 meters Centerline goodness [0,1] 0.9991246984479409 Centerline is valid? [True, True] Translation: X:239.94, Y:9.90, Z:1.72 [[ 9.99689797e-01 -2.14527561e-02 -1.26526440e-02 2.39940930e+02] [ 2.14534013e-02 9.99769846e-01 -8.47464438e-05 9.90321136e+00] [ 1.26515500e-02 -1.86722094e-04 9.99919949e-01 1.71597671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.654391418 meters Centerline goodness [0,1] 0.9990802532511978 Centerline is valid? [True, True] Translation: X:239.97, Y:9.91, Z:1.72 [[ 9.99728905e-01 -1.94412218e-02 -1.28122974e-02 2.39971415e+02] [ 1.94417236e-02 9.99810988e-01 -8.54033028e-05 9.90659276e+00] [ 1.28115361e-02 -1.63712995e-04 9.99917916e-01 1.71626614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.684391418 meters Centerline goodness [0,1] 0.9990788148846377 Centerline is valid? [True, True] Translation: X:240.00, Y:9.91, Z:1.72 [[ 9.99790528e-01 -1.60865695e-02 -1.26539872e-02 2.40001185e+02] [ 1.60867929e-02 9.99870596e-01 -8.41421632e-05 9.91216174e+00] [ 1.26537033e-02 -1.19437534e-04 9.99919932e-01 1.71632718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.714391418 meters Centerline goodness [0,1] 0.9994001842291296 Centerline is valid? [True, True] Translation: X:240.03, Y:9.91, Z:1.72 [[ 9.99803556e-01 -1.51789160e-02 -1.27455958e-02 2.40030385e+02] [ 1.51790669e-02 9.99884788e-01 -8.49025418e-05 9.91476674e+00] [ 1.27454161e-02 -1.08580389e-04 9.99918768e-01 1.71663220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.744391418 meters Centerline goodness [0,1] 0.9990785187725013 Centerline is valid? [True, True] Translation: X:240.06, Y:9.92, Z:1.72 [[ 9.99815329e-01 -1.44148517e-02 -1.27090132e-02 2.40059970e+02] [ 1.44149336e-02 9.99896096e-01 -8.51696593e-05 9.91681419e+00] [ 1.27089204e-02 -9.80456493e-05 9.99919234e-01 1.71685858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.774391418 meters Centerline goodness [0,1] 0.9993567201303714 Centerline is valid? [True, True] Translation: X:240.09, Y:9.92, Z:1.72 [[ 9.99821759e-01 -1.41875083e-02 -1.24564912e-02 2.40088731e+02] [ 1.41875618e-02 9.99899348e-01 -8.40792252e-05 9.91884031e+00] [ 1.24564303e-02 -9.26630007e-05 9.99922411e-01 1.71761948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.804391418 meters Centerline goodness [0,1] 0.9993370118482399 Centerline is valid? [True, True] Translation: X:240.12, Y:9.92, Z:1.72 [[ 9.99820807e-01 -1.47284490e-02 -1.18922892e-02 2.40117729e+02] [ 1.47285271e-02 9.99891526e-01 -8.10179577e-05 9.91928097e+00] [ 1.18921925e-02 -9.41524641e-05 9.99929281e-01 1.71753327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.834391418 meters Centerline goodness [0,1] 0.9992045918696391 Centerline is valid? [True, True] Translation: X:240.15, Y:9.92, Z:1.72 [[ 9.99789831e-01 -1.65986694e-02 -1.20323918e-02 2.40147094e+02] [ 1.65988763e-02 9.99862226e-01 -8.26743668e-05 9.91964192e+00] [ 1.20321063e-02 -1.17067191e-04 9.99927605e-01 1.71776983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.864391418 meters Centerline goodness [0,1] 0.999205104518014 Centerline is valid? [True, True] Translation: X:240.18, Y:9.92, Z:1.72 [[ 9.99765873e-01 -1.79427500e-02 -1.20936485e-02 2.40176412e+02] [ 1.79430515e-02 9.99839007e-01 -8.35798892e-05 9.91966406e+00] [ 1.20932012e-02 -1.33436637e-04 9.99926866e-01 1.71812558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.894391418 meters Centerline goodness [0,1] 0.9992066044816125 Centerline is valid? [True, True] Translation: X:240.21, Y:9.92, Z:1.72 [[ 9.99741087e-01 -1.93549009e-02 -1.19643639e-02 2.40205460e+02] [ 1.93552938e-02 9.99812665e-01 -8.29660950e-05 9.91880744e+00] [ 1.19637283e-02 -1.48629163e-04 9.99928421e-01 1.71819696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.924391418 meters Centerline goodness [0,1] 0.9992065364242672 Centerline is valid? [True, True] Translation: X:240.24, Y:9.92, Z:1.72 [[ 9.99709809e-01 -2.07428095e-02 -1.22488244e-02 2.40236187e+02] [ 2.07433255e-02 9.99784830e-01 -8.49356069e-05 9.91794346e+00] [ 1.22479506e-02 -1.69170391e-04 9.99924977e-01 1.71788122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.954391418 meters Centerline goodness [0,1] 0.9992280310503067 Centerline is valid? [True, True] Translation: X:240.27, Y:9.92, Z:1.72 [[ 9.99641304e-01 -2.34607319e-02 -1.29173309e-02 2.40266917e+02] [ 2.34615369e-02 9.99724736e-01 -8.92371496e-05 9.91584873e+00] [ 1.29158688e-02 -2.13855294e-04 9.99916564e-01 1.71762959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.984391418 meters Centerline goodness [0,1] 0.9991431019708654 Centerline is valid? [True, True] Translation: X:240.30, Y:9.92, Z:1.72 [[ 9.99598565e-01 -2.49894531e-02 -1.33505360e-02 2.40298724e+02] [ 2.49904581e-02 9.99687686e-01 -9.15683323e-05 9.91525908e+00] [ 1.33486547e-02 -2.42104437e-04 9.99910873e-01 1.71762007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.014391418 meters Centerline goodness [0,1] 0.9992050532829151 Centerline is valid? [True, True] Translation: X:240.33, Y:9.91, Z:1.72 [[ 9.99554663e-01 -2.66708799e-02 -1.33843046e-02 2.40329382e+02] [ 2.66720461e-02 9.99644234e-01 -9.13951009e-05 9.91394268e+00] [ 1.33819805e-02 -2.65632389e-04 9.99910422e-01 1.71772861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.044391418 meters Centerline goodness [0,1] 0.9991619751600842 Centerline is valid? [True, True] Translation: X:240.36, Y:9.91, Z:1.72 [[ 9.99431647e-01 -3.06094418e-02 -1.41224913e-02 2.40360147e+02] [ 3.06111373e-02 9.99531365e-01 -9.61453883e-05 9.91275997e+00] [ 1.41188160e-02 -3.36214776e-04 9.99900268e-01 1.71755505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.074391418 meters Centerline goodness [0,1] 0.9992047286405159 Centerline is valid? [True, True] Translation: X:240.39, Y:9.91, Z:1.72 [[ 9.99354930e-01 -3.28213975e-02 -1.45766596e-02 2.40391348e+02] [ 3.28234455e-02 9.99461161e-01 -9.87839251e-05 9.91122107e+00] [ 1.45720473e-02 -3.79735989e-04 9.99893750e-01 1.71751752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.104391418 meters Centerline goodness [0,1] 0.9992507439042665 Centerline is valid? [True, True] Translation: X:240.42, Y:9.91, Z:1.72 [[ 9.99205515e-01 -3.68218518e-02 -1.52476372e-02 2.40422022e+02] [ 3.68245678e-02 9.99321740e-01 -1.02693244e-04 9.90576249e+00] [ 1.52410767e-02 -4.58875995e-04 9.99883743e-01 1.71644333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.134391418 meters Centerline goodness [0,1] 0.9994200408119429 Centerline is valid? [True, True] Translation: X:240.45, Y:9.91, Z:1.72 [[ 9.99136803e-01 -3.84758628e-02 -1.56606485e-02 2.40453145e+02] [ 3.84789409e-02 9.99259406e-01 -1.04832909e-04 9.90568290e+00] [ 1.56530838e-02 -4.97862751e-04 9.99877359e-01 1.71682506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.164391418 meters Centerline goodness [0,1] 0.999185685203043 Centerline is valid? [True, True] Translation: X:240.48, Y:9.91, Z:1.72 [[ 9.99064306e-01 -4.01966154e-02 -1.59607090e-02 2.40484856e+02] [ 4.02000423e-02 9.99191646e-01 -1.06198897e-04 9.90502514e+00] [ 1.59520759e-02 -5.35521648e-04 9.99872614e-01 1.71677320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.194391418 meters Centerline goodness [0,1] 0.9990988284770201 Centerline is valid? [True, True] Translation: X:240.52, Y:9.90, Z:1.72 [[ 9.98931604e-01 -4.32497214e-02 -1.62822917e-02 2.40516856e+02] [ 4.32537096e-02 9.99064115e-01 -1.07302777e-04 9.90372371e+00] [ 1.62716941e-02 -5.97081381e-04 9.99867429e-01 1.71698303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.224391418 meters Centerline goodness [0,1] 0.9990583199571964 Centerline is valid? [True, True] Translation: X:240.55, Y:9.90, Z:1.72 [[ 9.98881150e-01 -4.44278995e-02 -1.62052646e-02 2.40548294e+02] [ 4.44320230e-02 9.99012404e-01 -1.05678038e-04 9.90064978e+00] [ 1.61939554e-02 -6.14472888e-04 9.99868680e-01 1.71648897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.254391418 meters Centerline goodness [0,1] 0.9990556115988066 Centerline is valid? [True, True] Translation: X:240.58, Y:9.90, Z:1.72 [[ 9.98842713e-01 -4.53970613e-02 -1.58852516e-02 2.40580601e+02] [ 4.54011633e-02 9.98968830e-01 -1.02492482e-04 9.89986343e+00] [ 1.58735241e-02 -6.18835034e-04 9.99873816e-01 1.71697540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.284391418 meters Centerline goodness [0,1] 0.9988841680614566 Centerline is valid? [True, True] Translation: X:240.61, Y:9.90, Z:1.72 [[ 9.98756843e-01 -4.72654280e-02 -1.58350495e-02 2.40611773e+02] [ 4.72697551e-02 9.98882155e-01 -1.01122162e-04 9.89825780e+00] [ 1.58221280e-02 -6.47522460e-04 9.99874613e-01 1.71753097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.314391418 meters Centerline goodness [0,1] 0.9988848380870684 Centerline is valid? [True, True] Translation: X:240.64, Y:9.90, Z:1.72 [[ 9.98721443e-01 -4.80503990e-02 -1.57047065e-02 2.40643444e+02] [ 4.80547665e-02 9.98844697e-01 -9.93633320e-05 9.90197059e+00] [ 1.56913373e-02 -6.55449716e-04 9.99876669e-01 1.71891829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34439141800001 meters Centerline goodness [0,1] 0.9991193023155905 Centerline is valid? [True, True] Translation: X:240.68, Y:9.90, Z:1.72 [[ 9.98688717e-01 -4.86947032e-02 -1.58010023e-02 2.40675707e+02] [ 4.86992229e-02 9.98813484e-01 -9.88327326e-05 9.90251236e+00] [ 1.57870668e-02 -6.70793396e-04 9.99875151e-01 1.72001938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37439141800002 meters Centerline goodness [0,1] 0.9991615968355655 Centerline is valid? [True, True] Translation: X:240.71, Y:9.90, Z:1.72 [[ 9.98653561e-01 -4.94272872e-02 -1.57483017e-02 2.40706941e+02] [ 4.94318935e-02 9.98777492e-01 -9.68698785e-05 9.90114295e+00] [ 1.57338373e-02 -6.81728924e-04 9.99875983e-01 1.72059875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.404391418 meters Centerline goodness [0,1] 0.9989467122374841 Centerline is valid? [True, True] Translation: X:240.74, Y:9.90, Z:1.72 [[ 9.98630361e-01 -4.98357691e-02 -1.59310664e-02 2.40738896e+02] [ 4.98405600e-02 9.98757182e-01 -9.64097883e-05 9.90351173e+00] [ 1.59160716e-02 -6.97735529e-04 9.99873088e-01 1.72111414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.434391418 meters Centerline goodness [0,1] 0.9990982673851901 Centerline is valid? [True, True] Translation: X:240.77, Y:9.90, Z:1.72 [[ 9.98645442e-01 -4.94985036e-02 -1.60368115e-02 2.40769714e+02] [ 4.95033428e-02 9.98773953e-01 -9.53102636e-05 9.90280137e+00] [ 1.60218673e-02 -6.98694617e-04 9.99871398e-01 1.72077335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.464391418 meters Centerline goodness [0,1] 0.9992474898411129 Centerline is valid? [True, True] Translation: X:240.80, Y:9.91, Z:1.72 [[ 9.98659442e-01 -4.87425766e-02 -1.74207091e-02 2.40802127e+02] [ 4.87482043e-02 9.98811094e-01 -1.01705025e-04 9.90675457e+00] [ 1.74049549e-02 -7.47659605e-04 9.99848243e-01 1.72043126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.494391418 meters Centerline goodness [0,1] 0.9990127272337046 Centerline is valid? [True, True] Translation: X:240.83, Y:9.91, Z:1.72 [[ 9.98689658e-01 -4.80183796e-02 -1.76975093e-02 2.40834679e+02] [ 4.80240995e-02 9.98846172e-01 -1.01884838e-04 9.90767144e+00] [ 1.76819818e-02 -7.48155614e-04 9.99843382e-01 1.71984150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.524391418 meters Centerline goodness [0,1] 0.9990540075679395 Centerline is valid? [True, True] Translation: X:240.87, Y:9.91, Z:1.72 [[ 9.98718087e-01 -4.71730089e-02 -1.83545725e-02 2.40867384e+02] [ 4.71790506e-02 9.98886443e-01 -1.03948691e-04 9.90897621e+00] [ 1.83390372e-02 -7.62135866e-04 9.99831535e-01 1.71976636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.554391418 meters Centerline goodness [0,1] 0.9993328455214565 Centerline is valid? [True, True] Translation: X:240.90, Y:9.91, Z:1.72 [[ 9.98787001e-01 -4.50346196e-02 -1.99100242e-02 2.40898427e+02] [ 4.50413590e-02 9.98985117e-01 -1.10039905e-04 9.91263882e+00] [ 1.98947735e-02 -7.86868123e-04 9.99801770e-01 1.71913718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.584391418 meters Centerline goodness [0,1] 0.9991809462226533 Centerline is valid? [True, True] Translation: X:240.93, Y:9.92, Z:1.72 [[ 9.98842711e-01 -4.35913780e-02 -2.03231721e-02 2.40930652e+02] [ 4.35981457e-02 9.99049143e-01 -1.10158695e-04 9.91662726e+00] [ 2.03086496e-02 -7.76021410e-04 9.99793457e-01 1.71978475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.614391418 meters Centerline goodness [0,1] 0.9991383581414385 Centerline is valid? [True, True] Translation: X:240.96, Y:9.92, Z:1.72 [[ 9.98910901e-01 -4.18108599e-02 -2.07090242e-02 2.40961574e+02] [ 4.18175284e-02 9.99125258e-01 -1.11123675e-04 9.91603844e+00] [ 2.06955553e-02 -7.54997556e-04 9.99785539e-01 1.71896422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.644391418 meters Centerline goodness [0,1] 0.9991354155409057 Centerline is valid? [True, True] Translation: X:240.99, Y:9.92, Z:1.72 [[ 9.98991882e-01 -3.99700534e-02 -2.04356401e-02 2.40993309e+02] [ 3.99761843e-02 9.99200627e-01 -1.08574063e-04 9.92143742e+00] [ 2.04236442e-02 -7.08474310e-04 9.99791165e-01 1.72084924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.674391418 meters Centerline goodness [0,1] 0.999308452013053 Centerline is valid? [True, True] Translation: X:241.02, Y:9.93, Z:1.72 [[ 9.99172885e-01 -3.55030412e-02 -1.98262684e-02 2.41023232e+02] [ 3.55079414e-02 9.99369389e-01 -1.04928273e-04 9.92659868e+00] [ 1.98174910e-02 -5.99148491e-04 9.99803435e-01 1.72216842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.704391418 meters Centerline goodness [0,1] 0.9990914990266061 Centerline is valid? [True, True] Translation: X:241.05, Y:9.93, Z:1.72 [[ 9.99264181e-01 -3.31059182e-02 -1.93673538e-02 2.41053807e+02] [ 3.31101442e-02 9.99451704e-01 -1.02499520e-04 9.92959937e+00] [ 1.93601281e-02 -5.38831780e-04 9.99812430e-01 1.72285729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.734391418 meters Centerline goodness [0,1] 0.9991558258836771 Centerline is valid? [True, True] Translation: X:241.08, Y:9.93, Z:1.72 [[ 9.99360280e-01 -3.02798441e-02 -1.90305645e-02 2.41084584e+02] [ 3.02834124e-02 9.99541347e-01 -1.00717101e-04 9.93313140e+00] [ 1.90248858e-02 -4.75657764e-04 9.99818897e-01 1.72368217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.764391418 meters Centerline goodness [0,1] 0.9993478686172641 Centerline is valid? [True, True] Translation: X:241.11, Y:9.94, Z:1.73 [[ 9.99535438e-01 -2.41455845e-02 -1.85983468e-02 2.41114517e+02] [ 2.41479180e-02 9.99708392e-01 -9.91304682e-05 9.94041711e+00] [ 1.85953169e-02 -3.50026936e-04 9.99827031e-01 1.72504257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.794391418 meters Centerline goodness [0,1] 0.9991116118827328 Centerline is valid? [True, True] Translation: X:241.14, Y:9.94, Z:1.73 [[ 9.99615576e-01 -2.08150647e-02 -1.83148469e-02 2.41144298e+02] [ 2.08167531e-02 9.99783303e-01 -9.84771524e-05 9.94486309e+00] [ 1.83129279e-02 -2.82816350e-04 9.99832264e-01 1.72604902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.824391418 meters Centerline goodness [0,1] 0.999302801865005 Centerline is valid? [True, True] Translation: X:241.17, Y:9.95, Z:1.73 [[ 9.99683327e-01 -1.75770334e-02 -1.80081355e-02 2.41172997e+02] [ 1.75781240e-02 9.99845488e-01 -9.77334871e-05 9.94789584e+00] [ 1.80070709e-02 -2.18846702e-04 9.99837836e-01 1.72645405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.854391418 meters Centerline goodness [0,1] 0.9994114441416894 Centerline is valid? [True, True] Translation: X:241.20, Y:9.95, Z:1.73 [[ 9.99779130e-01 -1.13895445e-02 -1.76626545e-02 2.41202061e+02] [ 1.13895739e-02 9.99935132e-01 -9.89280765e-05 9.95490116e+00] [ 1.76626355e-02 -1.02263883e-04 9.99843998e-01 1.72831874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.884391418 meters Centerline goodness [0,1] 0.9993248687849816 Centerline is valid? [True, True] Translation: X:241.23, Y:9.96, Z:1.73 [[ 9.99815403e-01 -8.33777848e-03 -1.73101236e-02 2.41229793e+02] [ 8.33730259e-03 9.99965239e-01 -9.96581702e-05 9.95791327e+00] [ 1.73103528e-02 -4.46799648e-05 9.99850164e-01 1.72834402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.914391418 meters Centerline goodness [0,1] 0.9994755932351528 Centerline is valid? [True, True] Translation: X:241.26, Y:9.96, Z:1.73 [[ 9.99830171e-01 -3.31856718e-03 -1.81277804e-02 2.41258333e+02] [ 3.31715063e-03 9.99994492e-01 -1.08210646e-04 9.96310937e+00] [ 1.81280396e-02 4.80596902e-05 9.99835672e-01 1.72971080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.944391418 meters Centerline goodness [0,1] 0.9995190520954026 Centerline is valid? [True, True] Translation: X:241.29, Y:9.97, Z:1.73 [[ 9.99823175e-01 -1.33510622e-03 -1.87573167e-02 2.41287212e+02] [ 1.33313909e-03 9.99999104e-01 -1.17376814e-04 9.96523179e+00] [ 1.87574566e-02 9.23499466e-05 9.99824059e-01 1.72987123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.974391418 meters Centerline goodness [0,1] 0.999563271099465 Centerline is valid? [True, True] Translation: X:241.32, Y:9.97, Z:1.73 [[ 9.99813497e-01 2.70251811e-04 -1.93105885e-02 2.41315887e+02] [-2.72743599e-04 9.99999955e-01 -1.26403835e-04 9.96701063e+00] [ 1.93105534e-02 1.31647100e-04 9.99813525e-01 1.72965849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.004391418 meters Centerline goodness [0,1] 0.999628163345655 Centerline is valid? [True, True] Translation: X:241.34, Y:9.97, Z:1.73 [[ 9.99804602e-01 1.62919833e-03 -1.97003476e-02 2.41343290e+02] [-1.63212073e-03 9.99998659e-01 -1.32265266e-04 9.96858785e+00] [ 1.97001057e-02 1.64392768e-04 9.99805921e-01 1.72929403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.034391418 meters Centerline goodness [0,1] 0.9993440185424092 Centerline is valid? [True, True] Translation: X:241.37, Y:9.97, Z:1.73 [[ 9.99784688e-01 3.26642640e-03 -2.04916628e-02 2.41372036e+02] [-3.27002451e-03 9.99994643e-01 -1.42083961e-04 9.96963317e+00] [ 2.04910890e-02 2.09061609e-04 9.99790014e-01 1.72889407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.064391418 meters Centerline goodness [0,1] 0.9994544105451529 Centerline is valid? [True, True] Translation: X:241.40, Y:9.97, Z:1.73 [[ 9.99788337e-01 3.63611970e-03 -2.02499128e-02 2.41399251e+02] [-3.63978560e-03 9.99993366e-01 -1.44179216e-04 9.96982262e+00] [ 2.02492542e-02 2.17854040e-04 9.99794939e-01 1.72841717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09439141800001 meters Centerline goodness [0,1] 0.9994980248368581 Centerline is valid? [True, True] Translation: X:241.43, Y:9.97, Z:1.73 [[ 9.99792932e-01 3.30230422e-03 -2.00795552e-02 2.41427051e+02] [-3.30588635e-03 9.99994525e-01 -1.45205689e-04 9.96923063e+00] [ 2.00789658e-02 2.11556349e-04 9.99798375e-01 1.72875553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12439141800002 meters Centerline goodness [0,1] 0.9993900845168598 Centerline is valid? [True, True] Translation: X:241.46, Y:9.97, Z:1.73 [[ 9.99801047e-01 2.63042128e-03 -1.97723688e-02 2.41455234e+02] [-2.63381351e-03 9.99996521e-01 -1.45525251e-04 9.96909675e+00] [ 1.97719172e-02 1.97573031e-04 9.99804497e-01 1.72898809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.154391418 meters Centerline goodness [0,1] 0.9993900845168598 Centerline is valid? [True, True] Translation: X:241.48, Y:9.97, Z:1.73 [[ 9.99801346e-01 2.51464181e-03 -1.97723502e-02 2.41482688e+02] [-2.51806089e-03 9.99996819e-01 -1.48027853e-04 9.96941765e+00] [ 1.97719150e-02 1.97786428e-04 9.99804497e-01 1.72918091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.184391418 meters Centerline goodness [0,1] 0.9994978385223353 Centerline is valid? [True, True] Translation: X:241.51, Y:9.97, Z:1.73 [[ 9.99814948e-01 1.45717310e-03 -1.91819535e-02 2.41510620e+02] [-1.46023388e-03 9.99998923e-01 -1.45559882e-04 9.97010777e+00] [ 1.91817208e-02 1.73543084e-04 9.99815999e-01 1.72859988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.214391418 meters Centerline goodness [0,1] 0.9994112773101914 Centerline is valid? [True, True] Translation: X:241.54, Y:9.97, Z:1.73 [[ 9.99822019e-01 2.52228901e-04 -1.88644304e-02 2.41539448e+02] [-2.55003142e-04 9.99999957e-01 -1.44656683e-04 9.96918366e+00] [ 1.88643931e-02 1.49441425e-04 9.99822040e-01 1.72919522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.244391418 meters Centerline goodness [0,1] 0.9996730173954745 Centerline is valid? [True, True] Translation: X:241.57, Y:9.96, Z:1.73 [[ 9.99828067e-01 -2.42799803e-03 -1.83831592e-02 2.41568042e+02] [ 2.42579095e-03 9.99997048e-01 -1.42357558e-04 9.96437320e+00] [ 1.83834506e-02 9.77393806e-05 9.99831005e-01 1.73247159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.274391418 meters Centerline goodness [0,1] 0.9992582897033159 Centerline is valid? [True, True] Translation: X:241.60, Y:9.96, Z:1.73 [[ 9.99830838e-01 -4.01711460e-03 -1.79487857e-02 2.41595766e+02] [ 4.01523754e-03 9.99991929e-01 -1.40614668e-04 9.96254576e+00] [ 1.79492057e-02 6.85222432e-05 9.99838898e-01 1.73196987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.304391418 meters Centerline goodness [0,1] 0.9995434782608695 Centerline is valid? [True, True] Translation: X:241.62, Y:9.96, Z:1.73 [[ 9.99825583e-01 -6.12734006e-03 -1.76425603e-02 2.41624117e+02] [ 6.12582769e-03 9.99981227e-01 -1.39763809e-04 9.95993112e+00] [ 1.76430855e-02 3.16641469e-05 9.99844348e-01 1.73374882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.334391418 meters Centerline goodness [0,1] 0.999241291105764 Centerline is valid? [True, True] Translation: X:241.65, Y:9.95, Z:1.73 [[ 9.99815009e-01 -9.41714525e-03 -1.67709433e-02 2.41652003e+02] [ 9.41621569e-03 9.99955657e-01 -1.34392939e-04 9.95467002e+00] [ 1.67714652e-02 -2.35507421e-05 9.99859349e-01 1.73336138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.364391418 meters Centerline goodness [0,1] 0.9991760803104877 Centerline is valid? [True, True] Translation: X:241.68, Y:9.95, Z:1.73 [[ 9.99786807e-01 -1.12901338e-02 -1.72879472e-02 2.41679706e+02] [ 1.12893583e-02 9.99936263e-01 -1.42448842e-04 9.95224556e+00] [ 1.72884536e-02 -5.27513580e-05 9.99850542e-01 1.73320209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.394391418 meters Centerline goodness [0,1] 0.9991996365917498 Centerline is valid? [True, True] Translation: X:241.71, Y:9.95, Z:1.73 [[ 9.99772782e-01 -1.28702836e-02 -1.69923747e-02 2.41707642e+02] [ 1.28696741e-02 9.99917172e-01 -1.45221290e-04 9.94995357e+00] [ 1.69928363e-02 -7.34980322e-05 9.99855609e-01 1.73322673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.424391418 meters Centerline goodness [0,1] 0.99911555967815 Centerline is valid? [True, True] Translation: X:241.74, Y:9.95, Z:1.73 [[ 9.99739141e-01 -1.49724933e-02 -1.72474480e-02 2.41736460e+02] [ 1.49720922e-02 9.99887900e-01 -1.52388017e-04 9.94522957e+00] [ 1.72477962e-02 -1.05882117e-04 9.99851240e-01 1.73177238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.454391418 meters Centerline goodness [0,1] 0.9991152161246466 Centerline is valid? [True, True] Translation: X:241.76, Y:9.94, Z:1.73 [[ 9.99723824e-01 -1.61736378e-02 -1.70496233e-02 2.41764297e+02] [ 1.61733331e-02 9.99869191e-01 -1.55764405e-04 9.94358947e+00] [ 1.70499124e-02 -1.20027852e-04 9.99854632e-01 1.73292551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.484391418 meters Centerline goodness [0,1] 0.9993314787259279 Centerline is valid? [True, True] Translation: X:241.79, Y:9.94, Z:1.73 [[ 9.99711758e-01 -1.70391573e-02 -1.69135468e-02 2.41792452e+02] [ 1.70388896e-02 9.99854815e-01 -1.59940232e-04 9.94177482e+00] [ 1.69138165e-02 -1.28293927e-04 9.99856943e-01 1.73316876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.514391418 meters Centerline goodness [0,1] 0.9992457709298567 Centerline is valid? [True, True] Translation: X:241.82, Y:9.94, Z:1.73 [[ 9.99716490e-01 -1.74018949e-02 -1.62516012e-02 2.41819926e+02] [ 1.74016456e-02 9.99848568e-01 -1.56759589e-04 9.93826622e+00] [ 1.62518681e-02 -1.26089459e-04 9.99867922e-01 1.73315221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.544391418 meters Centerline goodness [0,1] 0.9991602428835967 Centerline is valid? [True, True] Translation: X:241.85, Y:9.94, Z:1.73 [[ 9.99727192e-01 -1.68181215e-02 -1.62078091e-02 2.41848208e+02] [ 1.68177446e-02 9.99858559e-01 -1.59561649e-04 9.93710984e+00] [ 1.62082002e-02 -1.13060676e-04 9.99868632e-01 1.73304805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.574391418 meters Centerline goodness [0,1] 0.9989887688799002 Centerline is valid? [True, True] Translation: X:241.88, Y:9.94, Z:1.73 [[ 9.99744479e-01 -1.62189202e-02 -1.57455813e-02 2.41876249e+02] [ 1.62184177e-02 9.99868460e-01 -1.59612120e-04 9.93682258e+00] [ 1.57460989e-02 -9.57970789e-05 9.99876018e-01 1.73359511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.604391418 meters Centerline goodness [0,1] 0.9991611279602504 Centerline is valid? [True, True] Translation: X:241.90, Y:9.94, Z:1.73 [[ 9.99795762e-01 -1.31906074e-02 -1.53115122e-02 2.41904719e+02] [ 1.31897100e-02 9.99912999e-01 -1.59597706e-04 9.93693982e+00] [ 1.53122853e-02 -4.23892967e-05 9.99882759e-01 1.73428825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.634391418 meters Centerline goodness [0,1] 0.9991605320935039 Centerline is valid? [True, True] Translation: X:241.93, Y:9.94, Z:1.73 [[ 9.99820057e-01 -1.10240712e-02 -1.54377371e-02 2.41932358e+02] [ 1.10228306e-02 9.99939233e-01 -1.65454920e-04 9.93736225e+00] [ 1.54386230e-02 -4.74241234e-06 9.99880817e-01 1.73349573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.664391418 meters Centerline goodness [0,1] 0.9993130983557292 Centerline is valid? [True, True] Translation: X:241.96, Y:9.94, Z:1.74 [[ 9.99841384e-01 -9.59619566e-03 -1.50039987e-02 2.41960384e+02] [ 9.59479406e-03 9.99953955e-01 -1.65397867e-04 9.93808626e+00] [ 1.50048950e-02 2.14113550e-05 9.99887420e-01 1.73529620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.694391418 meters Centerline goodness [0,1] 0.9991423118982782 Centerline is valid? [True, True] Translation: X:241.99, Y:9.94, Z:1.74 [[ 9.99875355e-01 -5.35276056e-03 -1.48533692e-02 2.41989187e+02] [ 5.35085558e-03 9.99985670e-01 -1.67991233e-04 9.93868638e+00] [ 1.48540555e-02 8.84920607e-05 9.99889669e-01 1.73524347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.724391418 meters Centerline goodness [0,1] 0.9990340652971859 Centerline is valid? [True, True] Translation: X:242.02, Y:9.94, Z:1.74 [[ 9.99884864e-01 -3.41039276e-03 -1.47860886e-02 2.42017855e+02] [ 3.40823233e-03 9.99994177e-01 -1.71308976e-04 9.93811731e+00] [ 1.47865867e-02 1.20894827e-04 9.99890665e-01 1.73551385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.754391418 meters Centerline goodness [0,1] 0.9993132015538815 Centerline is valid? [True, True] Translation: X:242.05, Y:9.94, Z:1.74 [[ 9.99881854e-01 -1.60826601e-03 -1.52869545e-02 2.42047008e+02] [ 1.60567841e-03 9.99998694e-01 -1.81540749e-04 9.93780399e+00] [ 1.52872265e-02 1.56973368e-04 9.99883131e-01 1.73531337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.784391418 meters Centerline goodness [0,1] 0.9991203604376743 Centerline is valid? [True, True] Translation: X:242.08, Y:9.94, Z:1.73 [[ 9.99868776e-01 1.64254821e-03 -1.61162352e-02 2.42075499e+02] [-1.64592237e-03 9.99998626e-01 -1.96101871e-04 9.93687717e+00] [ 1.61158909e-02 2.22602209e-04 9.99870106e-01 1.73443889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.814391418 meters Centerline goodness [0,1] 0.9989924973204716 Centerline is valid? [True, True] Translation: X:242.10, Y:9.94, Z:1.73 [[ 9.99860914e-01 2.59221090e-03 -1.64752466e-02 2.42104537e+02] [-2.59594371e-03 9.99996609e-01 -2.05188885e-04 9.93653052e+00] [ 1.64746588e-02 2.47929158e-04 9.99864253e-01 1.73416941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84439141800001 meters Centerline goodness [0,1] 0.9993137465151191 Centerline is valid? [True, True] Translation: X:242.13, Y:9.93, Z:1.73 [[ 9.99850373e-01 3.67129511e-03 -1.69042127e-02 2.42132108e+02] [-3.67543014e-03 9.99993223e-01 -2.13554477e-04 9.93421402e+00] [ 1.69033141e-02 2.75652776e-04 9.99857091e-01 1.73447899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87439141800002 meters Centerline goodness [0,1] 0.9991214536727522 Centerline is valid? [True, True] Translation: X:242.16, Y:9.93, Z:1.73 [[ 9.99854426e-01 3.31452281e-03 -1.67374329e-02 2.42159923e+02] [-3.31855439e-03 9.99994471e-01 -2.13103799e-04 9.93287987e+00] [ 1.67366341e-02 2.68616858e-04 9.99859897e-01 1.73445951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.904391418 meters Centerline goodness [0,1] 0.9996140403542252 Centerline is valid? [True, True] Translation: X:242.19, Y:9.93, Z:1.74 [[ 9.99856576e-01 2.65472103e-03 -1.67266004e-02 2.42188584e+02] [-2.65867979e-03 9.99996443e-01 -2.14441916e-04 9.92960562e+00] [ 1.67259716e-02 2.58881835e-04 9.99860078e-01 1.73580758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.934391418 meters Centerline goodness [0,1] 0.999336884211427 Centerline is valid? [True, True] Translation: X:242.22, Y:9.93, Z:1.74 [[ 9.99865459e-01 1.17812064e-03 -1.63608336e-02 2.42216470e+02] [-1.18174176e-03 9.99999279e-01 -2.11662162e-04 9.92712045e+00] [ 1.63605724e-02 2.30967965e-04 9.99866130e-01 1.73556526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.964391418 meters Centerline goodness [0,1] 0.9993812805359391 Centerline is valid? [True, True] Translation: X:242.24, Y:9.92, Z:1.74 [[ 9.99874461e-01 -2.81883407e-03 -1.55922226e-02 2.42244043e+02] [ 2.81600281e-03 9.99996014e-01 -2.03533587e-04 9.91998148e+00] [ 1.55927342e-02 1.59600293e-04 9.99878413e-01 1.73647949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.994391418 meters Centerline goodness [0,1] 0.9992125649101898 Centerline is valid? [True, True] Translation: X:242.27, Y:9.92, Z:1.74 [[ 9.99872980e-01 -5.47079116e-03 -1.49697550e-02 2.42272595e+02] [ 5.46845948e-03 9.99985029e-01 -1.96688709e-04 9.91620658e+00] [ 1.49706069e-02 1.14802227e-04 9.99887928e-01 1.73683787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.024391418 meters Centerline goodness [0,1] 0.9991920909960668 Centerline is valid? [True, True] Translation: X:242.30, Y:9.91, Z:1.74 [[ 9.99826276e-01 -1.20135080e-02 -1.42510543e-02 2.42301534e+02] [ 1.20120436e-02 9.99927835e-01 -1.88353645e-04 9.90701432e+00] [ 1.42522886e-02 1.71366384e-05 9.99898431e-01 1.73833733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.054391418 meters Centerline goodness [0,1] 0.9992994671704842 Centerline is valid? [True, True] Translation: X:242.33, Y:9.90, Z:1.74 [[ 9.99773660e-01 -1.61295558e-02 -1.38731940e-02 2.42329305e+02] [ 1.61285255e-02 9.99869910e-01 -1.86154445e-04 9.90245172e+00] [ 1.38743918e-02 -3.76418517e-05 9.99903745e-01 1.73837662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.084391418 meters Centerline goodness [0,1] 0.9993414763674987 Centerline is valid? [True, True] Translation: X:242.36, Y:9.90, Z:1.74 [[ 9.99690859e-01 -2.06969943e-02 -1.37775427e-02 2.42358306e+02] [ 2.06963539e-02 9.99785790e-01 -1.89073704e-04 9.89760606e+00] [ 1.37785046e-02 -9.61296467e-05 9.99905067e-01 1.73835691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.114391418 meters Centerline goodness [0,1] 0.9990681914443033 Centerline is valid? [True, True] Translation: X:242.39, Y:9.89, Z:1.74 [[ 9.99465696e-01 -2.96912778e-02 -1.36656632e-02 2.42387714e+02] [ 2.96914555e-02 9.99559094e-01 -1.89931408e-04 9.88668368e+00] [ 1.36652772e-02 -2.15923503e-04 9.99906602e-01 1.73780251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.144391418 meters Centerline goodness [0,1] 0.9989844064067029 Centerline is valid? [True, True] Translation: X:242.42, Y:9.88, Z:1.74 [[ 9.99319007e-01 -3.42765528e-02 -1.36616162e-02 2.42417719e+02] [ 3.42771528e-02 9.99412348e-01 -1.90304626e-04 9.88077982e+00] [ 1.36601109e-02 -2.78106275e-04 9.99906658e-01 1.73782505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.174391418 meters Centerline goodness [0,1] 0.9988797768008116 Centerline is valid? [True, True] Translation: X:242.45, Y:9.88, Z:1.74 [[ 9.99136767e-01 -3.92616348e-02 -1.35737140e-02 2.42449039e+02] [ 3.92626903e-02 9.99228905e-01 -1.88814606e-04 9.87624618e+00] [ 1.35706606e-02 -3.44288915e-04 9.99907855e-01 1.73850253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.204391418 meters Centerline goodness [0,1] 0.9988604229097202 Centerline is valid? [True, True] Translation: X:242.48, Y:9.87, Z:1.74 [[ 9.98951833e-01 -4.37902402e-02 -1.33285807e-02 2.42479873e+02] [ 4.37916660e-02 9.99040668e-01 -1.84997456e-04 9.87180958e+00] [ 1.33238952e-02 -3.98877207e-04 9.99911153e-01 1.73906235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.234391418 meters Centerline goodness [0,1] 0.9990715732613099 Centerline is valid? [True, True] Translation: X:242.51, Y:9.86, Z:1.74 [[ 9.98523912e-01 -5.28646146e-02 -1.24631069e-02 2.42509885e+02] [ 5.28665700e-02 9.98601570e-01 -1.72737945e-04 9.86205020e+00] [ 1.24548098e-02 -4.86398745e-04 9.99922318e-01 1.73975703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.264391418 meters Centerline goodness [0,1] 0.9987991910339598 Centerline is valid? [True, True] Translation: X:242.54, Y:9.86, Z:1.74 [[ 9.98305506e-01 -5.67404531e-02 -1.29088177e-02 2.42540082e+02] [ 5.67428763e-02 9.98388809e-01 -1.78764725e-04 9.85766654e+00] [ 1.28981623e-02 -5.54021637e-04 9.99916662e-01 1.73928648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.294391418 meters Centerline goodness [0,1] 0.9984863137535214 Centerline is valid? [True, True] Translation: X:242.57, Y:9.86, Z:1.74 [[ 9.98109425e-01 -6.00661052e-02 -1.30245520e-02 2.42571391e+02] [ 6.00688577e-02 9.98194220e-01 -1.80126962e-04 9.85502289e+00] [ 1.30118520e-02 -6.02583542e-04 9.99915161e-01 1.73906398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.324391418 meters Centerline goodness [0,1] 0.9986122500473097 Centerline is valid? [True, True] Translation: X:242.60, Y:9.85, Z:1.74 [[ 9.97819326e-01 -6.44446339e-02 -1.42647283e-02 2.42602551e+02] [ 6.44483907e-02 9.97921022e-01 -1.96650098e-04 9.85368703e+00] [ 1.42477453e-02 -7.23117513e-04 9.99898234e-01 1.73885074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.354391418 meters Centerline goodness [0,1] 0.9985911642870661 Centerline is valid? [True, True] Translation: X:242.63, Y:9.85, Z:1.74 [[ 9.97740823e-01 -6.54962942e-02 -1.49494032e-02 2.42633651e+02] [ 6.55005502e-02 9.97852512e-01 -2.05275065e-04 9.84856461e+00] [ 1.49307443e-02 -7.74382823e-04 9.99888230e-01 1.73760233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.384391418 meters Centerline goodness [0,1] 0.9990115667718191 Centerline is valid? [True, True] Translation: X:242.67, Y:9.85, Z:1.74 [[ 9.97702537e-01 -6.58783085e-02 -1.58017564e-02 2.42666011e+02] [ 6.58831304e-02 9.97827323e-01 -2.15790408e-04 9.85404096e+00] [ 1.57816402e-02 -8.25774540e-04 9.99875121e-01 1.73828422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.414391418 meters Centerline goodness [0,1] 0.9989262479735562 Centerline is valid? [True, True] Translation: X:242.70, Y:9.85, Z:1.74 [[ 9.97697968e-01 -6.58008952e-02 -1.64014008e-02 2.42697332e+02] [ 6.58060992e-02 9.97832405e-01 -2.22790863e-04 9.85168279e+00] [ 1.63805090e-02 -8.57034213e-04 9.99865463e-01 1.73760550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.444391418 meters Centerline goodness [0,1] 0.9987595399785547 Centerline is valid? [True, True] Translation: X:242.73, Y:9.86, Z:1.74 [[ 9.97785949e-01 -6.42491119e-02 -1.71828867e-02 2.42728677e+02] [ 6.42546090e-02 9.97933510e-01 -2.32541116e-04 9.85613267e+00] [ 1.71623190e-02 -8.72053409e-04 9.99852336e-01 1.73783062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.474391418 meters Centerline goodness [0,1] 0.9987638283607106 Centerline is valid? [True, True] Translation: X:242.76, Y:9.86, Z:1.74 [[ 9.97872959e-01 -6.27641494e-02 -1.76130264e-02 2.42760074e+02] [ 6.27697072e-02 9.98028009e-01 -2.37644008e-04 9.85922399e+00] [ 1.75932092e-02 -8.68425982e-04 9.99844850e-01 1.73835213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.504391418 meters Centerline goodness [0,1] 0.9988446591744564 Centerline is valid? [True, True] Translation: X:242.79, Y:9.86, Z:1.74 [[ 9.97980111e-01 -6.10870401e-02 -1.74376522e-02 2.42791483e+02] [ 6.10922447e-02 9.98132097e-01 -2.34566178e-04 9.86411459e+00] [ 1.74194093e-02 -8.31212938e-04 9.99847925e-01 1.73945910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.534391418 meters Centerline goodness [0,1] 0.9987166000420787 Centerline is valid? [True, True] Translation: X:242.82, Y:9.87, Z:1.74 [[ 9.98217951e-01 -5.73613766e-02 -1.64497682e-02 2.42821515e+02] [ 5.73655108e-02 9.98353219e-01 -2.20808846e-04 9.86871302e+00] [ 1.64353449e-02 -7.23234001e-04 9.99864669e-01 1.74115989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.564391418 meters Centerline goodness [0,1] 0.9986293859649122 Centerline is valid? [True, True] Translation: X:242.85, Y:9.87, Z:1.74 [[ 9.98354953e-01 -5.51232679e-02 -1.57737860e-02 2.42853073e+02] [ 5.51267982e-02 9.98479340e-01 -2.11239131e-04 9.87295073e+00] [ 1.57614436e-02 -6.58666684e-04 9.99875564e-01 1.74239183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59439141800001 meters Centerline goodness [0,1] 0.9988823988360078 Centerline is valid? [True, True] Translation: X:242.88, Y:9.88, Z:1.74 [[ 9.98606321e-01 -5.04629211e-02 -1.54566692e-02 2.42884549e+02] [ 5.04657656e-02 9.98725770e-01 -2.06200652e-04 9.88142062e+00] [ 1.54473794e-02 -5.74119372e-04 9.99880517e-01 1.74437757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62439141800002 meters Centerline goodness [0,1] 0.9988189889702006 Centerline is valid? [True, True] Translation: X:242.92, Y:9.89, Z:1.75 [[ 9.98736308e-01 -4.79808877e-02 -1.49539967e-02 2.42916365e+02] [ 4.79832857e-02 9.98848119e-01 -1.98598189e-04 9.88550282e+00] [ 1.49463004e-02 -5.19194673e-04 9.99888163e-01 1.74531967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.654391418 meters Centerline goodness [0,1] 0.9986269249456051 Centerline is valid? [True, True] Translation: X:242.95, Y:9.89, Z:1.75 [[ 9.98840584e-01 -4.57783669e-02 -1.48939232e-02 2.42948049e+02] [ 4.57805145e-02 9.98951503e-01 -1.96893044e-04 9.88960238e+00] [ 1.48873204e-02 -4.85186704e-04 9.99889060e-01 1.74597149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.684391418 meters Centerline goodness [0,1] 0.9988179669030733 Centerline is valid? [True, True] Translation: X:242.98, Y:9.89, Z:1.75 [[ 9.98951455e-01 -4.32428235e-02 -1.50349203e-02 2.42979138e+02] [ 4.32447389e-02 9.99064489e-01 -1.97840769e-04 9.89205181e+00] [ 1.50294101e-02 -4.52547878e-04 9.99886950e-01 1.74595330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.714391418 meters Centerline goodness [0,1] 0.998817742310047 Centerline is valid? [True, True] Translation: X:243.01, Y:9.90, Z:1.75 [[ 9.99128200e-01 -3.86230997e-02 -1.58459842e-02 2.43010573e+02] [ 3.86246595e-02 9.99253768e-01 -2.07706486e-04 9.90133026e+00] [ 1.58421817e-02 -4.04520336e-04 9.99874423e-01 1.74624765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.744391418 meters Centerline goodness [0,1] 0.9987539861882537 Centerline is valid? [True, True] Translation: X:243.04, Y:9.90, Z:1.75 [[ 9.99211835e-01 -3.62545715e-02 -1.61652293e-02 2.43042413e+02] [ 3.62558974e-02 9.99342517e-01 -2.11127786e-04 9.90498068e+00] [ 1.61622553e-02 -3.75123511e-04 9.99869312e-01 1.74640580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.774391418 meters Centerline goodness [0,1] 0.9988165930559371 Centerline is valid? [True, True] Translation: X:243.07, Y:9.91, Z:1.75 [[ 9.99277857e-01 -3.40719378e-02 -1.68186423e-02 2.43073275e+02] [ 3.40730770e-02 9.99419320e-01 -2.18891993e-04 9.90879309e+00] [ 1.68163341e-02 -3.54328972e-04 9.99858533e-01 1.74656839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.804391418 meters Centerline goodness [0,1] 0.9989167604766254 Centerline is valid? [True, True] Translation: X:243.10, Y:9.92, Z:1.75 [[ 9.99400967e-01 -3.00596424e-02 -1.71500665e-02 2.43103639e+02] [ 3.00602413e-02 9.99548064e-01 -2.22918187e-04 9.91613795e+00] [ 1.71490166e-02 -2.92750486e-04 9.99852902e-01 1.74715420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.834391418 meters Centerline goodness [0,1] 0.9988341282458929 Centerline is valid? [True, True] Translation: X:243.13, Y:9.92, Z:1.75 [[ 9.99454250e-01 -2.80996546e-02 -1.73669420e-02 2.43132889e+02] [ 2.80999744e-02 9.99605092e-01 -2.25658930e-04 9.91851143e+00] [ 1.73664246e-02 -2.62474848e-04 9.99849158e-01 1.74665812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.864391418 meters Centerline goodness [0,1] 0.9987881364941001 Centerline is valid? [True, True] Translation: X:243.16, Y:9.93, Z:1.75 [[ 9.99555683e-01 -2.41217648e-02 -1.75093488e-02 2.43162941e+02] [ 2.41214805e-02 9.99709009e-01 -2.27455948e-04 9.92591312e+00] [ 1.75097404e-02 -1.94996530e-04 9.99846674e-01 1.74768199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.894391418 meters Centerline goodness [0,1] 0.9990451131010483 Centerline is valid? [True, True] Translation: X:243.19, Y:9.93, Z:1.75 [[ 9.99599481e-01 -2.22804916e-02 -1.74486805e-02 2.43191305e+02] [ 2.22799178e-02 9.99751746e-01 -2.27303542e-04 9.92860315e+00] [ 1.74494132e-02 -1.61542664e-04 9.99847734e-01 1.74753736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.924391418 meters Centerline goodness [0,1] 0.9989175881316722 Centerline is valid? [True, True] Translation: X:243.22, Y:9.93, Z:1.75 [[ 9.99631252e-01 -2.08132398e-02 -1.74404379e-02 2.43220460e+02] [ 2.08123839e-02 9.99783372e-01 -2.30592303e-04 9.93203883e+00] [ 1.74414592e-02 -1.32469816e-04 9.99847877e-01 1.74842143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.954391418 meters Centerline goodness [0,1] 0.998767661744396 Centerline is valid? [True, True] Translation: X:243.25, Y:9.94, Z:1.75 [[ 9.99678760e-01 -1.90851847e-02 -1.66772858e-02 2.43247994e+02] [ 1.90841136e-02 9.99817857e-01 -2.23381906e-04 9.93588292e+00] [ 1.66785114e-02 -9.49610691e-05 9.99860899e-01 1.74833994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.984391418 meters Centerline goodness [0,1] 0.9989994252017116 Centerline is valid? [True, True] Translation: X:243.28, Y:9.94, Z:1.75 [[ 9.99689172e-01 -1.90105549e-02 -1.61294397e-02 2.43276969e+02] [ 1.90094905e-02 9.99819279e-01 -2.19319054e-04 9.93777568e+00] [ 1.61306942e-02 -8.73615472e-05 9.99869888e-01 1.74953244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.014391418 meters Centerline goodness [0,1] 0.999105278854757 Centerline is valid? [True, True] Translation: X:243.31, Y:9.94, Z:1.75 [[ 9.99691512e-01 -1.94590695e-02 -1.54345289e-02 2.43305066e+02] [ 1.94581058e-02 9.99810651e-01 -2.12622979e-04 9.93795391e+00] [ 1.54357438e-02 -8.77693081e-05 9.99880858e-01 1.74945300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.044391418 meters Centerline goodness [0,1] 0.999105278854757 Centerline is valid? [True, True] Translation: X:243.33, Y:9.94, Z:1.75 [[ 9.99686201e-01 -1.97300761e-02 -1.54344873e-02 2.43333298e+02] [ 1.97290986e-02 9.99805339e-01 -2.15610453e-04 9.93845327e+00] [ 1.54357368e-02 -8.89657262e-05 9.99880858e-01 1.74965113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.074391418 meters Centerline goodness [0,1] 0.9988746629296983 Centerline is valid? [True, True] Translation: X:243.36, Y:9.94, Z:1.75 [[ 9.99667082e-01 -2.16929218e-02 -1.39693328e-02 2.43362433e+02] [ 2.16922831e-02 9.99764675e-01 -1.97263125e-04 9.93772166e+00] [ 1.39703247e-02 -1.05829270e-04 9.99902405e-01 1.75019476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.104391418 meters Centerline goodness [0,1] 0.998872987858039 Centerline is valid? [True, True] Translation: X:243.39, Y:9.94, Z:1.75 [[ 9.99633766e-01 -2.36586551e-02 -1.31377678e-02 2.43392425e+02] [ 2.36582533e-02 9.99720087e-01 -1.86020930e-04 9.93745001e+00] [ 1.31384914e-02 -1.24863835e-04 9.99913679e-01 1.75123652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.134391418 meters Centerline goodness [0,1] 0.9990840735297251 Centerline is valid? [True, True] Translation: X:243.42, Y:9.94, Z:1.75 [[ 9.99588233e-01 -2.57826882e-02 -1.25943567e-02 2.43423740e+02] [ 2.57824886e-02 9.99667560e-01 -1.78238835e-04 9.93610453e+00] [ 1.25947653e-02 -1.46548415e-04 9.99920672e-01 1.75162197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.164391418 meters Centerline goodness [0,1] 0.9989397345095212 Centerline is valid? [True, True] Translation: X:243.45, Y:9.93, Z:1.75 [[ 9.99453199e-01 -3.08127596e-02 -1.19948497e-02 2.43454376e+02] [ 3.08129450e-02 9.99525154e-01 -1.69392749e-04 9.93100600e+00] [ 1.19943734e-02 -2.00296518e-04 9.99928045e-01 1.75102333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.194391418 meters Centerline goodness [0,1] 0.9988109393579072 Centerline is valid? [True, True] Translation: X:243.49, Y:9.93, Z:1.75 [[ 9.99378469e-01 -3.31023103e-02 -1.21207920e-02 2.43486714e+02] [ 3.31026746e-02 9.99451942e-01 -1.70619134e-04 9.93093411e+00] [ 1.21197969e-02 -2.30717543e-04 9.99926526e-01 1.75131638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.224391418 meters Centerline goodness [0,1] 0.9988740413418028 Centerline is valid? [True, True] Translation: X:243.52, Y:9.93, Z:1.75 [[ 9.99246416e-01 -3.68756073e-02 -1.21156494e-02 2.43519266e+02] [ 3.68762604e-02 9.99319825e-01 -1.69565117e-04 9.92787881e+00] [ 1.21136614e-02 -2.77342506e-04 9.99926588e-01 1.75074168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.254391418 meters Centerline goodness [0,1] 0.9989383837954903 Centerline is valid? [True, True] Translation: X:243.55, Y:9.93, Z:1.75 [[ 9.99205712e-01 -3.79926016e-02 -1.20211570e-02 2.43551760e+02] [ 3.79933371e-02 9.99277979e-01 -1.67269800e-04 9.92696209e+00] [ 1.20188325e-02 -2.89586929e-04 9.99927729e-01 1.75046325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.284391418 meters Centerline goodness [0,1] 0.9987645642959081 Centerline is valid? [True, True] Translation: X:243.58, Y:9.93, Z:1.75 [[ 9.99181079e-01 -3.85941483e-02 -1.21516853e-02 2.43583725e+02] [ 3.85949564e-02 9.99254923e-01 -1.68086635e-04 9.92720590e+00] [ 1.21491185e-02 -3.01044780e-04 9.99926151e-01 1.75038705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.314391418 meters Centerline goodness [0,1] 0.9985776758799304 Centerline is valid? [True, True] Translation: X:243.61, Y:9.93, Z:1.75 [[ 9.99189436e-01 -3.85148066e-02 -1.17081317e-02 2.43614782e+02] [ 3.85155612e-02 9.99257988e-01 -1.61107308e-04 9.92663600e+00] [ 1.17056492e-02 -2.89968545e-04 9.99931444e-01 1.75022839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34439141800001 meters Centerline goodness [0,1] 0.998703258859293 Centerline is valid? [True, True] Translation: X:243.65, Y:9.93, Z:1.75 [[ 9.99271535e-01 -3.63545754e-02 -1.16079692e-02 2.43645525e+02] [ 3.63551796e-02 9.99338919e-01 -1.59028662e-04 9.92829899e+00] [ 1.16060768e-02 -2.63096989e-04 9.99932613e-01 1.75008236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37439141800002 meters Centerline goodness [0,1] 0.9987229967010748 Centerline is valid? [True, True] Translation: X:243.68, Y:9.93, Z:1.75 [[ 9.99343641e-01 -3.43368599e-02 -1.15441264e-02 2.43678139e+02] [ 3.43373330e-02 9.99410288e-01 -1.57283165e-04 9.93116648e+00] [ 1.15427193e-02 -2.39214582e-04 9.99933352e-01 1.75015343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.404391418 meters Centerline goodness [0,1] 0.9987207641302263 Centerline is valid? [True, True] Translation: X:243.71, Y:9.93, Z:1.75 [[ 9.99428511e-01 -3.18462920e-02 -1.13342375e-02 2.43709779e+02] [ 3.18465996e-02 9.99492757e-01 -1.53389043e-04 9.93274005e+00] [ 1.13333732e-02 -2.07655541e-04 9.99935754e-01 1.74999691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.434391418 meters Centerline goodness [0,1] 0.9987641167696569 Centerline is valid? [True, True] Translation: X:243.74, Y:9.94, Z:1.75 [[ 9.99617003e-01 -2.54096688e-02 -1.09633526e-02 2.43740881e+02] [ 2.54095771e-02 9.99677114e-01 -1.47673084e-04 9.93889526e+00] [ 1.09635650e-02 -1.30957627e-04 9.99939890e-01 1.75025871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.464391418 meters Centerline goodness [0,1] 0.9987826755509995 Centerline is valid? [True, True] Translation: X:243.77, Y:9.94, Z:1.75 [[ 9.99709571e-01 -2.17604949e-02 -1.03563388e-02 2.43772370e+02] [ 2.17602214e-02 9.99763209e-01 -1.39096923e-04 9.94266608e+00] [ 1.03569133e-02 -8.62997002e-05 9.99946362e-01 1.75073438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.494391418 meters Centerline goodness [0,1] 0.9987399624124381 Centerline is valid? [True, True] Translation: X:243.80, Y:9.95, Z:1.75 [[ 9.99857169e-01 -1.37236674e-02 -9.86417225e-03 2.43803089e+02] [ 1.37230320e-02 9.99905826e-01 -1.32100841e-04 9.94941471e+00] [ 9.86505621e-03 -3.28437873e-06 9.99951339e-01 1.75106645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.524391418 meters Centerline goodness [0,1] 0.9990790516373605 Centerline is valid? [True, True] Translation: X:243.83, Y:9.95, Z:1.75 [[ 9.99904157e-01 -9.70979039e-03 -9.86895101e-03 2.43833615e+02] [ 9.70896163e-03 9.99952858e-01 -1.31883399e-04 9.95306993e+00] [ 9.86976633e-03 3.60534917e-05 9.99951292e-01 1.75160094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.554391418 meters Centerline goodness [0,1] 0.9990146094854547 Centerline is valid? [True, True] Translation: X:243.86, Y:9.96, Z:1.75 [[ 9.99944383e-01 -3.14541718e-03 -1.00666584e-02 2.43862207e+02] [ 3.14421381e-03 9.99995048e-01 -1.35364490e-04 9.95855658e+00] [ 1.00670343e-02 1.03705235e-04 9.99949321e-01 1.75106581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.584391418 meters Centerline goodness [0,1] 0.999013912409698 Centerline is valid? [True, True] Translation: X:243.89, Y:9.96, Z:1.75 [[ 9.99944925e-01 -8.46218314e-04 -1.04609292e-02 2.43890901e+02] [ 8.44762050e-04 9.99999633e-01 -1.43627699e-04 9.96018714e+00] [ 1.04610469e-02 1.34782793e-04 9.99945273e-01 1.75073884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.614391418 meters Centerline goodness [0,1] 0.9989967768789089 Centerline is valid? [True, True] Translation: X:243.92, Y:9.96, Z:1.75 [[ 9.99938320e-01 6.32319263e-04 -1.10885463e-02 2.43919578e+02] [-6.34081910e-04 9.99999787e-01 -1.55446182e-04 9.96171003e+00] [ 1.10884456e-02 1.62467640e-04 9.99938508e-01 1.75018842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.644391418 meters Centerline goodness [0,1] 0.9992709963764231 Centerline is valid? [True, True] Translation: X:243.95, Y:9.96, Z:1.75 [[ 9.99933638e-01 1.39729829e-03 -1.14353856e-02 2.43948729e+02] [-1.39926024e-03 9.99999008e-01 -1.63569555e-04 9.96148428e+00] [ 1.14351457e-02 1.79559781e-04 9.99934600e-01 1.74984603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.674391418 meters Centerline goodness [0,1] 0.9989723827874117 Centerline is valid? [True, True] Translation: X:243.98, Y:9.96, Z:1.75 [[ 9.99920186e-01 1.08170001e-03 -1.25877849e-02 2.43976036e+02] [-1.08408995e-03 9.99999396e-01 -1.83039482e-04 9.95987838e+00] [ 1.25875793e-02 1.96671164e-04 9.99920754e-01 1.74818535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.704391418 meters Centerline goodness [0,1] 0.9988673277483331 Centerline is valid? [True, True] Translation: X:244.00, Y:9.96, Z:1.75 [[ 9.99915287e-01 -2.37338832e-04 -1.30139607e-02 2.44003709e+02] [ 2.34874932e-04 9.99999954e-01 -1.90855549e-04 9.95899873e+00] [ 1.30140054e-02 1.87782728e-04 9.99915297e-01 1.74731331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.734391418 meters Centerline goodness [0,1] 0.9992726183599684 Centerline is valid? [True, True] Translation: X:244.03, Y:9.96, Z:1.75 [[ 9.99910040e-01 -2.01539317e-03 -1.32608772e-02 2.44032599e+02] [ 2.01297515e-03 9.99997955e-01 -1.95687692e-04 9.95621310e+00] [ 1.32612445e-02 1.68976272e-04 9.99912052e-01 1.74750297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.764391418 meters Centerline goodness [0,1] 0.998978962370509 Centerline is valid? [True, True] Translation: X:244.06, Y:9.95, Z:1.75 [[ 9.99891180e-01 -6.75447328e-03 -1.31150541e-02 2.44060639e+02] [ 6.75250050e-03 9.99977183e-01 -1.94697044e-04 9.95064129e+00] [ 1.31160699e-02 1.06116448e-04 9.99913975e-01 1.74743784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.794391418 meters Centerline goodness [0,1] 0.9989982095660329 Centerline is valid? [True, True] Translation: X:244.09, Y:9.95, Z:1.75 [[ 9.99869625e-01 -9.94993150e-03 -1.27173489e-02 2.44089781e+02] [ 9.94832048e-03 9.99950496e-01 -1.89934258e-04 9.94710780e+00] [ 1.27186091e-02 6.33932334e-05 9.99919113e-01 1.74824520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.824391418 meters Centerline goodness [0,1] 0.9988949336960218 Centerline is valid? [True, True] Translation: X:244.12, Y:9.94, Z:1.75 [[ 9.99784712e-01 -1.74802995e-02 -1.11789336e-02 2.44117480e+02] [ 1.74795150e-02 9.99847208e-01 -1.67884482e-04 9.93901989e+00] [ 1.11801603e-02 -2.75539998e-05 9.99937500e-01 1.74882764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.854391418 meters Centerline goodness [0,1] 0.9989823609226595 Centerline is valid? [True, True] Translation: X:244.15, Y:9.93, Z:1.75 [[ 9.99709688e-01 -2.16454584e-02 -1.05836253e-02 2.44147567e+02] [ 2.16449807e-02 9.99765707e-01 -1.59688971e-04 9.93461203e+00] [ 1.05846021e-02 -6.94397540e-05 9.99943979e-01 1.74967287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.884391418 meters Centerline goodness [0,1] 0.9988546946912978 Centerline is valid? [True, True] Translation: X:244.18, Y:9.93, Z:1.75 [[ 9.99619620e-01 -2.60207783e-02 -9.13971189e-03 2.44179337e+02] [ 2.60206046e-02 9.99661397e-01 -1.37938423e-04 9.93011315e+00] [ 9.14020643e-03 -9.99348750e-05 9.99958222e-01 1.75067567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.914391418 meters Centerline goodness [0,1] 0.9989187355566391 Centerline is valid? [True, True] Translation: X:244.21, Y:9.93, Z:1.75 [[ 9.99502453e-01 -3.05149634e-02 -7.98015916e-03 2.44211876e+02] [ 3.05149767e-02 9.99534302e-01 -1.20113581e-04 9.92542421e+00] [ 7.98010808e-03 -1.23460552e-04 9.99968151e-01 1.75156282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.944391418 meters Centerline goodness [0,1] 0.9989847930458323 Centerline is valid? [True, True] Translation: X:244.24, Y:9.92, Z:1.75 [[ 9.99156983e-01 -4.04486661e-02 -7.01632000e-03 2.44243324e+02] [ 4.04489246e-02 9.99181602e-01 -1.05110527e-04 9.91588118e+00] [ 7.01482944e-03 -1.78780681e-04 9.99975380e-01 1.75256086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.974391418 meters Centerline goodness [0,1] 0.998670100481297 Centerline is valid? [True, True] Translation: X:244.27, Y:9.91, Z:1.75 [[ 9.98934790e-01 -4.56299121e-02 -6.86993329e-03 2.44273650e+02] [ 4.56302842e-02 9.98958391e-01 -1.02641496e-04 9.91030022e+00] [ 6.86746103e-03 -2.10944848e-04 9.99976396e-01 1.75272163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.004391418 meters Centerline goodness [0,1] 0.9987107137573182 Centerline is valid? [True, True] Translation: X:244.30, Y:9.91, Z:1.75 [[ 9.98673011e-01 -5.10136533e-02 -7.05856727e-03 2.44304830e+02] [ 5.10141815e-02 9.98697923e-01 -1.05313345e-04 9.90703135e+00] [ 7.05474889e-03 -2.54913436e-04 9.99975082e-01 1.75271025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.034391418 meters Centerline goodness [0,1] 0.9987334557659426 Centerline is valid? [True, True] Translation: X:244.34, Y:9.90, Z:1.75 [[ 9.98395881e-01 -5.61363892e-02 -7.37367761e-03 2.44335258e+02] [ 5.61371063e-02 9.98423063e-01 -1.09845546e-04 9.90113115e+00] [ 7.36821612e-03 -3.04267583e-04 9.99972808e-01 1.75262805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.064391418 meters Centerline goodness [0,1] 0.998567003139949 Centerline is valid? [True, True] Translation: X:244.37, Y:9.89, Z:1.75 [[ 9.97793064e-01 -6.59876790e-02 -7.39110393e-03 2.44366357e+02] [ 6.59886717e-02 9.97820366e-01 -1.09749378e-04 9.89193023e+00] [ 7.38223614e-03 -3.78221963e-04 9.99972679e-01 1.75177141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09439141800001 meters Centerline goodness [0,1] 0.9985249183436941 Centerline is valid? [True, True] Translation: X:244.40, Y:9.89, Z:1.75 [[ 9.97530439e-01 -6.98980965e-02 -6.87606327e-03 2.44396841e+02] [ 6.98990488e-02 9.97554065e-01 -1.02019145e-04 9.88716267e+00] [ 6.86637581e-03 -3.78863080e-04 9.99976354e-01 1.75206699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12439141800002 meters Centerline goodness [0,1] 0.9984433505826917 Centerline is valid? [True, True] Translation: X:244.43, Y:9.88, Z:1.75 [[ 9.97112588e-01 -7.55780686e-02 -7.37851053e-03 2.44427598e+02] [ 7.55793212e-02 9.97139787e-01 -1.09320410e-04 9.88413600e+00] [ 7.36566864e-03 -4.48658060e-04 9.99972772e-01 1.75200052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.154391418 meters Centerline goodness [0,1] 0.9983325594157626 Centerline is valid? [True, True] Translation: X:244.46, Y:9.89, Z:1.75 [[ 9.97015119e-01 -7.67943981e-02 -7.96693787e-03 2.44459623e+02] [ 7.67958980e-02 9.97046827e-01 -1.17933812e-04 9.88537130e+00] [ 7.95246679e-03 -4.94246355e-04 9.99968256e-01 1.75173943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.184391418 meters Centerline goodness [0,1] 0.998397402104464 Centerline is valid? [True, True] Translation: X:244.49, Y:9.89, Z:1.75 [[ 9.97022729e-01 -7.65468862e-02 -9.28719741e-03 2.44491492e+02] [ 7.65489218e-02 9.97065817e-01 -1.36615871e-04 9.88752963e+00] [ 9.27040459e-03 -5.74715819e-04 9.99956864e-01 1.75056408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.214391418 meters Centerline goodness [0,1] 0.9983755616970106 Centerline is valid? [True, True] Translation: X:244.52, Y:9.89, Z:1.75 [[ 9.97090889e-01 -7.55860174e-02 -9.82415446e-03 2.44522801e+02] [ 7.55882564e-02 9.97139105e-01 -1.43733954e-04 9.88618304e+00] [ 9.80691287e-03 -5.99274891e-04 9.99951732e-01 1.74985052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.244391418 meters Centerline goodness [0,1] 0.9986039132734004 Centerline is valid? [True, True] Translation: X:244.56, Y:9.89, Z:1.75 [[ 9.97201630e-01 -7.40709962e-02 -1.01191271e-02 2.44555053e+02] [ 7.40733009e-02 9.97252789e-01 -1.47353329e-04 9.89283532e+00] [ 1.01022423e-02 -6.02616165e-04 9.99948789e-01 1.74985587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.274391418 meters Centerline goodness [0,1] 0.9985229574611749 Centerline is valid? [True, True] Translation: X:244.59, Y:9.90, Z:1.75 [[ 9.97350483e-01 -7.19785289e-02 -1.05406613e-02 2.44586127e+02] [ 7.19809210e-02 9.97405997e-01 -1.52749130e-04 9.89648892e+00] [ 1.05243135e-02 -6.06382092e-04 9.99944434e-01 1.74946562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.304391418 meters Centerline goodness [0,1] 0.9987944417419259 Centerline is valid? [True, True] Translation: X:244.62, Y:9.90, Z:1.75 [[ 9.97656920e-01 -6.74381129e-02 -1.15226689e-02 2.44616840e+02] [ 6.74406742e-02 9.97723272e-01 -1.66573986e-04 9.90384031e+00] [ 1.15076684e-02 -6.10912871e-04 9.99933598e-01 1.74910351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.334391418 meters Centerline goodness [0,1] 0.9988572879634332 Centerline is valid? [True, True] Translation: X:244.65, Y:9.91, Z:1.75 [[ 9.97811070e-01 -6.50668857e-02 -1.18054333e-02 2.44648498e+02] [ 6.50694139e-02 9.97880726e-01 -1.70226059e-04 9.90803025e+00] [ 1.17914904e-02 -5.98319177e-04 9.99930299e-01 1.74907992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.364391418 meters Centerline goodness [0,1] 0.9988138106333404 Centerline is valid? [True, True] Translation: X:244.68, Y:9.91, Z:1.75 [[ 9.97962464e-01 -6.25976913e-02 -1.23470671e-02 2.44679350e+02] [ 6.26002764e-02 9.98038664e-01 -1.77377928e-04 9.91207740e+00] [ 1.23339538e-02 -5.95913300e-04 9.99923756e-01 1.74907518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.394391418 meters Centerline goodness [0,1] 0.9985973860376156 Centerline is valid? [True, True] Translation: X:244.71, Y:9.92, Z:1.75 [[ 9.98225705e-01 -5.82691863e-02 -1.22533581e-02 2.44709526e+02] [ 5.82714103e-02 9.98300762e-01 -1.75752766e-04 9.92288413e+00] [ 1.22427777e-02 -5.38579528e-04 9.99924909e-01 1.74982170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.424391418 meters Centerline goodness [0,1] 0.9987660099570231 Centerline is valid? [True, True] Translation: X:244.74, Y:9.93, Z:1.75 [[ 9.98359787e-01 -5.58562162e-02 -1.25626215e-02 2.44739806e+02] [ 5.58583646e-02 9.98438686e-01 -1.80076994e-04 9.92667166e+00] [ 1.25530657e-02 -5.21945862e-04 9.99921071e-01 1.75012985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.454391418 meters Centerline goodness [0,1] 0.9986387902248123 Centerline is valid? [True, True] Translation: X:244.77, Y:9.93, Z:1.75 [[ 9.98489185e-01 -5.35082663e-02 -1.24984978e-02 2.44772145e+02] [ 5.35102163e-02 9.98567286e-01 -1.78578954e-04 9.93116196e+00] [ 1.24901465e-02 -4.90488165e-04 9.99921875e-01 1.75066418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.484391418 meters Centerline goodness [0,1] 0.9987414944220473 Centerline is valid? [True, True] Translation: X:244.80, Y:9.94, Z:1.75 [[ 9.98715296e-01 -4.93375512e-02 -1.15569519e-02 2.44802905e+02] [ 4.93389477e-02 9.98782079e-01 -1.64426159e-04 9.93836979e+00] [ 1.15509888e-02 -4.05992925e-04 9.99933203e-01 1.75187977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.514391418 meters Centerline goodness [0,1] 0.9987839740581133 Centerline is valid? [True, True] Translation: X:244.83, Y:9.94, Z:1.75 [[ 9.98818339e-01 -4.72625980e-02 -1.13213425e-02 2.44834804e+02] [ 4.72638120e-02 9.98882429e-01 -1.60446276e-04 9.94414966e+00] [ 1.13162732e-02 -3.74833121e-04 9.99935899e-01 1.75272699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.544391418 meters Centerline goodness [0,1] 0.998933720037533 Centerline is valid? [True, True] Translation: X:244.87, Y:9.95, Z:1.75 [[ 9.98999221e-01 -4.34424813e-02 -1.06445552e-02 2.44865796e+02] [ 4.34433451e-02 9.99055881e-01 -1.50165836e-04 9.95222561e+00] [ 1.06410290e-02 -3.12419531e-04 9.99943334e-01 1.75400023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.574391418 meters Centerline goodness [0,1] 0.9990606519929122 Centerline is valid? [True, True] Translation: X:244.90, Y:9.96, Z:1.75 [[ 9.99098901e-01 -4.11302982e-02 -1.04730523e-02 2.44897998e+02] [ 4.11310134e-02 9.99153751e-01 -1.47180548e-04 9.95612212e+00] [ 1.04702431e-02 -2.83719332e-04 9.99945145e-01 1.75469115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.604391418 meters Centerline goodness [0,1] 0.9987599683578132 Centerline is valid? [True, True] Translation: X:244.93, Y:9.96, Z:1.75 [[ 9.99177455e-01 -3.90426474e-02 -1.09583113e-02 2.44928731e+02] [ 3.90433141e-02 9.99237507e-01 -1.53164599e-04 9.95896764e+00] [ 1.09559356e-02 -2.74810177e-04 9.99939944e-01 1.75435215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.634391418 meters Centerline goodness [0,1] 0.9989524766445048 Centerline is valid? [True, True] Translation: X:244.96, Y:9.96, Z:1.75 [[ 9.99261934e-01 -3.68103739e-02 -1.09810953e-02 2.44959818e+02] [ 3.68109159e-02 9.99322237e-01 -1.52824603e-04 9.96112231e+00] [ 1.09792782e-02 -2.51512367e-04 9.99939694e-01 1.75398221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.664391418 meters Centerline goodness [0,1] 0.9992269535527927 Centerline is valid? [True, True] Translation: X:244.99, Y:9.97, Z:1.75 [[ 9.99406281e-01 -3.23636125e-02 -1.18187149e-02 2.44991750e+02] [ 3.23639395e-02 9.99476137e-01 -1.63640195e-04 9.97102199e+00] [ 1.18178195e-02 -2.18957135e-04 9.99930143e-01 1.75426908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.694391418 meters Centerline goodness [0,1] 0.9991839890053256 Centerline is valid? [True, True] Translation: X:245.02, Y:9.97, Z:1.75 [[ 9.99475644e-01 -2.99419446e-02 -1.23254375e-02 2.45022723e+02] [ 2.99421276e-02 9.99551620e-01 -1.69725935e-04 9.97394619e+00] [ 1.23249929e-02 -1.99412884e-04 9.99924025e-01 1.75390300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.724391418 meters Centerline goodness [0,1] 0.9992042497365421 Centerline is valid? [True, True] Translation: X:245.05, Y:9.98, Z:1.75 [[ 9.99553607e-01 -2.70701729e-02 -1.26409007e-02 2.45054175e+02] [ 2.70701443e-02 9.99633521e-01 -1.73398718e-04 9.97819798e+00] [ 1.26409620e-02 -1.68869693e-04 9.99920086e-01 1.75419788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.754391418 meters Centerline goodness [0,1] 0.9991810697814749 Centerline is valid? [True, True] Translation: X:245.09, Y:9.99, Z:1.75 [[ 9.99696820e-01 -2.12460202e-02 -1.24448839e-02 2.45085468e+02] [ 2.12455474e-02 9.99774273e-01 -1.70206877e-04 9.98644607e+00] [ 1.24456910e-02 -9.42430981e-05 9.99922545e-01 1.75476870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.784391418 meters Centerline goodness [0,1] 0.9993952745021814 Centerline is valid? [True, True] Translation: X:245.12, Y:9.99, Z:1.76 [[ 9.99755101e-01 -1.84978414e-02 -1.21477825e-02 2.45116208e+02] [ 1.84971958e-02 9.99828899e-01 -1.65501455e-04 9.99038512e+00] [ 1.21487654e-02 -5.92389886e-05 9.99926199e-01 1.75546824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.814391418 meters Centerline goodness [0,1] 0.999244060475162 Centerline is valid? [True, True] Translation: X:245.15, Y:10.00, Z:1.76 [[ 9.99840503e-01 -1.38828651e-02 -1.12354443e-02 2.45146869e+02] [ 1.38820276e-02 9.99903628e-01 -1.52529561e-04 9.99614096e+00] [ 1.12364791e-02 -3.46551445e-06 9.99936869e-01 1.75577289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84439141800001 meters Centerline goodness [0,1] 0.9993508741561364 Centerline is valid? [True, True] Translation: X:245.18, Y:10.00, Z:1.76 [[ 9.99859966e-01 -1.25208637e-02 -1.11030200e-02 2.45176587e+02] [ 1.25199616e-02 9.99921611e-01 -1.50755180e-04 9.99840918e+00] [ 1.11040373e-02 1.17246843e-05 9.99938348e-01 1.75624237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87439141800002 meters Centerline goodness [0,1] 0.9993306993112681 Centerline is valid? [True, True] Translation: X:245.21, Y:10.00, Z:1.76 [[ 9.99869869e-01 -1.19642274e-02 -1.08213398e-02 2.45205773e+02] [ 1.19633334e-02 9.99928426e-01 -1.47347951e-04 9.99962171e+00] [ 1.08223282e-02 1.78694803e-05 9.99941437e-01 1.75661138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.904391418 meters Centerline goodness [0,1] 0.9995021213957919 Centerline is valid? [True, True] Translation: X:245.24, Y:10.00, Z:1.76 [[ 9.99869151e-01 -1.22578556e-02 -1.05558346e-02 2.45235411e+02] [ 1.22570170e-02 9.99924870e-01 -1.44137353e-04 9.99987085e+00] [ 1.05568084e-02 1.47354479e-05 9.99944275e-01 1.75659719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.934391418 meters Centerline goodness [0,1] 0.9995021213957919 Centerline is valid? [True, True] Translation: X:245.26, Y:10.00, Z:1.76 [[ 9.99868675e-01 -1.22966091e-02 -1.05558290e-02 2.45264559e+02] [ 1.22957683e-02 9.99924394e-01 -1.44546737e-04 1.00003089e+01] [ 1.05568084e-02 1.47357262e-05 9.99944275e-01 1.75680161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.964391418 meters Centerline goodness [0,1] 0.9992853739876132 Centerline is valid? [True, True] Translation: X:245.29, Y:10.00, Z:1.76 [[ 9.99826751e-01 -1.53119214e-02 -1.05836076e-02 2.45293829e+02] [ 1.53112406e-02 9.99882766e-01 -1.45346218e-04 9.99850981e+00] [ 1.05845924e-02 -1.67271259e-05 9.99943981e-01 1.75719168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.994391418 meters Centerline goodness [0,1] 0.9993068792237048 Centerline is valid? [True, True] Translation: X:245.32, Y:10.00, Z:1.76 [[ 9.99791681e-01 -1.73841594e-02 -1.06950888e-02 2.45323394e+02] [ 1.73835789e-02 9.99848883e-01 -1.47242768e-04 9.99702822e+00] [ 1.06960323e-02 -3.87068247e-05 9.99942795e-01 1.75713946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.024391418 meters Centerline goodness [0,1] 0.9992220253273977 Centerline is valid? [True, True] Translation: X:245.35, Y:9.99, Z:1.76 [[ 9.99675749e-01 -2.30020919e-02 -1.09225168e-02 2.45353773e+02] [ 2.30018228e-02 9.99735412e-01 -1.50275435e-04 9.99195888e+00] [ 1.09230835e-02 -1.01011087e-04 9.99940336e-01 1.75698523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.054391418 meters Centerline goodness [0,1] 0.9993732169101756 Centerline is valid? [True, True] Translation: X:245.39, Y:9.99, Z:1.76 [[ 9.99600435e-01 -2.59505444e-02 -1.12044092e-02 2.45385949e+02] [ 2.59504552e-02 9.99663218e-01 -1.53370463e-04 9.98931898e+00] [ 1.12046158e-02 -1.37450338e-04 9.99937217e-01 1.75685495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.084391418 meters Centerline goodness [0,1] 0.9992221093800644 Centerline is valid? [True, True] Translation: X:245.42, Y:9.99, Z:1.76 [[ 9.99514647e-01 -2.91204871e-02 -1.10665477e-02 2.45417574e+02] [ 2.91206031e-02 9.99575894e-01 -1.50688389e-04 9.98624335e+00] [ 1.10662424e-02 -1.71649291e-04 9.99938753e-01 1.75689882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.114391418 meters Centerline goodness [0,1] 0.9991589933797684 Centerline is valid? [True, True] Translation: X:245.45, Y:9.98, Z:1.76 [[ 9.99306028e-01 -3.54387683e-02 -1.14697658e-02 2.45448450e+02] [ 3.54393158e-02 9.99371818e-01 -1.55570579e-04 9.97738673e+00] [ 1.14680739e-02 -2.51018036e-04 9.99934208e-01 1.75572172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.144391418 meters Centerline goodness [0,1] 0.9991808932574582 Centerline is valid? [True, True] Translation: X:245.48, Y:9.98, Z:1.76 [[ 9.99208821e-01 -3.79629875e-02 -1.18551256e-02 2.45480504e+02] [ 3.79637579e-02 9.99279104e-01 -1.60135454e-04 9.97538509e+00] [ 1.18526585e-02 -2.90056359e-04 9.99929713e-01 1.75500968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.174391418 meters Centerline goodness [0,1] 0.998989312517472 Centerline is valid? [True, True] Translation: X:245.51, Y:9.97, Z:1.76 [[ 9.99000267e-01 -4.30478705e-02 -1.20560314e-02 2.45511435e+02] [ 4.30490450e-02 9.99072947e-01 -1.62192919e-04 9.97207015e+00] [ 1.20518369e-02 -3.56969871e-04 9.99927310e-01 1.75537701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.204391418 meters Centerline goodness [0,1] 0.998989660138868 Centerline is valid? [True, True] Translation: X:245.54, Y:9.97, Z:1.76 [[ 9.98919617e-01 -4.48062121e-02 -1.23289370e-02 2.45542497e+02] [ 4.48075799e-02 9.98995622e-01 -1.65398984e-04 9.96910601e+00] [ 1.23239650e-02 -3.87209542e-04 9.99923982e-01 1.75511004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.234391418 meters Centerline goodness [0,1] 0.999227202472952 Centerline is valid? [True, True] Translation: X:245.57, Y:9.97, Z:1.75 [[ 9.98828744e-01 -4.68163685e-02 -1.22215917e-02 2.45573771e+02] [ 4.68178718e-02 9.98903429e-01 -1.63233052e-04 9.96515386e+00] [ 1.22158319e-02 -4.09147050e-04 9.99925300e-01 1.75499136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.264391418 meters Centerline goodness [0,1] 0.9990143772363995 Centerline is valid? [True, True] Translation: X:245.61, Y:9.97, Z:1.76 [[ 9.98809852e-01 -4.72542563e-02 -1.20794865e-02 2.45605699e+02] [ 4.72557665e-02 9.98882809e-01 -1.60529085e-04 9.96621880e+00] [ 1.20735771e-02 -4.10487363e-04 9.99927027e-01 1.75538079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.294391418 meters Centerline goodness [0,1] 0.9992501660346638 Centerline is valid? [True, True] Translation: X:245.64, Y:9.96, Z:1.76 [[ 9.98805865e-01 -4.72808653e-02 -1.23030066e-02 2.45636851e+02] [ 4.72824492e-02 9.98881546e-01 -1.62258164e-04 9.96439694e+00] [ 1.22969179e-02 -4.19651878e-04 9.99924302e-01 1.75540100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.324391418 meters Centerline goodness [0,1] 0.9991847592894534 Centerline is valid? [True, True] Translation: X:245.67, Y:9.97, Z:1.76 [[ 9.98819461e-01 -4.70750170e-02 -1.19844407e-02 2.45668948e+02] [ 4.70765203e-02 9.98891274e-01 -1.56791083e-04 9.96701042e+00] [ 1.19785342e-02 -4.07579781e-04 9.99928172e-01 1.75580970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.354391418 meters Centerline goodness [0,1] 0.9993556424245028 Centerline is valid? [True, True] Translation: X:245.70, Y:9.97, Z:1.76 [[ 9.98851573e-01 -4.63491783e-02 -1.21362206e-02 2.45700977e+02] [ 4.63506779e-02 9.98925217e-01 -1.57824388e-04 9.96864444e+00] [ 1.21304918e-02 -4.04878913e-04 9.99926341e-01 1.75606479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.384391418 meters Centerline goodness [0,1] 0.9989924325251356 Centerline is valid? [True, True] Translation: X:245.73, Y:9.97, Z:1.76 [[ 9.98865387e-01 -4.60595858e-02 -1.21017929e-02 2.45732336e+02] [ 4.60610659e-02 9.98938614e-01 -1.56536197e-04 9.96868742e+00] [ 1.20961582e-02 -4.01062891e-04 9.99926758e-01 1.75588372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.414391418 meters Centerline goodness [0,1] 0.998948272161408 Centerline is valid? [True, True] Translation: X:245.76, Y:9.97, Z:1.76 [[ 9.98865498e-01 -4.60707250e-02 -1.20501079e-02 2.45764905e+02] [ 4.60722031e-02 9.98938100e-01 -1.55053570e-04 9.97297221e+00] [ 1.20444553e-02 -4.00297356e-04 9.99927383e-01 1.75659798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.444391418 meters Centerline goodness [0,1] 0.9989915894267078 Centerline is valid? [True, True] Translation: X:245.80, Y:9.97, Z:1.76 [[ 9.98861438e-01 -4.59748750e-02 -1.27333303e-02 2.45795932e+02] [ 4.59765298e-02 9.98942507e-01 -1.62898396e-04 9.97064767e+00] [ 1.27273542e-02 -4.22721415e-04 9.99918915e-01 1.75550815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.474391418 meters Centerline goodness [0,1] 0.9991430836136164 Centerline is valid? [True, True] Translation: X:245.83, Y:9.97, Z:1.76 [[ 9.98841735e-01 -4.61698918e-02 -1.35473163e-02 2.45827723e+02] [ 4.61717959e-02 9.98933499e-01 -1.72348370e-04 9.97350211e+00] [ 1.35408254e-02 -4.53355181e-04 9.99908216e-01 1.75541933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.504391418 meters Centerline goodness [0,1] 0.9988829695824025 Centerline is valid? [True, True] Translation: X:245.86, Y:9.97, Z:1.76 [[ 9.98828195e-01 -4.64339075e-02 -1.36429303e-02 2.45859982e+02] [ 4.64358778e-02 9.98921258e-01 -1.72489846e-04 9.97421359e+00] [ 1.36362225e-02 -4.61233724e-04 9.99906916e-01 1.75509819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.534391418 meters Centerline goodness [0,1] 0.9990745125048427 Centerline is valid? [True, True] Translation: X:245.89, Y:9.97, Z:1.75 [[ 9.98807239e-01 -4.67126462e-02 -1.42136817e-02 2.45892387e+02] [ 4.67148292e-02 9.98908250e-01 -1.78572144e-04 9.97493142e+00] [ 1.42065055e-02 -4.85630563e-04 9.99898965e-01 1.75439533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.564391418 meters Centerline goodness [0,1] 0.9990960743801653 Centerline is valid? [True, True] Translation: X:245.92, Y:9.98, Z:1.75 [[ 9.98810855e-01 -4.65615542e-02 -1.44532867e-02 2.45924989e+02] [ 4.65638121e-02 9.98915301e-01 -1.80436456e-04 9.97721087e+00] [ 1.44460107e-02 -4.92778237e-04 9.99895530e-01 1.75462767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59439141800001 meters Centerline goodness [0,1] 0.9990745125048427 Centerline is valid? [True, True] Translation: X:245.96, Y:9.98, Z:1.75 [[ 9.98880633e-01 -4.49129671e-02 -1.48427219e-02 2.45956366e+02] [ 4.49151820e-02 9.98990787e-01 -1.84263099e-04 9.98016776e+00] [ 1.48360182e-02 -4.82606715e-04 9.99889824e-01 1.75459445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62439141800002 meters Centerline goodness [0,1] 0.9990137644183354 Centerline is valid? [True, True] Translation: X:245.99, Y:9.98, Z:1.75 [[ 9.98955875e-01 -4.31897557e-02 -1.48931310e-02 2.45987247e+02] [ 4.31918073e-02 9.99066782e-01 -1.84011564e-04 9.98219134e+00] [ 1.48871799e-02 -4.59441814e-04 9.99889074e-01 1.75495096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.654391418 meters Centerline goodness [0,1] 0.9990284554600803 Centerline is valid? [True, True] Translation: X:246.02, Y:9.99, Z:1.76 [[ 9.99057598e-01 -4.09605244e-02 -1.43579682e-02 2.46019184e+02] [ 4.09622150e-02 9.99160681e-01 -1.76437404e-04 9.98508223e+00] [ 1.43531443e-02 -4.11863051e-04 9.99896903e-01 1.75575214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.684391418 meters Centerline goodness [0,1] 0.9989845522307443 Centerline is valid? [True, True] Translation: X:246.05, Y:9.99, Z:1.76 [[ 9.99290929e-01 -3.51862721e-02 -1.34002300e-02 2.46050185e+02] [ 3.51872360e-02 9.99380724e-01 -1.63908306e-04 9.99362542e+00] [ 1.33976989e-02 -3.07724971e-04 9.99910199e-01 1.75760279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.714391418 meters Centerline goodness [0,1] 0.9992429158555051 Centerline is valid? [True, True] Translation: X:246.08, Y:10.00, Z:1.76 [[ 9.99411568e-01 -3.17530052e-02 -1.29716792e-02 2.46082611e+02] [ 3.17536290e-02 9.99495714e-01 -1.57919204e-04 9.99757423e+00] [ 1.29701522e-02 -2.54071609e-04 9.99915852e-01 1.75840516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.744391418 meters Centerline goodness [0,1] 0.9991760088470629 Centerline is valid? [True, True] Translation: X:246.11, Y:10.00, Z:1.76 [[ 9.99611185e-01 -2.51878583e-02 -1.19603423e-02 2.46112552e+02] [ 2.51879260e-02 9.99682723e-01 -1.44993954e-04 1.00044444e+01] [ 1.19601997e-02 -1.56318639e-04 9.99928462e-01 1.75916876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.774391418 meters Centerline goodness [0,1] 0.9991760088470629 Centerline is valid? [True, True] Translation: X:246.14, Y:10.00, Z:1.76 [[ 9.99612162e-01 -2.51490549e-02 -1.19603463e-02 2.46143401e+02] [ 2.51491238e-02 9.99683700e-01 -1.44663824e-04 1.00047786e+01] [ 1.19602014e-02 -1.56184513e-04 9.99928462e-01 1.75938496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.804391418 meters Centerline goodness [0,1] 0.9993259843889287 Centerline is valid? [True, True] Translation: X:246.17, Y:10.01, Z:1.76 [[ 9.99742245e-01 -1.95587271e-02 -1.15282188e-02 2.46174955e+02] [ 1.95584245e-02 9.99808706e-01 -1.38996488e-04 1.00113097e+01] [ 1.15287321e-02 -8.65131362e-05 9.99933538e-01 1.76022153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.834391418 meters Centerline goodness [0,1] 0.9992185973823012 Centerline is valid? [True, True] Translation: X:246.21, Y:10.01, Z:1.76 [[ 9.99780224e-01 -1.74891881e-02 -1.15599290e-02 2.46206605e+02] [ 1.74887508e-02 9.99847050e-01 -1.38923774e-04 1.00135280e+01] [ 1.15605906e-02 -6.32754757e-05 9.99933172e-01 1.76037203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.864391418 meters Centerline goodness [0,1] 0.999391952051076 Centerline is valid? [True, True] Translation: X:246.24, Y:10.02, Z:1.76 [[ 9.99808492e-01 -1.58391463e-02 -1.14934911e-02 2.46236607e+02] [ 1.58386081e-02 9.99874552e-01 -1.37853298e-04 1.00153616e+01] [ 1.14942327e-02 -4.42140026e-05 9.99933938e-01 1.76060263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.894391418 meters Centerline goodness [0,1] 0.9993694692670624 Centerline is valid? [True, True] Translation: X:246.27, Y:10.02, Z:1.76 [[ 9.99832319e-01 -1.40961327e-02 -1.16890112e-02 2.46266124e+02] [ 1.40954559e-02 9.99900644e-01 -1.40289278e-04 1.00175544e+01] [ 1.16898274e-02 -2.44961873e-05 9.99931671e-01 1.76025998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.924391418 meters Centerline goodness [0,1] 0.9993693458594294 Centerline is valid? [True, True] Translation: X:246.30, Y:10.02, Z:1.76 [[ 9.99834698e-01 -1.36446526e-02 -1.20166513e-02 2.46295370e+02] [ 1.36439019e-02 9.99906907e-01 -1.44457331e-04 1.00180889e+01] [ 1.20175037e-02 -1.95205600e-05 9.99927787e-01 1.76005049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.954391418 meters Centerline goodness [0,1] 0.9993042570770101 Centerline is valid? [True, True] Translation: X:246.32, Y:10.02, Z:1.76 [[ 9.99827818e-01 -1.35080030e-02 -1.27227704e-02 2.46324942e+02] [ 1.35071457e-02 9.99908763e-01 -1.53316602e-04 1.00182067e+01] [ 1.27236806e-02 -1.85581092e-05 9.99919051e-01 1.75967753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.984391418 meters Centerline goodness [0,1] 0.9993040906421938 Centerline is valid? [True, True] Translation: X:246.35, Y:10.02, Z:1.76 [[ 9.99812677e-01 -1.42575646e-02 -1.30894424e-02 2.46353864e+02] [ 1.42566950e-02 9.99898355e-01 -1.59746271e-04 1.00178187e+01] [ 1.30903895e-02 -2.68958417e-05 9.99914317e-01 1.75959337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.014391418 meters Centerline goodness [0,1] 0.9993042570770101 Centerline is valid? [True, True] Translation: X:246.38, Y:10.02, Z:1.76 [[ 9.99803832e-01 -1.50437889e-02 -1.28833721e-02 2.46382486e+02] [ 1.50429806e-02 9.99886835e-01 -1.59648289e-04 1.00170179e+01] [ 1.28843159e-02 -3.41873456e-05 9.99916993e-01 1.75897695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.044391418 meters Centerline goodness [0,1] 0.9991958269941317 Centerline is valid? [True, True] Translation: X:246.41, Y:10.01, Z:1.76 [[ 9.99762484e-01 -1.75817823e-02 -1.28785559e-02 2.46411832e+02] [ 1.75811750e-02 9.99845426e-01 -1.60374609e-04 1.00147450e+01] [ 1.28793849e-02 -6.60836280e-05 9.99917055e-01 1.75953399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.074391418 meters Centerline goodness [0,1] 0.9991760803104877 Centerline is valid? [True, True] Translation: X:246.44, Y:10.01, Z:1.76 [[ 9.99737351e-01 -1.92726797e-02 -1.24013022e-02 2.46441904e+02] [ 1.92722433e-02 9.99814261e-01 -1.54700363e-04 1.00132181e+01] [ 1.24019803e-02 -8.43411825e-05 9.99923089e-01 1.75935899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.104391418 meters Centerline goodness [0,1] 0.9992630324048987 Centerline is valid? [True, True] Translation: X:246.47, Y:10.01, Z:1.76 [[ 9.99699923e-01 -2.09757575e-02 -1.26523098e-02 2.46472589e+02] [ 2.09754411e-02 9.99779979e-01 -1.57719132e-04 1.00111186e+01] [ 1.26528343e-02 -1.07715975e-04 9.99919944e-01 1.75922731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.134391418 meters Centerline goodness [0,1] 0.9991332986652799 Centerline is valid? [True, True] Translation: X:246.50, Y:10.01, Z:1.76 [[ 9.99603106e-01 -2.54385239e-02 -1.21042375e-02 2.46503743e+02] [ 2.54385655e-02 9.99676376e-01 -1.50547508e-04 1.00068365e+01] [ 1.21041499e-02 -1.57426681e-04 9.99926730e-01 1.76014402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.164391418 meters Centerline goodness [0,1] 0.9991993768122214 Centerline is valid? [True, True] Translation: X:246.54, Y:10.00, Z:1.76 [[ 9.99541875e-01 -2.80647552e-02 -1.13317544e-02 2.46535273e+02] [ 2.80649654e-02 9.99606091e-01 -1.40497798e-04 1.00044927e+01] [ 1.13312337e-02 -1.77591861e-04 9.99935784e-01 1.76052561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.194391418 meters Centerline goodness [0,1] 0.9990915776268547 Centerline is valid? [True, True] Translation: X:246.57, Y:10.00, Z:1.76 [[ 9.99461538e-01 -3.08618803e-02 -1.11435011e-02 2.46566123e+02] [ 3.08622670e-02 9.99523637e-01 -1.37295405e-04 1.00011983e+01] [ 1.11424300e-02 -2.06692231e-04 9.99937900e-01 1.76094035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.224391418 meters Centerline goodness [0,1] 0.9991151206457461 Centerline is valid? [True, True] Translation: X:246.60, Y:10.00, Z:1.76 [[ 9.99364772e-01 -3.40506971e-02 -1.05167828e-02 2.46597330e+02] [ 3.40512302e-02 9.99420080e-01 -1.28423861e-04 9.99693252e+00] [ 1.05150568e-02 -2.29767109e-04 9.99944689e-01 1.76128230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.254391418 meters Centerline goodness [0,1] 0.999071875674509 Centerline is valid? [True, True] Translation: X:246.63, Y:9.99, Z:1.76 [[ 9.99247803e-01 -3.73753327e-02 -1.03398218e-02 2.46629466e+02] [ 3.73760328e-02 9.99301264e-01 -1.25579852e-04 9.99455251e+00] [ 1.03372906e-02 -2.60976127e-04 9.99946535e-01 1.76202689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.284391418 meters Centerline goodness [0,1] 0.9991810168322593 Centerline is valid? [True, True] Translation: X:246.66, Y:9.99, Z:1.76 [[ 9.98931084e-01 -4.50648696e-02 -1.02881658e-02 2.46659638e+02] [ 4.50659784e-02 9.98984005e-01 -1.24146415e-04 9.98586406e+00] [ 1.02833077e-02 -3.39632546e-04 9.99947068e-01 1.76165287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.314391418 meters Centerline goodness [0,1] 0.9990118152524168 Centerline is valid? [True, True] Translation: X:246.69, Y:9.98, Z:1.76 [[ 9.98729878e-01 -4.92620091e-02 -1.05775758e-02 2.46690352e+02] [ 4.92634227e-02 9.98785812e-01 -1.27026755e-04 9.98322960e+00] [ 1.05709902e-02 -3.94222172e-04 9.99944048e-01 1.76156769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34439141800001 meters Centerline goodness [0,1] 0.9989260937734917 Centerline is valid? [True, True] Translation: X:246.72, Y:9.98, Z:1.76 [[ 9.98530141e-01 -5.31475333e-02 -1.06253067e-02 2.46720944e+02] [ 5.31491815e-02 9.98586575e-01 -1.27384804e-04 9.97840306e+00] [ 1.06170588e-02 -4.37528788e-04 9.99943542e-01 1.76130791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37439141800002 meters Centerline goodness [0,1] 0.9990122820578888 Centerline is valid? [True, True] Translation: X:246.75, Y:9.97, Z:1.76 [[ 9.98126588e-01 -6.01738709e-02 -1.10643273e-02 2.46751145e+02] [ 6.01760906e-02 9.98187768e-01 -1.32487283e-04 9.97105871e+00] [ 1.10522484e-02 -5.33568880e-04 9.99938780e-01 1.76085549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.404391418 meters Centerline goodness [0,1] 0.9989507719320786 Centerline is valid? [True, True] Translation: X:246.78, Y:9.97, Z:1.76 [[ 9.97969662e-01 -6.27199885e-02 -1.10795434e-02 2.46783203e+02] [ 6.27223748e-02 9.98031005e-01 -1.32309256e-04 9.97003339e+00] [ 1.10660262e-02 -5.62894650e-04 9.99938611e-01 1.76093738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.434391418 meters Centerline goodness [0,1] 0.999101296700475 Centerline is valid? [True, True] Translation: X:246.81, Y:9.97, Z:1.76 [[ 9.97857083e-01 -6.45044751e-02 -1.09733271e-02 2.46814207e+02] [ 6.45069356e-02 9.97917250e-01 -1.29935877e-04 9.96626496e+00] [ 1.09588538e-02 -5.78198268e-04 9.99939783e-01 1.76114528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.464391418 meters Centerline goodness [0,1] 0.9988862711501392 Centerline is valid? [True, True] Translation: X:246.84, Y:9.96, Z:1.76 [[ 9.97683179e-01 -6.70045509e-02 -1.17756104e-02 2.46844990e+02] [ 6.70075710e-02 9.97752457e-01 -1.38328477e-04 9.96368127e+00] [ 1.17584129e-02 -6.51047057e-04 9.99930656e-01 1.76077380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.494391418 meters Centerline goodness [0,1] 0.9988879621907145 Centerline is valid? [True, True] Translation: X:246.88, Y:9.96, Z:1.76 [[ 9.97682763e-01 -6.69452371e-02 -1.21424497e-02 2.46876646e+02] [ 6.69484519e-02 9.97756426e-01 -1.41975372e-04 9.96228812e+00] [ 1.21247118e-02 -6.71271830e-04 9.99926268e-01 1.76031007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.524391418 meters Centerline goodness [0,1] 0.9988461045343818 Centerline is valid? [True, True] Translation: X:246.91, Y:9.97, Z:1.76 [[ 9.97766887e-01 -6.54493828e-02 -1.33272874e-02 2.46908569e+02] [ 6.54531398e-02 9.97855632e-01 -1.54543770e-04 9.96605969e+00] [ 1.33088236e-02 -7.18114151e-04 9.99911176e-01 1.75996353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.554391418 meters Centerline goodness [0,1] 0.9987982832618025 Centerline is valid? [True, True] Translation: X:246.94, Y:9.97, Z:1.76 [[ 9.97863602e-01 -6.37941983e-02 -1.40901137e-02 2.46941232e+02] [ 6.37982543e-02 9.97962803e-01 -1.61900182e-04 9.96816875e+00] [ 1.40717377e-02 -7.37370357e-04 9.99900716e-01 1.75967966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.584391418 meters Centerline goodness [0,1] 0.9991418334727854 Centerline is valid? [True, True] Translation: X:246.97, Y:9.97, Z:1.76 [[ 9.97999829e-01 -6.15456447e-02 -1.44386780e-02 2.46971393e+02] [ 6.15496949e-02 9.98104007e-01 -1.64120347e-04 9.96922646e+00] [ 1.44214033e-02 -7.24904147e-04 9.99895743e-01 1.75944730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.614391418 meters Centerline goodness [0,1] 0.9989473458076435 Centerline is valid? [True, True] Translation: X:247.00, Y:9.98, Z:1.76 [[ 9.98316330e-01 -5.60600088e-02 -1.48923326e-02 2.47001312e+02] [ 5.60637211e-02 9.98427179e-01 -1.68419778e-04 9.97547145e+00] [ 1.48783512e-02 -6.66783366e-04 9.99889089e-01 1.75935367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.644391418 meters Centerline goodness [0,1] 0.9987968890989559 Centerline is valid? [True, True] Translation: X:247.03, Y:9.98, Z:1.76 [[ 9.98498815e-01 -5.27101604e-02 -1.48914880e-02 2.47033093e+02] [ 5.27135098e-02 9.98609662e-01 -1.67781884e-04 9.98002649e+00] [ 1.48796276e-02 -6.17452586e-04 9.99889102e-01 1.75998901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.674391418 meters Centerline goodness [0,1] 0.999076182700984 Centerline is valid? [True, True] Translation: X:247.06, Y:9.98, Z:1.76 [[ 9.98702728e-01 -4.87772217e-02 -1.46165551e-02 2.47063238e+02] [ 4.87800488e-02 9.98809531e-01 -1.63242970e-04 9.98353517e+00] [ 1.46071171e-02 -5.49965073e-04 9.99893159e-01 1.76029572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.704391418 meters Centerline goodness [0,1] 0.9992904446546831 Centerline is valid? [True, True] Translation: X:247.09, Y:9.99, Z:1.76 [[ 9.98902870e-01 -4.45266294e-02 -1.45063960e-02 2.47094164e+02] [ 4.45289824e-02 9.99008080e-01 -1.60907667e-04 9.98801417e+00] [ 1.44991714e-02 -4.85223920e-04 9.99894764e-01 1.76088750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.734391418 meters Centerline goodness [0,1] 0.9991362556683222 Centerline is valid? [True, True] Translation: X:247.12, Y:10.00, Z:1.76 [[ 9.99272184e-01 -3.51470637e-02 -1.48251852e-02 2.47124890e+02] [ 3.51484951e-02 9.99382087e-01 -1.64069962e-04 9.99986256e+00] [ 1.48217911e-02 -3.57132402e-04 9.99890087e-01 1.76117848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.764391418 meters Centerline goodness [0,1] 0.9992423586457702 Centerline is valid? [True, True] Translation: X:247.16, Y:10.01, Z:1.76 [[ 9.99435558e-01 -3.00447356e-02 -1.50292692e-02 2.47156417e+02] [ 3.00456360e-02 9.99548514e-01 -1.65932013e-04 1.00053916e+01] [ 1.50274691e-02 -2.85725600e-04 9.99887040e-01 1.76137691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.794391418 meters Centerline goodness [0,1] 0.9990899833163608 Centerline is valid? [True, True] Translation: X:247.19, Y:10.01, Z:1.76 [[ 9.99581837e-01 -2.47050975e-02 -1.50269259e-02 2.47188224e+02] [ 2.47054058e-02 9.99694761e-01 -1.65149040e-04 1.00127279e+01] [ 1.50264191e-02 -2.06166321e-04 9.99887076e-01 1.76237759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.824391418 meters Centerline goodness [0,1] 0.9995004452553159 Centerline is valid? [True, True] Translation: X:247.22, Y:10.02, Z:1.76 [[ 9.99791555e-01 -1.38437840e-02 -1.50065545e-02 2.47219106e+02] [ 1.38428767e-02 9.99904169e-01 -1.64339362e-04 1.00228217e+01] [ 1.50073915e-02 -4.34287766e-05 9.99887382e-01 1.76283952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.854391418 meters Centerline goodness [0,1] 0.9994778522321817 Centerline is valid? [True, True] Translation: X:247.25, Y:10.03, Z:1.76 [[ 9.99849482e-01 -8.74407338e-03 -1.49851697e-02 2.47246465e+02] [ 8.74258613e-03 9.99961769e-01 -1.64755043e-04 1.00278377e+01] [ 1.49860374e-02 3.37211079e-05 9.99887702e-01 1.76250502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.884391418 meters Centerline goodness [0,1] 0.9994778522321817 Centerline is valid? [True, True] Translation: X:247.27, Y:10.03, Z:1.76 [[ 9.99846725e-01 -9.05388552e-03 -1.49851344e-02 2.47273838e+02] [ 9.05238562e-03 9.99959012e-01 -1.67920325e-04 1.00282863e+01] [ 1.49860405e-02 3.22433719e-05 9.99887702e-01 1.76269716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.914391418 meters Centerline goodness [0,1] 0.9995632234112252 Centerline is valid? [True, True] Translation: X:247.30, Y:10.04, Z:1.76 [[ 9.99876959e-01 -1.39007813e-04 -1.56858871e-02 2.47302234e+02] [ 1.36192677e-04 9.99999974e-01 -1.80537396e-04 1.00361171e+01] [ 1.56859118e-02 1.78378880e-04 9.99876953e-01 1.76314169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.944391418 meters Centerline goodness [0,1] 0.9995632234112252 Centerline is valid? [True, True] Translation: X:247.33, Y:10.04, Z:1.76 [[ 9.99876935e-01 -2.61650889e-04 -1.56858512e-02 2.47329685e+02] [ 2.58802593e-04 9.99999950e-01 -1.83613392e-04 1.00365477e+01] [ 1.56858985e-02 1.79531257e-04 9.99876953e-01 1.76333484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.974391418 meters Centerline goodness [0,1] 0.9996065401766198 Centerline is valid? [True, True] Translation: X:247.36, Y:10.04, Z:1.76 [[ 9.99840377e-01 6.73977168e-03 -1.65467759e-02 2.47358064e+02] [-6.74392433e-03 9.99977240e-01 -1.95177670e-04 1.00439105e+01] [ 1.65450839e-02 3.06736720e-04 9.99863074e-01 1.76269085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.004391418 meters Centerline goodness [0,1] 0.9996947097562039 Centerline is valid? [True, True] Translation: X:247.39, Y:10.05, Z:1.76 [[ 9.99804416e-01 9.40883039e-03 -1.73955088e-02 2.47386577e+02] [-9.41388239e-03 9.99955667e-01 -2.08554936e-04 1.00464758e+01] [ 1.73927754e-02 3.72273421e-04 9.99848665e-01 1.76260392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.034391418 meters Centerline goodness [0,1] 0.9995862459441214 Centerline is valid? [True, True] Translation: X:247.41, Y:10.05, Z:1.76 [[ 9.99769716e-01 1.24285811e-02 -1.74941776e-02 2.47414903e+02] [-1.24342056e-02 9.99922670e-01 -2.12767951e-04 1.00490039e+01] [ 1.74901804e-02 4.30245155e-04 9.99846943e-01 1.76226480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.064391418 meters Centerline goodness [0,1] 0.999542393933451 Centerline is valid? [True, True] Translation: X:247.44, Y:10.05, Z:1.76 [[ 9.99768079e-01 1.26980000e-02 -1.73939279e-02 2.47443556e+02] [-1.27036276e-02 9.99919283e-01 -2.13078819e-04 1.00492591e+01] [ 1.73898183e-02 4.33995384e-04 9.99848691e-01 1.76292400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09439141800001 meters Centerline goodness [0,1] 0.9996517575361845 Centerline is valid? [True, True] Translation: X:247.47, Y:10.05, Z:1.76 [[ 9.99777871e-01 1.25336737e-02 -1.69444928e-02 2.47471584e+02] [-1.25390165e-02 9.99921362e-01 -2.09107275e-04 1.00498665e+01] [ 1.69405394e-02 4.21528102e-04 9.99856410e-01 1.76321179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12439141800002 meters Centerline goodness [0,1] 0.999716880458218 Centerline is valid? [True, True] Translation: X:247.50, Y:10.05, Z:1.76 [[ 9.99821791e-01 1.01338762e-02 -1.59276732e-02 2.47499882e+02] [-1.01383142e-02 9.99948586e-01 -1.97913121e-04 1.00485236e+01] [ 1.59248487e-02 3.59357606e-04 9.99873127e-01 1.76435205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.154391418 meters Centerline goodness [0,1] 0.9995430013927576 Centerline is valid? [True, True] Translation: X:247.53, Y:10.05, Z:1.77 [[ 9.99848703e-01 7.73176248e-03 -1.55817321e-02 2.47528571e+02] [-7.73573719e-03 9.99970060e-01 -1.94831287e-04 1.00459267e+01] [ 1.55797592e-02 3.15337995e-04 9.99878578e-01 1.76514145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.184391418 meters Centerline goodness [0,1] 0.9995869026394747 Centerline is valid? [True, True] Translation: X:247.56, Y:10.04, Z:1.76 [[ 9.99864241e-01 4.87730618e-03 -1.57388631e-02 2.47556853e+02] [-4.88102758e-03 9.99988068e-01 -1.98041826e-04 1.00441665e+01] [ 1.57377094e-02 2.74836765e-04 9.99876117e-01 1.76491166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.214391418 meters Centerline goodness [0,1] 0.9996735013712943 Centerline is valid? [True, True] Translation: X:247.59, Y:10.04, Z:1.77 [[ 9.99875425e-01 -3.13499633e-03 -1.54695049e-02 2.47585036e+02] [ 3.13234149e-03 9.99995075e-01 -1.95844430e-04 1.00369658e+01] [ 1.54700426e-02 1.47364260e-04 9.99880321e-01 1.76514466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.244391418 meters Centerline goodness [0,1] 0.9992617362226951 Centerline is valid? [True, True] Translation: X:247.61, Y:10.03, Z:1.77 [[ 9.99845649e-01 -8.22829723e-03 -1.55232984e-02 2.47614089e+02] [ 8.22621908e-03 9.99966145e-01 -1.97722052e-04 1.00325113e+01] [ 1.55243997e-02 6.99934805e-05 9.99879487e-01 1.76504130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.274391418 meters Centerline goodness [0,1] 0.999326920989209 Centerline is valid? [True, True] Translation: X:247.64, Y:10.03, Z:1.77 [[ 9.99789306e-01 -1.36435705e-02 -1.53361133e-02 2.47643281e+02] [ 1.36421610e-02 9.99906922e-01 -1.96523487e-04 1.00273834e+01] [ 1.53373672e-02 -1.27356461e-05 9.99882376e-01 1.76506425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.304391418 meters Centerline goodness [0,1] 0.9992622648469199 Centerline is valid? [True, True] Translation: X:247.67, Y:10.02, Z:1.76 [[ 9.99695079e-01 -1.92981051e-02 -1.54055776e-02 2.47671039e+02] [ 1.92973330e-02 9.99813769e-01 -1.98781375e-04 1.00213815e+01] [ 1.54065447e-02 -9.85657984e-05 9.99881307e-01 1.76463419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.334391418 meters Centerline goodness [0,1] 0.9990955488080625 Centerline is valid? [True, True] Translation: X:247.70, Y:10.01, Z:1.76 [[ 9.99373243e-01 -3.16585433e-02 -1.58385068e-02 2.47700669e+02] [ 3.16592620e-02 9.99498699e-01 -2.05416116e-04 1.00095918e+01] [ 1.58370702e-02 -2.96148068e-04 9.99874542e-01 1.76475631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.364391418 meters Centerline goodness [0,1] 0.9992276501255068 Centerline is valid? [True, True] Translation: X:247.73, Y:10.00, Z:1.76 [[ 9.99177270e-01 -3.73648964e-02 -1.57685754e-02 2.47730573e+02] [ 3.73663146e-02 9.99301614e-01 -2.04784502e-04 1.00025008e+01] [ 1.57652146e-02 -3.84597528e-04 9.99875647e-01 1.76443358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.394391418 meters Centerline goodness [0,1] 0.9990758650333118 Centerline is valid? [True, True] Translation: X:247.76, Y:10.00, Z:1.76 [[ 9.98942471e-01 -4.30866962e-02 -1.60460951e-02 2.47760343e+02] [ 4.30889121e-02 9.99071220e-01 -2.07765711e-04 9.99615681e+00] [ 1.60401437e-02 -4.83862787e-04 9.99871232e-01 1.76415025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.424391418 meters Centerline goodness [0,1] 0.9991197372093522 Centerline is valid? [True, True] Translation: X:247.79, Y:9.99, Z:1.76 [[ 9.98492483e-01 -5.23831075e-02 -1.63942741e-02 2.47790760e+02] [ 5.23866801e-02 9.98626853e-01 -2.11749422e-04 9.98724961e+00] [ 1.63828544e-02 -6.47411387e-04 9.99865582e-01 1.76425667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.454391418 meters Centerline goodness [0,1] 0.9990972789408072 Centerline is valid? [True, True] Translation: X:247.82, Y:9.98, Z:1.76 [[ 9.98307855e-01 -5.57779909e-02 -1.64390301e-02 2.47822082e+02] [ 5.57820489e-02 9.98442947e-01 -2.11933144e-04 9.98472570e+00] [ 1.64252548e-02 -7.05428257e-04 9.99864848e-01 1.76459254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.484391418 meters Centerline goodness [0,1] 0.9988834013313291 Centerline is valid? [True, True] Translation: X:247.85, Y:9.98, Z:1.76 [[ 9.98036165e-01 -6.04325130e-02 -1.64841040e-02 2.47853515e+02] [ 6.04372374e-02 9.98171977e-01 -2.11865526e-04 9.97898898e+00] [ 1.64667743e-02 -7.84804250e-04 9.99864105e-01 1.76456577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.514391418 meters Centerline goodness [0,1] 0.9990380298852048 Centerline is valid? [True, True] Translation: X:247.89, Y:9.98, Z:1.77 [[ 9.97962085e-01 -6.17091774e-02 -1.62374175e-02 2.47886052e+02] [ 6.17139462e-02 9.98093856e-01 -2.07690650e-04 9.97805947e+00] [ 1.62192831e-02 -7.94807717e-04 9.99868143e-01 1.76514065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.544391418 meters Centerline goodness [0,1] 0.998799545542241 Centerline is valid? [True, True] Translation: X:247.92, Y:9.98, Z:1.77 [[ 9.97911295e-01 -6.24952931e-02 -1.63519453e-02 2.47917922e+02] [ 6.25002561e-02 9.98044926e-01 -2.07850829e-04 9.97737882e+00] [ 1.63329657e-02 -8.14584076e-04 9.99866276e-01 1.76523446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.574391418 meters Centerline goodness [0,1] 0.9990137009798666 Centerline is valid? [True, True] Translation: X:247.95, Y:9.98, Z:1.77 [[ 9.97899762e-01 -6.25728814e-02 -1.67540797e-02 2.47950055e+02] [ 6.25781253e-02 9.98040046e-01 -2.11593879e-04 9.97938114e+00] [ 1.67344826e-02 -8.37289421e-04 9.99859618e-01 1.76565720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.604391418 meters Centerline goodness [0,1] 0.998863660727686 Centerline is valid? [True, True] Translation: X:247.98, Y:9.98, Z:1.76 [[ 9.97913565e-01 -6.21963356e-02 -1.73243499e-02 2.47981223e+02] [ 6.22019072e-02 9.98063563e-01 -2.17576005e-04 9.97576777e+00] [ 1.73043348e-02 -8.60485555e-04 9.99849899e-01 1.76428766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.634391418 meters Centerline goodness [0,1] 0.9988182716686004 Centerline is valid? [True, True] Translation: X:248.01, Y:9.98, Z:1.76 [[ 9.97922585e-01 -6.18973891e-02 -1.78669456e-02 2.48013558e+02] [ 6.19032906e-02 9.98082127e-01 -2.23094707e-04 9.97756673e+00] [ 1.78464880e-02 -8.83391477e-04 9.99840348e-01 1.76418484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.664391418 meters Centerline goodness [0,1] 0.9988836650136321 Centerline is valid? [True, True] Translation: X:248.05, Y:9.98, Z:1.76 [[ 9.97975916e-01 -6.07104170e-02 -1.89292218e-02 2.48045308e+02] [ 6.07168570e-02 9.98155002e-01 -2.34843393e-04 9.97747459e+00] [ 1.89085549e-02 -9.14954802e-04 9.99820799e-01 1.76285810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.694391418 meters Centerline goodness [0,1] 0.998795439879544 Centerline is valid? [True, True] Translation: X:248.08, Y:9.98, Z:1.76 [[ 9.98007030e-01 -6.01720659e-02 -1.90076368e-02 2.48077746e+02] [ 6.01784901e-02 9.98187605e-01 -2.34331149e-04 9.97993310e+00] [ 1.89872876e-02 -9.09986748e-04 9.99819311e-01 1.76287630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.724391418 meters Centerline goodness [0,1] 0.9986651452192822 Centerline is valid? [True, True] Translation: X:248.11, Y:9.98, Z:1.76 [[ 9.98039832e-01 -5.95464775e-02 -1.92538757e-02 2.48110266e+02] [ 5.95529823e-02 9.98225118e-01 -2.35852511e-04 9.98179655e+00] [ 1.92337465e-02 -9.11235517e-04 9.99814599e-01 1.76300954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.754391418 meters Centerline goodness [0,1] 0.9987527149953764 Centerline is valid? [True, True] Translation: X:248.14, Y:9.99, Z:1.76 [[ 9.98119434e-01 -5.79085856e-02 -2.01045112e-02 2.48142333e+02] [ 5.79153795e-02 9.98321466e-01 -2.44638446e-04 9.98751903e+00] [ 2.00849317e-02 -9.20182006e-04 9.99797854e-01 1.76348613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.784391418 meters Centerline goodness [0,1] 0.9991621551946378 Centerline is valid? [True, True] Translation: X:248.17, Y:9.99, Z:1.76 [[ 9.98210357e-01 -5.62762705e-02 -2.02253387e-02 2.48173499e+02] [ 5.62828395e-02 9.98414835e-01 -2.44741353e-04 9.98796561e+00] [ 2.02070513e-02 -8.94036136e-04 9.99795417e-01 1.76323949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.814391418 meters Centerline goodness [0,1] 0.9990743132696116 Centerline is valid? [True, True] Translation: X:248.21, Y:9.99, Z:1.76 [[ 9.98286163e-01 -5.47509347e-02 -2.06657026e-02 2.48205570e+02] [ 5.47574989e-02 9.98499652e-01 -2.48516050e-04 9.99410585e+00] [ 2.06483034e-02 -8.83512054e-04 9.99786411e-01 1.76445971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84439141800001 meters Centerline goodness [0,1] 0.9993522477004794 Centerline is valid? [True, True] Translation: X:248.24, Y:10.00, Z:1.76 [[ 9.98506155e-01 -5.04086179e-02 -2.10815048e-02 2.48236729e+02] [ 5.04145072e-02 9.98728348e-01 -2.52351756e-04 9.99996548e+00] [ 2.10674171e-02 -8.10838893e-04 9.99777729e-01 1.76452570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87439141800002 meters Centerline goodness [0,1] 0.9990937924784775 Centerline is valid? [True, True] Translation: X:248.27, Y:10.00, Z:1.76 [[ 9.98644801e-01 -4.75594324e-02 -2.11343790e-02 2.48267261e+02] [ 4.75647495e-02 9.98868125e-01 -2.51309718e-04 1.00024440e+01] [ 2.11224097e-02 -7.54282298e-04 9.99776612e-01 1.76430895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.904391418 meters Centerline goodness [0,1] 0.9991567567567567 Centerline is valid? [True, True] Translation: X:248.30, Y:10.01, Z:1.77 [[ 9.98772687e-01 -4.48229316e-02 -2.10718684e-02 2.48298898e+02] [ 4.48276416e-02 9.98994705e-01 -2.49015743e-04 1.00079400e+01] [ 2.10618466e-02 -6.95892043e-04 9.99777933e-01 1.76560500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.934391418 meters Centerline goodness [0,1] 0.9992426373531258 Centerline is valid? [True, True] Translation: X:248.33, Y:10.02, Z:1.77 [[ 9.99015414e-01 -3.95240232e-02 -2.01507790e-02 2.48328982e+02] [ 3.95272615e-02 9.99218464e-01 -2.37718788e-04 1.00151152e+01] [ 2.01444260e-02 -5.59020376e-04 9.99796924e-01 1.76711704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.964391418 meters Centerline goodness [0,1] 0.999437314692579 Centerline is valid? [True, True] Translation: X:248.36, Y:10.02, Z:1.77 [[ 9.99130093e-01 -3.68864873e-02 -1.94536246e-02 2.48360240e+02] [ 3.68890155e-02 9.99319342e-01 -2.28993652e-04 1.00191400e+01] [ 1.94488301e-02 -4.88830612e-04 9.99810734e-01 1.76853808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.994391418 meters Centerline goodness [0,1] 0.9992632400104013 Centerline is valid? [True, True] Translation: X:248.39, Y:10.02, Z:1.77 [[ 9.99205803e-01 -3.48846057e-02 -1.92568699e-02 2.48391291e+02] [ 3.48867264e-02 9.99391247e-01 -2.25901799e-04 1.00229508e+01] [ 1.92530277e-02 -4.46086763e-04 9.99814544e-01 1.76984404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.024391418 meters Centerline goodness [0,1] 0.9995442807230746 Centerline is valid? [True, True] Translation: X:248.42, Y:10.03, Z:1.77 [[ 9.99308907e-01 -3.16775758e-02 -1.94483902e-02 2.48422057e+02] [ 3.16791471e-02 9.99498064e-01 -2.27362001e-04 1.00275999e+01] [ 1.94458306e-02 -3.88903542e-04 9.99810836e-01 1.77086612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.054391418 meters Centerline goodness [0,1] 0.9995869924354404 Centerline is valid? [True, True] Translation: X:248.45, Y:10.03, Z:1.77 [[ 9.99316787e-01 -3.12524859e-02 -1.97292186e-02 2.48453663e+02] [ 3.12540358e-02 9.99511447e-01 -2.29848510e-04 1.00298230e+01] [ 1.97267631e-02 -3.86926230e-04 9.99805334e-01 1.77191984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.084391418 meters Centerline goodness [0,1] 0.9995875930628813 Centerline is valid? [True, True] Translation: X:248.48, Y:10.03, Z:1.77 [[ 9.99320420e-01 -3.10051715e-02 -1.99343260e-02 2.48483949e+02] [ 3.10067103e-02 9.99519149e-01 -2.31953575e-04 1.00310626e+01] [ 1.99319323e-02 -3.86301927e-04 9.99801265e-01 1.77212947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.114391418 meters Centerline goodness [0,1] 0.9994136171136931 Centerline is valid? [True, True] Translation: X:248.51, Y:10.03, Z:1.77 [[ 9.99298782e-01 -3.14159891e-02 -2.03710397e-02 2.48514238e+02] [ 3.14176815e-02 9.99506315e-01 -2.37035127e-04 1.00324034e+01] [ 2.03684295e-02 -4.03141924e-04 9.99792461e-01 1.77248693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.144391418 meters Centerline goodness [0,1] 0.9994346842929205 Centerline is valid? [True, True] Translation: X:248.54, Y:10.03, Z:1.77 [[ 9.99253083e-01 -3.24783608e-02 -2.09387530e-02 2.48544648e+02] [ 3.24803878e-02 9.99472343e-01 -2.43363461e-04 1.00328479e+01] [ 2.09356086e-02 -4.36917130e-04 9.99780731e-01 1.77279802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.174391418 meters Centerline goodness [0,1] 0.9995214478378143 Centerline is valid? [True, True] Translation: X:248.58, Y:10.03, Z:1.77 [[ 9.99230769e-01 -3.30408723e-02 -2.11227568e-02 2.48575327e+02] [ 3.30430637e-02 9.99453899e-01 -2.45361236e-04 1.00334414e+01] [ 2.11193286e-02 -4.52788103e-04 9.99776860e-01 1.77347727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.204391418 meters Centerline goodness [0,1] 0.9994777386081733 Centerline is valid? [True, True] Translation: X:248.61, Y:10.03, Z:1.77 [[ 9.99201432e-01 -3.37812794e-02 -2.13383185e-02 2.48605917e+02] [ 3.37836845e-02 9.99429138e-01 -2.47865192e-04 1.00334620e+01] [ 2.13345104e-02 -4.73219763e-04 9.99772281e-01 1.77396768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.234391418 meters Centerline goodness [0,1] 0.999717059156401 Centerline is valid? [True, True] Translation: X:248.64, Y:10.03, Z:1.78 [[ 9.99110943e-01 -3.61361738e-02 -2.17140722e-02 2.48636799e+02] [ 3.61392201e-02 9.99346733e-01 -2.52229935e-04 1.00341986e+01] [ 2.17090018e-02 -5.32723948e-04 9.99764190e-01 1.77620044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.264391418 meters Centerline goodness [0,1] 0.9997389033942559 Centerline is valid? [True, True] Translation: X:248.67, Y:10.03, Z:1.78 [[ 9.99069710e-01 -3.73465462e-02 -2.15627158e-02 2.48666785e+02] [ 3.73498511e-02 9.99302220e-01 -2.49578124e-04 1.00316915e+01] [ 2.15569907e-02 -5.56018283e-04 9.99767466e-01 1.77578375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.294391418 meters Centerline goodness [0,1] 0.9993259990433535 Centerline is valid? [True, True] Translation: X:248.70, Y:10.03, Z:1.78 [[ 9.98962380e-01 -3.98425036e-02 -2.20621515e-02 2.48696817e+02] [ 3.98466135e-02 9.99205776e-01 -2.53461658e-04 1.00299088e+01] [ 2.20547278e-02 -6.25903364e-04 9.99756569e-01 1.77690592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.324391418 meters Centerline goodness [0,1] 0.9997608695652174 Centerline is valid? [True, True] Translation: X:248.73, Y:10.03, Z:1.78 [[ 9.98931524e-01 -4.05899751e-02 -2.20967145e-02 2.48728085e+02] [ 4.05943090e-02 9.99175679e-01 -2.52569179e-04 1.00319031e+01] [ 2.20887515e-02 -6.44701543e-04 9.99755806e-01 1.77904115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.354391418 meters Centerline goodness [0,1] 0.9998696162371246 Centerline is valid? [True, True] Translation: X:248.76, Y:10.03, Z:1.78 [[ 9.98892371e-01 -4.14272246e-02 -2.23117858e-02 2.48759143e+02] [ 4.14318790e-02 9.99141299e-01 -2.53815954e-04 1.00303681e+01] [ 2.23031416e-02 -6.70884392e-04 9.99751029e-01 1.77884133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.384391418 meters Centerline goodness [0,1] 0.9998043775947139 Centerline is valid? [True, True] Translation: X:248.79, Y:10.03, Z:1.78 [[ 9.98852077e-01 -4.22067169e-02 -2.26521981e-02 2.48790148e+02] [ 4.22117386e-02 9.99108654e-01 -2.56635137e-04 1.00301142e+01] [ 2.26428389e-02 -6.99848126e-04 9.99743373e-01 1.77952562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.414391418 meters Centerline goodness [0,1] 0.9997172806750467 Centerline is valid? [True, True] Translation: X:248.82, Y:10.03, Z:1.78 [[ 9.98859187e-01 -4.20755540e-02 -2.25825757e-02 2.48821812e+02] [ 4.20805317e-02 9.99114190e-01 -2.54948407e-04 1.00302635e+01] [ 2.25732989e-02 -6.95629232e-04 9.99744949e-01 1.78037500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.444391418 meters Centerline goodness [0,1] 0.9997389204360029 Centerline is valid? [True, True] Translation: X:248.85, Y:10.03, Z:1.78 [[ 9.98862387e-01 -4.20179736e-02 -2.25482084e-02 2.48852511e+02] [ 4.20229347e-02 9.99116614e-01 -2.53975552e-04 1.00293973e+01] [ 2.25389611e-02 -6.93855262e-04 9.99745725e-01 1.78074613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.474391418 meters Centerline goodness [0,1] 0.9998257346374191 Centerline is valid? [True, True] Translation: X:248.88, Y:10.03, Z:1.78 [[ 9.98961009e-01 -3.99608901e-02 -2.19095765e-02 2.48883713e+02] [ 3.99650955e-02 9.99201046e-01 -2.46057994e-04 1.00327602e+01] [ 2.19019045e-02 -6.29815978e-04 9.99759926e-01 1.78304791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.504391418 meters Centerline goodness [0,1] 0.9999782225222674 Centerline is valid? [True, True] Translation: X:248.92, Y:10.04, Z:1.78 [[ 9.99018049e-01 -3.82546967e-02 -2.23498362e-02 2.48915508e+02] [ 3.82586733e-02 9.99267838e-01 -2.49795584e-04 1.00350305e+01] [ 2.23430283e-02 -6.05524784e-04 9.99750180e-01 1.78398305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.534391418 meters Centerline goodness [0,1] 0.9997822821188305 Centerline is valid? [True, True] Translation: X:248.95, Y:10.04, Z:1.78 [[ 9.99150171e-01 -3.40459600e-02 -2.32337863e-02 2.48946242e+02] [ 3.40491457e-02 9.99420126e-01 -2.58585808e-04 1.00360060e+01] [ 2.32291175e-02 -5.32724520e-04 9.99730026e-01 1.78232160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.564391418 meters Centerline goodness [0,1] 0.9996516513901287 Centerline is valid? [True, True] Translation: X:248.98, Y:10.04, Z:1.78 [[ 9.99232933e-01 -3.15780112e-02 -2.31597828e-02 2.48976409e+02] [ 3.15805132e-02 9.99501178e-01 -2.57802757e-04 1.00402491e+01] [ 2.31563711e-02 -4.73792821e-04 9.99731743e-01 1.78392625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59439141800001 meters Centerline goodness [0,1] 0.9995866959604969 Centerline is valid? [True, True] Translation: X:249.01, Y:10.04, Z:1.78 [[ 9.99302287e-01 -2.91316372e-02 -2.33727653e-02 2.49006291e+02] [ 2.91335058e-02 9.99575495e-01 -2.60636108e-04 1.00415441e+01] [ 2.33704362e-02 -4.20476333e-04 9.99726786e-01 1.78354626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62439141800002 meters Centerline goodness [0,1] 0.9995868038188026 Centerline is valid? [True, True] Translation: X:249.04, Y:10.04, Z:1.78 [[ 9.99362037e-01 -2.68846996e-02 -2.35102579e-02 2.49035085e+02] [ 2.68859428e-02 9.99638473e-01 -2.63269067e-04 1.00415795e+01] [ 2.35088362e-02 -3.68994338e-04 9.99723561e-01 1.78200057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.654391418 meters Centerline goodness [0,1] 0.9996728533728817 Centerline is valid? [True, True] Translation: X:249.06, Y:10.05, Z:1.78 [[ 9.99476477e-01 -2.27227864e-02 -2.30314271e-02 2.49064218e+02] [ 2.27228133e-02 9.99741770e-01 -2.60573856e-04 1.00455215e+01] [ 2.30314006e-02 -2.62901377e-04 9.99734708e-01 1.78363368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.684391418 meters Centerline goodness [0,1] 0.999217067919358 Centerline is valid? [True, True] Translation: X:249.09, Y:10.05, Z:1.78 [[ 9.99544260e-01 -1.96155110e-02 -2.29456858e-02 2.49092496e+02] [ 1.96145947e-02 9.99807580e-01 -2.65019315e-04 1.00480025e+01] [ 2.29464691e-02 -1.85171793e-04 9.99736678e-01 1.78398764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.714391418 meters Centerline goodness [0,1] 0.999499325177413 Centerline is valid? [True, True] Translation: X:249.12, Y:10.05, Z:1.78 [[ 9.99570291e-01 -1.82451437e-02 -2.29422860e-02 2.49120208e+02] [ 1.82437028e-02 9.99833533e-01 -2.72125981e-04 1.00493616e+01] [ 2.29434319e-02 -1.46543201e-04 9.99736754e-01 1.78467799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.744391418 meters Centerline goodness [0,1] 0.999499325177413 Centerline is valid? [True, True] Translation: X:249.15, Y:10.05, Z:1.78 [[ 9.99564286e-01 -1.85713332e-02 -2.29421956e-02 2.49147578e+02] [ 1.85698064e-02 9.99827527e-01 -2.79610801e-04 1.00498227e+01] [ 2.29434315e-02 -1.46543161e-04 9.99736754e-01 1.78487066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.774391418 meters Centerline goodness [0,1] 0.9992375392122691 Centerline is valid? [True, True] Translation: X:249.18, Y:10.05, Z:1.78 [[ 9.99584821e-01 -1.74749562e-02 -2.29087681e-02 2.49175515e+02] [ 1.74730569e-02 9.99847294e-01 -2.83090224e-04 1.00505372e+01] [ 2.29102168e-02 -1.17313517e-04 9.99737520e-01 1.78436373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.804391418 meters Centerline goodness [0,1] 0.9992817030168474 Centerline is valid? [True, True] Translation: X:249.20, Y:10.05, Z:1.78 [[ 9.99604631e-01 -1.66395042e-02 -2.26651614e-02 2.49203196e+02] [ 1.66373001e-02 9.99861550e-01 -2.85820894e-04 1.00508342e+01] [ 2.26667794e-02 -9.13792049e-05 9.99743071e-01 1.78425719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.834391418 meters Centerline goodness [0,1] 0.9995641752015689 Centerline is valid? [True, True] Translation: X:249.23, Y:10.05, Z:1.78 [[ 9.99599231e-01 -1.67587839e-02 -2.28149091e-02 2.49230197e+02] [ 1.67564468e-02 9.99859558e-01 -2.93619849e-04 1.00503778e+01] [ 2.28166257e-02 -8.87946355e-05 9.99739663e-01 1.78355604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.864391418 meters Centerline goodness [0,1] 0.9996738917755505 Centerline is valid? [True, True] Translation: X:249.26, Y:10.05, Z:1.78 [[ 9.99574531e-01 -1.84459635e-02 -2.25943375e-02 2.49257737e+02] [ 1.84439532e-02 9.99829852e-01 -2.97376307e-04 1.00479429e+01] [ 2.25959785e-02 -1.19479123e-04 9.99744671e-01 1.78380572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.894391418 meters Centerline goodness [0,1] 0.9993263066391395 Centerline is valid? [True, True] Translation: X:249.29, Y:10.05, Z:1.78 [[ 9.99542716e-01 -1.99854047e-02 -2.26923463e-02 2.49285686e+02] [ 1.99836687e-02 9.99800261e-01 -3.03289289e-04 1.00460905e+01] [ 2.26938752e-02 -1.50325732e-04 9.99742450e-01 1.78315357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.924391418 meters Centerline goodness [0,1] 0.9994354208286285 Centerline is valid? [True, True] Translation: X:249.31, Y:10.04, Z:1.78 [[ 9.99508643e-01 -2.19141254e-02 -2.24107841e-02 2.49313346e+02] [ 2.19127824e-02 9.99759839e-01 -3.05528310e-04 1.00446147e+01] [ 2.24120973e-02 -1.85704450e-04 9.99748800e-01 1.78387442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.954391418 meters Centerline goodness [0,1] 0.9995224865428026 Centerline is valid? [True, True] Translation: X:249.34, Y:10.04, Z:1.78 [[ 9.99468000e-01 -2.43925581e-02 -2.16499533e-02 2.49341648e+02] [ 2.43917353e-02 9.99702432e-01 -3.02116140e-04 1.00427876e+01] [ 2.16508803e-02 -2.26124514e-04 9.99765567e-01 1.78481091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.984391418 meters Centerline goodness [0,1] 0.9992849559056142 Centerline is valid? [True, True] Translation: X:249.37, Y:10.04, Z:1.78 [[ 9.99423459e-01 -2.68185708e-02 -2.08209719e-02 2.49369208e+02] [ 2.68182463e-02 9.99640283e-01 -2.94856888e-04 1.00401327e+01] [ 2.08213899e-02 -2.63695063e-04 9.99783177e-01 1.78473167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.014391418 meters Centerline goodness [0,1] 0.9993082726270509 Centerline is valid? [True, True] Translation: X:249.40, Y:10.04, Z:1.79 [[ 9.99319127e-01 -3.15776107e-02 -1.90823958e-02 2.49398296e+02] [ 3.15781218e-02 9.99501249e-01 -2.74613812e-04 1.00350451e+01] [ 1.90815501e-02 -3.28159385e-04 9.99817877e-01 1.78603353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.044391418 meters Centerline goodness [0,1] 0.9994376554558235 Centerline is valid? [True, True] Translation: X:249.43, Y:10.03, Z:1.79 [[ 9.99254282e-01 -3.41125421e-02 -1.80890868e-02 2.49428794e+02] [ 3.41133866e-02 9.99417935e-01 -2.61967389e-04 1.00312537e+01] [ 1.80874942e-02 -3.55307977e-04 9.99836345e-01 1.78617945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.074391418 meters Centerline goodness [0,1] 0.9997198638107141 Centerline is valid? [True, True] Translation: X:249.46, Y:10.03, Z:1.79 [[ 9.99098910e-01 -3.84250122e-02 -1.80246168e-02 2.49460444e+02] [ 3.84265624e-02 9.99261393e-01 -2.60458293e-04 1.00268670e+01] [ 1.80213118e-02 -4.32400467e-04 9.99837509e-01 1.78606302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.104391418 meters Centerline goodness [0,1] 0.9994829146378248 Centerline is valid? [True, True] Translation: X:249.49, Y:10.02, Z:1.79 [[ 9.99013533e-01 -4.07489683e-02 -1.76488498e-02 2.49491311e+02] [ 4.07508253e-02 9.99169308e-01 -2.54544889e-04 1.00249526e+01] [ 1.76445614e-02 -4.64911405e-04 9.99844215e-01 1.78625642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.134391418 meters Centerline goodness [0,1] 0.9991384323777113 Centerline is valid? [True, True] Translation: X:249.52, Y:10.02, Z:1.79 [[ 9.98929797e-01 -4.26861986e-02 -1.78086887e-02 2.49523892e+02] [ 4.26884149e-02 9.99088401e-01 -2.55849776e-04 1.00228003e+01] [ 1.78033756e-02 -5.04648727e-04 9.99841380e-01 1.78655186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.164391418 meters Centerline goodness [0,1] 0.9991811227238444 Centerline is valid? [True, True] Translation: X:249.55, Y:10.02, Z:1.79 [[ 9.98750955e-01 -4.69857305e-02 -1.69962027e-02 2.49554763e+02] [ 4.69883833e-02 9.98895406e-01 -2.43447829e-04 1.00186720e+01] [ 1.69888673e-02 -5.55480333e-04 9.99855524e-01 1.78664028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.194391418 meters Centerline goodness [0,1] 0.9996767798655404 Centerline is valid? [True, True] Translation: X:249.59, Y:10.02, Z:1.79 [[ 9.98674291e-01 -4.86126266e-02 -1.69255398e-02 2.49586879e+02] [ 4.86155064e-02 9.98817538e-01 -2.41505466e-04 1.00174052e+01] [ 1.69172662e-02 -5.81658387e-04 9.99856724e-01 1.78732927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.224391418 meters Centerline goodness [0,1] 0.9994620763851533 Centerline is valid? [True, True] Translation: X:249.62, Y:10.02, Z:1.79 [[ 9.98600177e-01 -5.02816077e-02 -1.64148140e-02 2.49619136e+02] [ 5.02845626e-02 9.98734904e-01 -2.32926572e-04 1.00155260e+01] [ 1.64057596e-02 -5.92811225e-04 9.99865241e-01 1.78740639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.254391418 meters Centerline goodness [0,1] 0.9995055996216762 Centerline is valid? [True, True] Translation: X:249.65, Y:10.02, Z:1.79 [[ 9.98487311e-01 -5.25623362e-02 -1.61335003e-02 2.49650934e+02] [ 5.25655059e-02 9.98617452e-01 -2.27828087e-04 1.00151443e+01] [ 1.61231701e-02 -6.20582147e-04 9.99869821e-01 1.78828232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.284391418 meters Centerline goodness [0,1] 0.9991180140257282 Centerline is valid? [True, True] Translation: X:249.68, Y:10.02, Z:1.79 [[ 9.98443844e-01 -5.33579269e-02 -1.62118151e-02 2.49683521e+02] [ 5.33612513e-02 9.98575248e-01 -2.27745377e-04 1.00158453e+01] [ 1.62008693e-02 -6.37691768e-04 9.99868554e-01 1.78853780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.314391418 meters Centerline goodness [0,1] 0.9993330751688826 Centerline is valid? [True, True] Translation: X:249.72, Y:10.02, Z:1.79 [[ 9.98438327e-01 -5.33579124e-02 -1.65481279e-02 2.49715884e+02] [ 5.33613990e-02 9.98575239e-01 -2.31095528e-04 1.00163056e+01] [ 1.65368816e-02 -6.52296625e-04 9.99863044e-01 1.78868252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34439141800001 meters Centerline goodness [0,1] 0.9990755868948319 Centerline is valid? [True, True] Translation: X:249.75, Y:10.02, Z:1.79 [[ 9.98430752e-01 -5.33399931e-02 -1.70551632e-02 2.49747500e+02] [ 5.33437147e-02 9.98576182e-01 -2.36966086e-04 1.00158103e+01] [ 1.70435195e-02 -6.73191533e-04 9.99854522e-01 1.78797111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37439141800002 meters Centerline goodness [0,1] 0.9995049078698123 Centerline is valid? [True, True] Translation: X:249.78, Y:10.01, Z:1.79 [[ 9.98461835e-01 -5.25311780e-02 -1.77324359e-02 2.49778312e+02] [ 5.25350931e-02 9.98619048e-01 -2.45286056e-04 1.00143034e+01] [ 1.77208334e-02 -6.86666405e-04 9.99842738e-01 1.78653953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.404391418 meters Centerline goodness [0,1] 0.9992691472668257 Centerline is valid? [True, True] Translation: X:249.81, Y:10.02, Z:1.79 [[ 9.98507700e-01 -5.16880783e-02 -1.76271009e-02 2.49810658e+02] [ 5.16918381e-02 9.98663054e-01 -2.42567190e-04 1.00173434e+01] [ 1.76160722e-02 -6.68972037e-04 9.99844601e-01 1.78697258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.434391418 meters Centerline goodness [0,1] 0.9993548387096775 Centerline is valid? [True, True] Translation: X:249.84, Y:10.02, Z:1.79 [[ 9.98553054e-01 -5.08138063e-02 -1.75998612e-02 2.49843250e+02] [ 5.08174435e-02 9.98707930e-01 -2.40794270e-04 1.00189095e+01] [ 1.75893567e-02 -6.53934099e-04 9.99845081e-01 1.78714378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.464391418 meters Centerline goodness [0,1] 0.9996124114467819 Centerline is valid? [True, True] Translation: X:249.88, Y:10.02, Z:1.79 [[ 9.98679524e-01 -4.82469095e-02 -1.76477654e-02 2.49875077e+02] [ 4.82501872e-02 9.98835253e-01 -2.40258227e-04 1.00220205e+01] [ 1.76388019e-02 -6.11567013e-04 9.99844237e-01 1.78772251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.494391418 meters Centerline goodness [0,1] 0.9994190799948363 Centerline is valid? [True, True] Translation: X:249.91, Y:10.03, Z:1.79 [[ 9.98750981e-01 -4.67817775e-02 -1.75483210e-02 2.49907397e+02] [ 4.67848145e-02 9.98904963e-01 -2.37646379e-04 1.00250683e+01] [ 1.75402224e-02 -5.83645388e-04 9.99845988e-01 1.78854134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.524391418 meters Centerline goodness [0,1] 0.9992459984058252 Centerline is valid? [True, True] Translation: X:249.94, Y:10.03, Z:1.79 [[ 9.98825561e-01 -4.52565678e-02 -1.73014721e-02 2.49939437e+02] [ 4.52593152e-02 9.98975245e-01 -2.32927829e-04 1.00275270e+01] [ 1.72942839e-02 -5.50398512e-04 9.99850291e-01 1.78911421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.554391418 meters Centerline goodness [0,1] 0.9993534761432696 Centerline is valid? [True, True] Translation: X:249.97, Y:10.03, Z:1.79 [[ 9.98960809e-01 -4.23149475e-02 -1.69336383e-02 2.49970119e+02] [ 4.23171730e-02 9.99104201e-01 -2.27033556e-04 1.00310333e+01] [ 1.69280761e-02 -4.89786077e-04 9.99856590e-01 1.78974384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.584391418 meters Centerline goodness [0,1] 0.9993322707103778 Centerline is valid? [True, True] Translation: X:250.00, Y:10.03, Z:1.79 [[ 9.99008842e-01 -4.10623127e-02 -1.71819827e-02 2.50002478e+02] [ 4.10644374e-02 9.99156474e-01 -2.29278489e-04 1.00330161e+01] [ 1.71769040e-02 -4.76517217e-04 9.99852353e-01 1.79032650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.614391418 meters Centerline goodness [0,1] 0.9996977090665687 Centerline is valid? [True, True] Translation: X:250.03, Y:10.04, Z:1.79 [[ 9.99072680e-01 -3.94234971e-02 -1.73080411e-02 2.50034660e+02] [ 3.94254316e-02 9.99222489e-01 -2.29564867e-04 1.00368586e+01] [ 1.73036341e-02 -4.53025002e-04 9.99850178e-01 1.79118376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.644391418 meters Centerline goodness [0,1] 0.9995041607381537 Centerline is valid? [True, True] Translation: X:250.07, Y:10.04, Z:1.79 [[ 9.99082339e-01 -3.91002959e-02 -1.74827326e-02 2.50066263e+02] [ 3.91022413e-02 9.99235188e-01 -2.30670936e-04 1.00366371e+01] [ 1.74783809e-02 -4.53154773e-04 9.99847139e-01 1.79072409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.674391418 meters Centerline goodness [0,1] 0.9994165316045381 Centerline is valid? [True, True] Translation: X:250.10, Y:10.04, Z:1.79 [[ 9.99081181e-01 -3.89527754e-02 -1.78738551e-02 2.50098142e+02] [ 3.89548086e-02 9.99240946e-01 -2.34531786e-04 1.00374804e+01] [ 1.78694235e-02 -4.61956309e-04 9.99840222e-01 1.79065241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.704391418 meters Centerline goodness [0,1] 0.9993520518358532 Centerline is valid? [True, True] Translation: X:250.13, Y:10.04, Z:1.79 [[ 9.99079860e-01 -3.83075673e-02 -1.92863555e-02 2.50130738e+02] [ 3.83098450e-02 9.99265877e-01 -2.51487067e-04 1.00389723e+01] [ 1.92818308e-02 -4.87601626e-04 9.99813969e-01 1.79013823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.734391418 meters Centerline goodness [0,1] 0.9992230159929208 Centerline is valid? [True, True] Translation: X:250.16, Y:10.04, Z:1.79 [[ 9.99089647e-01 -3.82590496e-02 -1.88711980e-02 2.50161613e+02] [ 3.82612409e-02 9.99267741e-01 -2.45053631e-04 1.00402731e+01] [ 1.88667549e-02 -4.77204905e-04 9.99821893e-01 1.79068508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.764391418 meters Centerline goodness [0,1] 0.9994605325622545 Centerline is valid? [True, True] Translation: X:250.19, Y:10.04, Z:1.79 [[ 9.99096537e-01 -3.79590014e-02 -1.91108526e-02 2.50194025e+02] [ 3.79612176e-02 9.99279183e-01 -2.46917008e-04 1.00409232e+01] [ 1.91064498e-02 -4.78777306e-04 9.99817340e-01 1.79108881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.794391418 meters Centerline goodness [0,1] 0.9993078686680797 Centerline is valid? [True, True] Translation: X:250.22, Y:10.04, Z:1.79 [[ 9.99126739e-01 -3.72166959e-02 -1.89914924e-02 2.50224349e+02] [ 3.72187656e-02 9.99307112e-01 -2.44583871e-04 1.00426562e+01] [ 1.89874360e-02 -4.62469617e-04 9.99819615e-01 1.79182472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.824391418 meters Centerline goodness [0,1] 0.999438092974001 Centerline is valid? [True, True] Translation: X:250.26, Y:10.04, Z:1.79 [[ 9.99158783e-01 -3.65957372e-02 -1.85061677e-02 2.50255310e+02] [ 3.65976068e-02 9.99330055e-01 -2.37748089e-04 1.00439994e+01] [ 1.85024701e-02 -4.39733357e-04 9.99828718e-01 1.79250627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.854391418 meters Centerline goodness [0,1] 0.9997842921547057 Centerline is valid? [True, True] Translation: X:250.29, Y:10.04, Z:1.79 [[ 9.99179577e-01 -3.59877032e-02 -1.85757213e-02 2.50285701e+02] [ 3.59894911e-02 9.99352140e-01 -2.38140736e-04 1.00446464e+01] [ 1.85722570e-02 -4.30585398e-04 9.99827428e-01 1.79239611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.884391418 meters Centerline goodness [0,1] 0.9997620541218716 Centerline is valid? [True, True] Translation: X:250.32, Y:10.05, Z:1.79 [[ 9.99240004e-01 -3.44587419e-02 -1.82211500e-02 2.50317048e+02] [ 3.44602188e-02 9.99406043e-01 -2.33010497e-04 1.00489333e+01] [ 1.82183567e-02 -3.95071405e-04 9.99833954e-01 1.79377052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.914391418 meters Centerline goodness [0,1] 0.999544675961059 Centerline is valid? [True, True] Translation: X:250.35, Y:10.05, Z:1.79 [[ 9.99256706e-01 -3.40327870e-02 -1.81053891e-02 2.50347804e+02] [ 3.40341924e-02 9.99420642e-01 -2.30583516e-04 1.00499095e+01] [ 1.81027470e-02 -3.85790172e-04 9.99836057e-01 1.79394507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.944391418 meters Centerline goodness [0,1] 0.9993924665856622 Centerline is valid? [True, True] Translation: X:250.38, Y:10.05, Z:1.79 [[ 9.99274176e-01 -3.36405442e-02 -1.78727645e-02 2.50379182e+02] [ 3.36418662e-02 9.99433926e-01 -2.26773499e-04 1.00513566e+01] [ 1.78702760e-02 -3.74664251e-04 9.99840244e-01 1.79461918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.974391418 meters Centerline goodness [0,1] 0.9995441323318717 Centerline is valid? [True, True] Translation: X:250.41, Y:10.05, Z:1.80 [[ 9.99292440e-01 -3.35774432e-02 -1.69462342e-02 2.50410288e+02] [ 3.35786371e-02 9.99436056e-01 -2.14162739e-04 1.00519581e+01] [ 1.69438685e-02 -3.55020241e-04 9.99856379e-01 1.79541210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.004391418 meters Centerline goodness [0,1] 0.999653146610592 Centerline is valid? [True, True] Translation: X:250.44, Y:10.05, Z:1.80 [[ 9.99301384e-01 -3.34182849e-02 -1.67320941e-02 2.50442480e+02] [ 3.34194462e-02 9.99441392e-01 -2.10277544e-04 1.00524657e+01] [ 1.67297746e-02 -3.49046678e-04 9.99859987e-01 1.79600589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.034391418 meters Centerline goodness [0,1] 0.9996522948539638 Centerline is valid? [True, True] Translation: X:250.47, Y:10.05, Z:1.80 [[ 9.99274203e-01 -3.43481779e-02 -1.64702757e-02 2.50474929e+02] [ 3.43494509e-02 9.99409862e-01 -2.05682116e-04 1.00531470e+01] [ 1.64676207e-02 -3.60212093e-04 9.99864335e-01 1.79650086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.064391418 meters Centerline goodness [0,1] 0.9993697296357472 Centerline is valid? [True, True] Translation: X:250.51, Y:10.05, Z:1.80 [[ 9.99245528e-01 -3.46446203e-02 -1.75535043e-02 2.50505954e+02] [ 3.46461336e-02 9.99399619e-01 -2.17977870e-04 1.00520973e+01] [ 1.75505172e-02 -3.90347641e-04 9.99845902e-01 1.79553947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09439141800001 meters Centerline goodness [0,1] 0.9995211249210945 Centerline is valid? [True, True] Translation: X:250.54, Y:10.05, Z:1.80 [[ 9.99228947e-01 -3.54964608e-02 -1.67783375e-02 2.50537661e+02] [ 3.54979832e-02 9.99369727e-01 -2.07163593e-04 1.00537050e+01] [ 1.67751162e-02 -3.88593287e-04 9.99859212e-01 1.79696687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12439141800002 meters Centerline goodness [0,1] 0.99934761335218 Centerline is valid? [True, True] Translation: X:250.57, Y:10.05, Z:1.80 [[ 9.99206187e-01 -3.59571203e-02 -1.71487849e-02 2.50568439e+02] [ 3.59587989e-02 9.99353251e-01 -2.10551339e-04 1.00536034e+01] [ 1.71452648e-02 -4.06265509e-04 9.99852927e-01 1.79682754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.154391418 meters Centerline goodness [0,1] 0.9991092185021835 Centerline is valid? [True, True] Translation: X:250.60, Y:10.05, Z:1.80 [[ 9.99169456e-01 -3.65495765e-02 -1.80145967e-02 2.50599215e+02] [ 3.65515449e-02 9.99331745e-01 -2.20088381e-04 1.00539731e+01] [ 1.80106025e-02 -4.38555753e-04 9.99837700e-01 1.79598573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.184391418 meters Centerline goodness [0,1] 0.9995430908813995 Centerline is valid? [True, True] Translation: X:250.63, Y:10.05, Z:1.80 [[ 9.99167593e-01 -3.64124699e-02 -1.83916618e-02 2.50631595e+02] [ 3.64145228e-02 9.99336746e-01 -2.23368553e-04 1.00549136e+01] [ 1.83875968e-02 -4.46540968e-04 9.99830834e-01 1.79605461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.214391418 meters Centerline goodness [0,1] 0.9995210310894366 Centerline is valid? [True, True] Translation: X:250.66, Y:10.05, Z:1.79 [[ 9.99149129e-01 -3.63910734e-02 -1.94089824e-02 2.50662807e+02] [ 3.63933814e-02 9.99337514e-01 -2.34405064e-04 1.00537639e+01] [ 1.94046545e-02 -4.72152884e-04 9.99811600e-01 1.79333015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.244391418 meters Centerline goodness [0,1] 0.9994112259583933 Centerline is valid? [True, True] Translation: X:250.69, Y:10.06, Z:1.79 [[ 9.99148356e-01 -3.61916819e-02 -1.98173001e-02 2.50694003e+02] [ 3.61940671e-02 9.99344752e-01 -2.38415107e-04 1.00566669e+01] [ 1.98129435e-02 -4.79056626e-04 9.99803590e-01 1.79401466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.274391418 meters Centerline goodness [0,1] 0.999258661666267 Centerline is valid? [True, True] Translation: X:250.73, Y:10.06, Z:1.79 [[ 9.99157003e-01 -3.58490386e-02 -2.00032324e-02 2.50725755e+02] [ 3.58514158e-02 9.99357103e-01 -2.39872025e-04 1.00578456e+01] [ 1.99989715e-02 -4.77474386e-04 9.99799887e-01 1.79398386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.304391418 meters Centerline goodness [0,1] 0.9993663833599161 Centerline is valid? [True, True] Translation: X:250.76, Y:10.06, Z:1.79 [[ 9.99190990e-01 -3.48151488e-02 -2.01313607e-02 2.50756943e+02] [ 3.48173629e-02 9.99393663e-01 -2.40606913e-04 1.00619263e+01] [ 2.01275311e-02 -4.60508633e-04 9.99797315e-01 1.79490384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.334391418 meters Centerline goodness [0,1] 0.9995852886609189 Centerline is valid? [True, True] Translation: X:250.79, Y:10.06, Z:1.79 [[ 9.99239564e-01 -3.33361125e-02 -2.02236995e-02 2.50787389e+02] [ 3.33380554e-02 9.99444103e-01 -2.41163757e-04 1.00629437e+01] [ 2.02204967e-02 -4.33238447e-04 9.99795451e-01 1.79462780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.364391418 meters Centerline goodness [0,1] 0.9993451640364088 Centerline is valid? [True, True] Translation: X:250.82, Y:10.07, Z:1.80 [[ 9.99353787e-01 -2.99036083e-02 -1.99444999e-02 2.50817508e+02] [ 2.99048223e-02 9.99552723e-01 -2.37445527e-04 1.00677559e+01] [ 1.99426797e-02 -3.59144638e-04 9.99801060e-01 1.79539444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.394391418 meters Centerline goodness [0,1] 0.9993658152554233 Centerline is valid? [True, True] Translation: X:250.85, Y:10.07, Z:1.80 [[ 9.99429222e-01 -2.74148154e-02 -1.97397535e-02 2.50848312e+02] [ 2.74155219e-02 9.99624096e-01 -2.34873403e-04 1.00719738e+01] [ 1.97387723e-02 -3.06436302e-04 9.99805124e-01 1.79678207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.424391418 meters Centerline goodness [0,1] 0.9996058940730848 Centerline is valid? [True, True] Translation: X:250.88, Y:10.08, Z:1.80 [[ 9.99570948e-01 -2.24880213e-02 -1.87672429e-02 2.50877843e+02] [ 2.24877871e-02 9.99747093e-01 -2.23536152e-04 1.00770979e+01] [ 1.87675234e-02 -1.98593520e-04 9.99823855e-01 1.79778562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.454391418 meters Centerline goodness [0,1] 0.9996281389447895 Centerline is valid? [True, True] Translation: X:250.91, Y:10.08, Z:1.80 [[ 9.99630291e-01 -2.02565687e-02 -1.81370511e-02 2.50907445e+02] [ 2.02559724e-02 9.99794803e-01 -2.16604049e-04 1.00798734e+01] [ 1.81377171e-02 -1.50859636e-04 9.99835487e-01 1.79834549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.484391418 meters Centerline goodness [0,1] 0.9994962657964476 Centerline is valid? [True, True] Translation: X:250.94, Y:10.08, Z:1.80 [[ 9.99671089e-01 -1.81608685e-02 -1.81079079e-02 2.50936371e+02] [ 1.81598690e-02 9.99835072e-01 -2.19637819e-04 1.00825883e+01] [ 1.81089102e-02 -1.09271658e-04 9.99836014e-01 1.79893831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.514391418 meters Centerline goodness [0,1] 0.9995612784346415 Centerline is valid? [True, True] Translation: X:250.97, Y:10.09, Z:1.80 [[ 9.99704697e-01 -1.64597946e-02 -1.78772108e-02 2.50965463e+02] [ 1.64584594e-02 9.99864526e-01 -2.21819735e-04 1.00851169e+01] [ 1.78784400e-02 -7.24771179e-05 9.99840165e-01 1.79943669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.544391418 meters Centerline goodness [0,1] 0.9994297620353109 Centerline is valid? [True, True] Translation: X:250.99, Y:10.09, Z:1.80 [[ 9.99750564e-01 -1.27336661e-02 -1.83483970e-02 2.50993615e+02] [ 1.27315652e-02 9.99918924e-01 -2.31315374e-04 1.00886731e+01] [ 1.83498549e-02 -2.34613652e-06 9.99831627e-01 1.79857399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.574391418 meters Centerline goodness [0,1] 0.9993873755606607 Centerline is valid? [True, True] Translation: X:251.02, Y:10.09, Z:1.80 [[ 9.99754912e-01 -1.14703217e-02 -1.89353385e-02 2.51021593e+02] [ 1.14677662e-02 9.99934213e-01 -2.43539839e-04 1.00903594e+01] [ 1.89368863e-02 2.63341170e-05 9.99820681e-01 1.79847543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.604391418 meters Centerline goodness [0,1] 0.9995605651132643 Centerline is valid? [True, True] Translation: X:251.05, Y:10.09, Z:1.80 [[ 9.99747962e-01 -1.06331867e-02 -1.97724196e-02 2.51050102e+02] [ 1.06301200e-02 9.99943465e-01 -2.60198408e-04 1.00915762e+01] [ 1.97740685e-02 4.99496345e-05 9.99804473e-01 1.79826019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.634391418 meters Centerline goodness [0,1] 0.9994513332601778 Centerline is valid? [True, True] Translation: X:251.08, Y:10.09, Z:1.80 [[ 9.99744454e-01 -9.30650512e-03 -2.06013710e-02 2.51077893e+02] [ 9.30280850e-03 9.99956690e-01 -2.75265794e-04 1.00927488e+01] [ 2.06030405e-02 8.35448415e-05 9.99787731e-01 1.79716933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.664391418 meters Centerline goodness [0,1] 0.9995178187875334 Centerline is valid? [True, True] Translation: X:251.11, Y:10.09, Z:1.80 [[ 9.99743473e-01 -9.44131451e-03 -2.05876358e-02 2.51105657e+02] [ 9.43754070e-03 9.99955426e-01 -2.80457686e-04 1.00929483e+01] [ 2.05893660e-02 8.60890897e-05 9.99788013e-01 1.79791487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.694391418 meters Centerline goodness [0,1] 0.9995178187875334 Centerline is valid? [True, True] Translation: X:251.13, Y:10.09, Z:1.80 [[ 9.99740443e-01 -9.75703588e-03 -2.05875459e-02 2.51133023e+02] [ 9.75319519e-03 9.99952395e-01 -2.86956422e-04 1.00934661e+01] [ 2.05893657e-02 8.60875868e-05 9.99788013e-01 1.79810752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.724391418 meters Centerline goodness [0,1] 0.9995398470539255 Centerline is valid? [True, True] Translation: X:251.16, Y:10.09, Z:1.80 [[ 9.99754685e-01 -9.63161300e-03 -1.99449855e-02 2.51160932e+02] [ 9.62785959e-03 9.99953611e-01 -2.84205218e-04 1.00932426e+01] [ 1.99467976e-02 9.21079789e-05 9.99801039e-01 1.79894723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.754391418 meters Centerline goodness [0,1] 0.9994967507603439 Centerline is valid? [True, True] Translation: X:251.19, Y:10.09, Z:1.80 [[ 9.99734978e-01 -9.28067567e-03 -2.10675686e-02 2.51189724e+02] [ 9.27628033e-03 9.99956927e-01 -3.06348323e-04 1.00933091e+01] [ 2.10695043e-02 1.10838462e-04 9.99778007e-01 1.79892447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.784391418 meters Centerline goodness [0,1] 0.9993656210351315 Centerline is valid? [True, True] Translation: X:251.22, Y:10.09, Z:1.80 [[ 9.99750080e-01 -1.02742589e-02 -1.98549192e-02 2.51218467e+02] [ 1.02704459e-02 9.99947214e-01 -2.94004347e-04 1.00927324e+01] [ 1.98568918e-02 9.00119947e-05 9.99802828e-01 1.79911056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.814391418 meters Centerline goodness [0,1] 0.9993894594535662 Centerline is valid? [True, True] Translation: X:251.25, Y:10.09, Z:1.80 [[ 9.99754095e-01 -1.04096579e-02 -1.95803116e-02 2.51245335e+02] [ 1.04059057e-02 9.99945814e-01 -2.93508425e-04 1.00912372e+01] [ 1.95823059e-02 8.96853739e-05 9.99808244e-01 1.79887707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84439141800001 meters Centerline goodness [0,1] 0.9994770216382297 Centerline is valid? [True, True] Translation: X:251.27, Y:10.09, Z:1.80 [[ 9.99754698e-01 -1.07799973e-02 -1.93477369e-02 2.51273320e+02] [ 1.07763077e-02 9.99941890e-01 -2.94953086e-04 1.00900808e+01] [ 1.93497922e-02 8.63835678e-05 9.99812772e-01 1.80051377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87439141800002 meters Centerline goodness [0,1] 0.9996295247019853 Centerline is valid? [True, True] Translation: X:251.30, Y:10.09, Z:1.80 [[ 9.99753729e-01 -1.09410502e-02 -1.93073784e-02 2.51300254e+02] [ 1.09373289e-02 9.99940141e-01 -2.98328920e-04 1.00896867e+01] [ 1.93094868e-02 8.70843021e-05 9.99813551e-01 1.80026504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.904391418 meters Centerline goodness [0,1] 0.9995655479526447 Centerline is valid? [True, True] Translation: X:251.33, Y:10.09, Z:1.80 [[ 9.99751418e-01 -1.18638036e-02 -1.88773208e-02 2.51328626e+02] [ 1.18603225e-02 9.99929620e-01 -2.96352897e-04 1.00871585e+01] [ 1.88795080e-02 7.23881161e-05 9.99821764e-01 1.80116523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.934391418 meters Centerline goodness [0,1] 0.9994784989461333 Centerline is valid? [True, True] Translation: X:251.36, Y:10.09, Z:1.80 [[ 9.99740327e-01 -1.27450929e-02 -1.88902513e-02 2.51356945e+02] [ 1.27416527e-02 9.99918776e-01 -3.02463382e-04 1.00856588e+01] [ 1.88925719e-02 6.16918183e-05 9.99821518e-01 1.80168472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.964391418 meters Centerline goodness [0,1] 0.9993487604741024 Centerline is valid? [True, True] Translation: X:251.38, Y:10.08, Z:1.80 [[ 9.99734885e-01 -1.38531569e-02 -1.83915408e-02 2.51384595e+02] [ 1.38499789e-02 9.99904039e-01 -3.00163614e-04 1.00839714e+01] [ 1.83939341e-02 4.53615843e-05 9.99830816e-01 1.80215021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.994391418 meters Centerline goodness [0,1] 0.9992631761442441 Centerline is valid? [True, True] Translation: X:251.41, Y:10.08, Z:1.80 [[ 9.99717156e-01 -1.48709349e-02 -1.85597151e-02 2.51411700e+02] [ 1.48678039e-02 9.99889421e-01 -3.06676036e-04 1.00823050e+01] [ 1.85622233e-02 3.06470900e-05 9.99827707e-01 1.80132188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.024391418 meters Centerline goodness [0,1] 0.9992649761117236 Centerline is valid? [True, True] Translation: X:251.44, Y:10.08, Z:1.80 [[ 9.99677241e-01 -1.72702542e-02 -1.86320139e-02 2.51439874e+02] [ 1.72674313e-02 9.99850858e-01 -3.12383030e-04 1.00773572e+01] [ 1.86346300e-02 -9.44481479e-06 9.99826360e-01 1.80312483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.054391418 meters Centerline goodness [0,1] 0.9994398845300416 Centerline is valid? [True, True] Translation: X:251.47, Y:10.07, Z:1.80 [[ 9.99634734e-01 -1.98261413e-02 -1.83663214e-02 2.51466942e+02] [ 1.98237469e-02 9.99803441e-01 -3.12440200e-04 1.00720383e+01] [ 1.83689058e-02 -5.17632300e-05 9.99831276e-01 1.80310627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.084391418 meters Centerline goodness [0,1] 0.9992026377604897 Centerline is valid? [True, True] Translation: X:251.50, Y:10.07, Z:1.80 [[ 9.99608565e-01 -2.11196906e-02 -1.83486928e-02 2.51495478e+02] [ 2.11174364e-02 9.99776952e-01 -3.16620694e-04 1.00698605e+01] [ 1.83512871e-02 -7.09805964e-05 9.99831598e-01 1.80331190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.114391418 meters Centerline goodness [0,1] 0.9992034960067164 Centerline is valid? [True, True] Translation: X:251.52, Y:10.07, Z:1.80 [[ 9.99596706e-01 -2.16378643e-02 -1.83909764e-02 2.51523363e+02] [ 2.16356335e-02 9.99765871e-01 -3.20275880e-04 1.00677211e+01] [ 1.83936006e-02 -7.77537106e-05 9.99830820e-01 1.80306192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.144391418 meters Centerline goodness [0,1] 0.9990978412630223 Centerline is valid? [True, True] Translation: X:251.55, Y:10.06, Z:1.80 [[ 9.99579672e-01 -2.24200700e-02 -1.83798777e-02 2.51551245e+02] [ 2.24179428e-02 9.99748635e-01 -3.21792306e-04 1.00633983e+01] [ 1.83824723e-02 -9.03819987e-05 9.99831024e-01 1.80256555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.174391418 meters Centerline goodness [0,1] 0.9990978412630223 Centerline is valid? [True, True] Translation: X:251.58, Y:10.06, Z:1.80 [[ 9.99573824e-01 -2.26793603e-02 -1.83798142e-02 2.51579474e+02] [ 2.26772107e-02 9.99742786e-01 -3.25391395e-04 1.00640140e+01] [ 1.83824663e-02 -9.15501974e-05 9.99831024e-01 1.80276368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.204391418 meters Centerline goodness [0,1] 0.9991858596679164 Centerline is valid? [True, True] Translation: X:251.61, Y:10.06, Z:1.80 [[ 9.99561856e-01 -2.23617993e-02 -1.93919100e-02 2.51608663e+02] [ 2.23592962e-02 9.99749940e-01 -3.45909679e-04 1.00607570e+01] [ 1.93947960e-02 -8.78313396e-05 9.99811899e-01 1.80174287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.234391418 meters Centerline goodness [0,1] 0.9991649358713574 Centerline is valid? [True, True] Translation: X:251.64, Y:10.06, Z:1.80 [[ 9.99547209e-01 -2.23424658e-02 -2.01541618e-02 2.51637326e+02] [ 2.23396824e-02 9.99750372e-01 -3.63261704e-04 1.00598625e+01] [ 2.01572469e-02 -8.71403503e-05 9.99796818e-01 1.80118571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.264391418 meters Centerline goodness [0,1] 0.9990363613002698 Centerline is valid? [True, True] Translation: X:251.67, Y:10.06, Z:1.80 [[ 9.99552713e-01 -2.14073636e-02 -2.08829950e-02 2.51665469e+02] [ 2.14040484e-02 9.99770834e-01 -3.82279748e-04 1.00583366e+01] [ 2.08863930e-02 -6.48718768e-05 9.99781853e-01 1.80077425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.294391418 meters Centerline goodness [0,1] 0.9990154741776 Centerline is valid? [True, True] Translation: X:251.69, Y:10.06, Z:1.80 [[ 9.99559600e-01 -2.10501789e-02 -2.09163944e-02 2.51693710e+02] [ 2.10466421e-02 9.99778419e-01 -3.89237801e-04 1.00580267e+01] [ 2.09199533e-02 -5.11534857e-05 9.99781153e-01 1.80284496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.324391418 meters Centerline goodness [0,1] 0.9990604514103906 Centerline is valid? [True, True] Translation: X:251.72, Y:10.06, Z:1.80 [[ 9.99611431e-01 -1.95270147e-02 -1.98917658e-02 2.51721437e+02] [ 1.95234488e-02 9.99809330e-01 -3.73467855e-04 1.00559415e+01] [ 1.98952657e-02 -1.50331332e-05 9.99802069e-01 1.80183202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.354391418 meters Centerline goodness [0,1] 0.9991257809334954 Centerline is valid? [True, True] Translation: X:251.75, Y:10.06, Z:1.80 [[ 9.99625344e-01 -1.90278480e-02 -1.96751750e-02 2.51749750e+02] [ 1.90241788e-02 9.99818954e-01 -3.73662129e-04 1.00556383e+01] [ 1.96787229e-02 -7.81913505e-07 9.99806355e-01 1.80281370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.384391418 meters Centerline goodness [0,1] 0.9990820987917859 Centerline is valid? [True, True] Translation: X:251.78, Y:10.06, Z:1.81 [[ 9.99649062e-01 -1.85380850e-02 -1.89233122e-02 2.51777387e+02] [ 1.85344975e-02 9.99828155e-01 -3.64963180e-04 1.00550671e+01] [ 1.89268260e-02 1.41010187e-05 9.99820871e-01 1.80518978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.414391418 meters Centerline goodness [0,1] 0.999062892679914 Centerline is valid? [True, True] Translation: X:251.81, Y:10.05, Z:1.80 [[ 9.99654710e-01 -1.79654445e-02 -1.91756023e-02 2.51805088e+02] [ 1.79615418e-02 9.99838608e-01 -3.75747631e-04 1.00522314e+01] [ 1.91792580e-02 3.11945063e-05 9.99816061e-01 1.80454971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.444391418 meters Centerline goodness [0,1] 0.9991496598639455 Centerline is valid? [True, True] Translation: X:251.83, Y:10.05, Z:1.80 [[ 9.99620409e-01 -1.92248980e-02 -1.97342588e-02 2.51833049e+02] [ 1.92209424e-02 9.99815185e-01 -3.90114970e-04 1.00476691e+01] [ 1.97381115e-02 1.06558348e-05 9.99805184e-01 1.80357106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.474391418 meters Centerline goodness [0,1] 0.9990845025442313 Centerline is valid? [True, True] Translation: X:251.86, Y:10.04, Z:1.80 [[ 9.99581945e-01 -2.08483204e-02 -2.00320401e-02 2.51861104e+02] [ 2.08444782e-02 9.99782650e-01 -4.00609967e-04 1.00449662e+01] [ 2.00360382e-02 -1.71149320e-05 9.99799258e-01 1.80322660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.504391418 meters Centerline goodness [0,1] 0.9990432249697021 Centerline is valid? [True, True] Translation: X:251.89, Y:10.04, Z:1.80 [[ 9.99528856e-01 -2.31960087e-02 -2.01000101e-02 2.51888911e+02] [ 2.31924920e-02 9.99730935e-01 -4.08083777e-04 1.00417460e+01] [ 2.01040678e-02 -5.82778127e-05 9.99797891e-01 1.80323057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.534391418 meters Centerline goodness [0,1] 0.9987875436058878 Centerline is valid? [True, True] Translation: X:251.92, Y:10.04, Z:1.80 [[ 9.99464192e-01 -2.59732313e-02 -1.99178168e-02 2.51916815e+02] [ 2.59702074e-02 9.99662633e-01 -4.10509239e-04 1.00383146e+01] [ 1.99217594e-02 -1.06980548e-04 9.99801536e-01 1.80353080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.564391418 meters Centerline goodness [0,1] 0.9990041106920371 Centerline is valid? [True, True] Translation: X:251.94, Y:10.03, Z:1.80 [[ 9.99286613e-01 -3.20136639e-02 -2.00347114e-02 2.51944524e+02] [ 3.20117359e-02 9.99487406e-01 -4.17013683e-04 1.00296030e+01] [ 2.00377918e-02 -2.24629698e-04 9.99799198e-01 1.80330127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59439141800001 meters Centerline goodness [0,1] 0.9992147541331522 Centerline is valid? [True, True] Translation: X:251.97, Y:10.02, Z:1.80 [[ 9.99182610e-01 -3.53712916e-02 -1.95699489e-02 2.51973632e+02] [ 3.53700623e-02 9.99374200e-01 -4.09051303e-04 1.00247308e+01] [ 1.95721707e-02 -2.83473361e-04 9.99808407e-01 1.80324953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62439141800002 meters Centerline goodness [0,1] 0.9989420004655198 Centerline is valid? [True, True] Translation: X:252.00, Y:10.01, Z:1.80 [[ 9.98952193e-01 -4.14781905e-02 -1.93410347e-02 2.52003279e+02] [ 4.14781216e-02 9.99139330e-01 -4.04885678e-04 1.00146206e+01] [ 1.93411823e-02 -3.97768353e-04 9.99812863e-01 1.80310325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.654391418 meters Centerline goodness [0,1] 0.9989207262877217 Centerline is valid? [True, True] Translation: X:252.03, Y:10.01, Z:1.80 [[ 9.98825379e-01 -4.44771193e-02 -1.92262099e-02 2.52033219e+02] [ 4.44775997e-02 9.99010301e-01 -4.02831331e-04 1.00100511e+01] [ 1.92250985e-02 -4.52777511e-04 9.99815078e-01 1.80311377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.684391418 meters Centerline goodness [0,1] 0.9990690785993864 Centerline is valid? [True, True] Translation: X:252.06, Y:10.01, Z:1.81 [[ 9.98721545e-01 -4.68072621e-02 -1.90880827e-02 2.52063347e+02] [ 4.68081584e-02 9.98903817e-01 -4.00062847e-04 1.00100557e+01] [ 1.90858845e-02 -4.93926614e-04 9.99817726e-01 1.80508407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.714391418 meters Centerline goodness [0,1] 0.9989247765221791 Centerline is valid? [True, True] Translation: X:252.09, Y:10.01, Z:1.81 [[ 9.98614486e-01 -4.90659006e-02 -1.90169842e-02 2.52094939e+02] [ 4.90672082e-02 9.98795400e-01 -3.98112623e-04 1.00071420e+01] [ 1.90136100e-02 -5.35549288e-04 9.99819082e-01 1.80514749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.744391418 meters Centerline goodness [0,1] 0.998841373499052 Centerline is valid? [True, True] Translation: X:252.13, Y:10.00, Z:1.81 [[ 9.98424045e-01 -5.28842805e-02 -1.87797784e-02 2.52126169e+02] [ 5.28862442e-02 9.98600466e-01 -3.92410810e-04 1.00044759e+01] [ 1.87742479e-02 -6.01399559e-04 9.99823567e-01 1.80646873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.774391418 meters Centerline goodness [0,1] 0.9988403230227507 Centerline is valid? [True, True] Translation: X:252.16, Y:10.00, Z:1.81 [[ 9.98339570e-01 -5.45842929e-02 -1.84026707e-02 2.52157220e+02] [ 5.45864805e-02 9.98508973e-01 -3.83790758e-04 1.00038456e+01] [ 1.83961808e-02 -6.21383526e-04 9.99830583e-01 1.80720484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.804391418 meters Centerline goodness [0,1] 0.9988393686165274 Centerline is valid? [True, True] Translation: X:252.19, Y:10.00, Z:1.81 [[ 9.98170713e-01 -5.76557910e-02 -1.81944540e-02 2.52189674e+02] [ 5.76584608e-02 9.98336295e-01 -3.78240888e-04 1.00008467e+01] [ 1.81859916e-02 -6.71515238e-04 9.99834396e-01 1.80749039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.834391418 meters Centerline goodness [0,1] 0.9989440560917404 Centerline is valid? [True, True] Translation: X:252.22, Y:10.00, Z:1.81 [[ 9.98079399e-01 -5.92369572e-02 -1.81244529e-02 2.52221780e+02] [ 5.92398938e-02 9.98243705e-01 -3.75296961e-04 9.99925720e+00] [ 1.81148525e-02 -6.99114501e-04 9.99835668e-01 1.80738003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.864391418 meters Centerline goodness [0,1] 0.9989665935549181 Centerline is valid? [True, True] Translation: X:252.25, Y:10.00, Z:1.81 [[ 9.97984422e-01 -6.07452987e-02 -1.83603634e-02 2.52254054e+02] [ 6.07485948e-02 9.98153027e-01 -3.78672187e-04 9.99798472e+00] [ 1.83494549e-02 -7.37457335e-04 9.99831363e-01 1.80753092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.894391418 meters Centerline goodness [0,1] 0.9988625352824704 Centerline is valid? [True, True] Translation: X:252.28, Y:9.99, Z:1.81 [[ 9.97738397e-01 -6.46253200e-02 -1.84840305e-02 2.52284874e+02] [ 6.46293400e-02 9.97909266e-01 -3.80414627e-04 9.99470717e+00] [ 1.84699698e-02 -8.15056414e-04 9.99829083e-01 1.80727047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.924391418 meters Centerline goodness [0,1] 0.9985477047420598 Centerline is valid? [True, True] Translation: X:252.32, Y:9.99, Z:1.81 [[ 9.97613532e-01 -6.65057830e-02 -1.85531919e-02 2.52315978e+02] [ 6.65101731e-02 9.97785674e-01 -3.80998363e-04 9.99134798e+00] [ 1.85374477e-02 -8.53886885e-04 9.99827802e-01 1.80675142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.954391418 meters Centerline goodness [0,1] 0.9984906926043937 Centerline is valid? [True, True] Translation: X:252.35, Y:9.99, Z:1.81 [[ 9.97333823e-01 -7.05109761e-02 -1.88002115e-02 2.52347026e+02] [ 7.05162062e-02 9.97510559e-01 -3.85403433e-04 9.99007070e+00] [ 1.87805847e-02 -9.41343712e-04 9.99823186e-01 1.80664636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.984391418 meters Centerline goodness [0,1] 0.9989091443076213 Centerline is valid? [True, True] Translation: X:252.38, Y:9.98, Z:1.81 [[ 9.97212607e-01 -7.21450692e-02 -1.90290897e-02 2.52378049e+02] [ 7.21507509e-02 9.97393663e-01 -3.88687972e-04 9.98379796e+00] [ 1.90075354e-02 -9.85358568e-04 9.99818855e-01 1.80525579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.014391418 meters Centerline goodness [0,1] 0.9986533120107735 Centerline is valid? [True, True] Translation: X:252.41, Y:9.99, Z:1.81 [[ 9.97069739e-01 -7.40665526e-02 -1.91332279e-02 2.52409811e+02] [ 7.40726778e-02 9.97252770e-01 -3.89332254e-04 9.98803737e+00] [ 1.91095011e-02 -1.02905802e-03 9.99816867e-01 1.80646639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.044391418 meters Centerline goodness [0,1] 0.9984073096106291 Centerline is valid? [True, True] Translation: X:252.44, Y:9.98, Z:1.81 [[ 9.96881708e-01 -7.66163526e-02 -1.88890125e-02 2.52439630e+02] [ 7.66227865e-02 9.97060079e-01 -3.83939485e-04 9.98452503e+00] [ 1.88628964e-02 -1.06458653e-03 9.99821513e-01 1.80594063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.074391418 meters Centerline goodness [0,1] 0.9986333627685968 Centerline is valid? [True, True] Translation: X:252.47, Y:9.98, Z:1.81 [[ 9.96850086e-01 -7.70274699e-02 -1.88858450e-02 2.52472067e+02] [ 7.70339928e-02 9.97028393e-01 -3.82941272e-04 9.98461775e+00] [ 1.88592207e-02 -1.07311701e-03 9.99821573e-01 1.80595384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.104391418 meters Centerline goodness [0,1] 0.9987836335801019 Centerline is valid? [True, True] Translation: X:252.50, Y:9.99, Z:1.81 [[ 9.96900350e-01 -7.64413166e-02 -1.86123006e-02 2.52504428e+02] [ 7.64475779e-02 9.97073531e-01 -3.75898445e-04 9.99086384e+00] [ 1.85865665e-02 -1.04813201e-03 9.99826705e-01 1.80700345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.134391418 meters Centerline goodness [0,1] 0.9984894893634876 Centerline is valid? [True, True] Translation: X:252.54, Y:9.99, Z:1.81 [[ 9.97001148e-01 -7.51928200e-02 -1.82961698e-02 2.52536188e+02] [ 7.51986878e-02 9.97168502e-01 -3.68031451e-04 9.99089533e+00] [ 1.82720375e-02 -1.00892018e-03 9.99832543e-01 1.80697126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.164391418 meters Centerline goodness [0,1] 0.9988882829215086 Centerline is valid? [True, True] Translation: X:252.57, Y:10.00, Z:1.81 [[ 9.97329868e-01 -7.07772298e-02 -1.79921662e-02 2.52567230e+02] [ 7.07822016e-02 9.97491729e-01 -3.61134886e-04 9.99935906e+00] [ 1.79725971e-02 -9.13354525e-04 9.99838063e-01 1.80808383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.194391418 meters Centerline goodness [0,1] 0.998695313650807 Centerline is valid? [True, True] Translation: X:252.60, Y:10.00, Z:1.81 [[ 9.97564424e-01 -6.75508417e-02 -1.73811233e-02 2.52598221e+02] [ 6.75550024e-02 9.97715491e-01 -3.48310934e-04 1.00039723e+01] [ 1.73649446e-02 -8.26719228e-04 9.99848876e-01 1.80883340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.224391418 meters Centerline goodness [0,1] 0.9987324122195462 Centerline is valid? [True, True] Translation: X:252.63, Y:10.01, Z:1.81 [[ 9.98082965e-01 -5.96766770e-02 -1.64039198e-02 2.52628020e+02] [ 5.96793254e-02 9.98217547e-01 -3.28460192e-04 1.00117644e+01] [ 1.63942820e-02 -6.51144347e-04 9.99865393e-01 1.80997140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.254391418 meters Centerline goodness [0,1] 0.9986116078002398 Centerline is valid? [True, True] Translation: X:252.66, Y:10.02, Z:1.81 [[ 9.98361200e-01 -5.49579417e-02 -1.59542723e-02 2.52658216e+02] [ 5.49598451e-02 9.98488514e-01 -3.19457731e-04 1.00186861e+01] [ 1.59477144e-02 -5.57910130e-04 9.99872671e-01 1.81102780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.284391418 meters Centerline goodness [0,1] 0.9987765519859936 Centerline is valid? [True, True] Translation: X:252.69, Y:10.03, Z:1.81 [[ 9.98627000e-01 -5.01078326e-02 -1.52747842e-02 2.52689661e+02] [ 5.01090189e-02 9.98743707e-01 -3.05292885e-04 1.00259529e+01] [ 1.52708922e-02 -4.60530731e-04 9.99883287e-01 1.81218965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.314391418 meters Centerline goodness [0,1] 0.9986490765171504 Centerline is valid? [True, True] Translation: X:252.72, Y:10.03, Z:1.81 [[ 9.98876449e-01 -4.49943228e-02 -1.48778244e-02 2.52721234e+02] [ 4.49948953e-02 9.98987173e-01 -2.96423421e-04 1.00328526e+01] [ 1.48760931e-02 -3.73335774e-04 9.99889275e-01 1.81316532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34439141800001 meters Centerline goodness [0,1] 0.9988802264900383 Centerline is valid? [True, True] Translation: X:252.75, Y:10.04, Z:1.81 [[ 9.99104733e-01 -3.97407226e-02 -1.45054443e-02 2.52752316e+02] [ 3.97407236e-02 9.99209984e-01 -2.88289941e-04 1.00392656e+01] [ 1.45054416e-02 -2.88425007e-04 9.99894749e-01 1.81391439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37439141800002 meters Centerline goodness [0,1] 0.9989824472144493 Centerline is valid? [True, True] Translation: X:252.78, Y:10.05, Z:1.81 [[ 9.99481270e-01 -2.90079543e-02 -1.39903032e-02 2.52782261e+02] [ 2.90069094e-02 9.99579173e-01 -2.77637928e-04 1.00504888e+01] [ 1.39924694e-02 -1.28321548e-04 9.99902092e-01 1.81417224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.404391418 meters Centerline goodness [0,1] 0.9991076929613971 Centerline is valid? [True, True] Translation: X:252.81, Y:10.06, Z:1.81 [[ 9.99613281e-01 -2.37146507e-02 -1.45225471e-02 2.52813847e+02] [ 2.37129725e-02 9.99718767e-01 -2.87765718e-04 1.00566414e+01] [ 1.45252871e-02 -5.67183258e-05 9.99894501e-01 1.81396532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.434391418 meters Centerline goodness [0,1] 0.9992341077355119 Centerline is valid? [True, True] Translation: X:252.84, Y:10.06, Z:1.81 [[ 9.99708539e-01 -1.89328199e-02 -1.49795123e-02 2.52844478e+02] [ 1.89305018e-02 9.99820758e-01 -2.96543546e-04 1.00626081e+01] [ 1.49824418e-02 1.28874303e-05 9.99887757e-01 1.81440259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.464391418 meters Centerline goodness [0,1] 0.9992757636433349 Centerline is valid? [True, True] Translation: X:252.87, Y:10.07, Z:1.81 [[ 9.99771844e-01 -1.51587186e-02 -1.50490416e-02 2.52872884e+02] [ 1.51559182e-02 9.99885097e-01 -3.00121791e-04 1.00675835e+01] [ 1.50518619e-02 7.19712730e-05 9.99886712e-01 1.81461582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.494391418 meters Centerline goodness [0,1] 0.9992972892400077 Centerline is valid? [True, True] Translation: X:252.90, Y:10.07, Z:1.82 [[ 9.99844732e-01 -8.92136957e-03 -1.51960896e-02 2.52900265e+02] [ 8.91775233e-03 9.99960189e-01 -3.05783748e-04 1.00744990e+01] [ 1.51982126e-02 1.70221306e-04 9.99884486e-01 1.81526494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.524391418 meters Centerline goodness [0,1] 0.9993386102280728 Centerline is valid? [True, True] Translation: X:252.93, Y:10.08, Z:1.82 [[ 9.99868501e-01 -6.09259467e-03 -1.50287030e-02 2.52929165e+02] [ 6.08869370e-03 9.99981417e-01 -3.05310279e-04 1.00768327e+01] [ 1.50302839e-02 2.13764961e-04 9.99887016e-01 1.81618449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.554391418 meters Centerline goodness [0,1] 0.9993386102280728 Centerline is valid? [True, True] Translation: X:252.96, Y:10.08, Z:1.82 [[ 9.99866515e-01 -6.41032624e-03 -1.50286108e-02 2.52956544e+02] [ 6.40639365e-03 9.99979431e-01 -3.09801519e-04 1.00775325e+01] [ 1.50302876e-02 2.13480968e-04 9.99887016e-01 1.81637707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.584391418 meters Centerline goodness [0,1] 0.9995739150812757 Centerline is valid? [True, True] Translation: X:252.98, Y:10.08, Z:1.82 [[ 9.99867894e-01 -6.35410928e-03 -1.49606226e-02 2.52983593e+02] [ 6.35015636e-03 9.99979789e-01 -3.11711490e-04 1.00787041e+01] [ 1.49623009e-02 2.16668019e-04 9.99888035e-01 1.81643517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.614391418 meters Centerline goodness [0,1] 0.9992543672773754 Centerline is valid? [True, True] Translation: X:253.01, Y:10.08, Z:1.82 [[ 9.99852291e-01 -7.37722033e-03 -1.55233018e-02 2.53011894e+02] [ 7.37302929e-03 9.99972765e-01 -3.27197681e-04 1.00778090e+01] [ 1.55252928e-02 2.12695592e-04 9.99879453e-01 1.81708204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.644391418 meters Centerline goodness [0,1] 0.999383332978927 Centerline is valid? [True, True] Translation: X:253.04, Y:10.08, Z:1.82 [[ 9.99816651e-01 -1.11381452e-02 -1.55757965e-02 2.53039870e+02] [ 1.11343331e-02 9.99937956e-01 -3.31442670e-04 1.00754631e+01] [ 1.55785218e-02 1.57955793e-04 9.99878635e-01 1.81642515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.674391418 meters Centerline goodness [0,1] 0.9994059742023083 Centerline is valid? [True, True] Translation: X:253.07, Y:10.07, Z:1.82 [[ 9.99728952e-01 -1.77772002e-02 -1.50330647e-02 2.53068128e+02] [ 1.77743777e-02 9.99841972e-01 -3.21349234e-04 1.00690180e+01] [ 1.50364017e-02 5.40587629e-05 9.99886945e-01 1.81534883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.704391418 meters Centerline goodness [0,1] 0.9993845108984019 Centerline is valid? [True, True] Translation: X:253.10, Y:10.06, Z:1.82 [[ 9.99652411e-01 -2.22338709e-02 -1.41672897e-02 2.53096596e+02] [ 2.22317751e-02 9.99752797e-01 -3.05424994e-04 1.00641151e+01] [ 1.41705783e-02 -9.64516699e-06 9.99899592e-01 1.81673391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.734391418 meters Centerline goodness [0,1] 0.9993027678005494 Centerline is valid? [True, True] Translation: X:253.13, Y:10.06, Z:1.82 [[ 9.99540849e-01 -2.72095650e-02 -1.33315425e-02 2.53126324e+02] [ 2.72081245e-02 9.99629749e-01 -2.89444787e-04 1.00590504e+01] [ 1.33344822e-02 -7.34143807e-05 9.99911089e-01 1.81754155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.764391418 meters Centerline goodness [0,1] 0.9992811535371474 Centerline is valid? [True, True] Translation: X:253.16, Y:10.05, Z:1.82 [[ 9.99381415e-01 -3.26382583e-02 -1.30970021e-02 2.53157441e+02] [ 3.26373337e-02 9.99467220e-01 -2.84381985e-04 1.00541546e+01] [ 1.30993060e-02 -1.43245158e-04 9.99914190e-01 1.81875043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.794391418 meters Centerline goodness [0,1] 0.9991139053566531 Centerline is valid? [True, True] Translation: X:253.19, Y:10.05, Z:1.82 [[ 9.99195130e-01 -3.81002906e-02 -1.25483356e-02 2.53188661e+02] [ 3.80998785e-02 9.99273899e-01 -2.71979499e-04 1.00492216e+01] [ 1.25495867e-02 -2.06329470e-04 9.99921230e-01 1.81974834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.824391418 meters Centerline goodness [0,1] 0.9990935536911337 Centerline is valid? [True, True] Translation: X:253.22, Y:10.03, Z:1.82 [[ 9.98660962e-01 -5.00791492e-02 -1.29754507e-02 2.53218131e+02] [ 5.00797212e-02 9.98745184e-01 -2.81037379e-04 1.00348582e+01] [ 1.29732430e-02 -3.69145895e-04 9.99915776e-01 1.81999456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.854391418 meters Centerline goodness [0,1] 0.9989473684210526 Centerline is valid? [True, True] Translation: X:253.25, Y:10.03, Z:1.82 [[ 9.98367171e-01 -5.56037462e-02 -1.30849630e-02 2.53249099e+02] [ 5.56048018e-02 9.98452816e-01 -2.83397851e-04 1.00305618e+01] [ 1.30804762e-02 -4.44651665e-04 9.99914348e-01 1.82030578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.884391418 meters Centerline goodness [0,1] 0.9991375139365126 Centerline is valid? [True, True] Translation: X:253.28, Y:10.02, Z:1.82 [[ 9.97739612e-01 -6.58473955e-02 -1.34084878e-02 2.53280648e+02] [ 6.58494315e-02 9.97829529e-01 -2.90067914e-04 1.00181810e+01] [ 1.33984853e-02 -5.93529053e-04 9.99910060e-01 1.82029945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.914391418 meters Centerline goodness [0,1] 0.9987594356483526 Centerline is valid? [True, True] Translation: X:253.31, Y:10.01, Z:1.82 [[ 9.97487750e-01 -6.96009538e-02 -1.31869878e-02 2.53310419e+02] [ 6.96032531e-02 9.97574712e-01 -2.85066780e-04 1.00124632e+01] [ 1.31748465e-02 -6.33506630e-04 9.99913007e-01 1.82021770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.944391418 meters Centerline goodness [0,1] 0.9986787189865984 Centerline is valid? [True, True] Translation: X:253.34, Y:10.00, Z:1.82 [[ 9.96988746e-01 -7.64684363e-02 -1.28848533e-02 2.53341180e+02] [ 7.64712033e-02 9.97071751e-01 -2.78517389e-04 1.00040247e+01] [ 1.28684210e-02 -7.07641531e-04 9.99916948e-01 1.82139613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.974391418 meters Centerline goodness [0,1] 0.9986102629971995 Centerline is valid? [True, True] Translation: X:253.37, Y:10.00, Z:1.82 [[ 9.96807099e-01 -7.88639046e-02 -1.24937129e-02 2.53372017e+02] [ 7.88666953e-02 9.96885135e-01 -2.69932894e-04 1.00035542e+01] [ 1.24760846e-02 -7.16266821e-04 9.99921914e-01 1.82214486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.004391418 meters Centerline goodness [0,1] 0.9986551231402875 Centerline is valid? [True, True] Translation: X:253.40, Y:10.01, Z:1.82 [[ 9.96690217e-01 -8.02637688e-02 -1.28972520e-02 2.53404024e+02] [ 8.02668676e-02 9.96773371e-01 -2.78016848e-04 1.00067235e+01] [ 1.28779520e-02 -7.58125344e-04 9.99916788e-01 1.82290026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.034391418 meters Centerline goodness [0,1] 0.9987374003072326 Centerline is valid? [True, True] Translation: X:253.44, Y:10.00, Z:1.82 [[ 9.96619801e-01 -8.09175593e-02 -1.41887684e-02 2.53435410e+02] [ 8.09213915e-02 9.96720440e-01 -3.04768061e-04 1.00044070e+01] [ 1.41668965e-02 -8.44436996e-04 9.99899288e-01 1.82239812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.064391418 meters Centerline goodness [0,1] 0.9983394290999286 Centerline is valid? [True, True] Translation: X:253.47, Y:10.00, Z:1.82 [[ 9.96634899e-01 -8.06401447e-02 -1.46984552e-02 2.53466299e+02] [ 8.06442406e-02 9.96742899e-01 -3.14795513e-04 1.00004116e+01] [ 1.46759660e-02 -8.71609563e-04 9.99891922e-01 1.82163687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09439141800001 meters Centerline goodness [0,1] 0.9988895174639093 Centerline is valid? [True, True] Translation: X:253.50, Y:10.00, Z:1.82 [[ 9.96743559e-01 -7.90723967e-02 -1.58061216e-02 2.53498793e+02] [ 7.90769579e-02 9.96868457e-01 -3.37190522e-04 1.00038169e+01] [ 1.57832866e-02 -9.13807534e-04 9.99875019e-01 1.82148317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12439141800002 meters Centerline goodness [0,1] 0.9987639837432438 Centerline is valid? [True, True] Translation: X:253.53, Y:10.01, Z:1.82 [[ 9.96837818e-01 -7.78266339e-02 -1.60430258e-02 2.53531432e+02] [ 7.78311979e-02 9.96966493e-01 -3.40626543e-04 1.00082127e+01] [ 1.60208690e-02 -9.09098499e-04 9.99871244e-01 1.82193478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.154391418 meters Centerline goodness [0,1] 0.9986792452830189 Centerline is valid? [True, True] Translation: X:253.56, Y:10.00, Z:1.82 [[ 9.96906883e-01 -7.68143194e-02 -1.66201027e-02 2.53562425e+02] [ 7.68190994e-02 9.97044985e-01 -3.51561772e-04 1.00013010e+01] [ 1.65979950e-02 -9.26266971e-04 9.99861815e-01 1.82049854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.184391418 meters Centerline goodness [0,1] 0.9988464039264215 Centerline is valid? [True, True] Translation: X:253.59, Y:10.01, Z:1.82 [[ 9.97022935e-01 -7.50480760e-02 -1.76933318e-02 2.53594691e+02] [ 7.50532393e-02 9.97179458e-01 -3.72957034e-04 1.00119874e+01] [ 1.76714168e-02 -9.56095152e-04 9.99843391e-01 1.82132677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.214391418 meters Centerline goodness [0,1] 0.998867710888847 Centerline is valid? [True, True] Translation: X:253.63, Y:10.01, Z:1.82 [[ 9.97044628e-01 -7.44976768e-02 -1.87644878e-02 2.53627348e+02] [ 7.45034204e-02 9.97220680e-01 -3.93766093e-04 1.00139066e+01] [ 1.87416700e-02 -1.00541616e-03 9.99823854e-01 1.82123035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.244391418 meters Centerline goodness [0,1] 0.9988647114474929 Centerline is valid? [True, True] Translation: X:253.66, Y:10.02, Z:1.82 [[ 9.97068868e-01 -7.39827853e-02 -1.94992349e-02 2.53659046e+02] [ 7.39889232e-02 9.97258980e-01 -4.07458838e-04 1.00155864e+01] [ 1.94759321e-02 -1.03646287e-03 9.99809789e-01 1.82097617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.274391418 meters Centerline goodness [0,1] 0.9991388002016468 Centerline is valid? [True, True] Translation: X:253.69, Y:10.02, Z:1.82 [[ 9.97122717e-01 -7.28302968e-02 -2.10246102e-02 2.53690606e+02] [ 7.28372078e-02 9.97343747e-01 -4.37895946e-04 1.00164940e+01] [ 2.10006556e-02 -1.09473791e-03 9.99778863e-01 1.82055177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.304391418 meters Centerline goodness [0,1] 0.9987594095630599 Centerline is valid? [True, True] Translation: X:253.72, Y:10.02, Z:1.82 [[ 9.97155079e-01 -7.23250287e-02 -2.12329754e-02 2.53723234e+02] [ 7.23320025e-02 9.97380513e-01 -4.40379451e-04 1.00210758e+01] [ 2.12092063e-02 -1.09669702e-03 9.99774458e-01 1.82156891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.334391418 meters Centerline goodness [0,1] 0.9988851493479175 Centerline is valid? [True, True] Translation: X:253.75, Y:10.02, Z:1.82 [[ 9.97270166e-01 -7.07055545e-02 -2.12824141e-02 2.53753657e+02] [ 7.07122141e-02 9.97496661e-01 -4.40411313e-04 1.00226936e+01] [ 2.12602765e-02 -1.06571756e-03 9.99773407e-01 1.82218298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.364391418 meters Centerline goodness [0,1] 0.9992217735150597 Centerline is valid? [True, True] Translation: X:253.79, Y:10.03, Z:1.82 [[ 9.97368104e-01 -6.93519859e-02 -2.11463337e-02 2.53785026e+02] [ 6.93582720e-02 9.97591720e-01 -4.36891387e-04 1.00270956e+01] [ 2.11257067e-02 -1.03093163e-03 9.99776296e-01 1.82364698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.394391418 meters Centerline goodness [0,1] 0.9991991232507166 Centerline is valid? [True, True] Translation: X:253.82, Y:10.03, Z:1.83 [[ 9.97573674e-01 -6.66519198e-02 -2.01068721e-02 2.53816750e+02] [ 6.66570789e-02 9.97775858e-01 -4.14258264e-04 1.00337537e+01] [ 2.00897627e-02 -9.27012221e-04 9.99797751e-01 1.82631634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.424391418 meters Centerline goodness [0,1] 0.9987596964409594 Centerline is valid? [True, True] Translation: X:253.85, Y:10.04, Z:1.83 [[ 9.97681917e-01 -6.51366115e-02 -1.96980863e-02 2.53847845e+02] [ 6.51412874e-02 9.97875969e-01 -4.04852470e-04 1.00362806e+01] [ 1.96826176e-02 -8.79244711e-04 9.99805892e-01 1.82715770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.454391418 meters Centerline goodness [0,1] 0.9986307429799246 Centerline is valid? [True, True] Translation: X:253.88, Y:10.04, Z:1.83 [[ 9.97831182e-01 -6.28806229e-02 -1.94668586e-02 2.53879425e+02] [ 6.28847765e-02 9.98020714e-01 -3.99308525e-04 1.00391584e+01] [ 1.94534369e-02 -8.25726553e-04 9.99810423e-01 1.82795782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.484391418 meters Centerline goodness [0,1] 0.9989885580630887 Centerline is valid? [True, True] Translation: X:253.91, Y:10.04, Z:1.83 [[ 9.97974623e-01 -6.05802770e-02 -1.94082832e-02 2.53911102e+02] [ 6.05839899e-02 9.98163024e-01 -3.97150232e-04 1.00425400e+01] [ 1.93966901e-02 -7.79485381e-04 9.99811563e-01 1.82859017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.514391418 meters Centerline goodness [0,1] 0.9987383826065015 Centerline is valid? [True, True] Translation: X:253.94, Y:10.05, Z:1.83 [[ 9.98280051e-01 -5.53941794e-02 -1.91944005e-02 2.53940523e+02] [ 5.53968559e-02 9.98464338e-01 -3.92643464e-04 1.00480195e+01] [ 1.91866746e-02 -6.71341304e-04 9.99815693e-01 1.82877530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.544391418 meters Centerline goodness [0,1] 0.99886145607118 Centerline is valid? [True, True] Translation: X:253.97, Y:10.05, Z:1.83 [[ 9.98455487e-01 -5.22053561e-02 -1.90063380e-02 2.53972009e+02] [ 5.22074099e-02 9.98636188e-01 -3.88445803e-04 1.00537825e+01] [ 1.90006959e-02 -6.04425834e-04 9.99819288e-01 1.82981473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.574391418 meters Centerline goodness [0,1] 0.9990725517473968 Centerline is valid? [True, True] Translation: X:254.00, Y:10.06, Z:1.83 [[ 9.98785724e-01 -4.55213390e-02 -1.88383957e-02 2.54001767e+02] [ 4.55221737e-02 9.98963254e-01 -3.84729804e-04 1.00603789e+01] [ 1.88363784e-02 -4.73302083e-04 9.99822468e-01 1.82973792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.604391418 meters Centerline goodness [0,1] 0.999093992962643 Centerline is valid? [True, True] Translation: X:254.03, Y:10.06, Z:1.83 [[ 9.98942343e-01 -4.19190238e-02 -1.88942072e-02 2.54033514e+02] [ 4.19192313e-02 9.99120928e-01 -3.85243780e-04 1.00646999e+01] [ 1.88937469e-02 -4.07194319e-04 9.99821414e-01 1.83010155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.634391418 meters Centerline goodness [0,1] 0.9988807467319917 Centerline is valid? [True, True] Translation: X:254.06, Y:10.07, Z:1.83 [[ 9.99081904e-01 -3.84376411e-02 -1.89181428e-02 2.54063418e+02] [ 3.84372365e-02 9.99260942e-01 -3.85128983e-04 1.00679167e+01] [ 1.89189646e-02 -3.42385732e-04 9.99820962e-01 1.83001044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.664391418 meters Centerline goodness [0,1] 0.9988399316614288 Centerline is valid? [True, True] Translation: X:254.09, Y:10.07, Z:1.83 [[ 9.99210926e-01 -3.50138655e-02 -1.87497889e-02 2.54094805e+02] [ 3.50128769e-02 9.99386789e-01 -3.81089785e-04 1.00728069e+01] [ 1.87516348e-02 -2.75694976e-04 9.99824135e-01 1.83071379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.694391418 meters Centerline goodness [0,1] 0.9990686845168801 Centerline is valid? [True, True] Translation: X:254.13, Y:10.08, Z:1.83 [[ 9.99405497e-01 -2.85482375e-02 -1.93300589e-02 2.54125069e+02] [ 2.85459832e-02 9.99592403e-01 -3.92591066e-04 1.00790963e+01] [ 1.93333878e-02 -1.59437868e-04 9.99813080e-01 1.83072814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.724391418 meters Centerline goodness [0,1] 0.9991955118026887 Centerline is valid? [True, True] Translation: X:254.15, Y:10.09, Z:1.83 [[ 9.99563850e-01 -2.28633211e-02 -1.86916754e-02 2.54154531e+02] [ 2.28602104e-02 9.99738599e-01 -3.80096075e-04 1.00852125e+01] [ 1.86954796e-02 -4.73653364e-05 9.99825223e-01 1.83150813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.754391418 meters Centerline goodness [0,1] 0.9990912165018175 Centerline is valid? [True, True] Translation: X:254.18, Y:10.09, Z:1.83 [[ 9.99614242e-01 -2.06281365e-02 -1.85969414e-02 2.54181874e+02] [ 2.06246332e-02 9.99787217e-01 -3.80175029e-04 1.00882040e+01] [ 1.86008266e-02 -3.52672038e-06 9.99826990e-01 1.83155119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.784391418 meters Centerline goodness [0,1] 0.9990071401411128 Centerline is valid? [True, True] Translation: X:254.21, Y:10.09, Z:1.83 [[ 9.99653969e-01 -1.89317939e-02 -1.82627965e-02 2.54209669e+02] [ 1.89280480e-02 9.99820777e-01 -3.77962365e-04 1.00904456e+01] [ 1.82666789e-02 3.21524890e-05 9.99833150e-01 1.83180807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.814391418 meters Centerline goodness [0,1] 0.9991573270413753 Centerline is valid? [True, True] Translation: X:254.24, Y:10.09, Z:1.83 [[ 9.99684884e-01 -1.69771128e-02 -1.84907916e-02 2.54237451e+02] [ 1.69728660e-02 9.99855876e-01 -3.86594021e-04 1.00922881e+01] [ 1.84946899e-02 7.26304720e-05 9.99828956e-01 1.83118690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84439141800001 meters Centerline goodness [0,1] 0.9992161847261942 Centerline is valid? [True, True] Translation: X:254.26, Y:10.09, Z:1.83 [[ 9.99688899e-01 -1.68719062e-02 -1.83696664e-02 2.54264842e+02] [ 1.68676316e-02 9.99857656e-01 -3.87621103e-04 1.00924919e+01] [ 1.83735915e-02 7.76477472e-05 9.99831188e-01 1.83063962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87439141800002 meters Centerline goodness [0,1] 0.9995571208638252 Centerline is valid? [True, True] Translation: X:254.29, Y:10.09, Z:1.83 [[ 9.99676019e-01 -1.75704204e-02 -1.84156993e-02 2.54293018e+02] [ 1.75661473e-02 9.99845626e-01 -3.93780329e-04 1.00920264e+01] [ 1.84197752e-02 7.01598656e-05 9.99830339e-01 1.83132105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.904391418 meters Centerline goodness [0,1] 0.9993227656557533 Centerline is valid? [True, True] Translation: X:254.32, Y:10.09, Z:1.83 [[ 9.99645910e-01 -2.05508622e-02 -1.69031283e-02 2.54321664e+02] [ 2.05476079e-02 9.99788809e-01 -3.66194777e-04 1.00887809e+01] [ 1.69070842e-02 1.87462579e-05 9.99857065e-01 1.83186562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.934391418 meters Centerline goodness [0,1] 0.9993239246175949 Centerline is valid? [True, True] Translation: X:254.35, Y:10.09, Z:1.83 [[ 9.99589022e-01 -2.31574032e-02 -1.68973857e-02 2.54350103e+02] [ 2.31544437e-02 9.99731831e-01 -3.70789708e-04 1.00868487e+01] [ 1.69014408e-02 -2.06122433e-05 9.99857160e-01 1.83247427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.964391418 meters Centerline goodness [0,1] 0.9991157708583338 Centerline is valid? [True, True] Translation: X:254.38, Y:10.08, Z:1.83 [[ 9.99514978e-01 -2.61486217e-02 -1.69132775e-02 2.54379229e+02] [ 2.61460412e-02 9.99658064e-01 -3.73714937e-04 1.00841373e+01] [ 1.69172664e-02 -6.86815747e-05 9.99856890e-01 1.83183146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.994391418 meters Centerline goodness [0,1] 0.9990932478596432 Centerline is valid? [True, True] Translation: X:254.41, Y:10.08, Z:1.83 [[ 9.99336007e-01 -3.26015732e-02 -1.62690927e-02 2.54408776e+02] [ 3.26000276e-02 9.99468413e-01 -3.60266166e-04 1.00779644e+01] [ 1.62721895e-02 -1.70345919e-04 9.99867585e-01 1.83298159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.024391418 meters Centerline goodness [0,1] 0.9991557619248628 Centerline is valid? [True, True] Translation: X:254.44, Y:10.07, Z:1.83 [[ 9.99207752e-01 -3.63006271e-02 -1.63135725e-02 2.54440652e+02] [ 3.62995674e-02 9.99340888e-01 -3.61159874e-04 1.00741430e+01] [ 1.63159304e-02 -2.31301879e-04 9.99866860e-01 1.83303311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.054391418 meters Centerline goodness [0,1] 0.9989895162308955 Centerline is valid? [True, True] Translation: X:254.47, Y:10.07, Z:1.83 [[ 9.98916592e-01 -4.35855653e-02 -1.63076653e-02 2.54472024e+02] [ 4.35854872e-02 9.99049636e-01 -3.60369057e-04 1.00653926e+01] [ 1.63078740e-02 -3.50798909e-04 9.99866956e-01 1.83284414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.084391418 meters Centerline goodness [0,1] 0.9992825339213741 Centerline is valid? [True, True] Translation: X:254.50, Y:10.06, Z:1.83 [[ 9.98765955e-01 -4.69830286e-02 -1.60984946e-02 2.54502900e+02] [ 4.69834039e-02 9.98895607e-01 -3.55099788e-04 1.00609589e+01] [ 1.60973992e-02 -4.01700496e-04 9.99870348e-01 1.83251054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.114391418 meters Centerline goodness [0,1] 0.9989446578580776 Centerline is valid? [True, True] Translation: X:254.53, Y:10.05, Z:1.83 [[ 9.98476452e-01 -5.29622792e-02 -1.54845810e-02 2.54534241e+02] [ 5.29633541e-02 9.98596398e-01 -3.40945084e-04 1.00547061e+01] [ 1.54809041e-02 -4.79689710e-04 9.99880049e-01 1.83301487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.144391418 meters Centerline goodness [0,1] 0.9991961414790996 Centerline is valid? [True, True] Translation: X:254.57, Y:10.05, Z:1.83 [[ 9.98356509e-01 -5.51926703e-02 -1.54288977e-02 2.54566248e+02] [ 5.51940183e-02 9.98475591e-01 -3.38753689e-04 1.00527620e+01] [ 1.54240744e-02 -5.13385911e-04 9.99880910e-01 1.83346351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.174391418 meters Centerline goodness [0,1] 0.9992176928281461 Centerline is valid? [True, True] Translation: X:254.60, Y:10.05, Z:1.83 [[ 9.98266020e-01 -5.69144821e-02 -1.50231239e-02 2.54597244e+02] [ 5.69159771e-02 9.98378918e-01 -3.28364901e-04 1.00498019e+01] [ 1.50174589e-02 -5.27260254e-04 9.99887093e-01 1.83360974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.204391418 meters Centerline goodness [0,1] 0.9990502121192933 Centerline is valid? [True, True] Translation: X:254.63, Y:10.05, Z:1.83 [[ 9.98201108e-01 -5.79126036e-02 -1.55138432e-02 2.54629810e+02] [ 5.79143418e-02 9.98321499e-01 -3.37578949e-04 1.00486713e+01] [ 1.55073532e-02 -5.61502334e-04 9.99879596e-01 1.83370704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23439141800003 meters Centerline goodness [0,1] 0.9989874485813732 Centerline is valid? [True, True] Translation: X:254.66, Y:10.05, Z:1.83 [[ 9.98177808e-01 -5.82496395e-02 -1.57493631e-02 2.54660991e+02] [ 5.82514898e-02 9.98301882e-01 -3.41619308e-04 1.00461690e+01] [ 1.57425181e-02 -5.76427054e-04 9.99875913e-01 1.83334251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.264391418 meters Centerline goodness [0,1] 0.9990297814899182 Centerline is valid? [True, True] Translation: X:254.69, Y:10.05, Z:1.83 [[ 9.98281052e-01 -5.64730984e-02 -1.56757797e-02 2.54693348e+02] [ 5.64747297e-02 9.98403971e-01 -3.38939120e-04 1.00473445e+01] [ 1.56699017e-02 -5.46928922e-04 9.99877070e-01 1.83393304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.294391418 meters Centerline goodness [0,1] 0.9987759581293264 Centerline is valid? [True, True] Translation: X:254.72, Y:10.05, Z:1.83 [[ 9.98350082e-01 -5.53492509e-02 -1.52831046e-02 2.54724725e+02] [ 5.53506829e-02 9.98466921e-01 -3.29601587e-04 1.00488372e+01] [ 1.52779176e-02 -5.16872503e-04 9.99883152e-01 1.83466713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.324391418 meters Centerline goodness [0,1] 0.9988848913295041 Centerline is valid? [True, True] Translation: X:254.76, Y:10.05, Z:1.84 [[ 9.98439123e-01 -5.37949320e-02 -1.50140768e-02 2.54756228e+02] [ 5.37961470e-02 9.98551887e-01 -3.23227792e-04 1.00504768e+01] [ 1.50097227e-02 -4.84976207e-04 9.99887230e-01 1.83516197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.354391418 meters Centerline goodness [0,1] 0.9988203075626712 Centerline is valid? [True, True] Translation: X:254.79, Y:10.06, Z:1.84 [[ 9.98599565e-01 -5.08604171e-02 -1.45645416e-02 2.54787163e+02] [ 5.08612567e-02 9.98705680e-01 -3.12987759e-04 1.00558242e+01] [ 1.45616091e-02 -4.28221450e-04 9.99893882e-01 1.83588402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.384391418 meters Centerline goodness [0,1] 0.9986299348692115 Centerline is valid? [True, True] Translation: X:254.82, Y:10.06, Z:1.84 [[ 9.98675435e-01 -4.93887984e-02 -1.44264087e-02 2.54819592e+02] [ 4.93894816e-02 9.98779547e-01 -3.09131924e-04 1.00592312e+01] [ 1.44240696e-02 -4.03790388e-04 9.99895886e-01 1.83631241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.414391418 meters Centerline goodness [0,1] 0.9986744655781855 Centerline is valid? [True, True] Translation: X:254.85, Y:10.06, Z:1.84 [[ 9.98810461e-01 -4.62926723e-02 -1.53183331e-02 2.54850504e+02] [ 4.62930959e-02 9.98927846e-01 -3.27124462e-04 1.00615879e+01] [ 1.53170529e-02 -3.82397727e-04 9.99882614e-01 1.83552211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.444391418 meters Centerline goodness [0,1] 0.9989028610009284 Centerline is valid? [True, True] Translation: X:254.88, Y:10.06, Z:1.84 [[ 9.98877890e-01 -4.47096130e-02 -1.56208397e-02 2.54882318e+02] [ 4.47098779e-02 9.98999958e-01 -3.32440940e-04 1.00641837e+01] [ 1.56200815e-02 -3.66337930e-04 9.99877932e-01 1.83543516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.474391418 meters Centerline goodness [0,1] 0.9989028610009284 Centerline is valid? [True, True] Translation: X:254.91, Y:10.06, Z:1.84 [[ 9.98881555e-01 -4.46276554e-02 -1.56208669e-02 2.54914014e+02] [ 4.46279303e-02 9.99003623e-01 -3.31159483e-04 1.00647812e+01] [ 1.56200814e-02 -3.66337857e-04 9.99877932e-01 1.83565721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.504391418 meters Centerline goodness [0,1] 0.9986477920980351 Centerline is valid? [True, True] Translation: X:254.94, Y:10.07, Z:1.84 [[ 9.98945275e-01 -4.30047394e-02 -1.60912729e-02 2.54944994e+02] [ 4.30048392e-02 9.99074806e-01 -3.39984402e-04 1.00658043e+01] [ 1.60910063e-02 -3.52376792e-04 9.99870469e-01 1.83520980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.534391418 meters Centerline goodness [0,1] 0.9987135415568256 Centerline is valid? [True, True] Translation: X:254.98, Y:10.07, Z:1.83 [[ 9.99048733e-01 -4.03234602e-02 -1.66026127e-02 2.54975420e+02] [ 4.03232068e-02 9.99186627e-01 -3.50158164e-04 1.00672891e+01] [ 1.66032281e-02 -3.19645513e-04 9.99862106e-01 1.83410918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.564391418 meters Centerline goodness [0,1] 0.9989233010323643 Centerline is valid? [True, True] Translation: X:255.01, Y:10.07, Z:1.84 [[ 9.99112102e-01 -3.87943577e-02 -1.64318268e-02 2.55006314e+02] [ 3.87939110e-02 9.99247173e-01 -3.46053406e-04 1.00720794e+01] [ 1.64328814e-02 -2.91708683e-04 9.99864929e-01 1.83566423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.594391418 meters Centerline goodness [0,1] 0.9989232555684577 Centerline is valid? [True, True] Translation: X:255.04, Y:10.08, Z:1.84 [[ 9.99172312e-01 -3.71871481e-02 -1.64865660e-02 2.55037746e+02] [ 3.71864905e-02 9.99308283e-01 -3.46554014e-04 1.00753635e+01] [ 1.64880493e-02 -2.66810354e-04 9.99864027e-01 1.83647885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.624391418 meters Centerline goodness [0,1] 0.9989685513408832 Centerline is valid? [True, True] Translation: X:255.07, Y:10.08, Z:1.84 [[ 9.99265711e-01 -3.47734457e-02 -1.60886859e-02 2.55068083e+02] [ 3.47725221e-02 9.99395196e-01 -3.37230251e-04 1.00785547e+01] [ 1.60906820e-02 -2.22461558e-04 9.99870512e-01 1.83715871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.654391418 meters Centerline goodness [0,1] 0.9986708299928267 Centerline is valid? [True, True] Translation: X:255.10, Y:10.08, Z:1.84 [[ 9.99300158e-01 -3.39675296e-02 -1.56652996e-02 2.55098334e+02] [ 3.39665631e-02 9.99422916e-01 -3.27839588e-04 1.00805363e+01] [ 1.56673953e-02 -2.04486235e-04 9.99877238e-01 1.83781571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.684391418 meters Centerline goodness [0,1] 0.9989242775785699 Centerline is valid? [True, True] Translation: X:255.13, Y:10.08, Z:1.84 [[ 9.99339816e-01 -3.33376058e-02 -1.44408164e-02 2.55128966e+02] [ 3.33367187e-02 9.99444131e-01 -3.02213900e-04 1.00838816e+01] [ 1.44428643e-02 -1.79395050e-04 9.99895680e-01 1.83886406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.714391418 meters Centerline goodness [0,1] 0.9988187149305995 Centerline is valid? [True, True] Translation: X:255.16, Y:10.09, Z:1.84 [[ 9.99330494e-01 -3.37187880e-02 -1.41988305e-02 2.55160438e+02] [ 3.37179728e-02 9.99431343e-01 -2.96868294e-04 1.00854810e+01] [ 1.42007663e-02 -1.82086241e-04 9.99899147e-01 1.83951710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.744391418 meters Centerline goodness [0,1] 0.9989458593354698 Centerline is valid? [True, True] Translation: X:255.19, Y:10.09, Z:1.84 [[ 9.99319977e-01 -3.41525253e-02 -1.38992638e-02 2.55192077e+02] [ 3.41517954e-02 9.99416615e-01 -2.89933394e-04 1.00856624e+01] [ 1.39010571e-02 -1.84948580e-04 9.99903359e-01 1.83932803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.774391418 meters Centerline goodness [0,1] 0.9986493046029167 Centerline is valid? [True, True] Translation: X:255.22, Y:10.09, Z:1.84 [[ 9.99228623e-01 -3.68740644e-02 -1.35078695e-02 2.55223250e+02] [ 3.68736324e-02 9.99319897e-01 -2.81115961e-04 1.00861067e+01] [ 1.35090487e-02 -2.17185101e-04 9.99908725e-01 1.83978306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.804391418 meters Centerline goodness [0,1] 0.9987968591691996 Centerline is valid? [True, True] Translation: X:255.26, Y:10.09, Z:1.84 [[ 9.99162458e-01 -3.86968451e-02 -1.33017578e-02 2.55255616e+02] [ 3.86965980e-02 9.99250968e-01 -2.76045205e-04 1.00868517e+01] [ 1.33024765e-02 -2.38918770e-04 9.99911490e-01 1.84030830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.834391418 meters Centerline goodness [0,1] 0.9987321443664948 Centerline is valid? [True, True] Translation: X:255.29, Y:10.08, Z:1.84 [[ 9.98961147e-01 -4.35616270e-02 -1.33795184e-02 2.55287230e+02] [ 4.35618259e-02 9.99050695e-01 -2.76701207e-04 1.00838531e+01] [ 1.33788707e-02 -3.06422497e-04 9.99910452e-01 1.83965734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.864391418 meters Centerline goodness [0,1] 0.9985858713776146 Centerline is valid? [True, True] Translation: X:255.32, Y:10.08, Z:1.84 [[ 9.98835606e-01 -4.63295979e-02 -1.34536718e-02 2.55319636e+02] [ 4.63300626e-02 9.98926148e-01 -2.77295706e-04 1.00832033e+01] [ 1.34520715e-02 -3.46336631e-04 9.99909457e-01 1.83984751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.894391418 meters Centerline goodness [0,1] 0.9991562249504282 Centerline is valid? [True, True] Translation: X:255.35, Y:10.08, Z:1.84 [[ 9.98533153e-01 -5.24702214e-02 -1.33573188e-02 2.55350356e+02] [ 5.24712372e-02 9.98622398e-01 -2.74631478e-04 1.00797390e+01] [ 1.33533277e-02 -4.26646408e-04 9.99910749e-01 1.83962610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.924391418 meters Centerline goodness [0,1] 0.9989255014326648 Centerline is valid? [True, True] Translation: X:255.38, Y:10.08, Z:1.84 [[ 9.98368645e-01 -5.54326481e-02 -1.36846957e-02 2.55381998e+02] [ 5.54339997e-02 9.98462314e-01 -2.80821673e-04 1.00789903e+01] [ 1.36792196e-02 -4.78233864e-04 9.99906321e-01 1.83931739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.954391418 meters Centerline goodness [0,1] 0.998362101549704 Centerline is valid? [True, True] Translation: X:255.41, Y:10.07, Z:1.84 [[ 9.98030945e-01 -6.10719624e-02 -1.42985350e-02 2.55412440e+02] [ 6.10740241e-02 9.98133196e-01 -2.92836677e-04 1.00748237e+01] [ 1.42897266e-02 -5.81009006e-04 9.99897728e-01 1.83818596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98439141800003 meters Centerline goodness [0,1] 0.9987591225524218 Centerline is valid? [True, True] Translation: X:255.44, Y:10.08, Z:1.84 [[ 9.97853988e-01 -6.39058508e-02 -1.42639900e-02 2.55444120e+02] [ 6.39081996e-02 9.97955739e-01 -2.91553970e-04 1.00758546e+01] [ 1.42534627e-02 -6.20657632e-04 9.99898222e-01 1.83875194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.014391418 meters Centerline goodness [0,1] 0.99860691896912 Centerline is valid? [True, True] Translation: X:255.48, Y:10.08, Z:1.84 [[ 9.97711185e-01 -6.62831410e-02 -1.33767231e-02 2.55476293e+02] [ 6.62854320e-02 9.97800665e-01 -2.72506525e-04 1.00756403e+01] [ 1.33653658e-02 -6.14799064e-04 9.99910491e-01 1.83890185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.044391418 meters Centerline goodness [0,1] 0.9986727341676147 Centerline is valid? [True, True] Translation: X:255.51, Y:10.07, Z:1.84 [[ 9.97560960e-01 -6.86562752e-02 -1.25875841e-02 2.55507788e+02] [ 6.86585076e-02 9.97640188e-01 -2.55217582e-04 1.00738313e+01] [ 1.25754020e-02 -6.09649641e-04 9.99920741e-01 1.83964445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.074391418 meters Centerline goodness [0,1] 0.9985005279831045 Centerline is valid? [True, True] Translation: X:255.54, Y:10.07, Z:1.84 [[ 9.97326267e-01 -7.20992360e-02 -1.19170681e-02 2.55537455e+02] [ 7.21014915e-02 9.97397271e-01 -2.40815069e-04 1.00720984e+01] [ 1.19034138e-02 -6.19067191e-04 9.99928960e-01 1.84013986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.104391418 meters Centerline goodness [0,1] 0.9985842877065461 Centerline is valid? [True, True] Translation: X:255.57, Y:10.07, Z:1.84 [[ 9.97162745e-01 -7.42269349e-02 -1.25228963e-02 2.55569447e+02] [ 7.42295985e-02 9.97241146e-01 -2.52617875e-04 1.00744230e+01] [ 1.25070985e-02 -6.77668430e-04 9.99921554e-01 1.83927693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.134391418 meters Centerline goodness [0,1] 0.9984356171912987 Centerline is valid? [True, True] Translation: X:255.60, Y:10.07, Z:1.84 [[ 9.97089817e-01 -7.51983536e-02 -1.25341347e-02 2.55600119e+02] [ 7.52011150e-02 9.97168355e-01 -2.51521624e-04 1.00743537e+01] [ 1.25175565e-02 -6.91791252e-04 9.99921413e-01 1.83899684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.164391418 meters Centerline goodness [0,1] 0.9985005913161007 Centerline is valid? [True, True] Translation: X:255.63, Y:10.07, Z:1.84 [[ 9.96987424e-01 -7.64491265e-02 -1.30999164e-02 2.55631404e+02] [ 7.64522739e-02 9.97073208e-01 -2.61085605e-04 1.00748763e+01] [ 1.30815355e-02 -7.41219334e-04 9.99914158e-01 1.83904785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.194391418 meters Centerline goodness [0,1] 0.9984602729324419 Centerline is valid? [True, True] Translation: X:255.66, Y:10.08, Z:1.84 [[ 9.96960982e-01 -7.67676055e-02 -1.32489423e-02 2.55663965e+02] [ 7.67708714e-02 9.97048727e-01 -2.62662573e-04 1.00763553e+01] [ 1.32300051e-02 -7.55268510e-04 9.99912194e-01 1.83943043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.224391418 meters Centerline goodness [0,1] 0.9987305080083786 Centerline is valid? [True, True] Translation: X:255.70, Y:10.08, Z:1.84 [[ 9.96929476e-01 -7.71487558e-02 -1.34047978e-02 2.55696217e+02] [ 7.71521474e-02 9.97019296e-01 -2.64699448e-04 1.00767277e+01] [ 1.33852633e-02 -7.70322251e-04 9.99910117e-01 1.83932696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.254391418 meters Centerline goodness [0,1] 0.9986218886486028 Centerline is valid? [True, True] Translation: X:255.73, Y:10.08, Z:1.84 [[ 9.96864366e-01 -7.78486245e-02 -1.41784188e-02 2.55727347e+02] [ 7.78525035e-02 9.96964849e-01 -2.78984834e-04 1.00765152e+01] [ 1.41571037e-02 -8.25715359e-04 9.99899442e-01 1.83913832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.284391418 meters Centerline goodness [0,1] 0.9985798164359752 Centerline is valid? [True, True] Translation: X:255.76, Y:10.08, Z:1.84 [[ 9.96789381e-01 -7.86662221e-02 -1.49182940e-02 2.55759342e+02] [ 7.86706234e-02 9.96900621e-01 -2.92498284e-04 1.00802852e+01] [ 1.48950663e-02 -8.82072310e-04 9.99888673e-01 1.83921288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.314391418 meters Centerline goodness [0,1] 0.9984727319008124 Centerline is valid? [True, True] Translation: X:255.79, Y:10.08, Z:1.84 [[ 9.96799341e-01 -7.84239664e-02 -1.55163039e-02 2.55790508e+02] [ 7.84287150e-02 9.96919678e-01 -3.03158357e-04 1.00796102e+01] [ 1.54922836e-02 -9.14735730e-04 9.99879569e-01 1.83885217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.344391418 meters Centerline goodness [0,1] 0.9985786715882815 Centerline is valid? [True, True] Translation: X:255.82, Y:10.08, Z:1.84 [[ 9.96823589e-01 -7.79972039e-02 -1.60987097e-02 2.55823182e+02] [ 7.80022810e-02 9.96953131e-01 -3.13252708e-04 1.00813928e+01] [ 1.60740919e-02 -9.43478389e-04 9.99870358e-01 1.83907377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.374391418 meters Centerline goodness [0,1] 0.9984733148152075 Centerline is valid? [True, True] Translation: X:255.85, Y:10.09, Z:1.84 [[ 9.96884480e-01 -7.72769929e-02 -1.57987095e-02 2.55854944e+02] [ 7.72818136e-02 9.97009241e-01 -3.06067162e-04 1.00880893e+01] [ 1.57751113e-02 -9.15839319e-04 9.99875146e-01 1.84023485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.404391418 meters Centerline goodness [0,1] 0.9987297823693793 Centerline is valid? [True, True] Translation: X:255.89, Y:10.09, Z:1.84 [[ 9.97153217e-01 -7.36953820e-02 -1.59515372e-02 2.55885955e+02] [ 7.36998513e-02 9.97280420e-01 -3.08289714e-04 1.00947843e+01] [ 1.59308753e-02 -8.68213839e-04 9.99872719e-01 1.84158207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.434391418 meters Centerline goodness [0,1] 0.9987030107161082 Centerline is valid? [True, True] Translation: X:255.92, Y:10.10, Z:1.84 [[ 9.97326676e-01 -7.13862399e-02 -1.56046934e-02 2.55916087e+02] [ 7.13902398e-02 9.97448416e-01 -3.01278073e-04 1.00957257e+01] [ 1.55863839e-02 -8.13550147e-04 9.99878194e-01 1.84188112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.464391418 meters Centerline goodness [0,1] 0.9988741130985257 Centerline is valid? [True, True] Translation: X:255.95, Y:10.11, Z:1.84 [[ 9.97741170e-01 -6.54751943e-02 -1.50185303e-02 2.55946428e+02] [ 6.54782335e-02 9.97853956e-01 -2.89800773e-04 1.01050317e+01] [ 1.50052747e-02 -6.94240674e-04 9.99887174e-01 1.84333877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.494391418 meters Centerline goodness [0,1] 0.998785761455382 Centerline is valid? [True, True] Translation: X:255.98, Y:10.11, Z:1.84 [[ 9.97973613e-01 -6.17966962e-02 -1.51603489e-02 2.55977443e+02] [ 6.17993747e-02 9.98088549e-01 -2.92184955e-04 1.01132902e+01] [ 1.51494267e-02 -6.45307207e-04 9.99885033e-01 1.84478639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.524391418 meters Centerline goodness [0,1] 0.9989160697966036 Centerline is valid? [True, True] Translation: X:256.01, Y:10.12, Z:1.85 [[ 9.98208086e-01 -5.79567084e-02 -1.48874762e-02 2.56007696e+02] [ 5.79588713e-02 9.98318931e-01 -2.86487903e-04 1.01158493e+01] [ 1.48790532e-02 -5.76886777e-04 9.99889134e-01 1.84535424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.554391418 meters Centerline goodness [0,1] 0.9988910215397739 Centerline is valid? [True, True] Translation: X:256.04, Y:10.13, Z:1.85 [[ 9.98622672e-01 -5.03552450e-02 -1.47345900e-02 2.56038346e+02] [ 5.03565412e-02 9.98731264e-01 -2.83266168e-04 1.01267002e+01] [ 1.47301597e-02 -4.59106973e-04 9.99891400e-01 1.84626341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.584391418 meters Centerline goodness [0,1] 0.9989544882326584 Centerline is valid? [True, True] Translation: X:256.07, Y:10.13, Z:1.85 [[ 9.98792026e-01 -4.67260996e-02 -1.52039752e-02 2.56069213e+02] [ 4.67270664e-02 9.98907651e-01 -2.91838573e-04 1.01310522e+01] [ 1.52010036e-02 -4.18951120e-04 9.99884370e-01 1.84631761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.614391418 meters Centerline goodness [0,1] 0.9990204220703166 Centerline is valid? [True, True] Translation: X:256.10, Y:10.14, Z:1.85 [[ 9.99086612e-01 -3.97367713e-02 -1.57140121e-02 2.56099640e+02] [ 3.97369496e-02 9.99210130e-01 -3.01008259e-04 1.01386185e+01] [ 1.57135612e-02 -3.23693586e-04 9.99876482e-01 1.84622159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.644391418 meters Centerline goodness [0,1] 0.9990161059183368 Centerline is valid? [True, True] Translation: X:256.13, Y:10.14, Z:1.85 [[ 9.99190584e-01 -3.68825703e-02 -1.60577792e-02 2.56132037e+02] [ 3.68824037e-02 9.99319566e-01 -3.06619717e-04 1.01423322e+01] [ 1.60581618e-02 -2.85877959e-04 9.99871019e-01 1.84615967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.674391418 meters Centerline goodness [0,1] 0.9992935434149683 Centerline is valid? [True, True] Translation: X:256.16, Y:10.15, Z:1.85 [[ 9.99325464e-01 -3.26045534e-02 -1.68985359e-02 2.56162027e+02] [ 3.26037802e-02 9.99468304e-01 -3.21323703e-04 1.01475448e+01] [ 1.69000276e-02 -2.29849192e-04 9.99857158e-01 1.84563537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.704391418 meters Centerline goodness [0,1] 0.99927227585026 Centerline is valid? [True, True] Translation: X:256.19, Y:10.15, Z:1.85 [[ 9.99363809e-01 -3.13769616e-02 -1.69547448e-02 2.56193132e+02] [ 3.13760228e-02 9.99507600e-01 -3.21436543e-04 1.01512625e+01] [ 1.69564820e-02 -2.10740412e-04 9.99856206e-01 1.84665406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73439141800003 meters Centerline goodness [0,1] 0.9991431753919973 Centerline is valid? [True, True] Translation: X:256.22, Y:10.15, Z:1.85 [[ 9.99395516e-01 -3.00631765e-02 -1.74587237e-02 2.56223323e+02] [ 3.00619978e-02 9.99547982e-01 -3.30012642e-04 1.01529616e+01] [ 1.74607533e-02 -1.95030959e-04 9.99847530e-01 1.84603099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.764391418 meters Centerline goodness [0,1] 0.9992511126326601 Centerline is valid? [True, True] Translation: X:256.25, Y:10.15, Z:1.85 [[ 9.99389631e-01 -3.03669547e-02 -1.72688328e-02 2.56254713e+02] [ 3.03658616e-02 9.99538798e-01 -3.25566852e-04 1.01536298e+01] [ 1.72707549e-02 -1.99014851e-04 9.99850830e-01 1.84607769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.794391418 meters Centerline goodness [0,1] 0.9993995153230822 Centerline is valid? [True, True] Translation: X:256.29, Y:10.15, Z:1.85 [[ 9.99377829e-01 -3.09324622e-02 -1.69451440e-02 2.56286258e+02] [ 3.09315022e-02 9.99521456e-01 -3.18803057e-04 1.01542775e+01] [ 1.69468964e-02 -2.05534053e-04 9.99856370e-01 1.84682679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.824391418 meters Centerline goodness [0,1] 0.9990773720121873 Centerline is valid? [True, True] Translation: X:256.32, Y:10.15, Z:1.85 [[ 9.99318357e-01 -3.31762189e-02 -1.61913262e-02 2.56317411e+02] [ 3.31756471e-02 9.99449490e-01 -3.03988343e-04 1.01540387e+01] [ 1.61924979e-02 -2.33376592e-04 9.99868866e-01 1.84788474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.854391418 meters Centerline goodness [0,1] 0.9991416861575435 Centerline is valid? [True, True] Translation: X:256.35, Y:10.15, Z:1.85 [[ 9.99284856e-01 -3.45120714e-02 -1.54497209e-02 2.56348748e+02] [ 3.45117223e-02 9.99404251e-01 -2.89292288e-04 1.01526947e+01] [ 1.54505009e-02 -2.44111077e-04 9.99880604e-01 1.84809103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.884391418 meters Centerline goodness [0,1] 0.9991650252633382 Centerline is valid? [True, True] Translation: X:256.38, Y:10.15, Z:1.85 [[ 9.99231044e-01 -3.63845160e-02 -1.46111865e-02 2.56380263e+02] [ 3.63844159e-02 9.99337831e-01 -2.72758275e-04 1.01501044e+01] [ 1.46114356e-02 -2.59070950e-04 9.99893214e-01 1.84834150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.914391418 meters Centerline goodness [0,1] 0.9991432671507208 Centerline is valid? [True, True] Translation: X:256.41, Y:10.15, Z:1.85 [[ 9.99052500e-01 -4.12516261e-02 -1.38710336e-02 2.56412749e+02] [ 4.12520173e-02 9.99148740e-01 -2.58033582e-04 1.01482056e+01] [ 1.38698700e-02 -3.14419023e-04 9.99903759e-01 1.84940370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.944391418 meters Centerline goodness [0,1] 0.999334206739546 Centerline is valid? [True, True] Translation: X:256.45, Y:10.15, Z:1.85 [[ 9.98927579e-01 -4.41643292e-02 -1.38997690e-02 2.56445265e+02] [ 4.41650191e-02 9.99024216e-01 -2.57472696e-04 1.01482224e+01] [ 1.38975769e-02 -3.56686985e-04 9.99903360e-01 1.84971728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.974391418 meters Centerline goodness [0,1] 0.9991203604376743 Centerline is valid? [True, True] Translation: X:256.48, Y:10.14, Z:1.85 [[ 9.98776017e-01 -4.75066703e-02 -1.37689598e-02 2.56476136e+02] [ 4.75076760e-02 9.98870841e-01 -2.54216210e-04 1.01424386e+01] [ 1.37654894e-02 -4.00226227e-04 9.99905171e-01 1.84860077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.004391418 meters Centerline goodness [0,1] 0.9994855305466238 Centerline is valid? [True, True] Translation: X:256.51, Y:10.14, Z:1.85 [[ 9.98617417e-01 -5.06752053e-02 -1.39741795e-02 2.56508463e+02] [ 5.06765626e-02 9.98715084e-01 -2.57179749e-04 1.01408715e+01] [ 1.39692565e-02 -4.51339206e-04 9.99902323e-01 1.84869817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.034391418 meters Centerline goodness [0,1] 0.999421544262576 Centerline is valid? [True, True] Translation: X:256.54, Y:10.13, Z:1.85 [[ 9.98245324e-01 -5.77014494e-02 -1.32972129e-02 2.56538801e+02] [ 5.77033117e-02 9.98333746e-01 -2.43893169e-04 1.01320556e+01] [ 1.32891293e-02 -5.23828003e-04 9.99911558e-01 1.84773404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.064391418 meters Centerline goodness [0,1] 0.9994212962962963 Centerline is valid? [True, True] Translation: X:256.57, Y:10.13, Z:1.85 [[ 9.98048078e-01 -6.10210239e-02 -1.32841280e-02 2.56568879e+02] [ 6.10231805e-02 9.98136319e-01 -2.43306130e-04 1.01283279e+01] [ 1.32742175e-02 -5.67808528e-04 9.99911732e-01 1.84752074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.094391418 meters Centerline goodness [0,1] 0.999272789493947 Centerline is valid? [True, True] Translation: X:256.60, Y:10.13, Z:1.85 [[ 9.97838639e-01 -6.43900794e-02 -1.31136344e-02 2.56599483e+02] [ 6.43924730e-02 9.97924622e-01 -2.40061915e-04 1.01312725e+01] [ 1.31018762e-02 -6.04876293e-04 9.99913984e-01 1.84834232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.124391418 meters Centerline goodness [0,1] 0.9993368132808489 Centerline is valid? [True, True] Translation: X:256.63, Y:10.13, Z:1.85 [[ 9.97480416e-01 -6.97723342e-02 -1.28312649e-02 2.56630568e+02] [ 6.97750723e-02 9.97562722e-01 -2.34705260e-04 1.01273775e+01] [ 1.28163675e-02 -6.61188534e-04 9.99917648e-01 1.84847507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.154391418 meters Centerline goodness [0,1] 0.9994221014105006 Centerline is valid? [True, True] Translation: X:256.66, Y:10.12, Z:1.85 [[ 9.97340110e-01 -7.17820036e-02 -1.26510324e-02 2.56661707e+02] [ 7.17848366e-02 9.97420114e-01 -2.30599478e-04 1.01229707e+01] [ 1.26349471e-02 -6.78166185e-04 9.99919946e-01 1.84819540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.184391418 meters Centerline goodness [0,1] 0.9992952181620144 Centerline is valid? [True, True] Translation: X:256.69, Y:10.12, Z:1.85 [[ 9.97205021e-01 -7.36330544e-02 -1.26616908e-02 2.56694107e+02] [ 7.36360583e-02 9.97285154e-01 -2.29424126e-04 1.01209399e+01] [ 1.26442094e-02 -7.03574110e-04 9.99919811e-01 1.84777630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.214391418 meters Centerline goodness [0,1] 0.9988709711778114 Centerline is valid? [True, True] Translation: X:256.73, Y:10.12, Z:1.85 [[ 9.97208031e-01 -7.35967313e-02 -1.26358050e-02 2.56725734e+02] [ 7.35997337e-02 9.97287836e-01 -2.27866030e-04 1.01207746e+01] [ 1.26183048e-02 -7.02762050e-04 9.99920139e-01 1.84766265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.244391418 meters Centerline goodness [0,1] 0.9986776718493399 Centerline is valid? [True, True] Translation: X:256.76, Y:10.12, Z:1.85 [[ 9.97288221e-01 -7.24837921e-02 -1.27398313e-02 2.56757706e+02] [ 7.24867680e-02 9.97369348e-01 -2.28613960e-04 1.01225278e+01] [ 1.27228880e-02 -6.95475183e-04 9.99918819e-01 1.84749325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.274391418 meters Centerline goodness [0,1] 0.9984641638225256 Centerline is valid? [True, True] Translation: X:256.79, Y:10.13, Z:1.85 [[ 9.97571482e-01 -6.84962057e-02 -1.26257138e-02 2.56788091e+02] [ 6.84988168e-02 9.97651172e-01 -2.26029313e-04 1.01324362e+01] [ 1.26115403e-02 -6.39366060e-04 9.99920267e-01 1.84807070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.304391418 meters Centerline goodness [0,1] 0.9987141571299987 Centerline is valid? [True, True] Translation: X:256.82, Y:10.13, Z:1.85 [[ 9.97749609e-01 -6.58241781e-02 -1.27630745e-02 2.56818174e+02] [ 6.58266297e-02 9.97831049e-01 -2.28369888e-04 1.01337700e+01] [ 1.27504243e-02 -6.12294212e-04 9.99918523e-01 1.84796653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.334391418 meters Centerline goodness [0,1] 0.9989082268319311 Centerline is valid? [True, True] Translation: X:256.85, Y:10.14, Z:1.85 [[ 9.97949633e-01 -6.27234358e-02 -1.27397153e-02 2.56849415e+02] [ 6.27256311e-02 9.98030783e-01 -2.27572219e-04 1.01390328e+01] [ 1.27289021e-02 -5.72001066e-04 9.99918821e-01 1.84886801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.364391418 meters Centerline goodness [0,1] 0.9991860166223974 Centerline is valid? [True, True] Translation: X:256.88, Y:10.15, Z:1.85 [[ 9.98331642e-01 -5.63680792e-02 -1.25129080e-02 2.56880229e+02] [ 5.63697040e-02 9.98409939e-01 -2.23079436e-04 1.01462721e+01] [ 1.25055863e-02 -4.82641662e-04 9.99921686e-01 1.84925377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.394391418 meters Centerline goodness [0,1] 0.9991860166223974 Centerline is valid? [True, True] Translation: X:256.91, Y:10.15, Z:1.85 [[ 9.98338622e-01 -5.62443172e-02 -1.25129237e-02 2.56912794e+02] [ 5.62459434e-02 9.98416919e-01 -2.22195616e-04 1.01467377e+01] [ 1.25056120e-02 -4.81974733e-04 9.99921686e-01 1.84948199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.424391418 meters Centerline goodness [0,1] 0.9992286595817621 Centerline is valid? [True, True] Translation: X:256.94, Y:10.15, Z:1.85 [[ 9.98503964e-01 -5.31465907e-02 -1.28558930e-02 2.56943137e+02] [ 5.31480713e-02 9.98586617e-01 -2.26687586e-04 1.01490293e+01] [ 1.28497704e-02 -4.56917466e-04 9.99917334e-01 1.84922732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.454391418 meters Centerline goodness [0,1] 0.999442538593482 Centerline is valid? [True, True] Translation: X:256.97, Y:10.16, Z:1.85 [[ 9.98773130e-01 -4.76285927e-02 -1.35554930e-02 2.56974864e+02] [ 4.76297486e-02 9.98865031e-01 -2.37738652e-04 1.01551214e+01] [ 1.35514311e-02 -4.08197746e-04 9.99908092e-01 1.84895687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48439141800003 meters Centerline goodness [0,1] 0.9994836710984898 Centerline is valid? [True, True] Translation: X:257.01, Y:10.16, Z:1.85 [[ 9.98889835e-01 -4.49967884e-02 -1.39422280e-02 2.57006901e+02] [ 4.49977690e-02 9.98987058e-01 -2.43521300e-04 1.01592514e+01] [ 1.39390630e-02 -3.84118205e-04 9.99902773e-01 1.84893260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.514391418 meters Centerline goodness [0,1] 0.99948484588306 Centerline is valid? [True, True] Translation: X:257.04, Y:10.16, Z:1.85 [[ 9.98979667e-01 -4.26946862e-02 -1.47237388e-02 2.57037866e+02] [ 4.26955559e-02 9.99088096e-01 -2.55411176e-04 1.01613975e+01] [ 1.47212168e-02 -3.73487639e-04 9.99891567e-01 1.84825996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.544391418 meters Centerline goodness [0,1] 0.9994826359697342 Centerline is valid? [True, True] Translation: X:257.07, Y:10.17, Z:1.85 [[ 9.99142396e-01 -3.86325148e-02 -1.48996991e-02 2.57068988e+02] [ 3.86329744e-02 9.99253435e-01 -2.57085900e-04 1.01656991e+01] [ 1.48985073e-02 -3.18754270e-04 9.99888960e-01 1.84785490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.574391418 meters Centerline goodness [0,1] 0.9995052060924189 Centerline is valid? [True, True] Translation: X:257.10, Y:10.17, Z:1.85 [[ 9.99220371e-01 -3.65580780e-02 -1.49049248e-02 2.57101045e+02] [ 3.65583208e-02 9.99331488e-01 -2.56265467e-04 1.01680567e+01] [ 1.49043293e-02 -2.88833348e-04 9.99888883e-01 1.84811953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.604391418 meters Centerline goodness [0,1] 0.9993330034210469 Centerline is valid? [True, True] Translation: X:257.13, Y:10.17, Z:1.85 [[ 9.99278454e-01 -3.49531872e-02 -1.48608984e-02 2.57132655e+02] [ 3.49532663e-02 9.99388915e-01 -2.54484064e-04 1.01694050e+01] [ 1.48607122e-02 -2.65136500e-04 9.99889538e-01 1.84799187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.634391418 meters Centerline goodness [0,1] 0.9991809638761963 Centerline is valid? [True, True] Translation: X:257.16, Y:10.17, Z:1.85 [[ 9.99376739e-01 -3.24335650e-02 -1.39354820e-02 2.57164423e+02] [ 3.24334008e-02 9.99473871e-01 -2.37842853e-04 1.01735072e+01] [ 1.39358642e-02 -2.14280457e-04 9.99902868e-01 1.84888914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.664391418 meters Centerline goodness [0,1] 0.9991155215187143 Centerline is valid? [True, True] Translation: X:257.20, Y:10.18, Z:1.85 [[ 9.99410621e-01 -3.15854848e-02 -1.34450189e-02 2.57196762e+02] [ 3.15852673e-02 9.99501035e-01 -2.28564435e-04 1.01754160e+01] [ 1.34455296e-02 -1.96234792e-04 9.99909586e-01 1.84971428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.694391418 meters Centerline goodness [0,1] 0.9996333124824744 Centerline is valid? [True, True] Translation: X:257.23, Y:10.18, Z:1.85 [[ 9.99426679e-01 -3.10255906e-02 -1.35545249e-02 2.57227810e+02] [ 3.10253311e-02 9.99518572e-01 -2.29473034e-04 1.01759580e+01] [ 1.35551189e-02 -1.91192150e-04 9.99908107e-01 1.85008308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.724391418 meters Centerline goodness [0,1] 0.9992890995260664 Centerline is valid? [True, True] Translation: X:257.26, Y:10.18, Z:1.85 [[ 9.99412400e-01 -3.16670795e-02 -1.31168186e-02 2.57260434e+02] [ 3.16669033e-02 9.99498453e-01 -2.21173209e-04 1.01769160e+01] [ 1.31172438e-02 -1.94325779e-04 9.99913946e-01 1.85065652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.754391418 meters Centerline goodness [0,1] 0.9993751212049387 Centerline is valid? [True, True] Translation: X:257.29, Y:10.18, Z:1.85 [[ 9.99392425e-01 -3.23833379e-02 -1.28879672e-02 2.57291676e+02] [ 3.23832390e-02 9.99475502e-01 -2.16417356e-04 1.01761210e+01] [ 1.28882158e-02 -2.01068256e-04 9.99916923e-01 1.85089242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.784391418 meters Centerline goodness [0,1] 0.999010497332645 Centerline is valid? [True, True] Translation: X:257.32, Y:10.18, Z:1.85 [[ 9.99309993e-01 -3.49604721e-02 -1.25420552e-02 2.57323994e+02] [ 3.49605919e-02 9.99388670e-01 -2.09763657e-04 1.01750094e+01] [ 1.25417213e-02 -2.28858756e-04 9.99921323e-01 1.85207462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.814391418 meters Centerline goodness [0,1] 0.9991175014528939 Centerline is valid? [True, True] Translation: X:257.36, Y:10.17, Z:1.85 [[ 9.99265070e-01 -3.62432053e-02 -1.24800093e-02 2.57355817e+02] [ 3.62434362e-02 9.99342969e-01 -2.07737199e-04 1.01742937e+01] [ 1.24793386e-02 -2.44733894e-04 9.99922100e-01 1.85247732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.844391418 meters Centerline goodness [0,1] 0.999375026938494 Centerline is valid? [True, True] Translation: X:257.39, Y:10.17, Z:1.85 [[ 9.99170655e-01 -3.85018016e-02 -1.32519510e-02 2.57386599e+02] [ 3.85022797e-02 9.99258488e-01 -2.19140439e-04 1.01722156e+01] [ 1.32505619e-02 -2.91271630e-04 9.99912165e-01 1.85209415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.874391418 meters Centerline goodness [0,1] 0.9992259063346665 Centerline is valid? [True, True] Translation: X:257.42, Y:10.17, Z:1.85 [[ 9.99121327e-01 -3.96796839e-02 -1.34942918e-02 2.57419070e+02] [ 3.96803072e-02 9.99212402e-01 -2.21654680e-04 1.01724149e+01] [ 1.34924589e-02 -3.13997723e-04 9.99908923e-01 1.85235417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.904391418 meters Centerline goodness [0,1] 0.9992925135065603 Centerline is valid? [True, True] Translation: X:257.45, Y:10.17, Z:1.85 [[ 9.99081461e-01 -4.05511015e-02 -1.38507035e-02 2.57451725e+02] [ 4.05518572e-02 9.99177409e-01 -2.26399614e-04 1.01718475e+01] [ 1.38484908e-02 -3.35480095e-04 9.99904049e-01 1.85236282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.934391418 meters Centerline goodness [0,1] 0.9991634312190308 Centerline is valid? [True, True] Translation: X:257.48, Y:10.17, Z:1.85 [[ 9.99041913e-01 -4.13426722e-02 -1.43540741e-02 2.57483385e+02] [ 4.13435799e-02 9.99144961e-01 -2.33623815e-04 1.01712343e+01] [ 1.43514595e-02 -3.60048827e-04 9.99896948e-01 1.85256052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.964391418 meters Centerline goodness [0,1] 0.9992049337086619 Centerline is valid? [True, True] Translation: X:257.51, Y:10.17, Z:1.85 [[ 9.99039778e-01 -4.12825669e-02 -1.46721237e-02 2.57514681e+02] [ 4.12835215e-02 9.99147444e-01 -2.37936033e-04 1.01712215e+01] [ 1.46694375e-02 -3.68009372e-04 9.99892330e-01 1.85242712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.994391418 meters Centerline goodness [0,1] 0.9990751494816535 Centerline is valid? [True, True] Translation: X:257.55, Y:10.17, Z:1.85 [[ 9.99031663e-01 -4.10453207e-02 -1.58435759e-02 2.57545471e+02] [ 4.10464191e-02 9.99157208e-01 -2.55989044e-04 1.01713933e+01] [ 1.58407302e-02 -3.94580894e-04 9.99874450e-01 1.85208450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.024391418 meters Centerline goodness [0,1] 0.999053356282272 Centerline is valid? [True, True] Translation: X:257.58, Y:10.17, Z:1.85 [[ 9.99039689e-01 -4.05519909e-02 -1.65902212e-02 2.57577567e+02] [ 4.05531463e-02 9.99177347e-01 -2.66905853e-04 1.01726915e+01] [ 1.65873968e-02 -4.06136128e-04 9.99862337e-01 1.85215050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.054391418 meters Centerline goodness [0,1] 0.9990307364249251 Centerline is valid? [True, True] Translation: X:257.61, Y:10.17, Z:1.85 [[ 9.99056773e-01 -3.99169522e-02 -1.70939186e-02 2.57608922e+02] [ 3.99181161e-02 9.99202917e-01 -2.73241721e-04 1.01735774e+01] [ 1.70912003e-02 -4.09373037e-04 9.99853851e-01 1.85214557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.084391418 meters Centerline goodness [0,1] 0.9991584671154842 Centerline is valid? [True, True] Translation: X:257.64, Y:10.18, Z:1.85 [[ 9.99092384e-01 -3.86947487e-02 -1.78079940e-02 2.57640882e+02] [ 3.86958491e-02 9.99250995e-01 -2.82908387e-04 1.01783282e+01] [ 1.78056028e-02 -4.06443834e-04 9.99841385e-01 1.85343914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.114391418 meters Centerline goodness [0,1] 0.9991172734514608 Centerline is valid? [True, True] Translation: X:257.67, Y:10.18, Z:1.85 [[ 9.99111598e-01 -3.81667366e-02 -1.78694068e-02 2.57671992e+02] [ 3.81677819e-02 9.99271305e-01 -2.82673024e-04 1.01790432e+01] [ 1.78671742e-02 -3.99613724e-04 9.99840289e-01 1.85366867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.144391418 meters Centerline goodness [0,1] 0.999009197234368 Centerline is valid? [True, True] Translation: X:257.70, Y:10.18, Z:1.85 [[ 9.99130586e-01 -3.75787355e-02 -1.80530244e-02 2.57703402e+02] [ 3.75797219e-02 9.99293592e-01 -2.84716568e-04 1.01806074e+01] [ 1.80509709e-02 -3.93958605e-04 9.99836990e-01 1.85477303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.174391418 meters Centerline goodness [0,1] 0.998921925871623 Centerline is valid? [True, True] Translation: X:257.74, Y:10.18, Z:1.86 [[ 9.99124542e-01 -3.75711411e-02 -1.83999628e-02 2.57735185e+02] [ 3.75721866e-02 9.99293874e-01 -2.88988380e-04 1.01815168e+01] [ 1.83978278e-02 -4.02591455e-04 9.99830665e-01 1.85529504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.204391418 meters Centerline goodness [0,1] 0.9986034719834995 Centerline is valid? [True, True] Translation: X:257.77, Y:10.18, Z:1.85 [[ 9.99114092e-01 -3.78689015e-02 -1.83569302e-02 2.57766632e+02] [ 3.78700152e-02 9.99282632e-01 -2.87070645e-04 1.01800333e+01] [ 1.83546326e-02 -4.08360899e-04 9.99831456e-01 1.85437537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23439141800003 meters Centerline goodness [0,1] 0.9985746987431434 Centerline is valid? [True, True] Translation: X:257.80, Y:10.18, Z:1.86 [[ 9.99091093e-01 -3.82814412e-02 -1.87488371e-02 2.57799151e+02] [ 3.82827009e-02 9.99266906e-01 -2.91851647e-04 1.01811298e+01] [ 1.87462650e-02 -4.26169742e-04 9.99824183e-01 1.85524222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.264391418 meters Centerline goodness [0,1] 0.9983362862451926 Centerline is valid? [True, True] Translation: X:257.83, Y:10.18, Z:1.86 [[ 9.98999187e-01 -4.03706662e-02 -1.92570202e-02 2.57830334e+02] [ 4.03724031e-02 9.99184658e-01 -2.98716948e-04 1.01808816e+01] [ 1.92533785e-02 -4.79034191e-04 9.99814522e-01 1.85604421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.294391418 meters Centerline goodness [0,1] 0.9987474354821294 Centerline is valid? [True, True] Translation: X:257.86, Y:10.18, Z:1.86 [[ 9.98929352e-01 -4.19011634e-02 -1.96071968e-02 2.57861540e+02] [ 4.19032739e-02 9.99121626e-01 -3.03371444e-04 1.01804503e+01] [ 1.96026859e-02 -5.18559096e-04 9.99807714e-01 1.85640959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.324391418 meters Centerline goodness [0,1] 0.9987062831514942 Centerline is valid? [True, True] Translation: X:257.89, Y:10.18, Z:1.86 [[ 9.98853398e-01 -4.36356102e-02 -1.96932145e-02 2.57892267e+02] [ 4.36380914e-02 9.99047359e-01 -3.03925021e-04 1.01790927e+01] [ 1.96877158e-02 -5.55797753e-04 9.99806024e-01 1.85635512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.354391418 meters Centerline goodness [0,1] 0.9985980502113709 Centerline is valid? [True, True] Translation: X:257.92, Y:10.18, Z:1.86 [[ 9.98649653e-01 -4.77075662e-02 -2.05635182e-02 2.57922849e+02] [ 4.77111452e-02 9.98861125e-01 -3.16805506e-04 1.01751498e+01] [ 2.05552129e-02 -6.64731292e-04 9.99788498e-01 1.85577065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.384391418 meters Centerline goodness [0,1] 0.998577248916769 Centerline is valid? [True, True] Translation: X:257.95, Y:10.18, Z:1.86 [[ 9.98533892e-01 -5.00065348e-02 -2.07222711e-02 2.57954780e+02] [ 5.00106891e-02 9.98748632e-01 -3.18023915e-04 1.01753279e+01] [ 2.07122432e-02 -7.18777402e-04 9.99785220e-01 1.85653726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.414391418 meters Centerline goodness [0,1] 0.9987297623148467 Centerline is valid? [True, True] Translation: X:257.99, Y:10.17, Z:1.86 [[ 9.98393869e-01 -5.26626710e-02 -2.08883995e-02 2.57985567e+02] [ 5.26675243e-02 9.98612052e-01 -3.18098438e-04 1.01727783e+01] [ 2.08761594e-02 -7.82552757e-04 9.99781763e-01 1.85639952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.444391418 meters Centerline goodness [0,1] 0.9988821531450192 Centerline is valid? [True, True] Translation: X:258.02, Y:10.17, Z:1.86 [[ 9.98098394e-01 -5.79754813e-02 -2.09389351e-02 2.58016415e+02] [ 5.79815510e-02 9.98317604e-01 -3.17623735e-04 1.01695883e+01] [ 2.09221219e-02 -8.97052193e-04 9.99780706e-01 1.85684935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.474391418 meters Centerline goodness [0,1] 0.998581499312242 Centerline is valid? [True, True] Translation: X:258.05, Y:10.16, Z:1.86 [[ 9.97947779e-01 -6.05941001e-02 -2.07023063e-02 2.58047976e+02] [ 6.06006151e-02 9.98162045e-01 -3.13085176e-04 1.01646073e+01] [ 2.06832275e-02 -9.42129840e-04 9.99785635e-01 1.85616648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.504391418 meters Centerline goodness [0,1] 0.9988644398260236 Centerline is valid? [True, True] Translation: X:258.08, Y:10.16, Z:1.86 [[ 9.97794093e-01 -6.30104118e-02 -2.08958385e-02 2.58080310e+02] [ 6.30176091e-02 9.98012366e-01 -3.14511799e-04 1.01643056e+01] [ 2.08741227e-02 -1.00298776e-03 9.99781609e-01 1.85711585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.534391418 meters Centerline goodness [0,1] 0.9986914925565232 Centerline is valid? [True, True] Translation: X:258.11, Y:10.16, Z:1.86 [[ 9.97656862e-01 -6.52908244e-02 -2.04424431e-02 2.58112586e+02] [ 6.52982225e-02 9.97865747e-01 -3.06100716e-04 1.01631437e+01] [ 2.04187993e-02 -1.02947172e-03 9.99790985e-01 1.85797362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.564391418 meters Centerline goodness [0,1] 0.9987579235908858 Centerline is valid? [True, True] Translation: X:258.14, Y:10.16, Z:1.86 [[ 9.97428731e-01 -6.90116591e-02 -1.93214324e-02 2.58142256e+02] [ 6.90189946e-02 9.97615304e-01 -2.87720219e-04 1.01593317e+01] [ 1.92952127e-02 -1.04656542e-03 9.99813282e-01 1.85907799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.594391418 meters Centerline goodness [0,1] 0.9988848380870684 Centerline is valid? [True, True] Translation: X:258.17, Y:10.16, Z:1.86 [[ 9.97352075e-01 -7.02736783e-02 -1.87202726e-02 2.58173860e+02] [ 7.02808098e-02 9.97527208e-01 -2.77486367e-04 1.01590109e+01] [ 1.86934812e-02 -1.03892431e-03 9.99824722e-01 1.85978045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.624391418 meters Centerline goodness [0,1] 0.9989730863035385 Centerline is valid? [True, True] Translation: X:258.21, Y:10.16, Z:1.86 [[ 9.97271031e-01 -7.16154374e-02 -1.79365784e-02 2.58205522e+02] [ 7.16222311e-02 9.97431795e-01 -2.64154146e-04 1.01601131e+01] [ 1.79094311e-02 -1.02122449e-03 9.99839092e-01 1.86108096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.654391418 meters Centerline goodness [0,1] 0.9987371575342465 Centerline is valid? [True, True] Translation: X:258.24, Y:10.16, Z:1.86 [[ 9.97245226e-01 -7.20297514e-02 -1.77108214e-02 2.58237207e+02] [ 7.20364665e-02 9.97401965e-01 -2.59349558e-04 1.01592928e+01] [ 1.76834890e-02 -1.01718989e-03 9.99843117e-01 1.86126595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.684391418 meters Centerline goodness [0,1] 0.9986492860511985 Centerline is valid? [True, True] Translation: X:258.27, Y:10.16, Z:1.86 [[ 9.97260043e-01 -7.18969588e-02 -1.74136110e-02 2.58270662e+02] [ 7.19034593e-02 9.97411564e-01 -2.53322694e-04 1.01597466e+01] [ 1.73867501e-02 -9.99470268e-04 9.99848339e-01 1.86170017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.714391418 meters Centerline goodness [0,1] 0.9988630513128539 Centerline is valid? [True, True] Translation: X:258.30, Y:10.16, Z:1.86 [[ 9.97340982e-01 -7.08738405e-02 -1.69665380e-02 2.58303444e+02] [ 7.08798946e-02 9.97484827e-01 -2.45002106e-04 1.01597724e+01] [ 1.69412284e-02 -9.58235781e-04 9.99856028e-01 1.86151089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.744391418 meters Centerline goodness [0,1] 0.9988006253881905 Centerline is valid? [True, True] Translation: X:258.34, Y:10.16, Z:1.86 [[ 9.97429745e-01 -6.96094153e-02 -1.69833246e-02 2.58335877e+02] [ 6.96153240e-02 9.97573881e-01 -2.43754535e-04 1.01606177e+01] [ 1.69590886e-02 -9.39171620e-04 9.99855743e-01 1.86132942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.774391418 meters Centerline goodness [0,1] 0.9984767217335335 Centerline is valid? [True, True] Translation: X:258.37, Y:10.16, Z:1.86 [[ 9.97495894e-01 -6.84319143e-02 -1.78609869e-02 2.58368119e+02] [ 6.84382872e-02 9.97655319e-01 -2.54904368e-04 1.01617523e+01] [ 1.78365522e-02 -9.68109290e-04 9.99840447e-01 1.86074671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.804391418 meters Centerline goodness [0,1] 0.9985411482021797 Centerline is valid? [True, True] Translation: X:258.40, Y:10.16, Z:1.86 [[ 9.97599160e-01 -6.67899942e-02 -1.83033354e-02 2.58399152e+02] [ 6.67964338e-02 9.97766590e-01 -2.59980322e-04 1.01626378e+01] [ 1.82798207e-02 -9.63241383e-04 9.99832446e-01 1.86011978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.834391418 meters Centerline goodness [0,1] 0.9986684706741404 Centerline is valid? [True, True] Translation: X:258.43, Y:10.17, Z:1.86 [[ 9.97870249e-01 -6.21886212e-02 -1.96860508e-02 2.58429526e+02] [ 6.21951863e-02 9.98063966e-01 -2.79175164e-04 1.01676000e+01] [ 1.96652994e-02 -9.45797006e-04 9.99806172e-01 1.85928321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.864391418 meters Centerline goodness [0,1] 0.9988151914004437 Centerline is valid? [True, True] Translation: X:258.46, Y:10.17, Z:1.86 [[ 9.98048556e-01 -5.93250141e-02 -1.94839126e-02 2.58459657e+02] [ 5.93309053e-02 9.98238332e-01 -2.76064169e-04 1.01700191e+01] [ 1.94659659e-02 -8.80472727e-04 9.99810132e-01 1.85931368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.894391418 meters Centerline goodness [0,1] 0.9986890741855068 Centerline is valid? [True, True] Translation: X:258.49, Y:10.18, Z:1.86 [[ 9.98482119e-01 -5.17369333e-02 -1.88877861e-02 2.58490049e+02] [ 5.17411163e-02 9.98660496e-01 -2.67474039e-04 1.01774439e+01] [ 1.88763241e-02 -7.10207093e-04 9.99821574e-01 1.85973519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.924391418 meters Centerline goodness [0,1] 0.9989443522847232 Centerline is valid? [True, True] Translation: X:258.52, Y:10.18, Z:1.86 [[ 9.98715507e-01 -4.72218010e-02 -1.83694586e-02 2.58521861e+02] [ 4.72250083e-02 9.98884243e-01 -2.59391137e-04 1.01821912e+01] [ 1.83612116e-02 -6.08439882e-04 9.99831234e-01 1.86063925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.954391418 meters Centerline goodness [0,1] 0.9989858668680548 Centerline is valid? [True, True] Translation: X:258.55, Y:10.19, Z:1.86 [[ 9.98953381e-01 -4.23170116e-02 -1.73612498e-02 2.58552361e+02] [ 4.23191505e-02 9.99104114e-01 -2.44332965e-04 1.01865420e+01] [ 1.73560356e-02 -4.90636102e-04 9.99849252e-01 1.86113421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98439141800003 meters Centerline goodness [0,1] 0.9989849469796773 Centerline is valid? [True, True] Translation: X:258.58, Y:10.19, Z:1.86 [[ 9.99162994e-01 -3.72873631e-02 -1.68215071e-02 2.58584018e+02] [ 3.72886724e-02 9.99304508e-01 -2.35916486e-04 1.01924736e+01] [ 1.68186045e-02 -3.91532643e-04 9.99858481e-01 1.86215511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.014391418 meters Centerline goodness [0,1] 0.9992190889370933 Centerline is valid? [True, True] Translation: X:258.61, Y:10.20, Z:1.86 [[ 9.99527153e-01 -2.70794346e-02 -1.45661884e-02 2.58613607e+02] [ 2.70793374e-02 9.99633267e-01 -2.03937983e-04 1.02027161e+01] [ 1.45663690e-02 -1.90601178e-04 9.99893887e-01 1.86417065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.044391418 meters Centerline goodness [0,1] 0.9993920972644377 Centerline is valid? [True, True] Translation: X:258.64, Y:10.21, Z:1.87 [[ 9.99658687e-01 -2.21655776e-02 -1.38273976e-02 2.58644697e+02] [ 2.21650234e-02 9.99754307e-01 -1.93344415e-04 1.02085545e+01] [ 1.38282859e-02 -1.13206168e-04 9.99904378e-01 1.86513679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.074391418 meters Centerline goodness [0,1] 0.9992596947329457 Centerline is valid? [True, True] Translation: X:258.68, Y:10.21, Z:1.87 [[ 9.99760587e-01 -1.75751947e-02 -1.30338418e-02 2.58675634e+02] [ 1.75743147e-02 9.99845543e-01 -1.82063571e-04 1.02136568e+01] [ 1.30350284e-02 -4.70408539e-05 9.99915039e-01 1.86612585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.104391418 meters Centerline goodness [0,1] 0.9996945565615796 Centerline is valid? [True, True] Translation: X:258.71, Y:10.22, Z:1.87 [[ 9.99870563e-01 -9.73113769e-03 -1.28125549e-02 2.58705814e+02] [ 9.72964235e-03 9.99952650e-01 -1.79038069e-04 1.02202417e+01] [ 1.28136905e-02 5.43533178e-05 9.99917900e-01 1.86717253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.134391418 meters Centerline goodness [0,1] 0.9996951485062276 Centerline is valid? [True, True] Translation: X:258.73, Y:10.22, Z:1.87 [[ 9.99900015e-01 -6.40115763e-03 -1.26089203e-02 2.58733599e+02] [ 6.39943761e-03 9.99979508e-01 -1.76755371e-04 1.02244725e+01] [ 1.26097934e-02 9.60476990e-05 9.99920489e-01 1.86582545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.164391418 meters Centerline goodness [0,1] 0.9997822394495013 Centerline is valid? [True, True] Translation: X:258.76, Y:10.23, Z:1.87 [[ 9.99920387e-01 -1.65981593e-03 -1.25085671e-02 2.58762311e+02] [ 1.65772482e-03 9.99998610e-01 -1.77541081e-04 1.02271059e+01] [ 1.25088444e-02 1.56791184e-04 9.99921749e-01 1.86584832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.194391418 meters Centerline goodness [0,1] 0.9995860295879905 Centerline is valid? [True, True] Translation: X:258.79, Y:10.23, Z:1.87 [[ 9.99926323e-01 -3.39879419e-04 -1.21339321e-02 2.58791062e+02] [ 3.37774799e-04 9.99999928e-01 -1.75498112e-04 1.02273835e+01] [ 1.21339909e-02 1.71386645e-04 9.99926366e-01 1.86614214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.224391418 meters Centerline goodness [0,1] 0.9996954866775422 Centerline is valid? [True, True] Translation: X:258.82, Y:10.23, Z:1.87 [[ 9.99932675e-01 4.58094333e-05 -1.16035728e-02 2.58819051e+02] [-4.77986038e-05 9.99999984e-01 -1.71150144e-04 1.02275978e+01] [ 1.16035648e-02 1.71693256e-04 9.99932662e-01 1.86616979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.254391418 meters Centerline goodness [0,1] 0.9997606458210936 Centerline is valid? [True, True] Translation: X:258.85, Y:10.23, Z:1.87 [[ 9.99937137e-01 1.28158755e-04 -1.12118811e-02 2.58846881e+02] [-1.30050659e-04 9.99999977e-01 -1.68012053e-04 1.02272223e+01] [ 1.12118593e-02 1.69459603e-04 9.99937131e-01 1.86609083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.284391418 meters Centerline goodness [0,1] 0.9997606458210936 Centerline is valid? [True, True] Translation: X:258.87, Y:10.23, Z:1.87 [[ 9.99937145e-01 1.04305586e-05 -1.12118612e-02 2.58874332e+02] [-1.23298466e-05 9.99999986e-01 -1.69330771e-04 1.02277515e+01] [ 1.12118593e-02 1.69458368e-04 9.99937131e-01 1.86628357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.314391418 meters Centerline goodness [0,1] 0.9996963189518665 Centerline is valid? [True, True] Translation: X:258.90, Y:10.22, Z:1.87 [[ 9.99945648e-01 -1.62046725e-03 -1.02992812e-02 2.58902710e+02] [ 1.61894062e-03 9.99998677e-01 -1.56562365e-04 1.02246381e+01] [ 1.02995213e-02 1.39879930e-04 9.99946949e-01 1.86586941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.344391418 meters Centerline goodness [0,1] 0.9995020567222342 Centerline is valid? [True, True] Translation: X:258.93, Y:10.22, Z:1.87 [[ 9.99943122e-01 -3.67599364e-03 -1.00120331e-02 2.58931606e+02] [ 3.67464633e-03 9.99993237e-01 -1.52961439e-04 1.02217670e+01] [ 1.00125277e-02 1.16162058e-04 9.99949867e-01 1.86562914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.374391418 meters Centerline goodness [0,1] 0.9995249201001987 Centerline is valid? [True, True] Translation: X:258.96, Y:10.21, Z:1.86 [[ 9.99910653e-01 -9.16757794e-03 -9.72835451e-03 2.58959342e+02] [ 9.16655799e-03 9.99957975e-01 -1.49427561e-04 1.02147902e+01] [ 9.72931556e-03 6.02386848e-05 9.99952667e-01 1.86445555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.404391418 meters Centerline goodness [0,1] 0.9993724709497328 Centerline is valid? [True, True] Translation: X:258.99, Y:10.21, Z:1.86 [[ 9.99871840e-01 -1.28370274e-02 -9.56630297e-03 2.58987770e+02] [ 1.28361961e-02 9.99917602e-01 -1.48299570e-04 1.02107131e+01] [ 9.56741845e-03 2.54856230e-05 9.99954231e-01 1.86456820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.434391418 meters Centerline goodness [0,1] 0.9990943591512852 Centerline is valid? [True, True] Translation: X:259.02, Y:10.21, Z:1.86 [[ 9.99818262e-01 -1.66081635e-02 -9.36008847e-03 2.59018248e+02] [ 1.66075156e-02 9.99862075e-01 -1.46944729e-04 1.02061858e+01] [ 9.36123796e-03 -8.52979163e-06 9.99956183e-01 1.86434117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.464391418 meters Centerline goodness [0,1] 0.9995066495066495 Centerline is valid? [True, True] Translation: X:259.05, Y:10.20, Z:1.86 [[ 9.99690842e-01 -2.32473605e-02 -8.81928385e-03 2.59050125e+02] [ 2.32470443e-02 9.99729741e-01 -1.38382901e-04 1.01968391e+01] [ 8.82011740e-03 -6.66821627e-05 9.99961100e-01 1.86453606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.494391418 meters Centerline goodness [0,1] 0.9994201653602491 Centerline is valid? [True, True] Translation: X:259.08, Y:10.19, Z:1.86 [[ 9.99609846e-01 -2.66207415e-02 -8.45529939e-03 2.59082045e+02] [ 2.66205747e-02 9.99645601e-01 -1.32289940e-04 1.01926361e+01] [ 8.45582450e-03 -9.28466026e-05 9.99964245e-01 1.86483120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.524391418 meters Centerline goodness [0,1] 0.9991454817346721 Centerline is valid? [True, True] Translation: X:259.11, Y:10.18, Z:1.87 [[ 9.99449466e-01 -3.22982999e-02 -7.58852485e-03 2.59112917e+02] [ 3.22983331e-02 9.99478266e-01 -1.18202554e-04 1.01834813e+01] [ 7.58838340e-03 -1.26959225e-04 9.99971200e-01 1.86524718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.554391418 meters Centerline goodness [0,1] 0.9991859643109616 Centerline is valid? [True, True] Translation: X:259.14, Y:10.18, Z:1.87 [[ 9.99368586e-01 -3.47833080e-02 -7.24921060e-03 2.59144600e+02] [ 3.47834057e-02 9.99394868e-01 -1.12636707e-04 1.01802181e+01] [ 7.24874175e-03 -1.39586646e-04 9.99973718e-01 1.86543807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.584391418 meters Centerline goodness [0,1] 0.998975059788179 Centerline is valid? [True, True] Translation: X:259.18, Y:10.18, Z:1.87 [[ 9.99289745e-01 -3.69451031e-02 -7.42062006e-03 2.59176576e+02] [ 3.69452684e-02 9.99317284e-01 -1.14843288e-04 1.01771575e+01] [ 7.41979678e-03 -1.59395081e-04 9.99972460e-01 1.86517447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.614391418 meters Centerline goodness [0,1] 0.9988276420684657 Centerline is valid? [True, True] Translation: X:259.21, Y:10.17, Z:1.86 [[ 9.99211394e-01 -3.89873422e-02 -7.52182560e-03 2.59207897e+02] [ 3.89875745e-02 9.99239689e-01 -1.15810948e-04 1.01731153e+01] [ 7.52062183e-03 -1.77538117e-04 9.99971704e-01 1.86476531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.644391418 meters Centerline goodness [0,1] 0.9986982778856619 Centerline is valid? [True, True] Translation: X:259.24, Y:10.17, Z:1.86 [[ 9.99113791e-01 -4.14671168e-02 -7.21875958e-03 2.59239951e+02] [ 4.14673983e-02 9.99139851e-01 -1.10727273e-04 1.01670731e+01] [ 7.21714192e-03 -1.88714034e-04 9.99973938e-01 1.86397951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.674391418 meters Centerline goodness [0,1] 0.9985944886920226 Centerline is valid? [True, True] Translation: X:259.27, Y:10.16, Z:1.86 [[ 9.99066572e-01 -4.25926185e-02 -7.20093415e-03 2.59271708e+02] [ 4.25929319e-02 9.99092503e-01 -1.09892717e-04 1.01646891e+01] [ 7.19907994e-03 -1.96918758e-04 9.99974067e-01 1.86391538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.704391418 meters Centerline goodness [0,1] 0.9989346515245137 Centerline is valid? [True, True] Translation: X:259.30, Y:10.16, Z:1.86 [[ 9.99064319e-01 -4.26760298e-02 -7.01734044e-03 2.59303722e+02] [ 4.26763323e-02 9.99088945e-01 -1.06686542e-04 1.01611521e+01] [ 7.01550021e-03 -1.92887635e-04 9.99975372e-01 1.86395581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73439141800003 meters Centerline goodness [0,1] 0.9987683683003482 Centerline is valid? [True, True] Translation: X:259.34, Y:10.16, Z:1.86 [[ 9.99089535e-01 -4.20718999e-02 -7.07497903e-03 2.59336344e+02] [ 4.20721962e-02 9.99114567e-01 -1.07005532e-04 1.01604720e+01] [ 7.07321654e-03 -1.90751799e-04 9.99974966e-01 1.86383115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.764391418 meters Centerline goodness [0,1] 0.9990858649205978 Centerline is valid? [True, True] Translation: X:259.37, Y:10.16, Z:1.86 [[ 9.99132844e-01 -4.10491392e-02 -6.96620331e-03 2.59369025e+02] [ 4.10494054e-02 9.99157112e-01 -1.04828724e-04 1.01604501e+01] [ 6.96463471e-03 -1.81220682e-04 9.99975730e-01 1.86383609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.794391418 meters Centerline goodness [0,1] 0.9985318524192519 Centerline is valid? [True, True] Translation: X:259.40, Y:10.16, Z:1.86 [[ 9.99198191e-01 -3.93887849e-02 -7.17631305e-03 2.59400681e+02] [ 3.93890296e-02 9.99223945e-01 -1.07279089e-04 1.01592751e+01] [ 7.17496943e-03 -1.75474935e-04 9.99974244e-01 1.86328536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.824391418 meters Centerline goodness [0,1] 0.9984926330092141 Centerline is valid? [True, True] Translation: X:259.43, Y:10.16, Z:1.86 [[ 9.99227225e-01 -3.86401490e-02 -7.20364653e-03 2.59433275e+02] [ 3.86403802e-02 9.99253176e-01 -1.07132939e-04 1.01591034e+01] [ 7.20240630e-03 -1.71301491e-04 9.99974048e-01 1.86334299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.854391418 meters Centerline goodness [0,1] 0.9984721485411141 Centerline is valid? [True, True] Translation: X:259.47, Y:10.16, Z:1.86 [[ 9.99233021e-01 -3.85305076e-02 -6.98350305e-03 2.59465937e+02] [ 3.85307258e-02 9.99257411e-01 -1.03346821e-04 1.01585666e+01] [ 6.98229918e-03 -1.65811885e-04 9.99975610e-01 1.86343999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.884391418 meters Centerline goodness [0,1] 0.9986208359855718 Centerline is valid? [True, True] Translation: X:259.50, Y:10.16, Z:1.86 [[ 9.99223338e-01 -3.87946379e-02 -6.90632616e-03 2.59497952e+02] [ 3.87948612e-02 9.99247191e-01 -1.01686568e-04 1.01576206e+01] [ 6.90507191e-03 -1.66322373e-04 9.99976146e-01 1.86351273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.914391418 meters Centerline goodness [0,1] 0.9985411953741093 Centerline is valid? [True, True] Translation: X:259.53, Y:10.15, Z:1.86 [[ 9.99148524e-01 -4.06097139e-02 -7.28546801e-03 2.59529592e+02] [ 4.06100148e-02 9.99175067e-01 -1.06691780e-04 1.01534182e+01] [ 7.28379071e-03 -1.89262029e-04 9.99973455e-01 1.86299569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.944391418 meters Centerline goodness [0,1] 0.9986452732737818 Centerline is valid? [True, True] Translation: X:259.56, Y:10.15, Z:1.86 [[ 9.99086479e-01 -4.20333698e-02 -7.70741760e-03 2.59561726e+02] [ 4.20337525e-02 9.99116185e-01 -1.12397094e-04 1.01534552e+01] [ 7.70533010e-03 -2.11677267e-04 9.99970291e-01 1.86265126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.974391418 meters Centerline goodness [0,1] 0.9984778656293603 Centerline is valid? [True, True] Translation: X:259.59, Y:10.15, Z:1.86 [[ 9.99002328e-01 -4.38685660e-02 -8.36050823e-03 2.59592572e+02] [ 4.38690861e-02 9.99037281e-01 -1.21257955e-04 1.01509801e+01] [ 8.35777882e-03 -2.45630876e-04 9.99965043e-01 1.86221892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.004391418 meters Centerline goodness [0,1] 0.9984148790024305 Centerline is valid? [True, True] Translation: X:259.62, Y:10.15, Z:1.86 [[ 9.98914048e-01 -4.57363128e-02 -8.88340205e-03 2.59624252e+02] [ 4.57369794e-02 9.98953509e-01 -1.28211621e-04 1.01485737e+01] [ 8.87996957e-03 -2.78227587e-04 9.99960534e-01 1.86187459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.034391418 meters Centerline goodness [0,1] 0.9985200219882447 Centerline is valid? [True, True] Translation: X:259.66, Y:10.14, Z:1.86 [[ 9.98690540e-01 -5.03825713e-02 -8.87708272e-03 2.59655338e+02] [ 5.03834278e-02 9.98729940e-01 -1.27269932e-04 1.01442202e+01] [ 8.87222048e-03 -3.20154579e-04 9.99960590e-01 1.86222695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.064391418 meters Centerline goodness [0,1] 0.9989228917189381 Centerline is valid? [True, True] Translation: X:259.69, Y:10.14, Z:1.86 [[ 9.98428256e-01 -5.54138092e-02 -8.38612039e-03 2.59685356e+02] [ 5.54147544e-02 9.98463415e-01 -1.19791776e-04 1.01377635e+01] [ 8.37987252e-03 -3.45111308e-04 9.99964829e-01 1.86322217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.094391418 meters Centerline goodness [0,1] 0.9986245132893178 Centerline is valid? [True, True] Translation: X:259.72, Y:10.13, Z:1.86 [[ 9.98277487e-01 -5.81299100e-02 -7.93552808e-03 2.59717739e+02] [ 5.81308466e-02 9.98308966e-01 -1.12772116e-04 1.01348566e+01] [ 7.92866427e-03 -3.48721101e-04 9.99968507e-01 1.86385618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.124391418 meters Centerline goodness [0,1] 0.9981427938290104 Centerline is valid? [True, True] Translation: X:259.75, Y:10.13, Z:1.86 [[ 9.98113307e-01 -6.09184053e-02 -7.66646804e-03 2.59748567e+02] [ 6.09193655e-02 9.98142685e-01 -1.08423251e-04 1.01317712e+01] [ 7.65883396e-03 -3.58817679e-04 9.99970606e-01 1.86452545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.154391418 meters Centerline goodness [0,1] 0.9987130530179962 Centerline is valid? [True, True] Translation: X:259.78, Y:10.13, Z:1.87 [[ 9.97807887e-01 -6.58110334e-02 -6.95192261e-03 2.59779352e+02] [ 6.58119422e-02 9.97832039e-01 -9.81992855e-05 1.01291815e+01] [ 6.94331372e-03 -3.59535508e-04 9.99975830e-01 1.86539147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.184391418 meters Centerline goodness [0,1] 0.9987763713080169 Centerline is valid? [True, True] Translation: X:259.81, Y:10.13, Z:1.87 [[ 9.97690346e-01 -6.75844882e-02 -6.80514914e-03 2.59810944e+02] [ 6.75854009e-02 9.97713488e-01 -9.60203820e-05 1.01280683e+01] [ 6.79607857e-03 -3.64130125e-04 9.99976840e-01 1.86577932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.214391418 meters Centerline goodness [0,1] 0.9984806600687923 Centerline is valid? [True, True] Translation: X:259.84, Y:10.12, Z:1.87 [[ 9.97522461e-01 -7.00663535e-02 -6.29647883e-03 2.59841466e+02] [ 7.00671893e-02 9.97542270e-01 -8.80262075e-05 1.01220959e+01] [ 6.28717146e-03 -3.53368455e-04 9.99980173e-01 1.86635593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.244391418 meters Centerline goodness [0,1] 0.9985681497546903 Centerline is valid? [True, True] Translation: X:259.87, Y:10.12, Z:1.87 [[ 9.97471297e-01 -7.08130707e-02 -6.04320997e-03 2.59873790e+02] [ 7.08138545e-02 9.97489544e-01 -8.44281671e-05 1.01221360e+01] [ 6.03401738e-03 -3.43728319e-04 9.99981736e-01 1.86689684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.274391418 meters Centerline goodness [0,1] 0.9985881361289642 Centerline is valid? [True, True] Translation: X:259.91, Y:10.12, Z:1.87 [[ 9.97466554e-01 -7.08400862e-02 -6.49271915e-03 2.59905919e+02] [ 7.08409952e-02 9.97487617e-01 -9.01702645e-05 1.01218340e+01] [ 6.48279462e-03 -3.70008863e-04 9.99978918e-01 1.86684254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.304391418 meters Centerline goodness [0,1] 0.9985688127459853 Centerline is valid? [True, True] Translation: X:259.94, Y:10.13, Z:1.87 [[ 9.97564699e-01 -6.93845802e-02 -7.10285434e-03 2.59937747e+02] [ 6.93856354e-02 9.97589908e-01 -9.80524499e-05 1.01267244e+01] [ 7.09253914e-03 -3.95022399e-04 9.99974770e-01 1.86691008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.334391418 meters Centerline goodness [0,1] 0.9987588092984117 Centerline is valid? [True, True] Translation: X:259.97, Y:10.13, Z:1.87 [[ 9.97681089e-01 -6.76776208e-02 -7.22391634e-03 2.59969598e+02] [ 6.76786718e-02 9.97707165e-01 -9.91493252e-05 1.01312320e+01] [ 7.21406328e-03 -3.89985656e-04 9.99973902e-01 1.86724552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.364391418 meters Centerline goodness [0,1] 0.9986313772555956 Centerline is valid? [True, True] Translation: X:260.00, Y:10.13, Z:1.87 [[ 9.97797597e-01 -6.58847012e-02 -7.69167026e-03 2.60001206e+02] [ 6.58858445e-02 9.97827162e-01 -1.04920015e-04 1.01310065e+01] [ 7.68187013e-03 -4.02083252e-04 9.99970413e-01 1.86725094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.394391418 meters Centerline goodness [0,1] 0.9988628945650572 Centerline is valid? [True, True] Translation: X:260.03, Y:10.14, Z:1.87 [[ 9.98127899e-01 -6.04431428e-02 -9.34466377e-03 2.60032221e+02] [ 6.04445994e-02 9.98171546e-01 -1.26731578e-04 1.01398682e+01] [ 9.33523753e-03 -4.38340134e-04 9.99956330e-01 1.86755524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.424391418 meters Centerline goodness [0,1] 0.9983168171011383 Centerline is valid? [True, True] Translation: X:260.06, Y:10.15, Z:1.87 [[ 9.98325680e-01 -5.70024433e-02 -9.82639409e-03 2.60064115e+02] [ 5.70038920e-02 9.98373947e-01 -1.32811133e-04 1.01451308e+01] [ 9.81798642e-03 -4.27553943e-04 9.99951711e-01 1.86741362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.454391418 meters Centerline goodness [0,1] 0.9986681324256902 Centerline is valid? [True, True] Translation: X:260.09, Y:10.15, Z:1.87 [[ 9.98523404e-01 -5.33363851e-02 -1.03073327e-02 2.60094832e+02] [ 5.33377918e-02 9.98576517e-01 -1.38561554e-04 1.01477639e+01] [ 1.03000508e-02 -4.11413411e-04 9.99946868e-01 1.86778506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48439141800003 meters Centerline goodness [0,1] 0.9990285931494699 Centerline is valid? [True, True] Translation: X:260.13, Y:10.16, Z:1.87 [[ 9.98912064e-01 -4.53498890e-02 -1.08662984e-02 2.60125195e+02] [ 4.53509840e-02 9.98971104e-01 -1.45741415e-04 1.01585347e+01] [ 1.08617275e-02 -3.47214467e-04 9.99940949e-01 1.86862554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.514391418 meters Centerline goodness [0,1] 0.9988787340272489 Centerline is valid? [True, True] Translation: X:260.16, Y:10.16, Z:1.87 [[ 9.99074243e-01 -4.15838143e-02 -1.10200912e-02 2.60156261e+02] [ 4.15847142e-02 9.99134971e-01 -1.47572470e-04 1.01634591e+01] [ 1.10166951e-02 -3.10831490e-04 9.99939266e-01 1.86911823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.544391418 meters Centerline goodness [0,1] 0.9990474779332388 Centerline is valid? [True, True] Translation: X:260.19, Y:10.17, Z:1.87 [[ 9.99340434e-01 -3.47051766e-02 -1.06886844e-02 2.60187814e+02] [ 3.47056350e-02 9.99397568e-01 -1.42647076e-04 1.01724804e+01] [ 1.06871958e-02 -2.28404589e-04 9.99942864e-01 1.87014475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.574391418 meters Centerline goodness [0,1] 0.9987928332415604 Centerline is valid? [True, True] Translation: X:260.22, Y:10.17, Z:1.87 [[ 9.99427677e-01 -3.20657547e-02 -1.07752457e-02 2.60219354e+02] [ 3.20660741e-02 9.99485741e-01 -1.43158015e-04 1.01749207e+01] [ 1.07742949e-02 -2.02443745e-04 9.99941935e-01 1.87035002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.604391418 meters Centerline goodness [0,1] 0.9988994010201706 Centerline is valid? [True, True] Translation: X:260.25, Y:10.18, Z:1.87 [[ 9.99478138e-01 -3.02629620e-02 -1.12961936e-02 2.60251277e+02] [ 3.02632068e-02 9.99541953e-01 -1.49301659e-04 1.01778563e+01] [ 1.12955377e-02 -1.92635297e-04 9.99936185e-01 1.87067591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.634391418 meters Centerline goodness [0,1] 0.9991510314967315 Centerline is valid? [True, True] Translation: X:260.28, Y:10.18, Z:1.87 [[ 9.99515376e-01 -2.90422297e-02 -1.12054888e-02 2.60282791e+02] [ 2.90424029e-02 9.99578170e-01 -1.47296073e-04 1.01787310e+01] [ 1.12050398e-02 -1.78209632e-04 9.99937206e-01 1.87088961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.664391418 meters Centerline goodness [0,1] 0.9991544234224712 Centerline is valid? [True, True] Translation: X:260.32, Y:10.18, Z:1.87 [[ 9.99517478e-01 -2.85878652e-02 -1.21468188e-02 2.60315420e+02] [ 2.85880456e-02 9.99591266e-01 -1.58814398e-04 1.01805515e+01] [ 1.21463941e-02 -1.88516043e-04 9.99926212e-01 1.87085043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.694391418 meters Centerline goodness [0,1] 0.9990453561882133 Centerline is valid? [True, True] Translation: X:260.35, Y:10.18, Z:1.87 [[ 9.99487906e-01 -2.94266976e-02 -1.25696360e-02 2.60347060e+02] [ 2.94269670e-02 9.99566920e-01 -1.63557961e-04 1.01802119e+01] [ 1.25690053e-02 -2.06412059e-04 9.99920986e-01 1.87044195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.724391418 meters Centerline goodness [0,1] 0.9990675002649146 Centerline is valid? [True, True] Translation: X:260.38, Y:10.18, Z:1.87 [[ 9.99439169e-01 -3.08271108e-02 -1.30781226e-02 2.60378228e+02] [ 3.08275292e-02 9.99524704e-01 -1.69647099e-04 1.01804862e+01] [ 1.30771364e-02 -2.33614252e-04 9.99914463e-01 1.87069895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.754391418 meters Centerline goodness [0,1] 0.9989002855028022 Centerline is valid? [True, True] Translation: X:260.41, Y:10.18, Z:1.87 [[ 9.99292138e-01 -3.51655754e-02 -1.33643255e-02 2.60408084e+02] [ 3.51664039e-02 9.99381456e-01 -1.73071641e-04 1.01762664e+01] [ 1.33621452e-02 -2.97026137e-04 9.99910678e-01 1.87033319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.784391418 meters Centerline goodness [0,1] 0.9990060483018229 Centerline is valid? [True, True] Translation: X:260.44, Y:10.17, Z:1.87 [[ 9.99206476e-01 -3.75122491e-02 -1.33883869e-02 2.60439145e+02] [ 3.75132944e-02 9.99296114e-01 -1.73136260e-04 1.01738361e+01] [ 1.33854578e-02 -3.29243628e-04 9.99910357e-01 1.87065683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.814391418 meters Centerline goodness [0,1] 0.9989605430632159 Centerline is valid? [True, True] Translation: X:260.47, Y:10.17, Z:1.87 [[ 9.99008435e-01 -4.24240515e-02 -1.35035451e-02 2.60470573e+02] [ 4.24255703e-02 9.99099615e-01 -1.74096100e-04 1.01700862e+01] [ 1.34987726e-02 -3.98972131e-04 9.99908808e-01 1.87114498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.844391418 meters Centerline goodness [0,1] 0.9992577826787683 Centerline is valid? [True, True] Translation: X:260.50, Y:10.17, Z:1.87 [[ 9.98917692e-01 -4.44665328e-02 -1.36444535e-02 2.60501337e+02] [ 4.44682900e-02 9.99010781e-01 -1.74724790e-04 1.01665430e+01] [ 1.36387256e-02 -4.32209832e-04 9.99906895e-01 1.87106914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.874391418 meters Centerline goodness [0,1] 0.999045619393014 Centerline is valid? [True, True] Translation: X:260.53, Y:10.17, Z:1.87 [[ 9.98830443e-01 -4.63725976e-02 -1.36868092e-02 2.60533008e+02] [ 4.63745631e-02 9.98924106e-01 -1.73906534e-04 1.01667187e+01] [ 1.36801481e-02 -4.61016654e-04 9.99906316e-01 1.87118617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.904391418 meters Centerline goodness [0,1] 0.9988388050248074 Centerline is valid? [True, True] Translation: X:260.56, Y:10.17, Z:1.87 [[ 9.98735971e-01 -4.83394713e-02 -1.37752198e-02 2.60564696e+02] [ 4.83416604e-02 9.98830843e-01 -1.74209154e-04 1.01652684e+01] [ 1.37675356e-02 -4.91928048e-04 9.99905102e-01 1.87117638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.934391418 meters Centerline goodness [0,1] 0.9988128299166861 Centerline is valid? [True, True] Translation: X:260.60, Y:10.16, Z:1.87 [[ 9.98578846e-01 -5.13937719e-02 -1.41056287e-02 2.60596733e+02] [ 5.13963852e-02 9.98678317e-01 -1.77417037e-04 1.01624788e+01] [ 1.40961037e-02 -5.47813426e-04 9.99900495e-01 1.87050653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.964391418 meters Centerline goodness [0,1] 0.9990459026820736 Centerline is valid? [True, True] Translation: X:260.63, Y:10.16, Z:1.87 [[ 9.98529937e-01 -5.21984747e-02 -1.46042486e-02 2.60629074e+02] [ 5.22013787e-02 9.98636562e-01 -1.82540929e-04 1.01616095e+01] [ 1.45938650e-02 -5.80089331e-04 9.99893336e-01 1.87049702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.994391418 meters Centerline goodness [0,1] 0.999110056363097 Centerline is valid? [True, True] Translation: X:260.66, Y:10.16, Z:1.87 [[ 9.98467887e-01 -5.33569122e-02 -1.46601023e-02 2.60659726e+02] [ 5.33599755e-02 9.98575325e-01 -1.82396531e-04 1.01601629e+01] [ 1.46489485e-02 -6.00145619e-04 9.99892518e-01 1.87048597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.024391418 meters Centerline goodness [0,1] 0.998876666454717 Centerline is valid? [True, True] Translation: X:260.69, Y:10.16, Z:1.87 [[ 9.98455666e-01 -5.36352774e-02 -1.44754942e-02 2.60691914e+02] [ 5.36383054e-02 9.98560414e-01 -1.79261060e-04 1.01598396e+01] [ 1.44642702e-02 -5.97456757e-04 9.99895208e-01 1.87100393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.054391418 meters Centerline goodness [0,1] 0.9989388794567062 Centerline is valid? [True, True] Translation: X:260.72, Y:10.16, Z:1.87 [[ 9.98449848e-01 -5.37591704e-02 -1.44170783e-02 2.60722827e+02] [ 5.37622079e-02 9.98553751e-01 -1.77074793e-04 1.01594942e+01] [ 1.44057471e-02 -5.98293663e-04 9.99896053e-01 1.87166450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.084391418 meters Centerline goodness [0,1] 0.9989396445688595 Centerline is valid? [True, True] Translation: X:260.75, Y:10.16, Z:1.87 [[ 9.98454557e-01 -5.38316943e-02 -1.38074637e-02 2.60754485e+02] [ 5.38345063e-02 9.98549857e-01 -1.68207061e-04 1.01632361e+01] [ 1.37964958e-02 -5.75370883e-04 9.99904658e-01 1.87294496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.114391418 meters Centerline goodness [0,1] 0.9987263580207604 Centerline is valid? [True, True] Translation: X:260.79, Y:10.16, Z:1.87 [[ 9.98436817e-01 -5.41800491e-02 -1.37275527e-02 2.60786997e+02] [ 5.41828764e-02 9.98531015e-01 -1.66150764e-04 1.01646600e+01] [ 1.37163891e-02 -5.77907249e-04 9.99905759e-01 1.87379665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.144391418 meters Centerline goodness [0,1] 0.998957668581153 Centerline is valid? [True, True] Translation: X:260.82, Y:10.16, Z:1.87 [[ 9.98404725e-01 -5.45353666e-02 -1.46253058e-02 2.60817969e+02] [ 5.45386354e-02 9.98511646e-01 -1.75544560e-04 1.01633811e+01] [ 1.46131116e-02 -6.22379703e-04 9.99893029e-01 1.87314064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.174391418 meters Centerline goodness [0,1] 0.9988120744150527 Centerline is valid? [True, True] Translation: X:260.85, Y:10.16, Z:1.87 [[ 9.98377188e-01 -5.50210237e-02 -1.46859299e-02 2.60849700e+02] [ 5.50243905e-02 9.98484995e-01 -1.75016180e-04 1.01636298e+01] [ 1.46733102e-02 -6.33352178e-04 9.99892141e-01 1.87271615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.204391418 meters Centerline goodness [0,1] 0.9988120744150527 Centerline is valid? [True, True] Translation: X:260.88, Y:10.16, Z:1.87 [[ 9.98381392e-01 -5.49446938e-02 -1.46859416e-02 2.60881420e+02] [ 5.49480669e-02 9.98489199e-01 -1.74026636e-04 1.01639250e+01] [ 1.46733159e-02 -6.33219147e-04 9.99892141e-01 1.87293839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23439141800003 meters Centerline goodness [0,1] 0.9987876983282998 Centerline is valid? [True, True] Translation: X:260.91, Y:10.17, Z:1.87 [[ 9.98339000e-01 -5.55843447e-02 -1.51532583e-02 2.60914012e+02] [ 5.55880276e-02 9.98453774e-01 -1.78369627e-04 1.01661963e+01] [ 1.51397425e-02 -6.64266387e-04 9.99885167e-01 1.87295476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.264391418 meters Centerline goodness [0,1] 0.998857698897891 Centerline is valid? [True, True] Translation: X:260.95, Y:10.16, Z:1.87 [[ 9.98306320e-01 -5.61600558e-02 -1.51835238e-02 2.60945456e+02] [ 5.61638356e-02 9.98421550e-01 -1.77693247e-04 1.01617765e+01] [ 1.51695366e-02 -6.75372643e-04 9.99884708e-01 1.87217886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.294391418 meters Centerline goodness [0,1] 0.9987262498673177 Centerline is valid? [True, True] Translation: X:260.98, Y:10.17, Z:1.87 [[ 9.98195548e-01 -5.79031398e-02 -1.59020520e-02 2.60977003e+02] [ 5.79075215e-02 9.98321934e-01 -1.85158824e-04 1.01651089e+01] [ 1.58860886e-02 -7.36023707e-04 9.99873537e-01 1.87273579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.324391418 meters Centerline goodness [0,1] 0.9988345976183414 Centerline is valid? [True, True] Translation: X:261.01, Y:10.17, Z:1.87 [[ 9.98128918e-01 -5.88666515e-02 -1.65342084e-02 2.61008862e+02] [ 5.88715397e-02 9.98265548e-01 -1.91354589e-04 1.01667726e+01] [ 1.65167950e-02 -7.82397754e-04 9.99863282e-01 1.87276911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.354391418 meters Centerline goodness [0,1] 0.9986361214704316 Centerline is valid? [True, True] Translation: X:261.04, Y:10.17, Z:1.87 [[ 9.97988193e-01 -6.09317848e-02 -1.75181272e-02 2.61039717e+02] [ 6.09376247e-02 9.98141556e-01 -2.00738508e-04 1.01656888e+01] [ 1.74978021e-02 -8.67178402e-04 9.99846526e-01 1.87182319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.384391418 meters Centerline goodness [0,1] 0.9986368477103301 Centerline is valid? [True, True] Translation: X:261.07, Y:10.17, Z:1.87 [[ 9.97909010e-01 -6.20898858e-02 -1.79570223e-02 2.61071937e+02] [ 6.20962423e-02 9.98070145e-01 -2.03914770e-04 1.01692669e+01] [ 1.79350289e-02 -9.11575220e-04 9.99838739e-01 1.87278427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.414391418 meters Centerline goodness [0,1] 0.9986799804126125 Centerline is valid? [True, True] Translation: X:261.10, Y:10.17, Z:1.87 [[ 9.97853031e-01 -6.30360785e-02 -1.77702564e-02 2.61104202e+02] [ 6.30424784e-02 9.98010824e-01 -2.00363720e-04 1.01702461e+01] [ 1.77475384e-02 -9.20347462e-04 9.99842076e-01 1.87357232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.444391418 meters Centerline goodness [0,1] 0.9987636162094178 Centerline is valid? [True, True] Translation: X:261.14, Y:10.17, Z:1.87 [[ 9.97776479e-01 -6.44682806e-02 -1.69097367e-02 2.61135413e+02] [ 6.44743089e-02 9.97919349e-01 -1.88989879e-04 1.01703784e+01] [ 1.68867373e-02 -9.01673933e-04 9.99857002e-01 1.87496553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.474391418 meters Centerline goodness [0,1] 0.9989971193854689 Centerline is valid? [True, True] Translation: X:261.17, Y:10.17, Z:1.88 [[ 9.97804188e-01 -6.43004835e-02 -1.58823788e-02 2.61166272e+02] [ 6.43058005e-02 9.97930225e-01 -1.76229564e-04 1.01712259e+01] [ 1.58608374e-02 -8.45486482e-04 9.99873852e-01 1.87605127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.504391418 meters Centerline goodness [0,1] 0.9987179761116215 Centerline is valid? [True, True] Translation: X:261.20, Y:10.17, Z:1.88 [[ 9.97849353e-01 -6.37282147e-02 -1.53422364e-02 2.61198092e+02] [ 6.37331250e-02 9.97966963e-01 -1.69170184e-04 1.01742405e+01] [ 1.53218259e-02 -8.09002308e-04 9.99882287e-01 1.87699970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.534391418 meters Centerline goodness [0,1] 0.998829139523992 Centerline is valid? [True, True] Translation: X:261.23, Y:10.18, Z:1.88 [[ 9.97910135e-01 -6.29335675e-02 -1.46536079e-02 2.61230768e+02] [ 6.29379802e-02 9.98017427e-01 -1.60287549e-04 1.01759040e+01] [ 1.46346435e-02 -7.62315916e-04 9.99892617e-01 1.87814282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.564391418 meters Centerline goodness [0,1] 0.9993585083180088 Centerline is valid? [True, True] Translation: X:261.26, Y:10.18, Z:1.88 [[ 9.98146433e-01 -5.94895458e-02 -1.28332298e-02 2.61261652e+02] [ 5.94926555e-02 9.98228734e-01 -1.39639368e-04 1.01819197e+01] [ 1.28188058e-02 -6.24102380e-04 9.99917641e-01 1.88031957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.594391418 meters Centerline goodness [0,1] 0.9992103971488935 Centerline is valid? [True, True] Translation: X:261.29, Y:10.19, Z:1.88 [[ 9.98446681e-01 -5.46194355e-02 -1.09973868e-02 2.61292212e+02] [ 5.46214265e-02 9.98507128e-01 -1.19450852e-04 1.01906555e+01] [ 1.09874935e-02 -4.81427650e-04 9.99939520e-01 1.88195336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.624391418 meters Centerline goodness [0,1] 0.9990366913559104 Centerline is valid? [True, True] Translation: X:261.32, Y:10.20, Z:1.88 [[ 9.98596717e-01 -5.19467465e-02 -1.03020211e-02 2.61323629e+02] [ 5.19483544e-02 9.98649766e-01 -1.11633179e-04 1.01958650e+01] [ 1.02939100e-02 -4.23696517e-04 9.99946927e-01 1.88265424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.654391418 meters Centerline goodness [0,1] 0.9990395082282129 Centerline is valid? [True, True] Translation: X:261.35, Y:10.20, Z:1.88 [[ 9.98729950e-01 -4.94451212e-02 -9.67819881e-03 2.61354461e+02] [ 4.94464266e-02 9.98776772e-01 -1.04497528e-04 1.01969344e+01] [ 9.67152706e-03 -3.74187536e-04 9.99953160e-01 1.88324131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.684391418 meters Centerline goodness [0,1] 0.9989697359948487 Centerline is valid? [True, True] Translation: X:261.39, Y:10.21, Z:1.88 [[ 9.98958389e-01 -4.46570598e-02 -9.37464234e-03 2.61386058e+02] [ 4.46580779e-02 9.99002325e-01 -1.00802933e-04 1.02072459e+01] [ 9.36979106e-03 -3.17955573e-04 9.99956052e-01 1.88451566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.714391418 meters Centerline goodness [0,1] 0.9989302066840686 Centerline is valid? [True, True] Translation: X:261.42, Y:10.21, Z:1.88 [[ 9.99103178e-01 -4.12566810e-02 -9.52496871e-03 2.61417917e+02] [ 4.12575832e-02 9.99148538e-01 -1.01834648e-04 1.02134380e+01] [ 9.52105992e-03 -2.91233869e-04 9.99954631e-01 1.88449319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.744391418 meters Centerline goodness [0,1] 0.9989302066840686 Centerline is valid? [True, True] Translation: X:261.45, Y:10.21, Z:1.88 [[ 9.99106518e-01 -4.11757269e-02 -9.52497541e-03 2.61449627e+02] [ 4.11766315e-02 9.99151878e-01 -1.01204139e-04 1.02136987e+01] [ 9.52106422e-03 -2.91092687e-04 9.99954631e-01 1.88471533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.774391418 meters Centerline goodness [0,1] 0.9993778159193306 Centerline is valid? [True, True] Translation: X:261.48, Y:10.21, Z:1.88 [[ 9.99164151e-01 -3.97521512e-02 -9.52709172e-03 2.61480651e+02] [ 3.97529983e-02 9.99209532e-01 -1.00506599e-04 1.02140385e+01] [ 9.52355622e-03 -2.78307870e-04 9.99954611e-01 1.88453217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.804391418 meters Centerline goodness [0,1] 0.9992063321821575 Centerline is valid? [True, True] Translation: X:261.51, Y:10.22, Z:1.88 [[ 9.99203031e-01 -3.86994539e-02 -9.78032697e-03 2.61512445e+02] [ 3.87003027e-02 9.99250857e-01 -1.02522249e-04 1.02180325e+01] [ 9.77696767e-03 -2.76061072e-04 9.99952166e-01 1.88473026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.834391418 meters Centerline goodness [0,1] 0.9991848467297337 Centerline is valid? [True, True] Translation: X:261.54, Y:10.22, Z:1.88 [[ 9.99243454e-01 -3.75999679e-02 -9.93795548e-03 2.61544336e+02] [ 3.76007980e-02 9.99292835e-01 -1.03371066e-04 1.02201112e+01] [ 9.93481445e-03 -2.70382195e-04 9.99950612e-01 1.88461446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.864391418 meters Centerline goodness [0,1] 0.9995053976173068 Centerline is valid? [True, True] Translation: X:261.58, Y:10.23, Z:1.88 [[ 9.99321115e-01 -3.53233978e-02 -1.04673683e-02 2.61576352e+02] [ 3.53242029e-02 9.99375900e-01 -1.08009021e-04 1.02250133e+01] [ 1.04646509e-02 -2.61815748e-04 9.99945210e-01 1.88440412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.894391418 meters Centerline goodness [0,1] 0.9994620879593769 Centerline is valid? [True, True] Translation: X:261.61, Y:10.23, Z:1.88 [[ 9.99349652e-01 -3.43638143e-02 -1.09271298e-02 2.61608208e+02] [ 3.43646443e-02 9.99409355e-01 -1.11847874e-04 1.02270074e+01] [ 1.09245193e-02 -2.63731795e-04 9.99940291e-01 1.88419518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.924391418 meters Centerline goodness [0,1] 0.9992227979274612 Centerline is valid? [True, True] Translation: X:261.64, Y:10.23, Z:1.88 [[ 9.99439799e-01 -3.14624353e-02 -1.14106452e-02 2.61640926e+02] [ 3.14631631e-02 9.99504905e-01 -1.15770994e-04 1.02318760e+01] [ 1.14086383e-02 -2.43308852e-04 9.99934890e-01 1.88358616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.954391418 meters Centerline goodness [0,1] 0.999589995899959 Centerline is valid? [True, True] Translation: X:261.67, Y:10.23, Z:1.88 [[ 9.99494892e-01 -2.97180276e-02 -1.12605714e-02 2.61672154e+02] [ 2.97186403e-02 9.99558297e-01 -1.12957285e-04 1.02341897e+01] [ 1.12589545e-02 -2.21748643e-04 9.99936591e-01 1.88364077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98439141800003 meters Centerline goodness [0,1] 0.9993295412764669 Centerline is valid? [True, True] Translation: X:261.70, Y:10.24, Z:1.88 [[ 9.99541449e-01 -2.81529800e-02 -1.11490866e-02 2.61704518e+02] [ 2.81534979e-02 9.99603606e-01 -1.10527628e-04 1.02373580e+01] [ 1.11477788e-02 -2.03408841e-04 9.99937841e-01 1.88414638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.014391418 meters Centerline goodness [0,1] 0.9993072393488049 Centerline is valid? [True, True] Translation: X:261.74, Y:10.24, Z:1.89 [[ 9.99623655e-01 -2.54620363e-02 -1.02094696e-02 2.61736849e+02] [ 2.54623381e-02 9.99675777e-01 -1.00442531e-04 1.02414426e+01] [ 1.02087169e-02 -1.59552236e-04 9.99947877e-01 1.88542442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.044391418 meters Centerline goodness [0,1] 0.9992624568862665 Centerline is valid? [True, True] Translation: X:261.77, Y:10.24, Z:1.89 [[ 9.99650777e-01 -2.45065415e-02 -9.88704375e-03 2.61769190e+02] [ 2.45067855e-02 9.99699659e-01 -9.64924803e-05 1.02432750e+01] [ 9.88643896e-03 -1.45840878e-04 9.99951117e-01 1.88572616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.074391418 meters Centerline goodness [0,1] 0.9993922028305983 Centerline is valid? [True, True] Translation: X:261.80, Y:10.24, Z:1.89 [[ 9.99665331e-01 -2.40237310e-02 -9.59611471e-03 2.61800865e+02] [ 2.40239473e-02 9.99711379e-01 -9.27385746e-05 1.02435098e+01] [ 9.59557300e-03 -1.37829017e-04 9.99953952e-01 1.88559954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.104391418 meters Centerline goodness [0,1] 0.9992840250808184 Centerline is valid? [True, True] Translation: X:261.83, Y:10.24, Z:1.89 [[ 9.99651521e-01 -2.46159321e-02 -9.53372136e-03 2.61833158e+02] [ 2.46161837e-02 9.99696972e-01 -9.09710362e-05 1.02444277e+01] [ 9.53307171e-03 -1.43744501e-04 9.99954549e-01 1.88515931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.134391418 meters Centerline goodness [0,1] 0.999478408275922 Centerline is valid? [True, True] Translation: X:261.87, Y:10.25, Z:1.88 [[ 9.99639921e-01 -2.50235577e-02 -9.68760366e-03 2.61865814e+02] [ 2.50238442e-02 9.99686850e-01 -9.16624397e-05 1.02450338e+01] [ 9.68686371e-03 -1.50791650e-04 9.99953070e-01 1.88485204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.164391418 meters Centerline goodness [0,1] 0.9993050729673384 Centerline is valid? [True, True] Translation: X:261.90, Y:10.24, Z:1.88 [[ 9.99585864e-01 -2.64037727e-02 -1.14429867e-02 2.61896959e+02] [ 2.64042764e-02 9.99651341e-01 -1.07085307e-04 1.02447648e+01] [ 1.14418244e-02 -1.95102823e-04 9.99934521e-01 1.88281997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.194391418 meters Centerline goodness [0,1] 0.9998043308113749 Centerline is valid? [True, True] Translation: X:261.93, Y:10.24, Z:1.88 [[ 9.99563642e-01 -2.69239943e-02 -1.21500800e-02 2.61928297e+02] [ 2.69246150e-02 9.99637461e-01 -1.12518891e-04 1.02442182e+01] [ 1.21487046e-02 -2.14666434e-04 9.99926179e-01 1.88181123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.224391418 meters Centerline goodness [0,1] 0.9994782041526253 Centerline is valid? [True, True] Translation: X:261.96, Y:10.24, Z:1.88 [[ 9.99534439e-01 -2.75695991e-02 -1.30698971e-02 2.61959327e+02] [ 2.75703829e-02 9.99619858e-01 -1.20241943e-04 1.02432723e+01] [ 1.30682437e-02 -2.40156103e-04 9.99914578e-01 1.88058323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.254391418 meters Centerline goodness [0,1] 0.9996521739130435 Centerline is valid? [True, True] Translation: X:261.99, Y:10.24, Z:1.88 [[ 9.99509223e-01 -2.82027051e-02 -1.36352906e-02 2.61991452e+02] [ 2.82036297e-02 9.99602191e-01 -1.24509401e-04 1.02425289e+01] [ 1.36333778e-02 -2.60116392e-04 9.99907027e-01 1.87968138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.284391418 meters Centerline goodness [0,1] 0.9995647537594394 Centerline is valid? [True, True] Translation: X:262.02, Y:10.24, Z:1.88 [[ 9.99487726e-01 -2.86825588e-02 -1.41984825e-02 2.62023980e+02] [ 2.86836260e-02 9.99588532e-01 -1.28519475e-04 1.02433636e+01] [ 1.41963266e-02 -2.78810324e-04 9.99899188e-01 1.87979234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.314391418 meters Centerline goodness [0,1] 0.9995229524904048 Centerline is valid? [True, True] Translation: X:262.06, Y:10.24, Z:1.88 [[ 9.99474727e-01 -2.89655945e-02 -1.45349725e-02 2.62055678e+02] [ 2.89667577e-02 9.99580367e-01 -1.30535639e-04 1.02439311e+01] [ 1.45326542e-02 -2.90563954e-04 9.99894353e-01 1.88015610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.344391418 meters Centerline goodness [0,1] 0.9993707962681709 Centerline is valid? [True, True] Translation: X:262.09, Y:10.24, Z:1.88 [[ 9.99439154e-01 -2.98765598e-02 -1.51251138e-02 2.62086408e+02] [ 2.98779353e-02 9.99553546e-01 -1.35063596e-04 1.02424322e+01] [ 1.51223964e-02 -3.16919326e-04 9.99885600e-01 1.87934928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.374391418 meters Centerline goodness [0,1] 0.9993918199787137 Centerline is valid? [True, True] Translation: X:262.12, Y:10.24, Z:1.88 [[ 9.99417484e-01 -3.03474117e-02 -1.56117977e-02 2.62117722e+02] [ 3.03489471e-02 9.99539355e-01 -1.38611737e-04 1.02416591e+01] [ 1.56088127e-02 -3.35270629e-04 9.99878119e-01 1.87873379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.404391418 meters Centerline goodness [0,1] 0.9995221027479092 Centerline is valid? [True, True] Translation: X:262.15, Y:10.24, Z:1.88 [[ 9.99392321e-01 -3.06386515e-02 -1.66211199e-02 2.62149440e+02] [ 3.06404596e-02 9.99530460e-01 -1.45918600e-04 1.02409864e+01] [ 1.66177864e-02 -3.63448825e-04 9.99861849e-01 1.87802483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.434391418 meters Centerline goodness [0,1] 0.9992619766003169 Centerline is valid? [True, True] Translation: X:262.18, Y:10.24, Z:1.88 [[ 9.99342703e-01 -3.19588729e-02 -1.71111711e-02 2.62180511e+02] [ 3.19610051e-02 9.99489105e-01 -1.48910902e-04 1.02391822e+01] [ 1.71071881e-02 -3.98077202e-04 9.99853582e-01 1.87691801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.464391418 meters Centerline goodness [0,1] 0.9996104823526866 Centerline is valid? [True, True] Translation: X:262.21, Y:10.24, Z:1.88 [[ 9.99328242e-01 -3.24769597e-02 -1.69797689e-02 2.62212235e+02] [ 3.24791453e-02 9.99472403e-01 -1.47104477e-04 1.02378366e+01] [ 1.69755879e-02 -4.04482722e-04 9.99855823e-01 1.87676075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.494391418 meters Centerline goodness [0,1] 0.9994594711465699 Centerline is valid? [True, True] Translation: X:262.24, Y:10.24, Z:1.88 [[ 9.99271186e-01 -3.36927021e-02 -1.79415195e-02 2.62243918e+02] [ 3.36953512e-02 9.99432138e-01 -1.54710657e-04 1.02368170e+01] [ 1.79365438e-02 -4.49947899e-04 9.99839026e-01 1.87667806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.524391418 meters Centerline goodness [0,1] 0.9998483436965141 Centerline is valid? [True, True] Translation: X:262.27, Y:10.24, Z:1.88 [[ 9.99254524e-01 -3.40097211e-02 -1.82684403e-02 2.62274948e+02] [ 3.40125341e-02 9.99421394e-01 -1.56789724e-04 1.02362253e+01] [ 1.82632024e-02 -4.64683107e-04 9.99833106e-01 1.87708666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.554391418 meters Centerline goodness [0,1] 0.9996534921494316 Centerline is valid? [True, True] Translation: X:262.31, Y:10.24, Z:1.88 [[ 9.99212255e-01 -3.47193656e-02 -1.92207107e-02 2.62306441e+02] [ 3.47226260e-02 9.99396974e-01 -1.64172582e-04 1.02350889e+01] [ 1.92148201e-02 -5.03350296e-04 9.99815252e-01 1.87677958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.584391418 meters Centerline goodness [0,1] 0.9995462402765773 Centerline is valid? [True, True] Translation: X:262.34, Y:10.23, Z:1.88 [[ 9.99179155e-01 -3.53074019e-02 -1.98596147e-02 2.62337834e+02] [ 3.53110148e-02 9.99376357e-01 -1.68824039e-04 1.02337923e+01] [ 1.98531902e-02 -5.32577689e-04 9.99802764e-01 1.87622024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.614391418 meters Centerline goodness [0,1] 0.9993742582802891 Centerline is valid? [True, True] Translation: X:262.37, Y:10.23, Z:1.87 [[ 9.99113152e-01 -3.63554753e-02 -2.12412258e-02 2.62368607e+02] [ 3.63598516e-02 9.99338746e-01 -1.80269200e-04 1.02307835e+01] [ 2.12337338e-02 -5.92218490e-04 9.99774363e-01 1.87496285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.644391418 meters Centerline goodness [0,1] 0.9993092431895696 Centerline is valid? [True, True] Translation: X:262.40, Y:10.23, Z:1.87 [[ 9.99072305e-01 -3.70672680e-02 -2.19214041e-02 2.62398120e+02] [ 3.70720939e-02 9.99312576e-01 -1.86335264e-04 1.02288708e+01] [ 2.19132418e-02 -6.26509951e-04 9.99759680e-01 1.87438487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.674391418 meters Centerline goodness [0,1] 0.9993322419438222 Centerline is valid? [True, True] Translation: X:262.43, Y:10.23, Z:1.87 [[ 9.98986809e-01 -3.83704793e-02 -2.35172592e-02 2.62427300e+02] [ 3.83763836e-02 9.99263335e-01 -2.00369668e-04 1.02256924e+01] [ 2.35076231e-02 -7.02340703e-04 9.99723411e-01 1.87292927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.704391418 meters Centerline goodness [0,1] 0.9996334547963518 Centerline is valid? [True, True] Translation: X:262.46, Y:10.23, Z:1.87 [[ 9.98965325e-01 -3.88534405e-02 -2.36366112e-02 2.62457358e+02] [ 3.88595367e-02 9.99244663e-01 -2.01523683e-04 1.02252352e+01] [ 2.36265874e-02 -7.17192588e-04 9.99720596e-01 1.87301208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73439141800003 meters Centerline goodness [0,1] 0.999439486051826 Centerline is valid? [True, True] Translation: X:262.49, Y:10.22, Z:1.87 [[ 9.98936847e-01 -3.92485027e-02 -2.41812259e-02 2.62487469e+02] [ 3.92549988e-02 9.99229204e-01 -2.06167021e-04 1.02245610e+01] [ 2.41706789e-02 -7.43286161e-04 9.99707570e-01 1.87297827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.764391418 meters Centerline goodness [0,1] 0.9995047266306337 Centerline is valid? [True, True] Translation: X:262.52, Y:10.22, Z:1.87 [[ 9.98936578e-01 -3.91997222e-02 -2.42712614e-02 2.62518020e+02] [ 3.92062524e-02 9.99231118e-01 -2.06934656e-04 1.02237416e+01] [ 2.42607114e-02 -7.44870604e-04 9.99705388e-01 1.87292924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.794391418 meters Centerline goodness [0,1] 0.9993533785968316 Centerline is valid? [True, True] Translation: X:262.55, Y:10.22, Z:1.87 [[ 9.98976029e-01 -3.83026303e-02 -2.40790578e-02 2.62548610e+02] [ 3.83087972e-02 9.99265928e-01 -2.05295944e-04 1.02239390e+01] [ 2.40692454e-02 -7.17354014e-04 9.99710036e-01 1.87373499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.824391418 meters Centerline goodness [0,1] 0.9993531276279191 Centerline is valid? [True, True] Translation: X:262.58, Y:10.23, Z:1.87 [[ 9.99026119e-01 -3.73954949e-02 -2.34177264e-02 2.62578695e+02] [ 3.74010709e-02 9.99300315e-01 -1.99977783e-04 1.02250977e+01] [ 2.34088196e-02 -6.76065017e-04 9.99725747e-01 1.87491818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.854391418 meters Centerline goodness [0,1] 0.9995035614072955 Centerline is valid? [True, True] Translation: X:262.61, Y:10.23, Z:1.88 [[ 9.99070925e-01 -3.62246357e-02 -2.33465955e-02 2.62607840e+02] [ 3.62298480e-02 9.99343464e-01 -1.99823066e-04 1.02251653e+01] [ 2.33385061e-02 -6.46206190e-04 9.99727411e-01 1.87545126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.884391418 meters Centerline goodness [0,1] 0.9992014158680825 Centerline is valid? [True, True] Translation: X:262.64, Y:10.23, Z:1.88 [[ 9.99113034e-01 -3.53632399e-02 -2.28601613e-02 2.62637287e+02] [ 3.53680020e-02 9.99374337e-01 -1.96091972e-04 1.02256354e+01] [ 2.28527930e-02 -6.12600185e-04 9.99738653e-01 1.87599614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.914391418 meters Centerline goodness [0,1] 0.9992445825779159 Centerline is valid? [True, True] Translation: X:262.67, Y:10.23, Z:1.88 [[ 9.99180894e-01 -3.37637153e-02 -2.23058982e-02 2.62667475e+02] [ 3.37678220e-02 9.99429686e-01 -1.92631353e-04 1.02263808e+01] [ 2.22996807e-02 -5.60748030e-04 9.99751174e-01 1.87694910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.944391418 meters Centerline goodness [0,1] 0.9993519538591148 Centerline is valid? [True, True] Translation: X:262.70, Y:10.23, Z:1.88 [[ 9.99213946e-01 -3.31323691e-02 -2.17654660e-02 2.62696939e+02] [ 3.31361055e-02 9.99450831e-01 -1.89064012e-04 1.02279739e+01] [ 2.17597772e-02 -5.32307381e-04 9.99763086e-01 1.87875173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.974391418 meters Centerline goodness [0,1] 0.9995468277945619 Centerline is valid? [True, True] Translation: X:262.73, Y:10.23, Z:1.88 [[ 9.99208120e-01 -3.33010197e-02 -2.17755677e-02 2.62727256e+02] [ 3.33047936e-02 9.99445224e-01 -1.89426931e-04 1.02285964e+01] [ 2.17697952e-02 -5.35953860e-04 9.99762866e-01 1.87948053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.004391418 meters Centerline goodness [0,1] 0.9993761159993976 Centerline is valid? [True, True] Translation: X:262.76, Y:10.22, Z:1.88 [[ 9.99195340e-01 -3.37472210e-02 -2.16748032e-02 2.62756887e+02] [ 3.37510586e-02 9.99430253e-01 -1.88843174e-04 1.02242126e+01] [ 2.16688270e-02 -5.42856334e-04 9.99765056e-01 1.87740566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.034391418 meters Centerline goodness [0,1] 0.999182127329861 Centerline is valid? [True, True] Translation: X:262.79, Y:10.23, Z:1.88 [[ 9.99178282e-01 -3.42901324e-02 -2.16089834e-02 2.62787163e+02] [ 3.42940706e-02 9.99411768e-01 -1.88409197e-04 1.02267638e+01] [ 2.16027329e-02 -5.52805624e-04 9.99766481e-01 1.87960986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.064391418 meters Centerline goodness [0,1] 0.9996555361794657 Centerline is valid? [True, True] Translation: X:262.82, Y:10.23, Z:1.88 [[ 9.99125019e-01 -3.59651961e-02 -2.13471477e-02 2.62817125e+02] [ 3.59694152e-02 9.99352874e-01 -1.86413650e-04 1.02255226e+01] [ 2.13400378e-02 -5.81593877e-04 9.99772106e-01 1.88005920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.094391418 meters Centerline goodness [0,1] 0.9996555361794657 Centerline is valid? [True, True] Translation: X:262.85, Y:10.23, Z:1.88 [[ 9.99125019e-01 -3.59651971e-02 -2.13471464e-02 2.62847137e+02] [ 3.59694132e-02 9.99352874e-01 -1.86554109e-04 1.02257850e+01] [ 2.13400416e-02 -5.81453454e-04 9.99772106e-01 1.88026962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.124391418 meters Centerline goodness [0,1] 0.9993976940285665 Centerline is valid? [True, True] Translation: X:262.88, Y:10.22, Z:1.88 [[ 9.99085702e-01 -3.69401019e-02 -2.15218247e-02 2.62876214e+02] [ 3.69446071e-02 9.99317297e-01 -1.88368924e-04 1.02245811e+01] [ 2.15140901e-02 -6.06918661e-04 9.99768361e-01 1.88021986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.154391418 meters Centerline goodness [0,1] 0.9993984316253088 Centerline is valid? [True, True] Translation: X:262.91, Y:10.22, Z:1.88 [[ 9.99051844e-01 -3.78808996e-02 -2.14581152e-02 2.62906830e+02] [ 3.78855920e-02 9.99282066e-01 -1.87950102e-04 1.02242643e+01] [ 2.14498294e-02 -6.25181502e-04 9.99769730e-01 1.88055867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.184391418 meters Centerline goodness [0,1] 0.9993357047957828 Centerline is valid? [True, True] Translation: X:262.94, Y:10.22, Z:1.88 [[ 9.98990185e-01 -3.96184880e-02 -2.11892664e-02 2.62936399e+02] [ 3.96234480e-02 9.99214666e-01 -1.85876106e-04 1.02203035e+01] [ 2.11799898e-02 -6.53903388e-04 9.99775465e-01 1.87967291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.214391418 meters Centerline goodness [0,1] 0.9993784559989712 Centerline is valid? [True, True] Translation: X:262.97, Y:10.22, Z:1.88 [[ 9.98949060e-01 -4.05204501e-02 -2.14212301e-02 2.62967302e+02] [ 4.05257235e-02 9.99178478e-01 -1.88051238e-04 1.02213879e+01] [ 2.14112520e-02 -6.80257238e-04 9.99770521e-01 1.88082713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.244391418 meters Centerline goodness [0,1] 0.9994836266620767 Centerline is valid? [True, True] Translation: X:263.00, Y:10.22, Z:1.88 [[ 9.98914910e-01 -4.14657188e-02 -2.12036945e-02 2.62997965e+02] [ 4.14710983e-02 9.99139687e-01 -1.86141551e-04 1.02205833e+01] [ 2.11931711e-02 -6.93400926e-04 9.99775159e-01 1.88095978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.274391418 meters Centerline goodness [0,1] 0.9993543110498903 Centerline is valid? [True, True] Translation: X:263.03, Y:10.22, Z:1.88 [[ 9.98899298e-01 -4.21578668e-02 -2.05646828e-02 2.63029163e+02] [ 4.21630841e-02 9.99110726e-01 -1.80007083e-04 1.02201829e+01] [ 2.05539838e-02 -6.87261500e-04 9.99788508e-01 1.88140442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.304391418 meters Centerline goodness [0,1] 0.9996134518747584 Centerline is valid? [True, True] Translation: X:263.06, Y:10.22, Z:1.88 [[ 9.98887500e-01 -4.31449002e-02 -1.90336389e-02 2.63059529e+02] [ 4.31495673e-02 9.99068610e-01 -1.65602166e-04 1.02189729e+01] [ 1.90230561e-02 -6.55875351e-04 9.99818830e-01 1.88248953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.334391418 meters Centerline goodness [0,1] 0.9995708062404772 Centerline is valid? [True, True] Translation: X:263.09, Y:10.22, Z:1.88 [[ 9.98897050e-01 -4.32575642e-02 -1.82610894e-02 2.63090985e+02] [ 4.32618944e-02 9.99063753e-01 -1.58030539e-04 1.02198359e+01] [ 1.82508286e-02 -6.32153084e-04 9.99833240e-01 1.88353274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.364391418 meters Centerline goodness [0,1] 0.9995067235721792 Centerline is valid? [True, True] Translation: X:263.12, Y:10.23, Z:1.89 [[ 9.98979292e-01 -4.19470987e-02 -1.67575625e-02 2.63122804e+02] [ 4.19505782e-02 9.99119677e-01 -1.43982946e-04 1.02254107e+01] [ 1.67488501e-02 -5.59153453e-04 9.99859572e-01 1.88600884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.394391418 meters Centerline goodness [0,1] 0.9996553506806825 Centerline is valid? [True, True] Translation: X:263.15, Y:10.23, Z:1.89 [[ 9.99054553e-01 -4.03607641e-02 -1.61557915e-02 2.63154094e+02] [ 4.03638087e-02 9.99185040e-01 -1.37711978e-04 1.02261331e+01] [ 1.61481834e-02 -5.14527501e-04 9.99869477e-01 1.88629470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.424391418 meters Centerline goodness [0,1] 0.9995267595938737 Centerline is valid? [True, True] Translation: X:263.19, Y:10.23, Z:1.89 [[ 9.99206604e-01 -3.65531831e-02 -1.58122211e-02 2.63185860e+02] [ 3.65556380e-02 9.99331610e-01 -1.33849856e-04 1.02311198e+01] [ 1.58065450e-02 -4.44282170e-04 9.99874970e-01 1.88693508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.454391418 meters Centerline goodness [0,1] 0.9996336443764412 Centerline is valid? [True, True] Translation: X:263.22, Y:10.23, Z:1.89 [[ 9.99293372e-01 -3.44107814e-02 -1.51213325e-02 2.63216220e+02] [ 3.44127897e-02 9.99407696e-01 -1.27447422e-04 1.02328902e+01] [ 1.51167617e-02 -3.93009872e-04 9.99885658e-01 1.88750187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48439141800003 meters Centerline goodness [0,1] 0.9993957182320442 Centerline is valid? [True, True] Translation: X:263.25, Y:10.24, Z:1.89 [[ 9.99366614e-01 -3.25100206e-02 -1.44730596e-02 2.63247403e+02] [ 3.25116672e-02 9.99471349e-01 -1.21561658e-04 1.02350900e+01] [ 1.44693603e-02 -3.49058633e-04 9.99895252e-01 1.88776257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.514391418 meters Centerline goodness [0,1] 0.9995898277276456 Centerline is valid? [True, True] Translation: X:263.28, Y:10.24, Z:1.89 [[ 9.99434191e-01 -3.06475381e-02 -1.38573465e-02 2.63278549e+02] [ 3.06488759e-02 9.99530206e-01 -1.15863535e-04 1.02368231e+01] [ 1.38543874e-02 -3.08914115e-04 9.99903976e-01 1.88829409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.544391418 meters Centerline goodness [0,1] 0.9995281400137268 Centerline is valid? [True, True] Translation: X:263.31, Y:10.24, Z:1.89 [[ 9.99550089e-01 -2.69096607e-02 -1.32472207e-02 2.63309603e+02] [ 2.69105619e-02 9.99637839e-01 -1.10258181e-04 1.02404607e+01] [ 1.32453901e-02 -2.46281578e-04 9.99912246e-01 1.88903244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.574391418 meters Centerline goodness [0,1] 0.9996975784675869 Centerline is valid? [True, True] Translation: X:263.34, Y:10.24, Z:1.89 [[ 9.99578496e-01 -2.57824932e-02 -1.33451829e-02 2.63341348e+02] [ 2.57833143e-02 9.99667549e-01 -1.10543967e-04 1.02418911e+01] [ 1.33435964e-02 -2.33585673e-04 9.99910943e-01 1.88952108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.604391418 meters Centerline goodness [0,1] 0.9996330671271314 Centerline is valid? [True, True] Translation: X:263.37, Y:10.24, Z:1.89 [[ 9.99615462e-01 -2.45743661e-02 -1.28463595e-02 2.63371728e+02] [ 2.45750360e-02 9.99697983e-01 -1.05732266e-04 1.02417185e+01] [ 1.28450780e-02 -2.10008140e-04 9.99917477e-01 1.88888685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.634391418 meters Centerline goodness [0,1] 0.9997411226647107 Centerline is valid? [True, True] Translation: X:263.40, Y:10.24, Z:1.89 [[ 9.99628567e-01 -2.37462693e-02 -1.33732423e-02 2.63403008e+02] [ 2.37469313e-02 9.99717996e-01 -1.09309553e-04 1.02423997e+01] [ 1.33720667e-02 -2.08304516e-04 9.99910568e-01 1.88865927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.664391418 meters Centerline goodness [0,1] 0.99991334864174 Centerline is valid? [True, True] Translation: X:263.43, Y:10.24, Z:1.89 [[ 9.99650180e-01 -2.24377284e-02 -1.40023909e-02 2.63434061e+02] [ 2.24383338e-02 9.99748222e-01 -1.13889616e-04 1.02440165e+01] [ 1.40014208e-02 -2.00340546e-04 9.99901955e-01 1.88834149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.694391418 meters Centerline goodness [0,1] 0.9995893845089903 Centerline is valid? [True, True] Translation: X:263.47, Y:10.25, Z:1.89 [[ 9.99661311e-01 -2.19488546e-02 -1.39824990e-02 2.63465225e+02] [ 2.19494183e-02 9.99759076e-01 -1.13167474e-04 1.02450723e+01] [ 1.39816142e-02 -1.93778573e-04 9.99902234e-01 1.88846548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.724391418 meters Centerline goodness [0,1] 0.9992425226161105 Centerline is valid? [True, True] Translation: X:263.50, Y:10.25, Z:1.89 [[ 9.99668588e-01 -2.15324943e-02 -1.41090453e-02 2.63495259e+02] [ 2.15330308e-02 9.99768131e-01 -1.13905964e-04 1.02455252e+01] [ 1.41082265e-02 -1.89942292e-04 9.99900456e-01 1.88826772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.754391418 meters Centerline goodness [0,1] 0.9995887000757657 Centerline is valid? [True, True] Translation: X:263.53, Y:10.25, Z:1.89 [[ 9.99677804e-01 -2.07409346e-02 -1.46321990e-02 2.63525928e+02] [ 2.07414290e-02 9.99784866e-01 -1.17977981e-04 1.02454856e+01] [ 1.46314981e-02 -1.85552747e-04 9.99892937e-01 1.88800454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.784391418 meters Centerline goodness [0,1] 0.9993953789678255 Centerline is valid? [True, True] Translation: X:263.56, Y:10.25, Z:1.89 [[ 9.99669997e-01 -2.10135060e-02 -1.47759876e-02 2.63556051e+02] [ 2.10140421e-02 9.99779174e-01 -1.18996647e-04 1.02462372e+01] [ 1.47752252e-02 -1.91545847e-04 9.99890822e-01 1.88812988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.814391418 meters Centerline goodness [0,1] 0.9995030680148648 Centerline is valid? [True, True] Translation: X:263.59, Y:10.25, Z:1.89 [[ 9.99659638e-01 -2.13787167e-02 -1.49518694e-02 2.63585985e+02] [ 2.13793042e-02 9.99771429e-01 -1.20566203e-04 1.02454594e+01] [ 1.49510294e-02 -1.99135398e-04 9.99888207e-01 1.88783654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.844391418 meters Centerline goodness [0,1] 0.9993524853769614 Centerline is valid? [True, True] Translation: X:263.62, Y:10.24, Z:1.89 [[ 9.99622749e-01 -2.30098058e-02 -1.49969513e-02 2.63615831e+02] [ 2.30105760e-02 9.99735214e-01 -1.21214316e-04 1.02444414e+01] [ 1.49957694e-02 -2.23919899e-04 9.99887532e-01 1.88821073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.874391418 meters Centerline goodness [0,1] 0.9992652778978304 Centerline is valid? [True, True] Translation: X:263.65, Y:10.24, Z:1.89 [[ 9.99596988e-01 -2.43040756e-02 -1.46688261e-02 2.63646775e+02] [ 2.43049499e-02 9.99704584e-01 -1.18690153e-04 1.02447402e+01] [ 1.46673773e-02 -2.37882763e-04 9.99892400e-01 1.88924490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.904391418 meters Centerline goodness [0,1] 0.9994390143914385 Centerline is valid? [True, True] Translation: X:263.68, Y:10.24, Z:1.89 [[ 9.99566158e-01 -2.57811625e-02 -1.42417329e-02 2.63678462e+02] [ 2.57821405e-02 9.99667579e-01 -1.14954714e-04 1.02432386e+01] [ 1.42399623e-02 -2.52277516e-04 9.99898575e-01 1.88952591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.934391418 meters Centerline goodness [0,1] 0.9992450713946767 Centerline is valid? [True, True] Translation: X:263.71, Y:10.24, Z:1.89 [[ 9.99480017e-01 -2.89656738e-02 -1.41663630e-02 2.63708397e+02] [ 2.89669650e-02 9.99580363e-01 -1.14076765e-04 1.02398455e+01] [ 1.41637226e-02 -2.96339095e-04 9.99899646e-01 1.88969109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.964391418 meters Centerline goodness [0,1] 0.9993754172858651 Centerline is valid? [True, True] Translation: X:263.74, Y:10.24, Z:1.89 [[ 9.99436724e-01 -3.02536372e-02 -1.45241632e-02 2.63739150e+02] [ 3.02551345e-02 9.99542202e-01 -1.16672029e-04 1.02383084e+01] [ 1.45210438e-02 -3.22824202e-04 9.99894512e-01 1.88992477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.994391418 meters Centerline goodness [0,1] 0.9994824909435915 Centerline is valid? [True, True] Translation: X:263.77, Y:10.24, Z:1.89 [[ 9.99388435e-01 -3.17555377e-02 -1.46404384e-02 2.63770143e+02] [ 3.17572286e-02 9.99495605e-01 -1.17032032e-04 1.02400788e+01] [ 1.46367702e-02 -3.47979289e-04 9.99892816e-01 1.89100927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.024391418 meters Centerline goodness [0,1] 0.9994181661458894 Centerline is valid? [True, True] Translation: X:263.80, Y:10.24, Z:1.89 [[ 9.99313191e-01 -3.39668772e-02 -1.48120876e-02 2.63802411e+02] [ 3.39688642e-02 9.99422885e-01 -1.17493509e-04 1.02388909e+01] [ 1.48075302e-02 -3.85736978e-04 9.99890288e-01 1.89155197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.054391418 meters Centerline goodness [0,1] 0.9994813278008299 Centerline is valid? [True, True] Translation: X:263.83, Y:10.24, Z:1.89 [[ 9.99290078e-01 -3.47291844e-02 -1.46021964e-02 2.63834411e+02] [ 3.47312139e-02 9.99396683e-01 -1.14657779e-04 1.02385559e+01] [ 1.45973686e-02 -3.92575626e-04 9.99893376e-01 1.89184870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.084391418 meters Centerline goodness [0,1] 0.9993105379958201 Centerline is valid? [True, True] Translation: X:263.87, Y:10.23, Z:1.89 [[ 9.99275196e-01 -3.52061577e-02 -1.44778812e-02 2.63865520e+02] [ 3.52082175e-02 9.99379992e-01 -1.12666990e-04 1.02346755e+01] [ 1.44728714e-02 -3.97155062e-04 9.99895184e-01 1.89165137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.114391418 meters Centerline goodness [0,1] 0.999224789508818 Centerline is valid? [True, True] Translation: X:263.90, Y:10.24, Z:1.89 [[ 9.99274966e-01 -3.53458569e-02 -1.41496683e-02 2.63897611e+02] [ 3.53478523e-02 9.99375063e-01 -1.09121218e-04 1.02384928e+01] [ 1.41446827e-02 -3.91118285e-04 9.99899882e-01 1.89288555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.144391418 meters Centerline goodness [0,1] 0.9989849469796773 Centerline is valid? [True, True] Translation: X:263.93, Y:10.24, Z:1.89 [[ 9.99279428e-01 -3.53166685e-02 -1.39053256e-02 2.63930099e+02] [ 3.53186084e-02 9.99376098e-01 -1.06120008e-04 1.02395384e+01] [ 1.39003978e-02 -3.85073207e-04 9.99903311e-01 1.89369883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.174391418 meters Centerline goodness [0,1] 0.9992448596517725 Centerline is valid? [True, True] Translation: X:263.96, Y:10.24, Z:1.89 [[ 9.99315679e-01 -3.44718145e-02 -1.34114911e-02 2.63962791e+02] [ 3.44735591e-02 9.99405605e-01 -1.01150915e-04 1.02405398e+01] [ 1.34070062e-02 -3.61260135e-04 9.99910057e-01 1.89420663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.204391418 meters Centerline goodness [0,1] 0.9992451365224518 Centerline is valid? [True, True] Translation: X:263.99, Y:10.24, Z:1.89 [[ 9.99344305e-01 -3.37645829e-02 -1.30733421e-02 2.63994446e+02] [ 3.37662003e-02 9.99429755e-01 -9.70582560e-05 1.02411368e+01] [ 1.30691643e-02 -3.44442474e-04 9.99914536e-01 1.89437614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23439141800003 meters Centerline goodness [0,1] 0.9992867178212471 Centerline is valid? [True, True] Translation: X:264.03, Y:10.24, Z:1.89 [[ 9.99359047e-01 -3.33402526e-02 -1.30354573e-02 2.64025778e+02] [ 3.33418479e-02 9.99444002e-01 -9.49878264e-05 1.02403934e+01] [ 1.30313766e-02 -3.39699292e-04 9.99915030e-01 1.89435761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.264391418 meters Centerline goodness [0,1] 0.9993311469750582 Centerline is valid? [True, True] Translation: X:264.06, Y:10.24, Z:1.89 [[ 9.99354096e-01 -3.31676703e-02 -1.38309658e-02 2.64057470e+02] [ 3.31694691e-02 9.99449737e-01 -9.93789860e-05 1.02406406e+01] [ 1.38266513e-02 -3.59450997e-04 9.99904343e-01 1.89380438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.294391418 meters Centerline goodness [0,1] 0.9995885308385308 Centerline is valid? [True, True] Translation: X:264.09, Y:10.24, Z:1.89 [[ 9.99325450e-01 -3.33449982e-02 -1.53868614e-02 2.64089772e+02] [ 3.33472629e-02 9.99443819e-01 -1.09435018e-04 1.02416799e+01] [ 1.53819526e-02 -4.03748512e-04 9.99881609e-01 1.89275315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.324391418 meters Centerline goodness [0,1] 0.9993726474278545 Centerline is valid? [True, True] Translation: X:264.12, Y:10.24, Z:1.89 [[ 9.99304408e-01 -3.36784412e-02 -1.60144465e-02 2.64122444e+02] [ 3.36809578e-02 9.99432629e-01 -1.12612222e-04 1.02414755e+01] [ 1.60091530e-02 -4.26848007e-04 9.99871754e-01 1.89218363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.354391418 meters Centerline goodness [0,1] 0.9992640055416053 Centerline is valid? [True, True] Translation: X:264.15, Y:10.24, Z:1.89 [[ 9.99239006e-01 -3.50455331e-02 -1.71236810e-02 2.64153794e+02] [ 3.50486279e-02 9.99385601e-01 -1.19429167e-04 1.02410597e+01] [ 1.71173456e-02 -4.80823240e-04 9.99853372e-01 1.89156165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.384391418 meters Centerline goodness [0,1] 0.9993954050785974 Centerline is valid? [True, True] Translation: X:264.18, Y:10.24, Z:1.89 [[ 9.99210489e-01 -3.56714151e-02 -1.74913708e-02 2.64184917e+02] [ 3.56747556e-02 9.99363446e-01 -1.21104952e-04 1.02405195e+01] [ 1.74845566e-02 -5.02991040e-04 9.99847007e-01 1.89158203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.414391418 meters Centerline goodness [0,1] 0.9990917347865577 Centerline is valid? [True, True] Translation: X:264.22, Y:10.24, Z:1.89 [[ 9.99175460e-01 -3.63390004e-02 -1.81073605e-02 2.64216988e+02] [ 3.63427132e-02 9.99339378e-01 -1.24081513e-04 1.02411660e+01] [ 1.80999074e-02 -5.34091408e-04 9.99836041e-01 1.89190075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.444391418 meters Centerline goodness [0,1] 0.9992208972666479 Centerline is valid? [True, True] Translation: X:264.25, Y:10.24, Z:1.89 [[ 9.99149570e-01 -3.68998206e-02 -1.83994422e-02 2.64249493e+02] [ 3.69037764e-02 9.99318816e-01 -1.24607077e-04 1.02426605e+01] [ 1.83915067e-02 -5.54507791e-04 9.99830708e-01 1.89251374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.474391418 meters Centerline goodness [0,1] 0.9992012779552716 Centerline is valid? [True, True] Translation: X:264.28, Y:10.24, Z:1.89 [[ 9.99126445e-01 -3.76048923e-02 -1.82268577e-02 2.64282098e+02] [ 3.76089183e-02 9.99292527e-01 -1.21961376e-04 1.02435638e+01] [ 1.82185491e-02 -5.63637569e-04 9.99833870e-01 1.89332242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.504391418 meters Centerline goodness [0,1] 0.9993742852827583 Centerline is valid? [True, True] Translation: X:264.31, Y:10.24, Z:1.89 [[ 9.99120032e-01 -3.76004498e-02 -1.85840656e-02 2.64312977e+02] [ 3.76046583e-02 9.99292687e-01 -1.23064187e-04 1.02437125e+01] [ 1.85755481e-02 -5.75891544e-04 9.99827294e-01 1.89355859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.534391418 meters Centerline goodness [0,1] 0.9995673056120462 Centerline is valid? [True, True] Translation: X:264.34, Y:10.24, Z:1.90 [[ 9.99152722e-01 -3.70565814e-02 -1.79066580e-02 2.64344116e+02] [ 3.70604165e-02 9.99313020e-01 -1.17732451e-04 1.02449856e+01] [ 1.78987192e-02 -5.45995504e-04 9.99839656e-01 1.89520591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.564391418 meters Centerline goodness [0,1] 0.9993730136423583 Centerline is valid? [True, True] Translation: X:264.38, Y:10.25, Z:1.90 [[ 9.99169494e-01 -3.68202308e-02 -1.74525691e-02 2.64375955e+02] [ 3.68238535e-02 9.99321765e-01 -1.13849088e-04 1.02458543e+01] [ 1.74449241e-02 -5.28916310e-04 9.99847686e-01 1.89616103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.594391418 meters Centerline goodness [0,1] 0.9993501992722232 Centerline is valid? [True, True] Translation: X:264.41, Y:10.25, Z:1.90 [[ 9.99183360e-01 -3.66193853e-02 -1.70772970e-02 2.64407828e+02] [ 3.66228453e-02 9.99329153e-01 -1.10187272e-04 1.02465514e+01] [ 1.70698757e-02 -5.15321917e-04 9.99854166e-01 1.89705781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.624391418 meters Centerline goodness [0,1] 0.9995039361587404 Centerline is valid? [True, True] Translation: X:264.44, Y:10.25, Z:1.90 [[ 9.99218973e-01 -3.58669666e-02 -1.65832441e-02 2.64438869e+02] [ 3.58701410e-02 9.99356454e-01 -1.06079192e-04 1.02480887e+01] [ 1.65763768e-02 -4.88846964e-04 9.99862483e-01 1.89836187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.654391418 meters Centerline goodness [0,1] 0.9996543455248548 Centerline is valid? [True, True] Translation: X:264.47, Y:10.25, Z:1.90 [[ 9.99212323e-01 -3.58296481e-02 -1.70578361e-02 2.64470763e+02] [ 3.58330196e-02 9.99357785e-01 -1.08042357e-04 1.02486101e+01] [ 1.70507524e-02 -5.03276522e-04 9.99854499e-01 1.89853517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.684391418 meters Centerline goodness [0,1] 0.9995893578854093 Centerline is valid? [True, True] Translation: X:264.50, Y:10.25, Z:1.90 [[ 9.99205959e-01 -3.58436160e-02 -1.73979010e-02 2.64502512e+02] [ 3.58471497e-02 9.99357278e-01 -1.08800948e-04 1.02501901e+01] [ 1.73906188e-02 -5.14950605e-04 9.99848639e-01 1.89912515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.714391418 meters Centerline goodness [0,1] 0.9995668088977452 Centerline is valid? [True, True] Translation: X:264.53, Y:10.25, Z:1.90 [[ 9.99153315e-01 -3.66853347e-02 -1.86235973e-02 2.64534644e+02] [ 3.66895588e-02 9.99326705e-01 -1.14925435e-04 1.02508342e+01] [ 1.86152742e-02 -5.68463438e-04 9.99826559e-01 1.89943767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.744391418 meters Centerline goodness [0,1] 0.999308018337514 Centerline is valid? [True, True] Translation: X:264.57, Y:10.25, Z:1.90 [[ 9.99120733e-01 -3.74481497e-02 -1.88519883e-02 2.64565642e+02] [ 3.74526527e-02 9.99298397e-01 -1.14262830e-04 1.02501077e+01] [ 1.88430406e-02 -5.91894608e-04 9.99822279e-01 1.89937499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.774391418 meters Centerline goodness [0,1] 0.9993503962582825 Centerline is valid? [True, True] Translation: X:264.60, Y:10.25, Z:1.90 [[ 9.99098172e-01 -3.78449662e-02 -1.92510269e-02 2.64597056e+02] [ 3.78497670e-02 9.99283434e-01 -1.15049286e-04 1.02496198e+01] [ 1.92415863e-02 -6.13701350e-04 9.99814675e-01 1.89979545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.804391418 meters Centerline goodness [0,1] 0.9993940049778163 Centerline is valid? [True, True] Translation: X:264.63, Y:10.25, Z:1.90 [[ 9.99061541e-01 -3.81696083e-02 -2.04724014e-02 2.64629035e+02] [ 3.81751369e-02 9.99271056e-01 -1.20832056e-04 1.02513095e+01] [ 2.04620902e-02 -6.60818065e-04 9.99790411e-01 1.90035722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.834391418 meters Centerline goodness [0,1] 0.999221470123916 Centerline is valid? [True, True] Translation: X:264.66, Y:10.25, Z:1.90 [[ 9.99057095e-01 -3.80285577e-02 -2.09463389e-02 2.64659877e+02] [ 3.80343438e-02 9.99276425e-01 -1.22228920e-04 1.02516333e+01] [ 2.09358309e-02 -6.74566585e-04 9.99780594e-01 1.89994708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.864391418 meters Centerline goodness [0,1] 0.9991973621415245 Centerline is valid? [True, True] Translation: X:264.69, Y:10.25, Z:1.90 [[ 9.99082779e-01 -3.68078352e-02 -2.18811293e-02 2.64690090e+02] [ 3.68138898e-02 9.99322131e-01 -1.26178032e-04 1.02531599e+01] [ 2.18709411e-02 -6.79467184e-04 9.99760571e-01 1.89922127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.894391418 meters Centerline goodness [0,1] 0.9990685987826803 Centerline is valid? [True, True] Translation: X:264.72, Y:10.26, Z:1.90 [[ 9.99102313e-01 -3.59068506e-02 -2.24781403e-02 2.64720805e+02] [ 3.59130242e-02 9.99354911e-01 -1.29102438e-04 1.02556416e+01] [ 2.24682755e-02 -6.78271451e-04 9.99747326e-01 1.89955875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.924391418 meters Centerline goodness [0,1] 0.9992200701936825 Centerline is valid? [True, True] Translation: X:264.75, Y:10.26, Z:1.90 [[ 9.99138983e-01 -3.46112135e-02 -2.28769908e-02 2.64751204e+02] [ 3.46172689e-02 9.99400634e-01 -1.31393222e-04 1.02588246e+01] [ 2.28678268e-02 -6.60658852e-04 9.99738279e-01 1.90083403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.954391418 meters Centerline goodness [0,1] 0.999326906374848 Centerline is valid? [True, True] Translation: X:264.78, Y:10.26, Z:1.90 [[ 9.99177049e-01 -3.33859707e-02 -2.30347869e-02 2.64781253e+02] [ 3.33917847e-02 9.99442330e-01 -1.32299518e-04 1.02611338e+01] [ 2.30263580e-02 -6.36982000e-04 9.99734655e-01 1.90157928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98439141800003 meters Centerline goodness [0,1] 0.9987826086956522 Centerline is valid? [True, True] Translation: X:264.81, Y:10.27, Z:1.90 [[ 9.99262393e-01 -3.08399697e-02 -2.28815794e-02 2.64811833e+02] [ 3.08450396e-02 9.99524170e-01 -1.31419577e-04 1.02658235e+01] [ 2.28747446e-02 -5.74460582e-04 9.99738174e-01 1.90312029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.014391418 meters Centerline goodness [0,1] 0.9987826086956522 Centerline is valid? [True, True] Translation: X:264.84, Y:10.27, Z:1.90 [[ 9.99261151e-01 -3.08801945e-02 -2.28815757e-02 2.64840995e+02] [ 3.08852603e-02 9.99522928e-01 -1.32058417e-04 1.02660294e+01] [ 2.28747375e-02 -5.74742577e-04 9.99738174e-01 1.90332470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.044391418 meters Centerline goodness [0,1] 0.9989350372736954 Centerline is valid? [True, True] Translation: X:264.87, Y:10.27, Z:1.90 [[ 9.99308290e-01 -2.96120741e-02 -2.24959270e-02 2.64870308e+02] [ 2.96166362e-02 9.99561323e-01 -1.30418992e-04 1.02660195e+01] [ 2.24899205e-02 -5.35924906e-04 9.99746926e-01 1.90275231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.074391418 meters Centerline goodness [0,1] 0.9989999347783551 Centerline is valid? [True, True] Translation: X:264.90, Y:10.27, Z:1.90 [[ 9.99330330e-01 -2.89686716e-02 -2.23541363e-02 2.64899601e+02] [ 2.89730058e-02 9.99580186e-01 -1.30027837e-04 1.02663764e+01] [ 2.23485185e-02 -5.17725760e-04 9.99750107e-01 1.90289832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.104391418 meters Centerline goodness [0,1] 0.9988245793517773 Centerline is valid? [True, True] Translation: X:264.93, Y:10.27, Z:1.91 [[ 9.99373404e-01 -2.81131419e-02 -2.15046538e-02 2.64928747e+02] [ 2.81169397e-02 9.99604633e-01 -1.25792112e-04 1.02715244e+01] [ 2.14996880e-02 -4.78931763e-04 9.99768740e-01 1.90643590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.134391418 meters Centerline goodness [0,1] 0.9990640780080098 Centerline is valid? [True, True] Translation: X:264.96, Y:10.27, Z:1.91 [[ 9.99375503e-01 -2.83968947e-02 -2.10290313e-02 2.64958466e+02] [ 2.84005716e-02 9.99596615e-01 -1.23841972e-04 1.02722002e+01] [ 2.10240652e-02 -4.73471877e-04 9.99778858e-01 1.90703751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.164391418 meters Centerline goodness [0,1] 0.9991731041235992 Centerline is valid? [True, True] Translation: X:264.99, Y:10.27, Z:1.91 [[ 9.99359720e-01 -2.89063725e-02 -2.10848696e-02 2.64989053e+02] [ 2.89101764e-02 9.99582006e-01 -1.24451041e-04 1.02717849e+01] [ 2.10796536e-02 -4.85195942e-04 9.99777682e-01 1.90689202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.194391418 meters Centerline goodness [0,1] 0.9990849075102948 Centerline is valid? [True, True] Translation: X:265.02, Y:10.27, Z:1.91 [[ 9.99272339e-01 -3.12746939e-02 -2.18331608e-02 2.65019407e+02] [ 3.12793375e-02 9.99510674e-01 -1.28867744e-04 1.02700536e+01] [ 2.18265075e-02 -5.54152832e-04 9.99761620e-01 1.90543286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.224391418 meters Centerline goodness [0,1] 0.9991272663801192 Centerline is valid? [True, True] Translation: X:265.05, Y:10.27, Z:1.90 [[ 9.99207536e-01 -3.28088605e-02 -2.25361774e-02 2.65049967e+02] [ 3.28141980e-02 9.99461460e-01 -1.33017220e-04 1.02694274e+01] [ 2.25284050e-02 -6.06594781e-04 9.99746019e-01 1.90496080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.254391418 meters Centerline goodness [0,1] 0.9994118287768217 Centerline is valid? [True, True] Translation: X:265.08, Y:10.27, Z:1.90 [[ 9.99030735e-01 -3.74972290e-02 -2.30553468e-02 2.65080352e+02] [ 3.75040624e-02 9.99296466e-01 -1.36081558e-04 1.02662753e+01] [ 2.30442292e-02 -7.28719504e-04 9.99734181e-01 1.90473551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.284391418 meters Centerline goodness [0,1] 0.9997388579387186 Centerline is valid? [True, True] Translation: X:265.11, Y:10.26, Z:1.90 [[ 9.98924014e-01 -4.01207934e-02 -2.32623316e-02 2.65111040e+02] [ 4.01284783e-02 9.99194519e-01 -1.36538571e-04 1.02626337e+01] [ 2.32490722e-02 -7.97090311e-04 9.99729386e-01 1.90397711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.314391418 meters Centerline goodness [0,1] 0.999608133408804 Centerline is valid? [True, True] Translation: X:265.14, Y:10.26, Z:1.91 [[ 9.98816785e-01 -4.27105022e-02 -2.32560164e-02 2.65142177e+02] [ 4.27189065e-02 9.99087122e-01 -1.35529085e-04 1.02626900e+01] [ 2.32405750e-02 -8.58102865e-04 9.99729533e-01 1.90511198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.344391418 meters Centerline goodness [0,1] 0.999499858655707 Centerline is valid? [True, True] Translation: X:265.17, Y:10.26, Z:1.91 [[ 9.98605073e-01 -4.76370684e-02 -2.27731739e-02 2.65173773e+02] [ 4.76464260e-02 9.98864255e-01 -1.31824986e-04 1.02583321e+01] [ 2.27535892e-02 -9.53419247e-04 9.99740649e-01 1.90547123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.374391418 meters Centerline goodness [0,1] 0.9996732880292734 Centerline is valid? [True, True] Translation: X:265.21, Y:10.26, Z:1.91 [[ 9.98525785e-01 -4.95761001e-02 -2.21012864e-02 2.65206100e+02] [ 4.95854196e-02 9.98769878e-01 -1.26480341e-04 1.02567329e+01] [ 2.20803695e-02 -9.69607677e-04 9.99755729e-01 1.90628926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.404391418 meters Centerline goodness [0,1] 0.9994776476733557 Centerline is valid? [True, True] Translation: X:265.24, Y:10.25, Z:1.91 [[ 9.98370821e-01 -5.28874369e-02 -2.14154648e-02 2.65235885e+02] [ 5.28969583e-02 9.98599968e-01 -1.22020849e-04 1.02537057e+01] [ 2.13919359e-02 -1.01099089e-03 9.99770655e-01 1.90759475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.434391418 meters Centerline goodness [0,1] 0.9994782608695653 Centerline is valid? [True, True] Translation: X:265.27, Y:10.26, Z:1.91 [[ 9.98330039e-01 -5.38629557e-02 -2.08785902e-02 2.65267816e+02] [ 5.38722418e-02 9.98547829e-01 -1.17836393e-04 1.02560608e+01] [ 2.08546179e-02 -1.00713685e-03 9.99782012e-01 1.90913860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.464391418 meters Centerline goodness [0,1] 0.9994791440600721 Centerline is valid? [True, True] Translation: X:265.30, Y:10.25, Z:1.91 [[ 9.98287209e-01 -5.47519166e-02 -2.06125296e-02 2.65298641e+02] [ 5.47611849e-02 9.98499474e-01 -1.14951752e-04 1.02509773e+01] [ 2.05878938e-02 -1.01401168e-03 9.99787533e-01 1.90843122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.494391418 meters Centerline goodness [0,1] 0.9993912249423837 Centerline is valid? [True, True] Translation: X:265.33, Y:10.25, Z:1.91 [[ 9.98252132e-01 -5.52758472e-02 -2.09108260e-02 2.65330953e+02] [ 5.52855325e-02 9.98470579e-01 -1.15081785e-04 1.02536808e+01] [ 2.08852058e-02 -1.04118551e-03 9.99781338e-01 1.90964644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.524391418 meters Centerline goodness [0,1] 0.9993479394887845 Centerline is valid? [True, True] Translation: X:265.36, Y:10.25, Z:1.91 [[ 9.98257196e-01 -5.52073738e-02 -2.08498476e-02 2.65363282e+02] [ 5.52170225e-02 9.98474370e-01 -1.13080014e-04 1.02545361e+01] [ 2.08242813e-02 -1.03838357e-03 9.99782612e-01 1.91014766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.554391418 meters Centerline goodness [0,1] 0.9993470595916946 Centerline is valid? [True, True] Translation: X:265.40, Y:10.25, Z:1.91 [[ 9.98273542e-01 -5.50461387e-02 -2.04904460e-02 2.65395123e+02] [ 5.50554571e-02 9.98483292e-01 -1.09497791e-04 1.02543683e+01] [ 2.04653954e-02 -1.01880212e-03 9.99790043e-01 1.91108348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.584391418 meters Centerline goodness [0,1] 0.9993468463564913 Centerline is valid? [True, True] Translation: X:265.43, Y:10.25, Z:1.91 [[ 9.98301484e-01 -5.45603349e-02 -2.04283240e-02 2.65426968e+02] [ 5.45695287e-02 9.98509967e-01 -1.07531505e-04 1.02546318e+01] [ 2.04037520e-02 -1.00741515e-03 9.99791314e-01 1.91163427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.614391418 meters Centerline goodness [0,1] 0.9992392131290078 Centerline is valid? [True, True] Translation: X:265.46, Y:10.26, Z:1.91 [[ 9.98362300e-01 -5.34639803e-02 -2.03548631e-02 2.65458998e+02] [ 5.34729141e-02 9.98569295e-01 -1.05510520e-04 1.02556426e+01] [ 2.03313823e-02 -9.83096121e-04 9.99792813e-01 1.91206935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.644391418 meters Centerline goodness [0,1] 0.9993460205349552 Centerline is valid? [True, True] Translation: X:265.49, Y:10.26, Z:1.91 [[ 9.98405821e-01 -5.24454497e-02 -2.08636325e-02 2.65491501e+02] [ 5.24546491e-02 9.98623302e-01 -1.06460820e-04 1.02554611e+01] [ 2.08404929e-02 -9.88103417e-04 9.99782325e-01 1.91170257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.674391418 meters Centerline goodness [0,1] 0.9995211457675816 Centerline is valid? [True, True] Translation: X:265.52, Y:10.25, Z:1.91 [[ 9.98521876e-01 -4.97982044e-02 -2.17761809e-02 2.65522128e+02] [ 4.98076173e-02 9.98758824e-01 -1.10240538e-04 1.02548441e+01] [ 2.17546426e-02 -9.74542094e-04 9.99762865e-01 1.91015020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.704391418 meters Centerline goodness [0,1] 0.9997605363984674 Centerline is valid? [True, True] Translation: X:265.55, Y:10.26, Z:1.91 [[ 9.98615494e-01 -4.77255080e-02 -2.21217163e-02 2.65553379e+02] [ 4.77347307e-02 9.98860042e-01 -1.11257403e-04 1.02561927e+01] [ 2.21018083e-02 -9.44870805e-04 9.99755279e-01 1.90999136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73439141800003 meters Centerline goodness [0,1] 0.9996951684194483 Centerline is valid? [True, True] Translation: X:265.59, Y:10.26, Z:1.91 [[ 9.98712833e-01 -4.54652328e-02 -2.24853204e-02 2.65585618e+02] [ 4.54742245e-02 9.98965506e-01 -1.11527366e-04 1.02622767e+01] [ 2.24671301e-02 -9.11118695e-04 9.99747167e-01 1.91143541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.764391418 meters Centerline goodness [0,1] 0.9995216871399065 Centerline is valid? [True, True] Translation: X:265.62, Y:10.26, Z:1.91 [[ 9.98842482e-01 -4.23415448e-02 -2.28230161e-02 2.65615746e+02] [ 4.23500153e-02 9.99102829e-01 -1.12291292e-04 1.02626398e+01] [ 2.28072945e-02 -8.54393767e-04 9.99739515e-01 1.91059451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.794391418 meters Centerline goodness [0,1] 0.9994534921849383 Centerline is valid? [True, True] Translation: X:265.65, Y:10.27, Z:1.91 [[ 9.99111931e-01 -3.52166165e-02 -2.31330786e-02 2.65646660e+02] [ 3.52234219e-02 9.99379456e-01 -1.13344791e-04 1.02703812e+01] [ 2.31227151e-02 -7.01582053e-04 9.99732388e-01 1.91140374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.824391418 meters Centerline goodness [0,1] 0.9993006993006993 Centerline is valid? [True, True] Translation: X:265.68, Y:10.27, Z:1.91 [[ 9.99249911e-01 -3.09264043e-02 -2.33060870e-02 2.65677000e+02] [ 3.09321492e-02 9.99521480e-01 -1.14049281e-04 1.02743199e+01] [ 2.32984617e-02 -6.06943626e-04 9.99728370e-01 1.91170860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.854391418 meters Centerline goodness [0,1] 0.9991678163940171 Centerline is valid? [True, True] Translation: X:265.71, Y:10.28, Z:1.91 [[ 9.99389565e-01 -2.63083337e-02 -2.29862669e-02 2.65706009e+02] [ 2.63126864e-02 9.99653755e-01 -1.13123367e-04 1.02781599e+01] [ 2.29812841e-02 -4.91776122e-04 9.99735774e-01 1.91186835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.884391418 meters Centerline goodness [0,1] 0.9994499207885935 Centerline is valid? [True, True] Translation: X:265.74, Y:10.29, Z:1.91 [[ 9.99617151e-01 -1.57953120e-02 -2.27169491e-02 2.65735366e+02] [ 1.57968286e-02 9.99875216e-01 -1.12699265e-04 1.02872838e+01] [ 2.27158945e-02 -2.46199633e-04 9.99741930e-01 1.91248609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.914391418 meters Centerline goodness [0,1] 0.9992084258668836 Centerline is valid? [True, True] Translation: X:265.76, Y:10.29, Z:1.91 [[ 9.99688247e-01 -1.03762346e-02 -2.27099688e-02 2.65764597e+02] [ 1.03762543e-02 9.99946158e-01 -1.16973377e-04 1.02925254e+01] [ 2.27099598e-02 -1.18707499e-04 9.99742089e-01 1.91293184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.944391418 meters Centerline goodness [0,1] 0.9993193544845757 Centerline is valid? [True, True] Translation: X:265.79, Y:10.30, Z:1.91 [[ 9.99733750e-01 -5.05734408e-03 -2.25133630e-02 2.65792957e+02] [ 5.05587877e-03 9.99987212e-01 -1.22005884e-04 1.02976872e+01] [ 2.25136921e-02 8.14856648e-06 9.99746535e-01 1.91344823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.974391418 meters Centerline goodness [0,1] 0.9991846269117194 Centerline is valid? [True, True] Translation: X:265.82, Y:10.31, Z:1.91 [[ 9.99752074e-01 4.22696200e-03 -2.18614509e-02 2.65822030e+02] [-4.23069242e-03 9.99991043e-01 -1.24391826e-04 1.03063039e+01] [ 2.18607292e-02 2.16850060e-04 9.99761002e-01 1.91461287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.004391418 meters Centerline goodness [0,1] 0.9992952318026649 Centerline is valid? [True, True] Translation: X:265.85, Y:10.31, Z:1.92 [[ 9.99749583e-01 7.60069222e-03 -2.10475844e-02 2.65851066e+02] [-7.60501587e-03 9.99971074e-01 -1.25386942e-04 1.03095134e+01] [ 2.10460226e-02 2.85422756e-04 9.99778467e-01 1.91513611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.034391418 meters Centerline goodness [0,1] 0.9991627005111934 Centerline is valid? [True, True] Translation: X:265.88, Y:10.31, Z:1.92 [[ 9.99727958e-01 1.02144498e-02 -2.09684293e-02 2.65878616e+02] [-1.02193831e-02 9.99947773e-01 -1.28129900e-04 1.03118649e+01] [ 2.09660254e-02 3.42379456e-04 9.99780130e-01 1.91563247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.064391418 meters Centerline goodness [0,1] 0.9991868131868132 Centerline is valid? [True, True] Translation: X:265.91, Y:10.31, Z:1.92 [[ 9.99725527e-01 1.25792197e-02 -1.97644427e-02 2.65906152e+02] [-1.25841008e-02 9.99920810e-01 -1.22605033e-04 1.03127779e+01] [ 1.97613353e-02 3.71289121e-04 9.99804657e-01 1.91564686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.094391418 meters Centerline goodness [0,1] 0.9993831512160734 Centerline is valid? [True, True] Translation: X:265.94, Y:10.31, Z:1.92 [[ 9.99734988e-01 1.20891844e-02 -1.95909762e-02 2.65935188e+02] [-1.20939174e-02 9.99926858e-01 -1.23124330e-04 1.03116640e+01] [ 1.95880549e-02 3.60023349e-04 9.99808071e-01 1.91561035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.124391418 meters Centerline goodness [0,1] 0.9992966414629858 Centerline is valid? [True, True] Translation: X:265.96, Y:10.31, Z:1.92 [[ 9.99757628e-01 1.04808991e-02 -1.93607061e-02 2.65964389e+02] [-1.04852478e-02 9.99945021e-01 -1.23117335e-04 1.03095036e+01] [ 1.93583513e-02 3.26089296e-04 9.99812556e-01 1.91551433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.154391418 meters Centerline goodness [0,1] 0.9993182767796275 Centerline is valid? [True, True] Translation: X:265.99, Y:10.30, Z:1.91 [[ 9.99796343e-01 4.26661863e-03 -1.97248210e-02 2.65993368e+02] [-4.26995252e-03 9.99990876e-01 -1.26906787e-04 1.03022185e+01] [ 1.97240995e-02 2.11104990e-04 9.99805439e-01 1.91446714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.184391418 meters Centerline goodness [0,1] 0.9991664838780434 Centerline is valid? [True, True] Translation: X:266.02, Y:10.30, Z:1.91 [[ 9.99799921e-01 -2.34202489e-04 -2.00015897e-02 2.66021996e+02] [ 2.31645175e-04 9.99999965e-01 -1.30172299e-04 1.02972174e+01] [ 2.00016195e-02 1.25512982e-04 9.99799940e-01 1.91388406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.214391418 meters Centerline goodness [0,1] 0.9993417588204319 Centerline is valid? [True, True] Translation: X:266.05, Y:10.29, Z:1.91 [[ 9.99770535e-01 -5.47417987e-03 -2.07101440e-02 2.66050466e+02] [ 5.47253025e-03 9.99985016e-01 -1.36326809e-04 1.02910635e+01] [ 2.07105799e-02 2.29586373e-05 9.99785513e-01 1.91318383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.244391418 meters Centerline goodness [0,1] 0.9994312837675263 Centerline is valid? [True, True] Translation: X:266.08, Y:10.28, Z:1.91 [[ 9.99721785e-01 -1.10120121e-02 -2.08587649e-02 2.66079329e+02] [ 1.10115109e-02 9.99939362e-01 -1.38888396e-04 1.02845299e+01] [ 2.08590295e-02 -9.08367606e-05 9.99782423e-01 1.91360125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.274391418 meters Centerline goodness [0,1] 0.9995427526291724 Centerline is valid? [True, True] Translation: X:266.11, Y:10.27, Z:1.91 [[ 9.99526219e-01 -2.26011462e-02 -2.08931783e-02 2.66107802e+02] [ 2.26031407e-02 9.99744506e-01 -1.40716127e-04 1.02700385e+01] [ 2.08910206e-02 -3.31601991e-04 9.99781704e-01 1.91255688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.304391418 meters Centerline goodness [0,1] 0.9993937556835405 Centerline is valid? [True, True] Translation: X:266.14, Y:10.26, Z:1.91 [[ 9.99260872e-01 -3.27147911e-02 -2.01854194e-02 2.66138471e+02] [ 3.27187039e-02 9.99464591e-01 -1.36465868e-04 1.02586163e+01] [ 2.01790764e-02 -5.24075760e-04 9.99796244e-01 1.91391051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.334391418 meters Centerline goodness [0,1] 0.9991345550531167 Centerline is valid? [True, True] Translation: X:266.17, Y:10.25, Z:1.91 [[ 9.99133831e-01 -3.69956583e-02 -1.90501692e-02 2.66169246e+02] [ 3.69999250e-02 9.99315260e-01 -1.28556019e-04 1.02529136e+01] [ 1.90418808e-02 -5.76410164e-04 9.99818521e-01 1.91456456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.364391418 meters Centerline goodness [0,1] 0.9992889003814079 Centerline is valid? [True, True] Translation: X:266.20, Y:10.25, Z:1.92 [[ 9.99017608e-01 -4.04453554e-02 -1.81105294e-02 2.66200414e+02] [ 4.04497878e-02 9.99181565e-01 -1.21654985e-04 1.02476993e+01] [ 1.81006275e-02 -6.11031598e-04 9.99835984e-01 1.91523128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.394391418 meters Centerline goodness [0,1] 0.9991169122081502 Centerline is valid? [True, True] Translation: X:266.23, Y:10.25, Z:1.92 [[ 9.98933441e-01 -4.30672398e-02 -1.66490941e-02 2.66232540e+02] [ 4.30713663e-02 9.99071992e-01 -1.10808441e-04 1.02460616e+01] [ 1.66384159e-02 -6.06408975e-04 9.99861388e-01 1.91685077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.424391418 meters Centerline goodness [0,1] 0.9991412623443539 Centerline is valid? [True, True] Translation: X:266.26, Y:10.24, Z:1.92 [[ 9.98845635e-01 -4.57326014e-02 -1.46944134e-02 2.66263790e+02] [ 4.57361178e-02 9.98953552e-01 -9.68355522e-05 1.02391943e+01] [ 1.46834650e-02 -5.75341654e-04 9.99892027e-01 1.91782666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.454391418 meters Centerline goodness [0,1] 0.9989713036583013 Centerline is valid? [True, True] Translation: X:266.30, Y:10.24, Z:1.92 [[ 9.98840657e-01 -4.59976745e-02 -1.41970652e-02 2.66295576e+02] [ 4.60009975e-02 9.98941390e-01 -9.25783418e-05 1.02378781e+01] [ 1.41862944e-02 -5.60608150e-04 9.99899212e-01 1.91831041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48439141800003 meters Centerline goodness [0,1] 0.9990998521185623 Centerline is valid? [True, True] Translation: X:266.33, Y:10.24, Z:1.92 [[ 9.98915330e-01 -4.44434186e-02 -1.38905122e-02 2.66326538e+02] [ 4.44464628e-02 9.99011764e-01 -8.96266003e-05 1.02357406e+01] [ 1.38807684e-02 -5.27854750e-04 9.99903518e-01 1.91838027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.514391418 meters Centerline goodness [0,1] 0.9991220368744512 Centerline is valid? [True, True] Translation: X:266.36, Y:10.23, Z:1.92 [[ 9.98976871e-01 -4.30066414e-02 -1.39871022e-02 2.66357636e+02] [ 4.30096066e-02 9.99074655e-01 -8.88761116e-05 1.02349530e+01] [ 1.39779815e-02 -5.12794582e-04 9.99902172e-01 1.91828190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.544391418 meters Centerline goodness [0,1] 0.9991865393672132 Centerline is valid? [True, True] Translation: X:266.39, Y:10.24, Z:1.92 [[ 9.99039065e-01 -4.16464370e-02 -1.36572507e-02 2.66389430e+02] [ 4.16491571e-02 9.99132294e-01 -8.53140384e-05 1.02359455e+01] [ 1.36489533e-02 -4.83580924e-04 9.99906732e-01 1.91870627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.574391418 meters Centerline goodness [0,1] 0.9989960482751254 Centerline is valid? [True, True] Translation: X:266.42, Y:10.24, Z:1.92 [[ 9.99148998e-01 -3.87860738e-02 -1.40328005e-02 2.66421360e+02] [ 3.87886788e-02 9.99247432e-01 -8.65879116e-05 1.02360599e+01] [ 1.40255983e-02 -4.57799565e-04 9.99901532e-01 1.91855472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.604391418 meters Centerline goodness [0,1] 0.999229056021929 Centerline is valid? [True, True] Translation: X:266.45, Y:10.24, Z:1.92 [[ 9.99210535e-01 -3.71951198e-02 -1.39581281e-02 2.66453434e+02] [ 3.71975570e-02 9.99307928e-01 -8.50576614e-05 1.02380956e+01] [ 1.39516318e-02 -4.34217756e-04 9.99902577e-01 1.91893175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.634391418 meters Centerline goodness [0,1] 0.9992300288739172 Centerline is valid? [True, True] Translation: X:266.48, Y:10.24, Z:1.92 [[ 9.99301800e-01 -3.41688349e-02 -1.51130015e-02 2.66484776e+02] [ 3.41713633e-02 9.99415984e-01 -9.09713596e-05 1.02378496e+01] [ 1.51072836e-02 -4.25524021e-04 9.99885788e-01 1.91786056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.664391418 meters Centerline goodness [0,1] 0.9992088269255442 Centerline is valid? [True, True] Translation: X:266.52, Y:10.24, Z:1.92 [[ 9.99349360e-01 -3.25035172e-02 -1.56326232e-02 2.66515961e+02] [ 3.25060314e-02 9.99471535e-01 -9.33060439e-05 1.02378254e+01] [ 1.56273947e-02 -4.14909205e-04 9.99877799e-01 1.91706353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.694391418 meters Centerline goodness [0,1] 0.9992503587568806 Centerline is valid? [True, True] Translation: X:266.55, Y:10.24, Z:1.92 [[ 9.99384915e-01 -3.12669517e-02 -1.58798643e-02 2.66546253e+02] [ 3.12694046e-02 9.99510988e-01 -9.38632626e-05 1.02375396e+01] [ 1.58750337e-02 -4.02748373e-04 9.99873903e-01 1.91643601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.724391418 meters Centerline goodness [0,1] 0.999165436220068 Centerline is valid? [True, True] Translation: X:266.58, Y:10.24, Z:1.92 [[ 9.99423260e-01 -2.98199264e-02 -1.62456258e-02 2.66577145e+02] [ 2.98223169e-02 9.99555211e-01 -9.51452721e-05 1.02379262e+01] [ 1.62412371e-02 -3.89391803e-04 9.99868027e-01 1.91626425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.754391418 meters Centerline goodness [0,1] 0.9990393031745692 Centerline is valid? [True, True] Translation: X:266.61, Y:10.24, Z:1.92 [[ 9.99497502e-01 -2.71847941e-02 -1.63012440e-02 2.66607168e+02] [ 2.71868552e-02 9.99630365e-01 -9.51893726e-05 1.02382274e+01] [ 1.62978062e-02 -3.48038021e-04 9.99867121e-01 1.91582447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.784391418 meters Centerline goodness [0,1] 0.9993161516433731 Centerline is valid? [True, True] Translation: X:266.64, Y:10.24, Z:1.92 [[ 9.99532581e-01 -2.56956679e-02 -1.65636041e-02 2.66636701e+02] [ 2.56975885e-02 9.99669758e-01 -9.69073176e-05 1.02390870e+01] [ 1.65606242e-02 -3.28782661e-04 9.99862809e-01 1.91596138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.814391418 meters Centerline goodness [0,1] 0.998975803354244 Centerline is valid? [True, True] Translation: X:266.67, Y:10.24, Z:1.92 [[ 9.99609828e-01 -2.18764419e-02 -1.73669856e-02 2.66666782e+02] [ 2.18779747e-02 9.99760643e-01 -1.01750589e-04 1.02428404e+01] [ 1.73650547e-02 -2.78243585e-04 9.99849177e-01 1.91652249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.844391418 meters Centerline goodness [0,1] 0.9989962841156622 Centerline is valid? [True, True] Translation: X:266.70, Y:10.24, Z:1.92 [[ 9.99646933e-01 -1.99762851e-02 -1.75202153e-02 2.66695803e+02] [ 1.99775396e-02 9.99800424e-01 -1.03432476e-04 1.02434526e+01] [ 1.75187849e-02 -2.46614836e-04 9.99846504e-01 1.91594187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.874391418 meters Centerline goodness [0,1] 0.9990179333902647 Centerline is valid? [True, True] Translation: X:266.72, Y:10.24, Z:1.92 [[ 9.99676005e-01 -1.82535861e-02 -1.77395431e-02 2.66724659e+02] [ 1.82545410e-02 9.99833366e-01 -1.08109298e-04 1.02449319e+01] [ 1.77385605e-02 -2.15752944e-04 9.99842636e-01 1.91613087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.904391418 meters Centerline goodness [0,1] 0.9990179333902647 Centerline is valid? [True, True] Translation: X:266.75, Y:10.25, Z:1.92 [[ 9.99670408e-01 -1.85576019e-02 -1.77395108e-02 2.66752050e+02] [ 1.85585137e-02 9.99827770e-01 -1.13235285e-04 1.02452578e+01] [ 1.77385569e-02 -2.16020991e-04 9.99842636e-01 1.91632345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.934391418 meters Centerline goodness [0,1] 0.9989303897659693 Centerline is valid? [True, True] Translation: X:266.78, Y:10.25, Z:1.92 [[ 9.99716782e-01 -1.61648952e-02 -1.74657161e-02 2.66780991e+02] [ 1.61653266e-02 9.99869326e-01 -1.16487093e-04 1.02476780e+01] [ 1.74653168e-02 -1.65884904e-04 9.99847456e-01 1.91772477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.964391418 meters Centerline goodness [0,1] 0.9991666488600184 Centerline is valid? [True, True] Translation: X:266.81, Y:10.25, Z:1.92 [[ 9.99734322e-01 -1.55459269e-02 -1.70179464e-02 2.66809183e+02] [ 1.55461887e-02 9.99879144e-01 -1.16912003e-04 1.02474722e+01] [ 1.70177072e-02 -1.47683265e-04 9.99855177e-01 1.91810693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.994391418 meters Centerline goodness [0,1] 0.9989537515480207 Centerline is valid? [True, True] Translation: X:266.84, Y:10.25, Z:1.92 [[ 9.99747565e-01 -1.56312750e-02 -1.61390863e-02 2.66837093e+02] [ 1.56314591e-02 9.99877815e-01 -1.14747898e-04 1.02471314e+01] [ 1.61389080e-02 -1.37558536e-04 9.99869750e-01 1.91886382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.024391418 meters Centerline goodness [0,1] 0.9990627329854085 Centerline is valid? [True, True] Translation: X:266.86, Y:10.25, Z:1.92 [[ 9.99771459e-01 -1.54250020e-02 -1.48020179e-02 2.66864971e+02] [ 1.54250932e-02 9.99881020e-01 -1.08015837e-04 1.02459261e+01] [ 1.48019229e-02 -1.20331354e-04 9.99890438e-01 1.92040111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.054391418 meters Centerline goodness [0,1] 0.9989549787796711 Centerline is valid? [True, True] Translation: X:266.89, Y:10.25, Z:1.92 [[ 9.99784738e-01 -1.52535963e-02 -1.40643510e-02 2.66892812e+02] [ 1.52536430e-02 9.99883651e-01 -1.03957157e-04 1.02457454e+01] [ 1.40643003e-02 -1.10597810e-04 9.99901087e-01 1.92129305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.084391418 meters Centerline goodness [0,1] 0.9988681260010678 Centerline is valid? [True, True] Translation: X:266.92, Y:10.25, Z:1.92 [[ 9.99818146e-01 -1.39481180e-02 -1.30047979e-02 2.66921611e+02] [ 1.39480350e-02 9.99902717e-01 -9.70906141e-05 1.02453721e+01] [ 1.30048870e-02 -8.43184187e-05 9.99915429e-01 1.92225797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.114391418 meters Centerline goodness [0,1] 0.9990615335395115 Centerline is valid? [True, True] Translation: X:266.95, Y:10.25, Z:1.92 [[ 9.99832056e-01 -1.35298638e-02 -1.23613687e-02 2.66949906e+02] [ 1.35297337e-02 9.99908465e-01 -9.41534952e-05 1.02458951e+01] [ 1.23615110e-02 -7.31083440e-05 9.99923591e-01 1.92324900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.144391418 meters Centerline goodness [0,1] 0.999018896898861 Centerline is valid? [True, True] Translation: X:266.98, Y:10.25, Z:1.92 [[ 9.99844051e-01 -1.28983353e-02 -1.20626439e-02 2.66978228e+02] [ 1.28981390e-02 9.99916811e-01 -9.40750095e-05 1.02452625e+01] [ 1.20628538e-02 -6.15253184e-05 9.99927239e-01 1.92323831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.174391418 meters Centerline goodness [0,1] 0.9991059835245535 Centerline is valid? [True, True] Translation: X:267.01, Y:10.25, Z:1.92 [[ 9.99843063e-01 -1.28054710e-02 -1.22421321e-02 2.67007417e+02] [ 1.28052388e-02 9.99918005e-01 -9.73507020e-05 1.02453193e+01] [ 1.22423749e-02 -5.94280008e-05 9.99925058e-01 1.92374699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.204391418 meters Centerline goodness [0,1] 0.999128160418483 Centerline is valid? [True, True] Translation: X:267.04, Y:10.24, Z:1.92 [[ 9.99835613e-01 -1.32489279e-02 -1.23779333e-02 2.67035996e+02] [ 1.32486962e-02 9.99912227e-01 -1.00720231e-04 1.02420550e+01] [ 1.23781813e-02 -6.32878038e-05 9.99923385e-01 1.92292418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23439141800003 meters Centerline goodness [0,1] 0.9989581783003423 Centerline is valid? [True, True] Translation: X:267.06, Y:10.24, Z:1.92 [[ 9.99821275e-01 -1.42888201e-02 -1.23793341e-02 2.67064918e+02] [ 1.42886448e-02 9.99897907e-01 -1.02612951e-04 1.02409186e+01] [ 1.23795364e-02 -7.42892955e-05 9.99923368e-01 1.92333648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.264391418 meters Centerline goodness [0,1] 0.998915839374163 Centerline is valid? [True, True] Translation: X:267.09, Y:10.24, Z:1.92 [[ 9.99793258e-01 -1.57936240e-02 -1.28063362e-02 2.67094076e+02] [ 1.57935301e-02 9.99875269e-01 -1.08469801e-04 1.02388216e+01] [ 1.28064520e-02 -9.38098818e-05 9.99917990e-01 1.92314907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.294391418 meters Centerline goodness [0,1] 0.9990222751232783 Centerline is valid? [True, True] Translation: X:267.12, Y:10.23, Z:1.92 [[ 9.99714614e-01 -1.93190299e-02 -1.40522819e-02 2.67123378e+02] [ 1.93192550e-02 9.99813359e-01 -1.19739624e-04 1.02335702e+01] [ 1.40519724e-02 -1.51774166e-04 9.99901255e-01 1.92238046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.324391418 meters Centerline goodness [0,1] 0.9989002157269151 Centerline is valid? [True, True] Translation: X:267.15, Y:10.23, Z:1.92 [[ 9.99663916e-01 -2.11921914e-02 -1.49313631e-02 2.67151664e+02] [ 2.11926434e-02 9.99775403e-01 -1.27969665e-04 1.02302126e+01] [ 1.49307216e-02 -1.88508398e-04 9.99888513e-01 1.92162249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.354391418 meters Centerline goodness [0,1] 0.9990669861532263 Centerline is valid? [True, True] Translation: X:267.18, Y:10.23, Z:1.92 [[ 9.99606342e-01 -2.33331227e-02 -1.55797021e-02 2.67181566e+02] [ 2.33338630e-02 9.99727719e-01 -1.34282727e-04 1.02284462e+01] [ 1.55785933e-02 -2.29304769e-04 9.99878620e-01 1.92216098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.384391418 meters Centerline goodness [0,1] 0.9987138128070508 Centerline is valid? [True, True] Translation: X:267.21, Y:10.22, Z:1.92 [[ 9.99498013e-01 -2.71520311e-02 -1.63244810e-02 2.67210222e+02] [ 2.71533395e-02 9.99631270e-01 -1.41537956e-04 1.02226164e+01] [ 1.63223047e-02 -3.01797267e-04 9.99866737e-01 1.92184093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.414391418 meters Centerline goodness [0,1] 0.9988132827565747 Centerline is valid? [True, True] Translation: X:267.24, Y:10.22, Z:1.92 [[ 9.99444668e-01 -2.87072393e-02 -1.69189007e-02 2.67240933e+02] [ 2.87088602e-02 9.99587805e-01 -1.47117685e-04 1.02205207e+01] [ 1.69161501e-02 -3.38686368e-04 9.99856854e-01 1.92205908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.444391418 meters Centerline goodness [0,1] 0.9986692577415403 Centerline is valid? [True, True] Translation: X:267.27, Y:10.22, Z:1.92 [[ 9.99359349e-01 -3.13488367e-02 -1.72667867e-02 2.67271132e+02] [ 3.13509190e-02 9.99508428e-01 -1.50142715e-04 1.02164685e+01] [ 1.72630056e-02 -3.91283106e-04 9.99850907e-01 1.92207612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.474391418 meters Centerline goodness [0,1] 0.998964518923945 Centerline is valid? [True, True] Translation: X:267.30, Y:10.21, Z:1.92 [[ 9.99322485e-01 -3.21685419e-02 -1.78817366e-02 2.67301369e+02] [ 3.21709064e-02 9.99482370e-01 -1.55489989e-04 1.02148872e+01] [ 1.78774824e-02 -4.19887031e-04 9.99840097e-01 1.92219776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.504391418 meters Centerline goodness [0,1] 0.998899028180644 Centerline is valid? [True, True] Translation: X:267.33, Y:10.21, Z:1.92 [[ 9.99290185e-01 -3.29404773e-02 -1.82770447e-02 2.67332046e+02] [ 3.29430766e-02 9.99457217e-01 -1.58927377e-04 1.02134908e+01] [ 1.82723594e-02 -4.43287515e-04 9.99832948e-01 1.92236775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.534391418 meters Centerline goodness [0,1] 0.9991987010522321 Centerline is valid? [True, True] Translation: X:267.36, Y:10.21, Z:1.92 [[ 9.99248795e-01 -3.42531390e-02 -1.81264308e-02 2.67361282e+02] [ 3.42559076e-02 9.99413082e-01 -1.57826198e-04 1.02100905e+01] [ 1.81211981e-02 -4.63229700e-04 9.99835690e-01 1.92271756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.564391418 meters Centerline goodness [0,1] 0.9988815969950833 Centerline is valid? [True, True] Translation: X:267.39, Y:10.21, Z:1.92 [[ 9.99236068e-01 -3.48290053e-02 -1.77262542e-02 2.67392016e+02] [ 3.48317412e-02 9.99393179e-01 -1.54470393e-04 1.02089921e+01] [ 1.77208776e-02 -4.63083912e-04 9.99842866e-01 1.92336946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.594391418 meters Centerline goodness [0,1] 0.9988591227921914 Centerline is valid? [True, True] Translation: X:267.42, Y:10.21, Z:1.93 [[ 9.99245762e-01 -3.47806495e-02 -1.72688567e-02 2.67422888e+02] [ 3.47832387e-02 9.99394869e-01 -1.50484533e-04 1.02115312e+01] [ 1.72636408e-02 -4.50295735e-04 9.99850871e-01 1.92605723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.624391418 meters Centerline goodness [0,1] 0.998626141359486 Centerline is valid? [True, True] Translation: X:267.45, Y:10.21, Z:1.93 [[ 9.99258210e-01 -3.44161742e-02 -1.72788194e-02 2.67452857e+02] [ 3.44187124e-02 9.99407489e-01 -1.50547822e-04 1.02110028e+01] [ 1.72737628e-02 -4.44278568e-04 9.99850699e-01 1.92593032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.654391418 meters Centerline goodness [0,1] 0.998857529725384 Centerline is valid? [True, True] Translation: X:267.48, Y:10.21, Z:1.93 [[ 9.99290739e-01 -3.32961111e-02 -1.75894195e-02 2.67483658e+02] [ 3.32985683e-02 9.99445437e-01 -1.53237692e-04 1.02110943e+01] [ 1.75847673e-02 -4.32573480e-04 9.99845282e-01 1.92581371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.684391418 meters Centerline goodness [0,1] 0.9988158172975259 Centerline is valid? [True, True] Translation: X:267.51, Y:10.21, Z:1.93 [[ 9.99353877e-01 -3.12071948e-02 -1.78308343e-02 2.67513808e+02] [ 3.12093877e-02 9.99512856e-01 -1.55340879e-04 1.02119114e+01] [ 1.78269958e-02 -4.01248909e-04 9.99841006e-01 1.92594027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.714391418 meters Centerline goodness [0,1] 0.9988779981793933 Centerline is valid? [True, True] Translation: X:267.54, Y:10.21, Z:1.93 [[ 9.99394680e-01 -3.01050917e-02 -1.74343881e-02 2.67544242e+02] [ 3.01070205e-02 9.99546669e-01 -1.51887070e-04 1.02132928e+01] [ 1.74310571e-02 -3.73102350e-04 9.99847998e-01 1.92650663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.744391418 meters Centerline goodness [0,1] 0.9988809830458375 Centerline is valid? [True, True] Translation: X:267.57, Y:10.21, Z:1.93 [[ 9.99437180e-01 -2.88149318e-02 -1.71762092e-02 2.67574304e+02] [ 2.88166134e-02 9.99584704e-01 -1.49637835e-04 1.02136486e+01] [ 1.71733878e-02 -3.45406564e-04 9.99852467e-01 1.92684680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.774391418 meters Centerline goodness [0,1] 0.9991547093256694 Centerline is valid? [True, True] Translation: X:267.60, Y:10.21, Z:1.93 [[ 9.99473451e-01 -2.76339089e-02 -1.70055208e-02 2.67604091e+02] [ 2.76353795e-02 9.99618059e-01 -1.48551521e-04 1.02147474e+01] [ 1.70031307e-02 -3.21480720e-04 9.99855385e-01 1.92770727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.804391418 meters Centerline goodness [0,1] 0.9989244137000168 Centerline is valid? [True, True] Translation: X:267.63, Y:10.22, Z:1.93 [[ 9.99516208e-01 -2.61494192e-02 -1.68391904e-02 2.67634067e+02] [ 2.61506393e-02 9.99658003e-01 -1.47774653e-04 1.02153124e+01] [ 1.68372957e-02 -2.92652434e-04 9.99858200e-01 1.92797396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.834391418 meters Centerline goodness [0,1] 0.99898678600076 Centerline is valid? [True, True] Translation: X:267.66, Y:10.22, Z:1.93 [[ 9.99522691e-01 -2.57898287e-02 -1.70080768e-02 2.67663759e+02] [ 2.57910095e-02 9.99667345e-01 -1.49952234e-04 1.02153859e+01] [ 1.70062862e-02 -2.88774808e-04 9.99855341e-01 1.92773330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.864391418 meters Centerline goodness [0,1] 0.9992202975513128 Centerline is valid? [True, True] Translation: X:267.69, Y:10.21, Z:1.93 [[ 9.99515529e-01 -2.56304271e-02 -1.76575484e-02 2.67692194e+02] [ 2.56316548e-02 9.99671443e-01 -1.56821252e-04 1.02132055e+01] [ 1.76557663e-02 -2.95846908e-04 9.99844081e-01 1.92646560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.894391418 meters Centerline goodness [0,1] 0.9989492045478428 Centerline is valid? [True, True] Translation: X:267.72, Y:10.21, Z:1.93 [[ 9.99474893e-01 -2.65783802e-02 -1.85345256e-02 2.67720714e+02] [ 2.65798255e-02 9.99646680e-01 -1.68407210e-04 1.02115980e+01] [ 1.85324530e-02 -3.24325678e-04 9.99828207e-01 1.92513320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.924391418 meters Centerline goodness [0,1] 0.9989257730221586 Centerline is valid? [True, True] Translation: X:267.75, Y:10.21, Z:1.92 [[ 9.99443064e-01 -2.74748278e-02 -1.89392380e-02 2.67749545e+02] [ 2.74763967e-02 9.99622437e-01 -1.77421561e-04 1.02105801e+01] [ 1.89369619e-02 -3.43059267e-04 9.99820621e-01 1.92472840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.954391418 meters Centerline goodness [0,1] 0.9992423285768405 Centerline is valid? [True, True] Translation: X:267.78, Y:10.21, Z:1.92 [[ 9.99423693e-01 -2.80423117e-02 -1.91287989e-02 2.67777656e+02] [ 2.80439552e-02 9.99606674e-01 -1.82379344e-04 1.02091806e+01] [ 1.91263894e-02 -3.54172942e-04 9.99817011e-01 1.92426592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98439141800003 meters Centerline goodness [0,1] 0.999178601516428 Centerline is valid? [True, True] Translation: X:267.81, Y:10.21, Z:1.92 [[ 9.99399274e-01 -2.91153780e-02 -1.87985444e-02 2.67806788e+02] [ 2.91170814e-02 9.99575991e-01 -1.83142194e-04 1.02071109e+01] [ 1.87959059e-02 -3.64326573e-04 9.99823275e-01 1.92453572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.014391418 meters Centerline goodness [0,1] 0.9992427270241275 Centerline is valid? [True, True] Translation: X:267.84, Y:10.21, Z:1.93 [[ 9.99397689e-01 -2.95594053e-02 -1.81796662e-02 2.67835348e+02] [ 2.95609825e-02 9.99562962e-01 -1.82027303e-04 1.02063564e+01] [ 1.81771016e-02 -3.55491128e-04 9.99834720e-01 1.92516913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.044391418 meters Centerline goodness [0,1] 0.9990154800058653 Centerline is valid? [True, True] Translation: X:267.86, Y:10.21, Z:1.93 [[ 9.99406493e-01 -2.95984739e-02 -1.76236408e-02 2.67863691e+02] [ 2.95999185e-02 9.99561810e-01 -1.78935448e-04 1.02055738e+01] [ 1.76212145e-02 -3.42829082e-04 9.99844676e-01 1.92582662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.074391418 meters Centerline goodness [0,1] 0.9989926124916051 Centerline is valid? [True, True] Translation: X:267.89, Y:10.21, Z:1.93 [[ 9.99422513e-01 -2.97579692e-02 -1.64043992e-02 2.67892917e+02] [ 2.97592298e-02 9.99557082e-01 -1.67311390e-04 1.02050233e+01] [ 1.64021123e-02 -3.20967516e-04 9.99865425e-01 1.92779159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.104391418 meters Centerline goodness [0,1] 0.9988246652394744 Centerline is valid? [True, True] Translation: X:267.92, Y:10.20, Z:1.93 [[ 9.99438822e-01 -2.97024573e-02 -1.54856286e-02 2.67921973e+02] [ 2.97035672e-02 9.99558739e-01 -1.58374793e-04 1.02035527e+01] [ 1.54834996e-02 -3.01692495e-04 9.99880078e-01 1.92816202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.134391418 meters Centerline goodness [0,1] 0.9992036714935351 Centerline is valid? [True, True] Translation: X:267.95, Y:10.20, Z:1.93 [[ 9.99453523e-01 -3.02077008e-02 -1.34220256e-02 2.67952191e+02] [ 3.02085785e-02 9.99543607e-01 -1.37390908e-04 1.02009851e+01] [ 1.34200501e-02 -2.68144486e-04 9.99909911e-01 1.92961860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.164391418 meters Centerline goodness [0,1] 0.9989107666527022 Centerline is valid? [True, True] Translation: X:267.98, Y:10.20, Z:1.93 [[ 9.99439600e-01 -3.09281105e-02 -1.28038603e-02 2.67982306e+02] [ 3.09289697e-02 9.99521576e-01 -1.30949516e-04 1.01990450e+01] [ 1.28017847e-02 -2.65134077e-04 9.99918019e-01 1.92995896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.194391418 meters Centerline goodness [0,1] 0.9990149022238058 Centerline is valid? [True, True] Translation: X:268.01, Y:10.20, Z:1.93 [[ 9.99432826e-01 -3.13401402e-02 -1.23216079e-02 2.68012939e+02] [ 3.13409730e-02 9.99508743e-01 -1.25550291e-04 1.01973830e+01] [ 1.23194896e-02 -2.60692098e-04 9.99924078e-01 1.93028397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.224391418 meters Centerline goodness [0,1] 0.9990362859297746 Centerline is valid? [True, True] Translation: X:268.04, Y:10.19, Z:1.93 [[ 9.99413882e-01 -3.20238388e-02 -1.20982143e-02 2.68043788e+02] [ 3.20246981e-02 9.99487070e-01 -1.22742540e-04 1.01943977e+01] [ 1.20959395e-02 -2.64771063e-04 9.99926806e-01 1.92980581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.254391418 meters Centerline goodness [0,1] 0.9992243836994801 Centerline is valid? [True, True] Translation: X:268.07, Y:10.19, Z:1.93 [[ 9.99400872e-01 -3.22045131e-02 -1.26793435e-02 2.68074968e+02] [ 3.22054761e-02 9.99481261e-01 -1.28277945e-04 1.01934292e+01] [ 1.26768973e-02 -2.80143204e-04 9.99919606e-01 1.92962963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.284391418 meters Centerline goodness [0,1] 0.999012688009411 Centerline is valid? [True, True] Translation: X:268.11, Y:10.19, Z:1.93 [[ 9.99390869e-01 -3.23236345e-02 -1.31557264e-02 2.68105817e+02] [ 3.23246868e-02 9.99477412e-01 -1.32698295e-04 1.01920254e+01] [ 1.31531407e-02 -2.92637270e-04 9.99913451e-01 1.92917677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.314391418 meters Centerline goodness [0,1] 0.9992023509655752 Centerline is valid? [True, True] Translation: X:268.14, Y:10.19, Z:1.93 [[ 9.99399697e-01 -3.19297434e-02 -1.34438233e-02 2.68136513e+02] [ 3.19308102e-02 9.99490073e-01 -1.35344015e-04 1.01895002e+01] [ 1.34412894e-02 -2.94009401e-04 9.99909619e-01 1.92820020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.344391418 meters Centerline goodness [0,1] 0.9987853911878036 Centerline is valid? [True, True] Translation: X:268.17, Y:10.19, Z:1.93 [[ 9.99420894e-01 -3.13481993e-02 -1.32350711e-02 2.68166375e+02] [ 3.13491824e-02 9.99508485e-01 -1.33228566e-04 1.01893617e+01] [ 1.32327424e-02 -2.81757246e-04 9.99912404e-01 1.92832110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.374391418 meters Centerline goodness [0,1] 0.9989945748936973 Centerline is valid? [True, True] Translation: X:268.20, Y:10.19, Z:1.93 [[ 9.99433415e-01 -3.09856817e-02 -1.31429577e-02 2.68196632e+02] [ 3.09866181e-02 9.99519791e-01 -1.32432528e-04 1.01893201e+01] [ 1.31407498e-02 -2.74898318e-04 9.99913619e-01 1.92862213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.404391418 meters Centerline goodness [0,1] 0.9988882362812552 Centerline is valid? [True, True] Translation: X:268.23, Y:10.19, Z:1.93 [[ 9.99481256e-01 -2.96131250e-02 -1.26602198e-02 2.68227094e+02] [ 2.96138838e-02 9.99561405e-01 -1.27568311e-04 1.01895925e+01] [ 1.26584448e-02 -2.47416142e-04 9.99919848e-01 1.92910126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.434391418 meters Centerline goodness [0,1] 0.9991388544664048 Centerline is valid? [True, True] Translation: X:268.26, Y:10.19, Z:1.93 [[ 9.99492616e-01 -2.91580105e-02 -1.28187522e-02 2.68257280e+02] [ 2.91587510e-02 9.99574785e-01 -1.29165732e-04 1.01906355e+01] [ 1.28170677e-02 -2.44678607e-04 9.99917828e-01 1.92957053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.464391418 meters Centerline goodness [0,1] 0.9992457257794167 Centerline is valid? [True, True] Translation: X:268.29, Y:10.19, Z:1.93 [[ 9.99513577e-01 -2.85591292e-02 -1.25293768e-02 2.68286737e+02] [ 2.85597882e-02 9.99592078e-01 -1.26355598e-04 1.01887986e+01] [ 1.25278744e-02 -2.31542213e-04 9.99921496e-01 1.92897076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.494391418 meters Centerline goodness [0,1] 0.9991174616516075 Centerline is valid? [True, True] Translation: X:268.32, Y:10.19, Z:1.93 [[ 9.99527171e-01 -2.82607655e-02 -1.21146384e-02 2.68317565e+02] [ 2.82613581e-02 9.99600561e-01 -1.22302816e-04 1.01893301e+01] [ 1.21132557e-02 -2.20131146e-04 9.99926608e-01 1.92931227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.524391418 meters Centerline goodness [0,1] 0.9991820984417926 Centerline is valid? [True, True] Translation: X:268.35, Y:10.19, Z:1.93 [[ 9.99522934e-01 -2.84486098e-02 -1.20241808e-02 2.68348983e+02] [ 2.84492096e-02 9.99595232e-01 -1.21198563e-04 1.01875186e+01] [ 1.20227617e-02 -2.20937695e-04 9.99927700e-01 1.92945364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.554391418 meters Centerline goodness [0,1] 0.9990535282364076 Centerline is valid? [True, True] Translation: X:268.38, Y:10.19, Z:1.93 [[ 9.99510891e-01 -2.90742996e-02 -1.15179879e-02 2.68380533e+02] [ 2.90748964e-02 9.99577229e-01 -1.15663212e-04 1.01873284e+01] [ 1.15164813e-02 -2.19277666e-04 9.99933659e-01 1.93016321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.584391418 meters Centerline goodness [0,1] 0.999243808683597 Centerline is valid? [True, True] Translation: X:268.41, Y:10.18, Z:1.93 [[ 9.99491717e-01 -2.96893471e-02 -1.16125060e-02 2.68410983e+02] [ 2.96899996e-02 9.99559148e-01 -1.16244548e-04 1.01825963e+01] [ 1.16108378e-02 -2.28589835e-04 9.99932566e-01 1.92948543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.614391418 meters Centerline goodness [0,1] 0.9990772586192433 Centerline is valid? [True, True] Translation: X:268.44, Y:10.18, Z:1.93 [[ 9.99410937e-01 -3.24170867e-02 -1.12654635e-02 2.68442758e+02] [ 3.24178772e-02 9.99474396e-01 -1.12479791e-04 1.01799284e+01] [ 1.12631886e-02 -2.52788878e-04 9.99936536e-01 1.93017671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.644391418 meters Centerline goodness [0,1] 0.9992250984334422 Centerline is valid? [True, True] Translation: X:268.47, Y:10.18, Z:1.93 [[ 9.99353030e-01 -3.42196639e-02 -1.10695992e-02 2.68473995e+02] [ 3.42205422e-02 9.99414300e-01 -1.10113473e-04 1.01785020e+01] [ 1.10668838e-02 -2.68765455e-04 9.99938724e-01 1.93062983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.674391418 meters Centerline goodness [0,1] 0.9990976623158602 Centerline is valid? [True, True] Translation: X:268.51, Y:10.17, Z:1.93 [[ 9.99198177e-01 -3.86236982e-02 -1.05457846e-02 2.68505365e+02] [ 3.86247445e-02 9.99253781e-01 -1.04512589e-04 1.01724196e+01] [ 1.05419518e-02 -3.02899448e-04 9.99944386e-01 1.93096536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.704391418 meters Centerline goodness [0,1] 0.9989292013101537 Centerline is valid? [True, True] Translation: X:268.54, Y:10.17, Z:1.93 [[ 9.99095286e-01 -4.12545990e-02 -1.03280317e-02 2.68537151e+02] [ 4.12557478e-02 9.99148614e-01 -1.01886546e-04 1.01724097e+01] [ 1.03234418e-02 -3.24296303e-04 9.99946659e-01 1.93148419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73439141800003 meters Centerline goodness [0,1] 0.9991001548570712 Centerline is valid? [True, True] Translation: X:268.57, Y:10.17, Z:1.93 [[ 9.98995974e-01 -4.36468647e-02 -1.00992266e-02 2.68568723e+02] [ 4.36480914e-02 9.99046963e-01 -9.90183102e-05 1.01660486e+01] [ 1.00939235e-02 -3.41893071e-04 9.99948997e-01 1.93122176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.764391418 meters Centerline goodness [0,1] 0.9990772586192433 Centerline is valid? [True, True] Translation: X:268.60, Y:10.15, Z:1.93 [[ 9.98769894e-01 -4.86665472e-02 -9.50088916e-03 2.68598760e+02] [ 4.86678635e-02 9.98815013e-01 -9.27497528e-05 1.01539565e+01] [ 9.49414454e-03 -3.69752316e-04 9.99954861e-01 1.93089640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.794391418 meters Centerline goodness [0,1] 0.9990772586192433 Centerline is valid? [True, True] Translation: X:268.63, Y:10.15, Z:1.93 [[ 9.98773362e-01 -4.85953225e-02 -9.50089089e-03 2.68630468e+02] [ 4.85966372e-02 9.98818481e-01 -9.25720362e-05 1.01541795e+01] [ 9.49416397e-03 -3.69252864e-04 9.99954861e-01 1.93111866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.824391418 meters Centerline goodness [0,1] 0.999140389131164 Centerline is valid? [True, True] Translation: X:268.66, Y:10.16, Z:1.93 [[ 9.98668560e-01 -5.06413082e-02 -9.82673479e-03 2.68662954e+02] [ 5.06428207e-02 9.98716825e-01 -9.50095273e-05 1.01578397e+01] [ 9.81893677e-03 -4.02770540e-04 9.99951712e-01 1.93133584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.854391418 meters Centerline goodness [0,1] 0.9991840492081093 Centerline is valid? [True, True] Translation: X:268.69, Y:10.16, Z:1.93 [[ 9.98576070e-01 -5.24144036e-02 -9.92791536e-03 2.68694750e+02] [ 5.24160438e-02 9.98625330e-01 -9.50930031e-05 1.01592294e+01] [ 9.91925200e-03 -4.25424450e-04 9.99950713e-01 1.93131879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.884391418 meters Centerline goodness [0,1] 0.9989747881577571 Centerline is valid? [True, True] Translation: X:268.73, Y:10.16, Z:1.93 [[ 9.98404636e-01 -5.54979250e-02 -1.04001086e-02 2.68726059e+02] [ 5.54999023e-02 9.98458688e-01 -9.86190106e-05 1.01560597e+01] [ 1.03895519e-02 -4.78743331e-04 9.99945913e-01 1.93066622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.914391418 meters Centerline goodness [0,1] 0.9990178048984368 Centerline is valid? [True, True] Translation: X:268.76, Y:10.15, Z:1.93 [[ 9.98340427e-01 -5.66315395e-02 -1.04527780e-02 2.68756741e+02] [ 5.66336070e-02 9.98395024e-01 -9.83381422e-05 1.01538205e+01] [ 1.04415706e-02 -4.93803580e-04 9.99945363e-01 1.93040794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.944391418 meters Centerline goodness [0,1] 0.9988522058516632 Centerline is valid? [True, True] Translation: X:268.79, Y:10.15, Z:1.93 [[ 9.98275052e-01 -5.77806415e-02 -1.04076199e-02 2.68787539e+02] [ 5.77827652e-02 9.98329176e-01 -9.67795655e-05 1.01514901e+01] [ 1.03958226e-02 -5.04768433e-04 9.99945835e-01 1.93029512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.974391418 meters Centerline goodness [0,1] 0.9987071482192009 Centerline is valid? [True, True] Translation: X:268.82, Y:10.15, Z:1.93 [[ 9.98226811e-01 -5.86188590e-02 -1.03470998e-02 2.68818636e+02] [ 5.86210080e-02 9.98280305e-01 -9.57348120e-05 1.01496284e+01] [ 1.03349178e-02 -5.10992362e-04 9.99946463e-01 1.93048343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.004391418 meters Centerline goodness [0,1] 0.9991218900271795 Centerline is valid? [True, True] Translation: X:268.85, Y:10.15, Z:1.93 [[ 9.98114031e-01 -6.06121005e-02 -9.72392140e-03 2.68850815e+02] [ 6.06140987e-02 9.98161271e-01 -8.93578605e-05 1.01505253e+01] [ 9.71145791e-03 -5.00217397e-04 9.99952718e-01 1.93144747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.034391418 meters Centerline goodness [0,1] 0.9988516067066169 Centerline is valid? [True, True] Translation: X:268.88, Y:10.15, Z:1.93 [[ 9.98043482e-01 -6.17035785e-02 -1.00933564e-02 2.68882886e+02] [ 6.17057954e-02 9.98094377e-01 -9.19224427e-05 1.01509280e+01] [ 1.00797942e-02 -5.31075991e-04 9.99949057e-01 1.93187740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.064391418 meters Centerline goodness [0,1] 0.9987076602397081 Centerline is valid? [True, True] Translation: X:268.91, Y:10.15, Z:1.93 [[ 9.97886331e-01 -6.41850182e-02 -1.01564646e-02 2.68913875e+02] [ 6.41873975e-02 9.97937859e-01 -9.18660321e-05 1.01519514e+01] [ 1.01414169e-02 -5.60245171e-04 9.99948418e-01 1.93179066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.094391418 meters Centerline goodness [0,1] 0.9985595290286216 Centerline is valid? [True, True] Translation: X:268.94, Y:10.15, Z:1.93 [[ 9.97834073e-01 -6.49412378e-02 -1.04785130e-02 2.68944579e+02] [ 6.49438186e-02 9.97888917e-01 -9.41424240e-05 1.01500242e+01] [ 1.04625058e-02 -5.86576132e-04 9.99945094e-01 1.93129189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.124391418 meters Centerline goodness [0,1] 0.9986842654859864 Centerline is valid? [True, True] Translation: X:268.98, Y:10.15, Z:1.93 [[ 9.97776788e-01 -6.57845378e-02 -1.06712979e-02 2.68976230e+02] [ 6.57872756e-02 9.97833666e-01 -9.46484574e-05 1.01497069e+01] [ 1.06544067e-02 -6.07597581e-04 9.99943056e-01 1.93114363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.154391418 meters Centerline goodness [0,1] 0.9986436009265249 Centerline is valid? [True, True] Translation: X:269.01, Y:10.15, Z:1.93 [[ 9.97652275e-01 -6.76121352e-02 -1.08874547e-02 2.69008142e+02] [ 6.76151014e-02 9.97711476e-01 -9.58348874e-05 1.01495826e+01] [ 1.08690181e-02 -6.40546457e-04 9.99940725e-01 1.93011245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.184391418 meters Centerline goodness [0,1] 0.9985585058599871 Centerline is valid? [True, True] Translation: X:269.04, Y:10.15, Z:1.93 [[ 9.97594470e-01 -6.83835735e-02 -1.13560681e-02 2.69040366e+02] [ 6.83868608e-02 9.97658873e-01 -9.90425144e-05 1.01501303e+01] [ 1.13362550e-02 -6.77801585e-04 9.99935513e-01 1.92965975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.214391418 meters Centerline goodness [0,1] 0.9983707571801567 Centerline is valid? [True, True] Translation: X:269.07, Y:10.15, Z:1.93 [[ 9.97560173e-01 -6.88214641e-02 -1.17178402e-02 2.69072219e+02] [ 6.88250054e-02 9.97628743e-01 -1.01255397e-04 1.01514081e+01] [ 1.16970227e-02 -7.05472062e-04 9.99931339e-01 1.92979807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.244391418 meters Centerline goodness [0,1] 0.9982901349125258 Centerline is valid? [True, True] Translation: X:269.10, Y:10.15, Z:1.93 [[ 9.97532768e-01 -6.91632367e-02 -1.20342513e-02 2.69103746e+02] [ 6.91670069e-02 9.97605089e-01 -1.03126761e-04 1.01515806e+01] [ 1.20125629e-02 -7.29500820e-04 9.99927580e-01 1.92935667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.274391418 meters Centerline goodness [0,1] 0.9984092764300814 Centerline is valid? [True, True] Translation: X:269.14, Y:10.15, Z:1.93 [[ 9.97507328e-01 -6.94690647e-02 -1.23765958e-02 2.69136117e+02] [ 6.94730863e-02 9.97583821e-01 -1.05222002e-04 1.01527530e+01] [ 1.23540014e-02 -7.54880593e-04 9.99923401e-01 1.92874683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.304391418 meters Centerline goodness [0,1] 0.9981347193695771 Centerline is valid? [True, True] Translation: X:269.17, Y:10.15, Z:1.93 [[ 9.97517841e-01 -6.93287090e-02 -1.23160926e-02 2.69168576e+02] [ 6.93326924e-02 9.97593588e-01 -1.03760613e-04 1.01533642e+01] [ 1.22936486e-02 -7.50404799e-04 9.99924149e-01 1.92880277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.334391418 meters Centerline goodness [0,1] 0.9983484550737969 Centerline is valid? [True, True] Translation: X:269.20, Y:10.16, Z:1.93 [[ 9.97629100e-01 -6.78715722e-02 -1.13854581e-02 2.69198594e+02] [ 6.78748883e-02 9.97693836e-01 -9.53397679e-05 1.01565573e+01] [ 1.13656722e-02 -6.77672969e-04 9.99935179e-01 1.92987278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.364391418 meters Centerline goodness [0,1] 0.998469954517826 Centerline is valid? [True, True] Translation: X:269.23, Y:10.17, Z:1.93 [[ 9.97737227e-01 -6.64045914e-02 -1.05288228e-02 2.69230886e+02] [ 6.64073501e-02 9.97792592e-01 -8.77592864e-05 1.01660293e+01] [ 1.05114091e-02 -6.11630518e-04 9.99944567e-01 1.93134116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.394391418 meters Centerline goodness [0,1] 0.9983535835608445 Centerline is valid? [True, True] Translation: X:269.26, Y:10.16, Z:1.93 [[ 9.97873574e-01 -6.44411728e-02 -9.78083609e-03 2.69261195e+02] [ 6.44434651e-02 9.97921356e-01 -8.09436037e-05 1.01629506e+01] [ 9.76572131e-03 -5.49539485e-04 9.99952163e-01 1.93192479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.424391418 meters Centerline goodness [0,1] 0.9984926832331945 Centerline is valid? [True, True] Translation: X:269.29, Y:10.17, Z:1.93 [[ 9.98266966e-01 -5.82808764e-02 -8.14880759e-03 2.69291189e+02] [ 5.82822637e-02 9.98300142e-01 -6.73210979e-05 1.01728257e+01] [ 8.13887931e-03 -4.07726525e-04 9.99966796e-01 1.93371035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.454391418 meters Centerline goodness [0,1] 0.9985554578570531 Centerline is valid? [True, True] Translation: X:269.32, Y:10.18, Z:1.93 [[ 9.98506323e-01 -5.41348901e-02 -7.38488517e-03 2.69321583e+02] [ 5.41359163e-02 9.98533574e-01 -6.10102457e-05 1.01804962e+01] [ 7.37735857e-03 -3.38868410e-04 9.99972730e-01 1.93441615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48439141800003 meters Centerline goodness [0,1] 0.9986214675104956 Centerline is valid? [True, True] Translation: X:269.35, Y:10.19, Z:1.93 [[ 9.98989773e-01 -4.43894148e-02 -7.00100024e-03 2.69350624e+02] [ 4.43900981e-02 9.99014272e-01 -5.78386204e-05 1.01933549e+01] [ 6.99666658e-03 -2.52994897e-04 9.99975491e-01 1.93483936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.514391418 meters Centerline goodness [0,1] 0.998640309591047 Centerline is valid? [True, True] Translation: X:269.38, Y:10.20, Z:1.94 [[ 9.99206711e-01 -3.92822756e-02 -6.54615741e-03 2.69380729e+02] [ 3.92827626e-02 9.99228133e-01 -5.42124133e-05 1.01986803e+01] [ 6.54323423e-03 -2.02981740e-04 9.99978572e-01 1.93531745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.544391418 meters Centerline goodness [0,1] 0.9986585340292188 Centerline is valid? [True, True] Translation: X:269.41, Y:10.21, Z:1.94 [[ 9.99388955e-01 -3.43083267e-02 -6.68248287e-03 2.69412446e+02] [ 3.43087230e-02 9.99411281e-01 -5.53627183e-05 1.02097419e+01] [ 6.68044817e-03 -1.73938564e-04 9.99977670e-01 1.93552788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.574391418 meters Centerline goodness [0,1] 0.9991004748655942 Centerline is valid? [True, True] Translation: X:269.44, Y:10.22, Z:1.94 [[ 9.99539779e-01 -2.96358152e-02 -6.47677503e-03 2.69443367e+02] [ 2.96360921e-02 9.99560753e-01 -5.32353473e-05 1.02155977e+01] [ 6.47550780e-03 -1.38735454e-04 9.99979024e-01 1.93600320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.604391418 meters Centerline goodness [0,1] 0.9990763288269376 Centerline is valid? [True, True] Translation: X:269.47, Y:10.23, Z:1.94 [[ 9.99724677e-01 -2.24186890e-02 -6.92615791e-03 2.69474458e+02] [ 2.24188345e-02 9.99748665e-01 -5.66440216e-05 1.02270962e+01] [ 6.92568701e-03 -9.86479615e-05 9.99976012e-01 1.93574690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.634391418 meters Centerline goodness [0,1] 0.9990363666834255 Centerline is valid? [True, True] Translation: X:269.51, Y:10.23, Z:1.94 [[ 9.99777335e-01 -1.96363688e-02 -7.72620596e-03 2.69505832e+02] [ 1.96364700e-02 9.99807184e-01 -6.27705977e-05 1.02295118e+01] [ 7.72594881e-03 -8.89587907e-05 9.99970150e-01 1.93508002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.664391418 meters Centerline goodness [0,1] 0.9989933519283603 Centerline is valid? [True, True] Translation: X:269.54, Y:10.23, Z:1.93 [[ 9.99829226e-01 -1.63318394e-02 -8.64809291e-03 2.69536155e+02] [ 1.63318525e-02 9.99866624e-01 -6.91177962e-05 1.02339697e+01] [ 8.64806829e-03 -7.21333850e-05 9.99962602e-01 1.93371017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.694391418 meters Centerline goodness [0,1] 0.9987609987609988 Centerline is valid? [True, True] Translation: X:269.57, Y:10.24, Z:1.93 [[ 9.99838760e-01 -1.55790686e-02 -8.93014878e-03 2.69566478e+02] [ 1.55790537e-02 9.99878637e-01 -7.12366855e-05 1.02365123e+01] [ 8.93017479e-03 -6.78980679e-05 9.99960123e-01 1.93351966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.724391418 meters Centerline goodness [0,1] 0.99903249553055 Centerline is valid? [True, True] Translation: X:269.60, Y:10.24, Z:1.93 [[ 9.99839181e-01 -1.53701156e-02 -9.23972457e-03 2.69595998e+02] [ 1.53700903e-02 9.99881870e-01 -7.37496758e-05 1.02374553e+01] [ 9.23976663e-03 -6.82775859e-05 9.99957310e-01 1.93315587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.754391418 meters Centerline goodness [0,1] 0.9988851258966323 Centerline is valid? [True, True] Translation: X:269.63, Y:10.24, Z:1.93 [[ 9.99833793e-01 -1.56548925e-02 -9.34404866e-03 2.69626212e+02] [ 1.56548778e-02 9.99877452e-01 -7.47205011e-05 1.02394664e+01] [ 9.34407331e-03 -7.15718576e-05 9.99956341e-01 1.93271058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.784391418 meters Centerline goodness [0,1] 0.9988398582517719 Centerline is valid? [True, True] Translation: X:269.66, Y:10.24, Z:1.93 [[ 9.99820318e-01 -1.63760223e-02 -9.54761454e-03 2.69657172e+02] [ 1.63760398e-02 9.99865901e-01 -7.63483334e-05 1.02406311e+01] [ 9.54758450e-03 -8.00175012e-05 9.99954418e-01 1.93301827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.814391418 meters Centerline goodness [0,1] 0.99894510316891 Centerline is valid? [True, True] Translation: X:269.69, Y:10.24, Z:1.93 [[ 9.99817841e-01 -1.68479840e-02 -8.96830188e-03 2.69687044e+02] [ 1.68480181e-02 9.99858059e-01 -7.17549661e-05 1.02398943e+01] [ 8.96823784e-03 -7.93562171e-05 9.99959781e-01 1.93314166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.844391418 meters Centerline goodness [0,1] 0.9990081667968008 Centerline is valid? [True, True] Translation: X:269.72, Y:10.24, Z:1.93 [[ 9.99801014e-01 -1.84137791e-02 -7.67240194e-03 2.69717246e+02] [ 1.84138492e-02 9.99830449e-01 -6.15063606e-05 1.02395746e+01] [ 7.67223364e-03 -7.97843309e-05 9.99970565e-01 1.93368066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.874391418 meters Centerline goodness [0,1] 0.9990703374252572 Centerline is valid? [True, True] Translation: X:269.75, Y:10.24, Z:1.93 [[ 9.99783803e-01 -1.94077490e-02 -7.46239353e-03 2.69748733e+02] [ 1.94078431e-02 9.99811648e-01 -5.98048728e-05 1.02389020e+01] [ 7.46214865e-03 -8.50370198e-05 9.99972154e-01 1.93360536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.904391418 meters Centerline goodness [0,1] 0.9988593637784631 Centerline is valid? [True, True] Translation: X:269.78, Y:10.24, Z:1.93 [[ 9.99739681e-01 -2.16376698e-02 -7.23757197e-03 2.69780143e+02] [ 2.16378188e-02 9.99765873e-01 -5.77206739e-05 1.02358200e+01] [ 7.23712640e-03 -9.88996229e-05 9.99973807e-01 1.93317057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.934391418 meters Centerline goodness [0,1] 0.9990716516161702 Centerline is valid? [True, True] Translation: X:269.81, Y:10.23, Z:1.93 [[ 9.99717600e-01 -2.25577781e-02 -7.47446598e-03 2.69811292e+02] [ 2.25579660e-02 9.99745535e-01 -5.91656119e-05 1.02349055e+01] [ 7.47389864e-03 -1.09459846e-04 9.99972064e-01 1.93330840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.964391418 meters Centerline goodness [0,1] 0.9990289622561851 Centerline is valid? [True, True] Translation: X:269.84, Y:10.24, Z:1.93 [[ 9.99685310e-01 -2.38713752e-02 -7.70961646e-03 2.69842528e+02] [ 2.38716165e-02 9.99715031e-01 -6.07356243e-05 1.02354345e+01] [ 7.70886930e-03 -1.23324496e-04 9.99970279e-01 1.93335957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.994391418 meters Centerline goodness [0,1] 0.99885888170407 Centerline is valid? [True, True] Translation: X:269.87, Y:10.23, Z:1.93 [[ 9.99666647e-01 -2.47948693e-02 -7.19781735e-03 2.69874140e+02] [ 2.47951055e-02 9.99692553e-01 -5.64403005e-05 1.02336603e+01] [ 7.19700383e-03 -1.22049154e-04 9.99974094e-01 1.93351921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.024391418 meters Centerline goodness [0,1] 0.9989456148120032 Centerline is valid? [True, True] Translation: X:269.91, Y:10.23, Z:1.93 [[ 9.99623573e-01 -2.65328818e-02 -6.97984960e-03 2.69906719e+02] [ 2.65331490e-02 9.99647933e-01 -5.43412483e-05 1.02327391e+01] [ 6.97883405e-03 -1.30876596e-04 9.99975639e-01 1.93314292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.054391418 meters Centerline goodness [0,1] 0.998754617414248 Centerline is valid? [True, True] Translation: X:269.94, Y:10.23, Z:1.93 [[ 9.99605136e-01 -2.71766969e-02 -7.14139761e-03 2.69937946e+02] [ 2.71769971e-02 9.99630636e-01 -5.50224688e-05 1.02303792e+01] [ 7.14025516e-03 -1.39080999e-04 9.99974498e-01 1.93306013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.084391418 meters Centerline goodness [0,1] 0.9987523789384648 Centerline is valid? [True, True] Translation: X:269.97, Y:10.23, Z:1.93 [[ 9.99611175e-01 -2.69376514e-02 -7.20149064e-03 2.69970335e+02] [ 2.69379536e-02 9.99637106e-01 -5.50524113e-05 1.02327567e+01] [ 7.20036025e-03 -1.38962415e-04 9.99974067e-01 1.93300239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.114391418 meters Centerline goodness [0,1] 0.9990920416393927 Centerline is valid? [True, True] Translation: X:270.00, Y:10.23, Z:1.93 [[ 9.99635202e-01 -2.60255757e-02 -7.22030949e-03 2.70002958e+02] [ 2.60258599e-02 9.99661268e-01 -5.46089630e-05 1.02333869e+01] [ 7.21928498e-03 -1.33325722e-04 9.99973932e-01 1.93327635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.144391418 meters Centerline goodness [0,1] 0.9988609036830781 Centerline is valid? [True, True] Translation: X:270.04, Y:10.23, Z:1.93 [[ 9.99670422e-01 -2.46435296e-02 -7.19338003e-03 2.70035404e+02] [ 2.46437801e-02 9.99696294e-01 -5.38255955e-05 1.02349283e+01] [ 7.19252182e-03 -1.23464220e-04 9.99974126e-01 1.93338252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.174391418 meters Centerline goodness [0,1] 0.9989457037427517 Centerline is valid? [True, True] Translation: X:270.07, Y:10.24, Z:1.93 [[ 9.99718954e-01 -2.26328622e-02 -7.05453907e-03 2.70066432e+02] [ 2.26330570e-02 9.99743838e-01 -5.22212012e-05 1.02360945e+01] [ 7.05391388e-03 -1.07459260e-04 9.99975115e-01 1.93347224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.204391418 meters Centerline goodness [0,1] 0.9988824224021593 Centerline is valid? [True, True] Translation: X:270.10, Y:10.24, Z:1.93 [[ 9.99773956e-01 -2.01699172e-02 -6.72388346e-03 2.70098760e+02] [ 2.01700411e-02 9.99796563e-01 -4.93903320e-05 1.02383747e+01] [ 6.72351177e-03 -8.62418383e-05 9.99977393e-01 1.93402187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23439141800003 meters Centerline goodness [0,1] 0.9991562783437744 Centerline is valid? [True, True] Translation: X:270.13, Y:10.24, Z:1.93 [[ 9.99881606e-01 -1.39381237e-02 -6.51933811e-03 2.70129803e+02] [ 1.39381112e-02 9.99902859e-01 -4.73544056e-05 1.02426096e+01] [ 6.51936484e-03 -4.35184603e-05 9.99978748e-01 1.93464050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.264391418 meters Centerline goodness [0,1] 0.9987758806272556 Centerline is valid? [True, True] Translation: X:270.16, Y:10.24, Z:1.93 [[ 9.99920199e-01 -1.07661229e-02 -6.60960953e-03 2.70160499e+02] [ 1.07660426e-02 9.99942043e-01 -4.77320056e-05 1.02446555e+01] [ 6.60974035e-03 -2.34311413e-05 9.99978155e-01 1.93447178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.294391418 meters Centerline goodness [0,1] 0.9992590554014861 Centerline is valid? [True, True] Translation: X:270.19, Y:10.25, Z:1.93 [[ 9.99958841e-01 -5.64438613e-03 -7.10336694e-03 2.70190588e+02] [ 5.64416521e-03 9.99984070e-01 -5.11477006e-05 1.02476494e+01] [ 7.10354248e-03 1.10530188e-05 9.99974769e-01 1.93417109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.324391418 meters Centerline goodness [0,1] 0.9993437347841734 Centerline is valid? [True, True] Translation: X:270.22, Y:10.25, Z:1.93 [[ 9.99961660e-01 -4.00676752e-03 -7.78618767e-03 2.70219333e+02] [ 4.00645074e-03 9.99991973e-01 -5.62826704e-05 1.02487345e+01] [ 7.78635068e-03 2.50855352e-05 9.99969686e-01 1.93391364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.354391418 meters Centerline goodness [0,1] 0.999343220338983 Centerline is valid? [True, True] Translation: X:270.25, Y:10.25, Z:1.93 [[ 9.99952949e-01 -2.63167081e-03 -9.33672463e-03 2.70246796e+02] [ 2.63113116e-03 9.99996536e-01 -7.00822719e-05 1.02485921e+01] [ 9.33687672e-03 4.55128274e-05 9.99956409e-01 1.93219057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.384391418 meters Centerline goodness [0,1] 0.9992827306864689 Centerline is valid? [True, True] Translation: X:270.27, Y:10.25, Z:1.93 [[ 9.99943189e-01 -3.21731611e-03 -1.01620524e-02 2.70274326e+02] [ 3.21668912e-03 9.99994823e-01 -7.80431819e-05 1.02478933e+01] [ 1.01622509e-02 4.53505849e-05 9.99948362e-01 1.93165581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.414391418 meters Centerline goodness [0,1] 0.9991984137029069 Centerline is valid? [True, True] Translation: X:270.30, Y:10.25, Z:1.93 [[ 9.99928168e-01 -4.44238120e-03 -1.11321229e-02 2.70302370e+02] [ 4.44166261e-03 9.99990132e-01 -8.92741929e-05 1.02467026e+01] [ 1.11324096e-02 3.98226462e-05 9.99938032e-01 1.93105201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.444391418 meters Centerline goodness [0,1] 0.9992402017686415 Centerline is valid? [True, True] Translation: X:270.33, Y:10.25, Z:1.93 [[ 9.99918543e-01 -6.31013386e-03 -1.10945937e-02 2.70330672e+02] [ 6.30950576e-03 9.99980091e-01 -9.16137851e-05 1.02450001e+01] [ 1.10949510e-02 2.16049193e-05 9.99938449e-01 1.93073863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.474391418 meters Centerline goodness [0,1] 0.9989871280860941 Centerline is valid? [True, True] Translation: X:270.36, Y:10.24, Z:1.93 [[ 9.99869727e-01 -1.09638968e-02 -1.18457307e-02 2.70358538e+02] [ 1.09634930e-02 9.99939894e-01 -9.90301133e-05 1.02396994e+01] [ 1.18461045e-02 -3.08533738e-05 9.99929832e-01 1.93066084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.504391418 meters Centerline goodness [0,1] 0.9990121899957966 Centerline is valid? [True, True] Translation: X:270.39, Y:10.24, Z:1.93 [[ 9.99837224e-01 -1.37049168e-02 -1.17346019e-02 2.70387696e+02] [ 1.37046863e-02 9.99906081e-01 -1.00053677e-04 1.02368728e+01] [ 1.17348710e-02 -6.07816471e-05 9.99931142e-01 1.93132841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.534391418 meters Centerline goodness [0,1] 0.9990096089008766 Centerline is valid? [True, True] Translation: X:270.42, Y:10.23, Z:1.93 [[ 9.99791807e-01 -1.69282056e-02 -1.13920450e-02 2.70416592e+02] [ 1.69281625e-02 9.99856703e-01 -1.00208529e-04 1.02345425e+01] [ 1.13921089e-02 -9.26587233e-05 9.99935104e-01 1.93215847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.564391418 meters Centerline goodness [0,1] 0.9988857118829366 Centerline is valid? [True, True] Translation: X:270.45, Y:10.23, Z:1.93 [[ 9.99662278e-01 -2.32733970e-02 -1.15619385e-02 2.70445435e+02] [ 2.32737505e-02 9.99729124e-01 -1.03995458e-04 1.02280692e+01] [ 1.15612270e-02 -1.65129335e-04 9.99933153e-01 1.93241661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.594391418 meters Centerline goodness [0,1] 0.9989301447451228 Centerline is valid? [True, True] Translation: X:270.48, Y:10.22, Z:1.93 [[ 9.99590994e-01 -2.63237311e-02 -1.11761299e-02 2.70475494e+02] [ 2.63242484e-02 9.99653452e-01 -1.00850186e-04 1.02238626e+01] [ 1.11749116e-02 -1.93394282e-04 9.99937540e-01 1.93239463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.624391418 meters Centerline goodness [0,1] 0.9986817877469032 Centerline is valid? [True, True] Translation: X:270.51, Y:10.22, Z:1.93 [[ 9.99519314e-01 -2.90782433e-02 -1.07515760e-02 2.70506170e+02] [ 2.90788835e-02 9.99577115e-01 -9.68139154e-05 1.02207300e+01] [ 1.07498445e-02 -2.15876446e-04 9.99942195e-01 1.93272249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.654391418 meters Centerline goodness [0,1] 0.9988901220865705 Centerline is valid? [True, True] Translation: X:270.54, Y:10.22, Z:1.93 [[ 9.99335060e-01 -3.49139708e-02 -1.05096466e-02 2.70537668e+02] [ 3.49149078e-02 9.99390284e-01 -9.43628573e-05 1.02177250e+01] [ 1.05065333e-02 -2.72643231e-04 9.99944768e-01 1.93357624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.684391418 meters Centerline goodness [0,1] 0.9988041038121813 Centerline is valid? [True, True] Translation: X:270.57, Y:10.21, Z:1.93 [[ 9.99230520e-01 -3.77664646e-02 -1.05859092e-02 2.70568410e+02] [ 3.77675798e-02 9.99286546e-01 -9.46149703e-05 1.02139438e+01] [ 1.05819299e-02 -3.05262004e-04 9.99943963e-01 1.93366863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.714391418 meters Centerline goodness [0,1] 0.9988041038121813 Centerline is valid? [True, True] Translation: X:270.60, Y:10.21, Z:1.93 [[ 9.99233553e-01 -3.76861318e-02 -1.05859143e-02 2.70600113e+02] [ 3.76872485e-02 9.99289579e-01 -9.40423287e-05 1.02141489e+01] [ 1.05819379e-02 -3.04983733e-04 9.99943963e-01 1.93389078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.744391418 meters Centerline goodness [0,1] 0.9986791622114598 Centerline is valid? [True, True] Translation: X:270.63, Y:10.21, Z:1.93 [[ 9.98969142e-01 -4.43519090e-02 -9.67269349e-03 2.70631214e+02] [ 4.43531589e-02 9.99015911e-01 -8.53611459e-05 1.02079724e+01] [ 9.66696063e-03 -3.43741361e-04 9.99953215e-01 1.93467168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.774391418 meters Centerline goodness [0,1] 0.9985760951503476 Centerline is valid? [True, True] Translation: X:270.66, Y:10.21, Z:1.94 [[ 9.98810684e-01 -4.79074859e-02 -9.06039600e-03 2.70662997e+02] [ 4.79087309e-02 9.98851714e-01 -7.97010727e-05 1.02052481e+01] [ 9.05381035e-03 -3.54465791e-04 9.99958951e-01 1.93553421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.804391418 meters Centerline goodness [0,1] 0.9986810149903693 Centerline is valid? [True, True] Translation: X:270.70, Y:10.20, Z:1.94 [[ 9.98651999e-01 -5.11737942e-02 -8.68492537e-03 2.70695316e+02] [ 5.11750662e-02 9.98689695e-01 -7.58536560e-05 1.02023941e+01] [ 8.67742719e-03 -3.68700226e-04 9.99962282e-01 1.93625314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.834391418 meters Centerline goodness [0,1] 0.9986142314233523 Centerline is valid? [True, True] Translation: X:270.73, Y:10.20, Z:1.94 [[ 9.98457085e-01 -5.48643360e-02 -8.56472122e-03 2.70725081e+02] [ 5.48657133e-02 9.98493740e-01 -7.42426644e-05 1.01985585e+01] [ 8.55589379e-03 -3.95781425e-04 9.99963319e-01 1.93693646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.864391418 meters Centerline goodness [0,1] 0.9984786595531844 Centerline is valid? [True, True] Translation: X:270.76, Y:10.19, Z:1.94 [[ 9.98088495e-01 -6.11568114e-02 -8.89951686e-03 2.70755059e+02] [ 6.11585482e-02 9.98128061e-01 -7.71115873e-05 1.01919893e+01] [ 8.88757340e-03 -4.67317343e-04 9.99960396e-01 1.93716457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.894391418 meters Centerline goodness [0,1] 0.9984722600087897 Centerline is valid? [True, True] Translation: X:270.79, Y:10.19, Z:1.94 [[ 9.97922423e-01 -6.37779104e-02 -9.12222565e-03 2.70786446e+02] [ 6.37798463e-02 9.97963990e-01 -7.88311181e-05 1.01909149e+01] [ 9.10868039e-03 -5.03146809e-04 9.99958389e-01 1.93716707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.924391418 meters Centerline goodness [0,1] 0.9987255024863149 Centerline is valid? [True, True] Translation: X:270.82, Y:10.19, Z:1.94 [[ 9.97706216e-01 -6.69617928e-02 -9.92092729e-03 2.70818037e+02] [ 6.69642437e-02 9.97755372e-01 -8.53125199e-05 1.01911345e+01] [ 9.90437118e-03 -5.79230561e-04 9.99950783e-01 1.93720221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.954391418 meters Centerline goodness [0,1] 0.9985152345302076 Centerline is valid? [True, True] Translation: X:270.85, Y:10.19, Z:1.94 [[ 9.97671982e-01 -6.74551761e-02 -1.00207079e-02 2.70849961e+02] [ 6.74577066e-02 9.97722131e-01 -8.56391041e-05 1.01911260e+01] [ 1.00036589e-02 -5.90534241e-04 9.99949788e-01 1.93724935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98439141800003 meters Centerline goodness [0,1] 0.9987021686343465 Centerline is valid? [True, True] Translation: X:270.88, Y:10.19, Z:1.94 [[ 9.97648046e-01 -6.77273174e-02 -1.05540371e-02 2.70882568e+02] [ 6.77301490e-02 9.97703673e-01 -8.93069985e-05 1.01936907e+01] [ 1.05358501e-02 -6.25729549e-04 9.99944301e-01 1.93717696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.014391418 meters Centerline goodness [0,1] 0.9985131824178586 Centerline is valid? [True, True] Translation: X:270.91, Y:10.19, Z:1.94 [[ 9.97670590e-01 -6.72941124e-02 -1.11757027e-02 2.70913962e+02] [ 6.72972700e-02 9.97732965e-01 -9.37036523e-05 1.01920154e+01] [ 1.11566727e-02 -6.58608904e-04 9.99937545e-01 1.93668799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.044391418 meters Centerline goodness [0,1] 0.9989077695393728 Centerline is valid? [True, True] Translation: X:270.95, Y:10.20, Z:1.94 [[ 9.97721755e-01 -6.64188955e-02 -1.18249332e-02 2.70946157e+02] [ 6.64223795e-02 9.97791590e-01 -9.82912141e-05 1.01992142e+01] [ 1.18053473e-02 -6.87372921e-04 9.99930078e-01 1.93676068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.074391418 meters Centerline goodness [0,1] 0.998681484271991 Centerline is valid? [True, True] Translation: X:270.98, Y:10.20, Z:1.94 [[ 9.97790358e-01 -6.52647907e-02 -1.24462400e-02 2.70976929e+02] [ 6.52685729e-02 9.97867728e-01 -1.02500506e-04 1.02002900e+01] [ 1.24263909e-02 -7.10074305e-04 9.99922537e-01 1.93610342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.104391418 meters Centerline goodness [0,1] 0.9988678533241084 Centerline is valid? [True, True] Translation: X:271.01, Y:10.21, Z:1.94 [[ 9.97998499e-01 -6.18621443e-02 -1.31175753e-02 2.71007970e+02] [ 6.18660617e-02 9.98084455e-01 -1.07320989e-04 1.02054130e+01] [ 1.30990871e-02 -7.04426535e-04 9.99913955e-01 1.93633006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.134391418 meters Centerline goodness [0,1] 0.9989274222381123 Centerline is valid? [True, True] Translation: X:271.04, Y:10.21, Z:1.94 [[ 9.98124243e-01 -5.97634554e-02 -1.32787311e-02 2.71038352e+02] [ 5.97672900e-02 9.98212332e-01 -1.08223736e-04 1.02062587e+01] [ 1.32614610e-02 -6.85613040e-04 9.99911828e-01 1.93647288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.164391418 meters Centerline goodness [0,1] 0.9989491824639569 Centerline is valid? [True, True] Translation: X:271.07, Y:10.21, Z:1.94 [[ 9.98419939e-01 -5.48027400e-02 -1.24211598e-02 2.71068087e+02] [ 5.48057139e-02 9.98497032e-01 -1.01101718e-04 1.02130183e+01] [ 1.24080319e-02 -5.79808561e-04 9.99922849e-01 1.93805423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.194391418 meters Centerline goodness [0,1] 0.9989486963835156 Centerline is valid? [True, True] Translation: X:271.10, Y:10.22, Z:1.94 [[ 9.98587444e-01 -5.18736971e-02 -1.14993945e-02 2.71099717e+02] [ 5.18760552e-02 9.98653527e-01 -9.33277702e-05 1.02201231e+01] [ 1.14887521e-02 -5.03347284e-04 9.99933875e-01 1.93917921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.224391418 meters Centerline goodness [0,1] 0.9990087106911607 Centerline is valid? [True, True] Translation: X:271.13, Y:10.22, Z:1.94 [[ 9.98737943e-01 -4.89718990e-02 -1.11478534e-02 2.71131399e+02] [ 4.89739422e-02 9.98800053e-01 -8.97906370e-05 1.02245377e+01] [ 1.11388738e-02 -4.56277013e-04 9.99937857e-01 1.94020225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.254391418 meters Centerline goodness [0,1] 0.9989440337909187 Centerline is valid? [True, True] Translation: X:271.16, Y:10.24, Z:1.94 [[ 9.99054600e-01 -4.22749652e-02 -1.01357827e-02 2.71161726e+02] [ 4.22763143e-02 9.99105954e-01 -8.12176102e-05 1.02368937e+01] [ 1.01301544e-02 -3.47362710e-04 9.99948628e-01 1.94201575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.284391418 meters Centerline goodness [0,1] 0.9987520886651579 Centerline is valid? [True, True] Translation: X:271.19, Y:10.24, Z:1.94 [[ 9.99197877e-01 -3.87787628e-02 -9.99054356e-03 2.71192567e+02] [ 3.87799001e-02 9.99247774e-01 -7.99308632e-05 1.02411460e+01] [ 9.98612803e-03 -3.07565533e-04 9.99950090e-01 1.94267472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.314391418 meters Centerline goodness [0,1] 0.999049971499145 Centerline is valid? [True, True] Translation: X:271.22, Y:10.25, Z:1.94 [[ 9.99340876e-01 -3.49227501e-02 -9.91030882e-03 2.71224413e+02] [ 3.49236843e-02 9.99389979e-01 -7.88251441e-05 1.02458529e+01] [ 9.90701611e-03 -2.67331308e-04 9.99950889e-01 1.94286224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.344391418 meters Centerline goodness [0,1] 0.9987724348120556 Centerline is valid? [True, True] Translation: X:271.26, Y:10.25, Z:1.94 [[ 9.99453855e-01 -3.14536913e-02 -1.01320213e-02 2.71255608e+02] [ 3.14544960e-02 9.99505182e-01 -7.99634501e-05 1.02495458e+01] [ 1.01295229e-02 -2.38777845e-04 9.99948667e-01 1.94271267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.374391418 meters Centerline goodness [0,1] 0.999003012175979 Centerline is valid? [True, True] Translation: X:271.29, Y:10.26, Z:1.94 [[ 9.99627204e-01 -2.51233641e-02 -1.06896753e-02 2.71286386e+02] [ 2.51239042e-02 9.99684341e-01 -8.37747357e-05 1.02556223e+01] [ 1.06884057e-02 -1.84822873e-04 9.99942860e-01 1.94181979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.404391418 meters Centerline goodness [0,1] 0.9987067777565775 Centerline is valid? [True, True] Translation: X:271.32, Y:10.26, Z:1.94 [[ 9.99691520e-01 -2.22993312e-02 -1.09363661e-02 2.71317591e+02] [ 2.22997324e-02 9.99751326e-01 -8.52705714e-05 1.02621257e+01] [ 1.09355480e-02 -1.58633770e-04 9.99940193e-01 1.94191765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.434391418 meters Centerline goodness [0,1] 0.9989766113041809 Centerline is valid? [True, True] Translation: X:271.35, Y:10.27, Z:1.94 [[ 9.99774919e-01 -1.78449395e-02 -1.14747693e-02 2.71347676e+02] [ 1.78450911e-02 9.99840760e-01 -8.91788210e-05 1.02682079e+01] [ 1.14745334e-02 -1.15609555e-04 9.99934159e-01 1.94158634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.464391418 meters Centerline goodness [0,1] 0.9988285160493301 Centerline is valid? [True, True] Translation: X:271.38, Y:10.27, Z:1.94 [[ 9.99806390e-01 -1.58609435e-02 -1.16453101e-02 2.71377559e+02] [ 1.58609641e-02 9.99874203e-01 -9.05943860e-05 1.02709732e+01] [ 1.16452820e-02 -9.41289984e-05 9.99932187e-01 1.94110455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.494391418 meters Centerline goodness [0,1] 0.9986580040472893 Centerline is valid? [True, True] Translation: X:271.41, Y:10.27, Z:1.94 [[ 9.99831875e-01 -1.41639543e-02 -1.16449365e-02 2.71407137e+02] [ 1.41638561e-02 9.99899683e-01 -9.09107405e-05 1.02739012e+01] [ 1.16450560e-02 -7.40417490e-05 9.99932191e-01 1.94107311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.524391418 meters Centerline goodness [0,1] 0.9988489085948158 Centerline is valid? [True, True] Translation: X:271.44, Y:10.28, Z:1.94 [[ 9.99877354e-01 -1.06442342e-02 -1.14881324e-02 2.71436083e+02] [ 1.06439002e-02 9.99943348e-01 -9.02223583e-05 1.02792970e+01] [ 1.14884419e-02 -3.20672411e-05 9.99934005e-01 1.94099043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.554391418 meters Centerline goodness [0,1] 0.9990183944347232 Centerline is valid? [True, True] Translation: X:271.46, Y:10.28, Z:1.94 [[ 9.99895455e-01 -9.22547327e-03 -1.11341719e-02 2.71463850e+02] [ 9.22506053e-03 9.99957444e-01 -8.84281855e-05 1.02817593e+01] [ 1.11345139e-02 -1.42944689e-05 9.99938009e-01 1.94158554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.584391418 meters Centerline goodness [0,1] 0.998805766442037 Centerline is valid? [True, True] Translation: X:271.49, Y:10.28, Z:1.94 [[ 9.99911417e-01 -8.49748881e-03 -1.02445261e-02 2.71492026e+02] [ 8.49708160e-03 9.99963896e-01 -8.32739180e-05 1.02835462e+01] [ 1.02448638e-02 -3.78203271e-06 9.99947520e-01 1.94219143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.614391418 meters Centerline goodness [0,1] 0.998807140118434 Centerline is valid? [True, True] Translation: X:271.52, Y:10.28, Z:1.94 [[ 9.99925915e-01 -8.81049252e-03 -8.39875308e-03 2.71521067e+02] [ 8.81021185e-03 9.99961187e-01 -7.04161065e-05 1.02840602e+01] [ 8.39904749e-03 -3.58390416e-06 9.99964727e-01 1.94335215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.644391418 meters Centerline goodness [0,1] 0.9990595477279528 Centerline is valid? [True, True] Translation: X:271.55, Y:10.28, Z:1.94 [[ 9.99918132e-01 -1.02210084e-02 -7.69803815e-03 2.71550179e+02] [ 1.02208005e-02 9.99947764e-01 -6.63423320e-05 1.02829882e+01] [ 7.69831412e-03 -1.23432115e-05 9.99970367e-01 1.94402169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.674391418 meters Centerline goodness [0,1] 0.9991474669110595 Centerline is valid? [True, True] Translation: X:271.58, Y:10.28, Z:1.94 [[ 9.99893859e-01 -1.25187688e-02 -7.45320051e-03 2.71579563e+02] [ 1.25186348e-02 9.99921637e-01 -6.46434973e-05 1.02811075e+01] [ 7.45342571e-03 -2.86672589e-05 9.99972222e-01 1.94407689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.704391418 meters Centerline goodness [0,1] 0.999043285993707 Centerline is valid? [True, True] Translation: X:271.61, Y:10.28, Z:1.94 [[ 9.99782208e-01 -1.94446228e-02 -7.57907162e-03 2.71610216e+02] [ 1.94446811e-02 9.99810932e-01 -6.60019788e-05 1.02756647e+01] [ 7.57892204e-03 -8.13850263e-05 9.99971276e-01 1.94400011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73439141800003 meters Centerline goodness [0,1] 0.9986601161232693 Centerline is valid? [True, True] Translation: X:271.64, Y:10.27, Z:1.94 [[ 9.99685626e-01 -2.40679642e-02 -7.02718372e-03 2.71641534e+02] [ 2.40681286e-02 9.99710319e-01 -6.11947863e-05 1.02706284e+01] [ 7.02662091e-03 -1.07955613e-04 9.99975307e-01 1.94387588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.764391418 meters Centerline goodness [0,1] 0.9988530892254105 Centerline is valid? [True, True] Translation: X:271.67, Y:10.27, Z:1.94 [[ 9.99551828e-01 -2.90544144e-02 -7.21006218e-03 2.71673920e+02] [ 2.90547203e-02 9.99577821e-01 -6.23369937e-05 1.02673931e+01] [ 7.20882941e-03 -1.47177284e-04 9.99974005e-01 1.94391408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.794391418 meters Centerline goodness [0,1] 0.9988977446159064 Centerline is valid? [True, True] Translation: X:271.70, Y:10.25, Z:1.94 [[ 9.99198399e-01 -3.93634823e-02 -7.28530787e-03 2.71703609e+02] [ 3.93640725e-02 9.99224933e-01 -6.24124073e-05 1.02541926e+01] [ 7.28211804e-03 -2.24417010e-04 9.99973460e-01 1.94314800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.824391418 meters Centerline goodness [0,1] 0.9987487540559455 Centerline is valid? [True, True] Translation: X:271.73, Y:10.25, Z:1.94 [[ 9.98999130e-01 -4.41002475e-02 -7.47711858e-03 2.71734712e+02] [ 4.41010011e-02 9.99027076e-01 -6.41361273e-05 1.02532279e+01] [ 7.47267233e-03 -2.65676479e-04 9.99972044e-01 1.94300783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.854391418 meters Centerline goodness [0,1] 0.998858085389837 Centerline is valid? [True, True] Translation: X:271.76, Y:10.24, Z:1.94 [[ 9.98623971e-01 -5.18839288e-02 -7.63032469e-03 2.71764893e+02] [ 5.18849416e-02 9.98653067e-01 -6.52908160e-05 1.02430384e+01] [ 7.62343470e-03 -3.30697977e-04 9.99970887e-01 1.94218448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.884391418 meters Centerline goodness [0,1] 0.9987730840014385 Centerline is valid? [True, True] Translation: X:271.80, Y:10.24, Z:1.94 [[ 9.98488251e-01 -5.44636617e-02 -7.41088353e-03 2.71796565e+02] [ 5.44646895e-02 9.98515695e-01 -6.32156226e-05 1.02429283e+01] [ 7.40332647e-03 -3.40511414e-04 9.99972537e-01 1.94217420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.914391418 meters Centerline goodness [0,1] 0.9983931327568345 Centerline is valid? [True, True] Translation: X:271.83, Y:10.24, Z:1.94 [[ 9.98385664e-01 -5.62325969e-02 -7.99750094e-03 2.71827263e+02] [ 5.62338596e-02 9.98417622e-01 -6.70692805e-05 1.02370187e+01] [ 7.98861736e-03 -3.82769337e-04 9.99968017e-01 1.94200788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.944391418 meters Centerline goodness [0,1] 0.9986418521740976 Centerline is valid? [True, True] Translation: X:271.86, Y:10.24, Z:1.94 [[ 9.98311576e-01 -5.75582704e-02 -7.81299584e-03 2.71859108e+02] [ 5.75595241e-02 9.98342074e-01 -6.44830359e-05 1.02405589e+01] [ 7.80375400e-03 -3.85338161e-04 9.99969476e-01 1.94204541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.974391418 meters Centerline goodness [0,1] 0.9987883683360258 Centerline is valid? [True, True] Translation: X:271.89, Y:10.24, Z:1.94 [[ 9.98256795e-01 -5.84796234e-02 -7.96894031e-03 2.71890700e+02] [ 5.84809621e-02 9.98288522e-01 -6.51246846e-05 1.02371132e+01] [ 7.95911011e-03 -4.01020137e-04 9.99968245e-01 1.94211171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.004391418 meters Centerline goodness [0,1] 0.9987930121757543 Centerline is valid? [True, True] Translation: X:271.92, Y:10.24, Z:1.94 [[ 9.98271858e-01 -5.82186770e-02 -7.99272509e-03 2.71923208e+02] [ 5.82200194e-02 9.98303774e-01 -6.48111441e-05 1.02385939e+01] [ 7.98294084e-03 -4.00637469e-04 9.99968056e-01 1.94210729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.034391418 meters Centerline goodness [0,1] 0.9984692901332993 Centerline is valid? [True, True] Translation: X:271.96, Y:10.24, Z:1.94 [[ 9.98282416e-01 -5.80214380e-02 -8.10743782e-03 2.71956244e+02] [ 5.80228184e-02 9.98315255e-01 -6.50433873e-05 1.02398168e+01] [ 8.09755276e-03 -4.05484723e-04 9.99967132e-01 1.94223339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.064391418 meters Centerline goodness [0,1] 0.9983395069612977 Centerline is valid? [True, True] Translation: X:271.99, Y:10.24, Z:1.94 [[ 9.98285250e-01 -5.80615884e-02 -7.44393784e-03 2.71988779e+02] [ 5.80627592e-02 9.98312933e-01 -5.89101153e-05 1.02403068e+01] [ 7.43479983e-03 -3.73406471e-04 9.99972292e-01 1.94248630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.094391418 meters Centerline goodness [0,1] 0.9982996450509044 Centerline is valid? [True, True] Translation: X:272.02, Y:10.24, Z:1.94 [[ 9.98261842e-01 -5.85119240e-02 -7.04618840e-03 2.72020544e+02] [ 5.85129880e-02 9.98286646e-01 -5.52281852e-05 1.02415235e+01] [ 7.03734729e-03 -3.57161348e-04 9.99975174e-01 1.94260248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.124391418 meters Centerline goodness [0,1] 0.9983210422289759 Centerline is valid? [True, True] Translation: X:272.05, Y:10.24, Z:1.94 [[ 9.98185452e-01 -5.97470196e-02 -7.48973705e-03 2.72051410e+02] [ 5.97482611e-02 9.98213475e-01 -5.80728567e-05 1.02405393e+01] [ 7.47982613e-03 -3.89531285e-04 9.99971950e-01 1.94296849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.154391418 meters Centerline goodness [0,1] 0.9983475976612152 Centerline is valid? [True, True] Translation: X:272.08, Y:10.24, Z:1.94 [[ 9.98139471e-01 -6.05042008e-02 -7.53911966e-03 2.72082972e+02] [ 6.05054838e-02 9.98167863e-01 -5.80000549e-05 1.02393292e+01] [ 7.52881621e-03 -3.98265939e-04 9.99971579e-01 1.94301283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.184391418 meters Centerline goodness [0,1] 0.998303647158609 Centerline is valid? [True, True] Translation: X:272.12, Y:10.24, Z:1.94 [[ 9.98071676e-01 -6.14991093e-02 -8.41366831e-03 2.72115128e+02] [ 6.15007473e-02 9.98107035e-01 -6.41531666e-05 1.02413728e+01] [ 8.40168689e-03 -4.53417430e-04 9.99964602e-01 1.94266192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.214391418 meters Centerline goodness [0,1] 0.9985793647428014 Centerline is valid? [True, True] Translation: X:272.15, Y:10.24, Z:1.94 [[ 9.97941277e-01 -6.32404268e-02 -1.06703832e-02 2.72146293e+02] [ 6.32431705e-02 9.97998144e-01 -8.04315263e-05 1.02387027e+01] [ 1.06541092e-02 -5.94562924e-04 9.99943067e-01 1.94047200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.244391418 meters Centerline goodness [0,1] 0.9986203383354912 Centerline is valid? [True, True] Translation: X:272.18, Y:10.24, Z:1.94 [[ 9.97885684e-01 -6.39774573e-02 -1.14475273e-02 2.72178674e+02] [ 6.39806726e-02 9.97951134e-01 -8.54985771e-05 1.02381806e+01] [ 1.14295428e-02 -6.47102688e-04 9.99934471e-01 1.93962400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.274391418 meters Centerline goodness [0,1] 0.9983441599796204 Centerline is valid? [True, True] Translation: X:272.21, Y:10.24, Z:1.94 [[ 9.97828072e-01 -6.46468545e-02 -1.26460790e-02 2.72211192e+02] [ 6.46508454e-02 9.97907941e-01 -9.33986577e-05 1.02419055e+01] [ 1.26256606e-02 -7.24383895e-04 9.99920031e-01 1.93920342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.304391418 meters Centerline goodness [0,1] 0.9987236215112322 Centerline is valid? [True, True] Translation: X:272.24, Y:10.24, Z:1.94 [[ 9.97789347e-01 -6.51402964e-02 -1.31590761e-02 2.72243476e+02] [ 6.51446747e-02 9.97875825e-01 -9.60957057e-05 1.02441427e+01] [ 1.31373837e-02 -7.61360463e-04 9.99913411e-01 1.93902620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.334391418 meters Centerline goodness [0,1] 0.9986591465361285 Centerline is valid? [True, True] Translation: X:272.27, Y:10.24, Z:1.94 [[ 9.97721057e-01 -6.59319114e-02 -1.43414145e-02 2.72274447e+02] [ 6.59372090e-02 9.97823769e-01 -1.03654114e-04 1.02441588e+01] [ 1.43170384e-02 -8.42214955e-04 9.99897151e-01 1.93892556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.364391418 meters Centerline goodness [0,1] 0.9984669434685404 Centerline is valid? [True, True] Translation: X:272.31, Y:10.25, Z:1.94 [[ 9.97738235e-01 -6.56044352e-02 -1.46448910e-02 2.72306747e+02] [ 6.56099396e-02 9.97845341e-01 -1.04790769e-04 1.02469409e+01] [ 1.46202110e-02 -8.56296657e-04 9.99892752e-01 1.93933111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.394391418 meters Centerline goodness [0,1] 0.9988952389045869 Centerline is valid? [True, True] Translation: X:272.34, Y:10.25, Z:1.94 [[ 9.97873747e-01 -6.34489175e-02 -1.49070479e-02 2.72337568e+02] [ 6.34543944e-02 9.97984734e-01 -1.05769332e-04 1.02505250e+01] [ 1.48837172e-02 -8.40373258e-04 9.99888878e-01 1.94028529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.424391418 meters Centerline goodness [0,1] 0.9988304093567252 Centerline is valid? [True, True] Translation: X:272.37, Y:10.25, Z:1.94 [[ 9.97984394e-01 -6.18367118e-02 -1.42607845e-02 2.72367606e+02] [ 6.18415658e-02 9.98085974e-01 -1.00770345e-04 1.02492926e+01] [ 1.42397203e-02 -7.81342011e-04 9.99898305e-01 1.94082189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.454391418 meters Centerline goodness [0,1] 0.9989134834572531 Centerline is valid? [True, True] Translation: X:272.40, Y:10.26, Z:1.94 [[ 9.98119649e-01 -5.98211243e-02 -1.33640801e-02 2.72399193e+02] [ 5.98252137e-02 9.98208863e-01 -9.39246209e-05 1.02578637e+01] [ 1.33457618e-02 -7.05760935e-04 9.99910692e-01 1.94300344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48439141800003 meters Centerline goodness [0,1] 0.9991473215237364 Centerline is valid? [True, True] Translation: X:272.43, Y:10.27, Z:1.95 [[ 9.98368891e-01 -5.58620651e-02 -1.17892476e-02 2.72429428e+02] [ 5.58649763e-02 9.98438329e-01 -8.24869686e-05 1.02654455e+01] [ 1.17754446e-02 -5.76253614e-04 9.99930501e-01 1.94554454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.514391418 meters Centerline goodness [0,1] 0.9992947964526124 Centerline is valid? [True, True] Translation: X:272.46, Y:10.27, Z:1.95 [[ 9.98469327e-01 -5.41977924e-02 -1.10273092e-02 2.72462077e+02] [ 5.42002426e-02 9.98530084e-01 -7.67546780e-05 1.02695035e+01] [ 1.10152599e-02 -5.21045641e-04 9.99939194e-01 1.94702883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.544391418 meters Centerline goodness [0,1] 0.9991035027428548 Centerline is valid? [True, True] Translation: X:272.49, Y:10.27, Z:1.95 [[ 9.98541226e-01 -5.30129673e-02 -1.02491698e-02 2.72492984e+02] [ 5.30150302e-02 9.98593712e-01 -7.04951436e-05 1.02715074e+01] [ 1.02384937e-02 -4.72967739e-04 9.99947473e-01 1.94811849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.574391418 meters Centerline goodness [0,1] 0.9988027024715642 Centerline is valid? [True, True] Translation: X:272.52, Y:10.27, Z:1.95 [[ 9.98599709e-01 -5.21382064e-02 -8.95704532e-03 2.72523940e+02] [ 5.21397511e-02 9.98639796e-01 -6.11286493e-05 1.02741813e+01] [ 8.94804905e-03 -4.05975063e-04 9.99959883e-01 1.94940339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.604391418 meters Centerline goodness [0,1] 0.9988027024715642 Centerline is valid? [True, True] Translation: X:272.56, Y:10.27, Z:1.95 [[ 9.98605756e-01 -5.20222671e-02 -8.95704963e-03 2.72556514e+02] [ 5.20238129e-02 9.98645843e-01 -6.04915901e-05 1.02742802e+01] [ 8.94806728e-03 -4.05572624e-04 9.99959883e-01 1.94963159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.634391418 meters Centerline goodness [0,1] 0.9989089742218419 Centerline is valid? [True, True] Translation: X:272.59, Y:10.28, Z:1.95 [[ 9.98597593e-01 -5.22126418e-02 -8.75711102e-03 2.72589072e+02] [ 5.22141348e-02 9.98635910e-01 -5.82024408e-05 1.02798843e+01] [ 8.74820444e-03 -3.99124158e-04 9.99961654e-01 1.95007706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.664391418 meters Centerline goodness [0,1] 0.9989747314009868 Centerline is valid? [True, True] Translation: X:272.62, Y:10.28, Z:1.95 [[ 9.98574064e-01 -5.26802503e-02 -8.63888385e-03 2.72620429e+02] [ 5.26817265e-02 9.98611352e-01 -5.67506176e-05 1.02798815e+01] [ 8.62987712e-03 -3.98441621e-04 9.99962683e-01 1.95044197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.694391418 meters Centerline goodness [0,1] 0.9991193023155905 Centerline is valid? [True, True] Translation: X:272.65, Y:10.28, Z:1.95 [[ 9.98456906e-01 -5.46683821e-02 -9.75573088e-03 2.72651536e+02] [ 5.46703657e-02 9.98504455e-01 -6.34388639e-05 1.02803167e+01] [ 9.74460885e-03 -4.70008403e-04 9.99952410e-01 1.94980654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.724391418 meters Centerline goodness [0,1] 0.9989517819706499 Centerline is valid? [True, True] Translation: X:272.68, Y:10.28, Z:1.95 [[ 9.98386696e-01 -5.57560994e-02 -1.07360744e-02 2.72683411e+02] [ 5.57585726e-02 9.98444278e-01 -6.90525496e-05 1.02802994e+01] [ 1.07232221e-02 -5.29687035e-04 9.99942364e-01 1.94917064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.754391418 meters Centerline goodness [0,1] 0.9990358038182169 Centerline is valid? [True, True] Translation: X:272.72, Y:10.28, Z:1.95 [[ 9.98330875e-01 -5.66341468e-02 -1.13153261e-02 2.72715266e+02] [ 5.66369609e-02 9.98394836e-01 -7.18498769e-05 1.02805206e+01] [ 1.13012323e-02 -5.69135733e-04 9.99935977e-01 1.94835628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.784391418 meters Centerline goodness [0,1] 0.9992269535527927 Centerline is valid? [True, True] Translation: X:272.75, Y:10.28, Z:1.95 [[ 9.98175890e-01 -5.86987920e-02 -1.41189732e-02 2.72747580e+02] [ 5.87033972e-02 9.98275465e-01 -8.84033721e-05 1.02810310e+01] [ 1.40998137e-02 -7.40589578e-04 9.99900318e-01 1.94619394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.814391418 meters Centerline goodness [0,1] 0.9991400438577632 Centerline is valid? [True, True] Translation: X:272.78, Y:10.28, Z:1.95 [[ 9.98148897e-01 -5.89510195e-02 -1.49517831e-02 2.72780025e+02] [ 5.89562303e-02 9.98260564e-01 -9.24098269e-05 1.02819045e+01] [ 1.49312231e-02 -7.89262003e-04 9.99888212e-01 1.94533437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.844391418 meters Centerline goodness [0,1] 0.999075567021391 Centerline is valid? [True, True] Translation: X:272.81, Y:10.28, Z:1.94 [[ 9.98153606e-01 -5.86815213e-02 -1.56798410e-02 2.72811779e+02] [ 5.86872414e-02 9.98276414e-01 -9.54758268e-05 1.02819420e+01] [ 1.56584181e-02 -8.24907071e-04 9.99877059e-01 1.94439396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.874391418 meters Centerline goodness [0,1] 0.9990970654627539 Centerline is valid? [True, True] Translation: X:272.84, Y:10.29, Z:1.94 [[ 9.98302926e-01 -5.59480361e-02 -1.61581432e-02 2.72843654e+02] [ 5.59537735e-02 9.98433356e-01 -9.71398619e-05 1.02873912e+01] [ 1.61382639e-02 -8.07134078e-04 9.99869444e-01 1.94464949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.904391418 meters Centerline goodness [0,1] 0.999052989539839 Centerline is valid? [True, True] Translation: X:272.87, Y:10.29, Z:1.94 [[ 9.98441178e-01 -5.35104183e-02 -1.58697832e-02 2.72874347e+02] [ 5.35156574e-02 9.98567006e-01 -9.46574783e-05 1.02885191e+01] [ 1.58521070e-02 -7.54771954e-04 9.99874063e-01 1.94498435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.934391418 meters Centerline goodness [0,1] 0.9991569208154089 Centerline is valid? [True, True] Translation: X:272.91, Y:10.29, Z:1.95 [[ 9.98612017e-01 -5.05062046e-02 -1.49386508e-02 2.72906013e+02] [ 5.05105245e-02 9.98723525e-01 -8.82236498e-05 1.02949824e+01] [ 1.49240378e-02 -6.66457890e-04 9.99888408e-01 1.94701573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.964391418 meters Centerline goodness [0,1] 0.9991988567469253 Centerline is valid? [True, True] Translation: X:272.94, Y:10.31, Z:1.95 [[ 9.98987076e-01 -4.29526316e-02 -1.34124152e-02 2.72936005e+02] [ 4.29554410e-02 9.99076986e-01 -7.86829271e-05 1.03052395e+01] [ 1.34034150e-02 -4.97532984e-04 9.99910046e-01 1.94942330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.994391418 meters Centerline goodness [0,1] 0.9992401545742695 Centerline is valid? [True, True] Translation: X:272.97, Y:10.31, Z:1.95 [[ 9.99170488e-01 -3.86266475e-02 -1.28964077e-02 2.72967185e+02] [ 3.86288883e-02 9.99253623e-01 -7.53879199e-05 1.03112951e+01] [ 1.28896941e-02 -4.22848508e-04 9.99916835e-01 1.95070010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.024391418 meters Centerline goodness [0,1] 0.9991316052277365 Centerline is valid? [True, True] Translation: X:273.00, Y:10.32, Z:1.95 [[ 9.99345915e-01 -3.40141384e-02 -1.22793074e-02 2.72997429e+02] [ 3.40158266e-02 9.99421292e-01 -7.14111330e-05 1.03161744e+01] [ 1.22746302e-02 -3.46326366e-04 9.99924604e-01 1.95145723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.054391418 meters Centerline goodness [0,1] 0.9993897787948132 Centerline is valid? [True, True] Translation: X:273.03, Y:10.33, Z:1.95 [[ 9.99601301e-01 -2.55731883e-02 -1.19687433e-02 2.73028035e+02] [ 2.55741901e-02 9.99672925e-01 -6.93708596e-05 1.03268889e+01] [ 1.19666026e-02 -2.36747714e-04 9.99928370e-01 1.95293466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.084391418 meters Centerline goodness [0,1] 0.9992147624656459 Centerline is valid? [True, True] Translation: X:273.06, Y:10.33, Z:1.95 [[ 9.99690928e-01 -2.19389070e-02 -1.16933102e-02 2.73058706e+02] [ 2.19396173e-02 9.99759295e-01 -6.75457165e-05 1.03287363e+01] [ 1.16919774e-02 -1.89021911e-04 9.99931629e-01 1.95272092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.114391418 meters Centerline goodness [0,1] 0.9994520427844994 Centerline is valid? [True, True] Translation: X:273.09, Y:10.34, Z:1.95 [[ 9.99801413e-01 -1.54271571e-02 -1.26149589e-02 2.73090503e+02] [ 1.54274717e-02 9.99880987e-01 -7.23815839e-05 1.03379496e+01] [ 1.26145742e-02 -1.22249712e-04 9.99920426e-01 1.95291987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.144391418 meters Centerline goodness [0,1] 0.9994066846858725 Centerline is valid? [True, True] Translation: X:273.12, Y:10.34, Z:1.95 [[ 9.99821505e-01 -1.28903924e-02 -1.38129037e-02 2.73120158e+02] [ 1.28905320e-02 9.99916911e-01 -7.89260842e-05 1.03405282e+01] [ 1.38127733e-02 -9.91436810e-05 9.99904594e-01 1.95205533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.174391418 meters Centerline goodness [0,1] 0.9994280057199428 Centerline is valid? [True, True] Translation: X:273.15, Y:10.34, Z:1.95 [[ 9.99832732e-01 -1.06026073e-02 -1.49027554e-02 2.73149235e+02] [ 1.06024809e-02 9.99943788e-01 -8.74902199e-05 1.03434673e+01] [ 1.49028453e-02 -7.05305941e-05 9.99888944e-01 1.95170770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.204391418 meters Centerline goodness [0,1] 0.9994727708090771 Centerline is valid? [True, True] Translation: X:273.18, Y:10.35, Z:1.95 [[ 9.99833353e-01 -8.33347209e-03 -1.62425042e-02 2.73176580e+02] [ 8.33296764e-03 9.99965275e-01 -9.87365467e-05 1.03459135e+01] [ 1.62427631e-02 -3.66281697e-05 9.99868077e-01 1.95073269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23439141800003 meters Centerline goodness [0,1] 0.9994279427942794 Centerline is valid? [True, True] Translation: X:273.21, Y:10.35, Z:1.95 [[ 9.99815770e-01 -4.53563805e-03 -1.86508251e-02 2.73205559e+02] [ 4.53423263e-03 9.99989713e-01 -1.17641132e-04 1.03500031e+01] [ 1.86511668e-02 3.30522791e-05 9.99826051e-01 1.94861752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.264391418 meters Centerline goodness [0,1] 0.9995149911816579 Centerline is valid? [True, True] Translation: X:273.23, Y:10.35, Z:1.95 [[ 9.99813127e-01 -2.40206072e-03 -1.91817693e-02 2.73234017e+02] [ 2.40007870e-03 9.99997112e-01 -1.26348411e-04 1.03520228e+01] [ 1.91820174e-02 8.02870438e-05 9.99816005e-01 1.94907356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.294391418 meters Centerline goodness [0,1] 0.9996487068019145 Centerline is valid? [True, True] Translation: X:273.26, Y:10.36, Z:1.95 [[ 9.99802694e-01 2.62805512e-03 -1.96892450e-02 2.73261976e+02] [-2.63119534e-03 9.99996529e-01 -1.33585087e-04 1.03568070e+01] [ 1.96888256e-02 1.85364979e-04 9.99806139e-01 1.94949668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.324391418 meters Centerline goodness [0,1] 0.9995596653456627 Centerline is valid? [True, True] Translation: X:273.29, Y:10.36, Z:1.95 [[ 9.99798354e-01 5.49999968e-03 -1.93132654e-02 2.73290243e+02] [-5.50360004e-03 9.99984846e-01 -1.33272185e-04 1.03591835e+01] [ 1.93122397e-02 2.39537800e-04 9.99813473e-01 1.95063743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.354391418 meters Centerline goodness [0,1] 0.999538309332747 Centerline is valid? [True, True] Translation: X:273.32, Y:10.36, Z:1.95 [[ 9.99796290e-01 8.09074452e-03 -1.84910443e-02 2.73319283e+02] [-8.09455902e-03 9.99967230e-01 -1.31452283e-04 1.03615970e+01] [ 1.84893748e-02 2.81102354e-04 9.99829017e-01 1.95222788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.384391418 meters Centerline goodness [0,1] 0.9995381468692955 Centerline is valid? [True, True] Translation: X:273.35, Y:10.37, Z:1.95 [[ 9.99787442e-01 1.25869416e-02 -1.63291044e-02 2.73346596e+02] [-1.25905699e-02 9.99920729e-01 -1.19408181e-04 1.03653799e+01] [ 1.63263070e-02 3.24975530e-04 9.99866664e-01 1.95435804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.414391418 meters Centerline goodness [0,1] 0.9995601398755196 Centerline is valid? [True, True] Translation: X:273.38, Y:10.37, Z:1.96 [[ 9.99786145e-01 1.38093062e-02 -1.53937753e-02 2.73375107e+02] [-1.38127285e-02 9.99904593e-01 -1.16008496e-04 1.03658942e+01] [ 1.53907047e-02 3.28613726e-04 9.99881502e-01 1.95517491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.444391418 meters Centerline goodness [0,1] 0.9998459981519778 Centerline is valid? [True, True] Translation: X:273.40, Y:10.37, Z:1.96 [[ 9.99790091e-01 1.43159480e-02 -1.46569948e-02 2.73403744e+02] [-1.43191404e-02 9.99897469e-01 -1.12881880e-04 1.03659078e+01] [ 1.46538760e-02 3.22733751e-04 9.99892574e-01 1.95573330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.474391418 meters Centerline goodness [0,1] 0.9995610184372257 Centerline is valid? [True, True] Translation: X:273.43, Y:10.36, Z:1.96 [[ 9.99825377e-01 1.21580234e-02 -1.41914713e-02 2.73432759e+02] [-1.21608143e-02 9.99926048e-01 -1.10378886e-04 1.03622783e+01] [ 1.41890798e-02 2.82939459e-04 9.99899290e-01 1.95579332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.504391418 meters Centerline goodness [0,1] 0.9996714201222318 Centerline is valid? [True, True] Translation: X:273.46, Y:10.36, Z:1.96 [[ 9.99845376e-01 9.73078296e-03 -1.46470474e-02 2.73461841e+02] [-9.73351249e-03 9.99952622e-01 -1.15075810e-04 1.03588643e+01] [ 1.46452336e-02 2.57625235e-04 9.99892720e-01 1.95559626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.534391418 meters Centerline goodness [0,1] 0.9994747784221468 Centerline is valid? [True, True] Translation: X:273.49, Y:10.35, Z:1.96 [[ 9.99871073e-01 5.88635162e-03 -1.49394931e-02 2.73490450e+02] [-5.88878004e-03 9.99982654e-01 -1.18564413e-04 1.03541408e+01] [ 1.49385360e-02 2.06524515e-04 9.99888393e-01 1.95536167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.564391418 meters Centerline goodness [0,1] 0.9993225672515897 Centerline is valid? [True, True] Translation: X:273.52, Y:10.34, Z:1.95 [[ 9.99860977e-01 -4.30550230e-03 -1.61086748e-02 2.73518721e+02] [ 4.30397995e-03 9.99990729e-01 -1.29171718e-04 1.03429214e+01] [ 1.61090816e-02 5.98223470e-05 9.99870239e-01 1.95382040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.594391418 meters Centerline goodness [0,1] 0.999367199092258 Centerline is valid? [True, True] Translation: X:273.55, Y:10.34, Z:1.95 [[ 9.99810332e-01 -1.02933934e-02 -1.65332006e-02 2.73547081e+02] [ 1.02925803e-02 9.99947021e-01 -1.34274112e-04 1.03362320e+01] [ 1.65337069e-02 -3.59206497e-05 9.99863308e-01 1.95304642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.624391418 meters Centerline goodness [0,1] 0.9991515837104072 Centerline is valid? [True, True] Translation: X:273.58, Y:10.33, Z:1.95 [[ 9.99713774e-01 -1.65443519e-02 -1.72815966e-02 2.73576382e+02] [ 1.65443682e-02 9.99863122e-01 -1.42035939e-04 1.03291954e+01] [ 1.72815811e-02 -1.43917813e-04 9.99850652e-01 1.95242981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.654391418 meters Centerline goodness [0,1] 0.9992661659328326 Centerline is valid? [True, True] Translation: X:273.61, Y:10.31, Z:1.95 [[ 9.99423370e-01 -2.87775804e-02 -1.80216172e-02 2.73605342e+02] [ 2.87795739e-02 9.99585771e-01 -1.48775422e-04 1.03139844e+01] [ 1.80184335e-02 -3.69964830e-04 9.99837586e-01 1.95057078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.684391418 meters Centerline goodness [0,1] 0.999096657633243 Centerline is valid? [True, True] Translation: X:273.64, Y:10.31, Z:1.95 [[ 9.99241528e-01 -3.42811471e-02 -1.84708591e-02 2.73636035e+02] [ 3.42841798e-02 9.99412113e-01 -1.52533552e-04 1.03087600e+01] [ 1.84652294e-02 -4.80840396e-04 9.99829387e-01 1.95077817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.714391418 meters Centerline goodness [0,1] 0.9989696254159064 Centerline is valid? [True, True] Translation: X:273.67, Y:10.30, Z:1.95 [[ 9.99068849e-01 -3.89646670e-02 -1.85253820e-02 2.73666043e+02] [ 3.89685220e-02 9.99240427e-01 -1.52983805e-04 1.02976423e+01] [ 1.85172716e-02 -5.69065400e-04 9.99828379e-01 1.94890999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.744391418 meters Centerline goodness [0,1] 0.9991204359205389 Centerline is valid? [True, True] Translation: X:273.70, Y:10.29, Z:1.95 [[ 9.98755726e-01 -4.64923238e-02 -1.80405944e-02 2.73697133e+02] [ 4.64972096e-02 9.98918409e-01 -1.48763227e-04 1.02934621e+01] [ 1.80279982e-02 -6.90259173e-04 9.99837244e-01 1.95155468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.774391418 meters Centerline goodness [0,1] 0.9991638975238504 Centerline is valid? [True, True] Translation: X:273.73, Y:10.29, Z:1.95 [[ 9.98629320e-01 -4.94698163e-02 -1.70943835e-02 2.73728300e+02] [ 4.94746510e-02 9.98775370e-01 -1.40221166e-04 1.02881810e+01] [ 1.70803859e-02 -7.05709687e-04 9.99853871e-01 1.95215755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.804391418 meters Centerline goodness [0,1] 0.9988651935594381 Centerline is valid? [True, True] Translation: X:273.76, Y:10.29, Z:1.95 [[ 9.98526100e-01 -5.19772576e-02 -1.56202781e-02 2.73760865e+02] [ 5.19816173e-02 9.98648034e-01 -1.27050803e-04 1.02855540e+01] [ 1.56057638e-02 -6.85103776e-04 9.99877988e-01 1.95375497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.834391418 meters Centerline goodness [0,1] 0.9985671820534205 Centerline is valid? [True, True] Translation: X:273.79, Y:10.28, Z:1.96 [[ 9.98329137e-01 -5.62017727e-02 -1.34273884e-02 2.73791637e+02] [ 5.62053834e-02 9.98419222e-01 -1.08602220e-04 1.02798883e+01] [ 1.34122663e-02 -6.46270754e-04 9.99909843e-01 1.95636121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.864391418 meters Centerline goodness [0,1] 0.9987588273057992 Centerline is valid? [True, True] Translation: X:273.82, Y:10.28, Z:1.96 [[ 9.98253911e-01 -5.78225305e-02 -1.20699541e-02 2.73823400e+02] [ 5.78255754e-02 9.98326697e-01 -9.68605753e-05 1.02771374e+01] [ 1.20553581e-02 -6.01260593e-04 9.99927151e-01 1.95762656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.894391418 meters Centerline goodness [0,1] 0.9984806659390982 Centerline is valid? [True, True] Translation: X:273.85, Y:10.27, Z:1.96 [[ 9.98087861e-01 -6.08587065e-02 -1.08092679e-02 2.73854702e+02] [ 6.08613362e-02 9.98146227e-01 -8.58008880e-05 1.02732694e+01] [ 1.07944517e-02 -5.72229661e-04 9.99941574e-01 1.95820825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.924391418 meters Centerline goodness [0,1] 0.9985931404941061 Centerline is valid? [True, True] Translation: X:273.89, Y:10.27, Z:1.96 [[ 9.98028659e-01 -6.18455227e-02 -1.06736418e-02 2.73886184e+02] [ 6.18481515e-02 9.98085567e-01 -8.39295209e-05 1.02695173e+01] [ 1.06583985e-02 -5.76380951e-04 9.99943032e-01 1.95811859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.954391418 meters Centerline goodness [0,1] 0.9986532418392868 Centerline is valid? [True, True] Translation: X:273.92, Y:10.27, Z:1.96 [[ 9.97957633e-01 -6.29810227e-02 -1.06748728e-02 2.73917803e+02] [ 6.29837298e-02 9.98014550e-01 -8.27293131e-05 1.02698610e+01] [ 1.06588887e-02 -5.89782953e-04 9.99943019e-01 1.95837281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98439141800003 meters Centerline goodness [0,1] 0.9986125341530054 Centerline is valid? [True, True] Translation: X:273.95, Y:10.27, Z:1.96 [[ 9.97808127e-01 -6.51587733e-02 -1.15445021e-02 2.73948575e+02] [ 6.51620921e-02 9.97874688e-01 -8.88290170e-05 1.02650334e+01] [ 1.15257544e-02 -6.63629591e-04 9.99933356e-01 1.95712561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.014391418 meters Centerline goodness [0,1] 0.9985103530463281 Centerline is valid? [True, True] Translation: X:273.98, Y:10.26, Z:1.96 [[ 9.97730592e-01 -6.61525950e-02 -1.25498938e-02 2.73979258e+02] [ 6.61566088e-02 9.97809247e-01 -9.55007717e-05 1.02624857e+01] [ 1.25287177e-02 -7.34974375e-04 9.99921242e-01 1.95583804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.044391418 meters Centerline goodness [0,1] 0.9985949973390101 Centerline is valid? [True, True] Translation: X:274.01, Y:10.26, Z:1.95 [[ 9.97556272e-01 -6.81483897e-02 -1.54039523e-02 2.74009978e+02] [ 6.81546949e-02 9.97674759e-01 -1.15871916e-04 1.02585428e+01] [ 1.53760308e-02 -9.34262911e-04 9.99881345e-01 1.95262107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.074391418 meters Centerline goodness [0,1] 0.9987866402707708 Centerline is valid? [True, True] Translation: X:274.04, Y:10.26, Z:1.95 [[ 9.97507732e-01 -6.85927629e-02 -1.65335383e-02 2.74042112e+02] [ 6.86001026e-02 9.97644231e-01 -1.23472378e-04 1.02580394e+01] [ 1.65030585e-02 -1.01103777e-03 9.99863304e-01 1.95121987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.104391418 meters Centerline goodness [0,1] 0.9987464411677219 Centerline is valid? [True, True] Translation: X:274.07, Y:10.26, Z:1.95 [[ 9.97463914e-01 -6.89334815e-02 -1.77176625e-02 2.74072878e+02] [ 6.89419818e-02 9.97620662e-01 -1.31304907e-04 1.02567684e+01] [ 1.76845575e-02 -1.09051886e-03 9.99843021e-01 1.95017806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.134391418 meters Centerline goodness [0,1] 0.9983368515320156 Centerline is valid? [True, True] Translation: X:274.11, Y:10.26, Z:1.95 [[ 9.97473867e-01 -6.86129637e-02 -1.83887222e-02 2.74105149e+02] [ 6.86220875e-02 9.97642717e-01 -1.35111282e-04 1.02569627e+01] [ 1.83546451e-02 -1.12710253e-03 9.99830904e-01 1.94951139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.164391418 meters Centerline goodness [0,1] 0.9986347249184034 Centerline is valid? [True, True] Translation: X:274.14, Y:10.27, Z:1.95 [[ 9.97648361e-01 -6.57855415e-02 -1.92356401e-02 2.74136386e+02] [ 6.57950222e-02 9.97833150e-01 -1.40262100e-04 1.02664643e+01] [ 1.92031866e-02 -1.12567711e-03 9.99814968e-01 1.95058191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.194391418 meters Centerline goodness [0,1] 0.9984644913627639 Centerline is valid? [True, True] Translation: X:274.17, Y:10.26, Z:1.95 [[ 9.97808263e-01 -6.34957244e-02 -1.86269415e-02 2.74167320e+02] [ 6.35042307e-02 9.97981560e-01 -1.35069920e-04 1.02623809e+01] [ 1.85979205e-02 -1.04811570e-03 9.99826494e-01 1.94973166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.224391418 meters Centerline goodness [0,1] 0.9987569652807544 Centerline is valid? [True, True] Translation: X:274.20, Y:10.28, Z:1.95 [[ 9.98298139e-01 -5.58182946e-02 -1.68861845e-02 2.74197645e+02] [ 5.58241934e-02 9.98440606e-01 -1.22198277e-04 1.02767724e+01] [ 1.68666731e-02 -8.20667315e-04 9.99857411e-01 1.95320448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.254391418 meters Centerline goodness [0,1] 0.9988035721915993 Centerline is valid? [True, True] Translation: X:274.23, Y:10.28, Z:1.95 [[ 9.98574032e-01 -5.09956909e-02 -1.57905627e-02 2.74227156e+02] [ 5.10002443e-02 9.98698634e-01 -1.14452017e-04 1.02775044e+01] [ 1.57758500e-02 -6.91033745e-04 9.99875315e-01 1.95405205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.284391418 meters Centerline goodness [0,1] 0.9989292903336331 Centerline is valid? [True, True] Translation: X:274.26, Y:10.29, Z:1.96 [[ 9.98856969e-01 -4.57339089e-02 -1.38983932e-02 2.74257382e+02] [ 4.57369259e-02 9.98953514e-01 -1.00860538e-04 1.02881523e+01] [ 1.38884615e-02 -5.34924530e-04 9.99903408e-01 1.95673413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.314391418 meters Centerline goodness [0,1] 0.9989065883412303 Centerline is valid? [True, True] Translation: X:274.29, Y:10.29, Z:1.96 [[ 9.99110133e-01 -4.02206545e-02 -1.26980998e-02 2.74287050e+02] [ 4.02227281e-02 9.99190734e-01 -9.21500175e-05 1.02930753e+01] [ 1.26915300e-02 -4.18684199e-04 9.99919372e-01 1.95830397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.344391418 meters Centerline goodness [0,1] 0.9990568464374517 Centerline is valid? [True, True] Translation: X:274.32, Y:10.31, Z:1.96 [[ 9.99533747e-01 -2.86121856e-02 -1.06598042e-02 2.74317547e+02] [ 2.86129871e-02 9.99590562e-01 -7.73515140e-05 1.03061869e+01] [ 1.06576529e-02 -2.27693391e-04 9.99943180e-01 1.96101800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.374391418 meters Centerline goodness [0,1] 0.9991607488702389 Centerline is valid? [True, True] Translation: X:274.35, Y:10.31, Z:1.96 [[ 9.99675192e-01 -2.34982805e-02 -9.86613115e-03 2.74348715e+02] [ 2.34987192e-02 9.99723864e-01 -7.14648443e-05 1.03116634e+01] [ 9.86508606e-03 -1.60399814e-04 9.99951326e-01 1.96204117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.404391418 meters Centerline goodness [0,1] 0.9991167790439671 Centerline is valid? [True, True] Translation: X:274.38, Y:10.32, Z:1.96 [[ 9.99778022e-01 -1.87578698e-02 -9.59420424e-03 2.74378661e+02] [ 1.87580696e-02 9.99824050e-01 -6.91676123e-05 1.03153453e+01] [ 9.59381357e-03 -1.10816493e-04 9.99953972e-01 1.96193874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.434391418 meters Centerline goodness [0,1] 0.9990270901346939 Centerline is valid? [True, True] Translation: X:274.41, Y:10.32, Z:1.96 [[ 9.99878475e-01 -1.15436185e-02 -1.04776074e-02 2.74409107e+02] [ 1.15434630e-02 9.99933369e-01 -7.53185926e-05 1.03225213e+01] [ 1.04777787e-02 -4.56384342e-05 9.99945106e-01 1.96102686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.464391418 meters Centerline goodness [0,1] 0.9991806636624334 Centerline is valid? [True, True] Translation: X:274.44, Y:10.33, Z:1.96 [[ 9.99893774e-01 -9.14397402e-03 -1.13502769e-02 2.74438753e+02] [ 9.14363661e-03 9.99958193e-01 -8.16209059e-05 1.03255052e+01] [ 1.13505487e-02 -2.21705719e-05 9.99935580e-01 1.96079358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.494391418 meters Centerline goodness [0,1] 0.9991560998831522 Centerline is valid? [True, True] Translation: X:274.47, Y:10.33, Z:1.96 [[ 9.99891912e-01 -6.95161115e-03 -1.29553160e-02 2.74467799e+02] [ 6.95096166e-03 9.99975837e-01 -9.51608064e-05 1.03277359e+01] [ 1.29556645e-02 5.09861545e-06 9.99916072e-01 1.95899126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.524391418 meters Centerline goodness [0,1] 0.9991560998831522 Centerline is valid? [True, True] Translation: X:274.50, Y:10.33, Z:1.96 [[ 9.99889615e-01 -7.27455086e-03 -1.29552865e-02 2.74495172e+02] [ 7.27387793e-03 9.99973540e-01 -9.90616289e-05 1.03280763e+01] [ 1.29556643e-02 4.81552154e-06 9.99916072e-01 1.95918380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.554391418 meters Centerline goodness [0,1] 0.9990280357682837 Centerline is valid? [True, True] Translation: X:274.52, Y:10.33, Z:1.96 [[ 9.99886166e-01 -7.05021339e-03 -1.33397465e-02 2.74521730e+02] [ 7.04943707e-03 9.99975147e-01 -1.05216543e-04 1.03285758e+01] [ 1.33401567e-02 1.11668627e-05 9.99911016e-01 1.95825924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.584391418 meters Centerline goodness [0,1] 0.9992212343435655 Centerline is valid? [True, True] Translation: X:274.55, Y:10.33, Z:1.96 [[ 9.99874717e-01 -7.60885868e-03 -1.38800599e-02 2.74549932e+02] [ 7.60802819e-03 9.99971052e-01 -1.12635536e-04 1.03287161e+01] [ 1.38805152e-02 7.02153689e-06 9.99903661e-01 1.95787724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.614391418 meters Centerline goodness [0,1] 0.9991577583414318 Centerline is valid? [True, True] Translation: X:274.58, Y:10.33, Z:1.96 [[ 9.99868485e-01 -9.08379844e-03 -1.34349158e-02 2.74576593e+02] [ 9.08311351e-03 9.99958741e-01 -1.12000539e-04 1.03271236e+01] [ 1.34353788e-02 -1.00450555e-05 9.99909741e-01 1.95738885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.644391418 meters Centerline goodness [0,1] 0.9991796731645187 Centerline is valid? [True, True] Translation: X:274.60, Y:10.33, Z:1.96 [[ 9.99857221e-01 -1.04769962e-02 -1.32578708e-02 2.74604461e+02] [ 1.04764140e-02 9.99945114e-01 -1.13365899e-04 1.03257722e+01] [ 1.32583309e-02 -2.55452304e-05 9.99912104e-01 1.95755266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.674391418 meters Centerline goodness [0,1] 0.9994187548437097 Centerline is valid? [True, True] Translation: X:274.63, Y:10.32, Z:1.96 [[ 9.99844604e-01 -1.23736105e-02 -1.25563135e-02 2.74632050e+02] [ 1.23731900e-02 9.99923443e-01 -1.11175146e-04 1.03242764e+01] [ 1.25567278e-02 -4.42037821e-05 9.99921160e-01 1.95850324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.704391418 meters Centerline goodness [0,1] 0.9993327450009686 Centerline is valid? [True, True] Translation: X:274.66, Y:10.32, Z:1.96 [[ 9.99797454e-01 -1.64838825e-02 -1.15469990e-02 2.74660565e+02] [ 1.64837624e-02 9.99864128e-01 -1.05578290e-04 1.03197254e+01] [ 1.15471704e-02 -8.47810833e-05 9.99933326e-01 1.95918212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73439141800003 meters Centerline goodness [0,1] 0.9990533155471406 Centerline is valid? [True, True] Translation: X:274.69, Y:10.32, Z:1.96 [[ 9.99763730e-01 -1.87428210e-02 -1.10086378e-02 2.74690228e+02] [ 1.87428273e-02 9.99824333e-01 -1.02607509e-04 1.03173346e+01] [ 1.10086271e-02 -1.03749732e-04 9.99939398e-01 1.95968305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.764391418 meters Centerline goodness [0,1] 0.999140247178936 Centerline is valid? [True, True] Translation: X:274.72, Y:10.31, Z:1.96 [[ 9.99722832e-01 -2.10126939e-02 -1.06172029e-02 2.74720224e+02] [ 2.10128271e-02 9.99779201e-01 -9.90226296e-05 1.03146428e+01] [ 1.06169393e-02 -1.24102264e-04 9.99943631e-01 1.96021074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.794391418 meters Centerline goodness [0,1] 0.998948385019852 Centerline is valid? [True, True] Translation: X:274.75, Y:10.31, Z:1.96 [[ 9.99612689e-01 -2.62956815e-02 -9.11098259e-03 2.74752028e+02] [ 2.62960012e-02 9.99654197e-01 -8.47308111e-05 1.03086509e+01] [ 9.11006003e-03 -1.54884415e-04 9.99958491e-01 1.96114842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.824391418 meters Centerline goodness [0,1] 0.9987571251017872 Centerline is valid? [True, True] Translation: X:274.78, Y:10.31, Z:1.96 [[ 9.99548636e-01 -2.89131993e-02 -8.15785024e-03 2.74783907e+02] [ 2.89135466e-02 9.99581913e-01 -7.53952993e-05 1.03055688e+01] [ 8.15661946e-03 -1.60511114e-04 9.99966721e-01 1.96147102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.854391418 meters Centerline goodness [0,1] 0.9988034955024251 Centerline is valid? [True, True] Translation: X:274.81, Y:10.30, Z:1.96 [[ 9.99379583e-01 -3.43000937e-02 -7.99704099e-03 2.74814624e+02] [ 3.43006046e-02 9.99411558e-01 -7.33066783e-05 1.02969330e+01] [ 7.99484962e-03 -2.01042143e-04 9.99968020e-01 1.96136779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.884391418 meters Centerline goodness [0,1] 0.9988664556420567 Centerline is valid? [True, True] Translation: X:274.85, Y:10.29, Z:1.96 [[ 9.99288782e-01 -3.68936845e-02 -7.79650322e-03 2.74846747e+02] [ 3.68942516e-02 9.99319173e-01 -7.11266295e-05 1.02936602e+01] [ 7.79381928e-03 -2.16570109e-04 9.99969604e-01 1.96132855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.914391418 meters Centerline goodness [0,1] 0.998716934328422 Centerline is valid? [True, True] Translation: X:274.88, Y:10.29, Z:1.96 [[ 9.99199343e-01 -3.92004128e-02 -8.00009239e-03 2.74877436e+02] [ 3.92010887e-02 9.99231339e-01 -7.23653770e-05 1.02889777e+01] [ 7.99677979e-03 -2.41304894e-04 9.99967996e-01 1.96123511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.944391418 meters Centerline goodness [0,1] 0.9989103728234163 Centerline is valid? [True, True] Translation: X:274.91, Y:10.28, Z:1.96 [[ 9.99053856e-01 -4.27738814e-02 -7.86047438e-03 2.74908851e+02] [ 4.27746473e-02 9.99084743e-01 -7.07287723e-05 1.02821453e+01] [ 7.85630538e-03 -2.65567167e-04 9.99969103e-01 1.96073071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.974391418 meters Centerline goodness [0,1] 0.9987848036498529 Centerline is valid? [True, True] Translation: X:274.94, Y:10.28, Z:1.96 [[ 9.98991649e-01 -4.41919846e-02 -7.92178471e-03 2.74940565e+02] [ 4.41928138e-02 9.99023018e-01 -7.04180661e-05 1.02793274e+01] [ 7.91715718e-03 -2.79738897e-04 9.99968620e-01 1.96034089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.004391418 meters Centerline goodness [0,1] 0.9988066062866277 Centerline is valid? [True, True] Translation: X:274.97, Y:10.27, Z:1.96 [[ 9.98929598e-01 -4.56504523e-02 -7.46282887e-03 2.74972462e+02] [ 4.56512320e-02 9.98957437e-01 -6.59202955e-05 1.02745787e+01] [ 7.45805769e-03 -2.74837598e-04 9.99972151e-01 1.95981728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.034391418 meters Centerline goodness [0,1] 0.9988460058981921 Centerline is valid? [True, True] Translation: X:275.01, Y:10.27, Z:1.96 [[ 9.98934284e-01 -4.55439040e-02 -7.48659724e-03 2.75005107e+02] [ 4.55446900e-02 9.98962300e-01 -6.55515957e-05 1.02735841e+01] [ 7.48181387e-03 -2.75493014e-04 9.99971973e-01 1.95986916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.064391418 meters Centerline goodness [0,1] 0.9988496932515337 Centerline is valid? [True, True] Translation: X:275.04, Y:10.27, Z:1.96 [[ 9.98962178e-01 -4.48830075e-02 -7.75124410e-03 2.75037267e+02] [ 4.48838350e-02 9.98992211e-01 -6.72505567e-05 1.02735768e+01] [ 7.74645088e-03 -2.80724798e-04 9.99969956e-01 1.95948522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.094391418 meters Centerline goodness [0,1] 0.9989572249414769 Centerline is valid? [True, True] Translation: X:275.07, Y:10.27, Z:1.96 [[ 9.99071568e-01 -4.23430354e-02 -7.94157466e-03 2.75069032e+02] [ 4.23438289e-02 9.99103096e-01 -6.82715591e-05 1.02738665e+01] [ 7.93734265e-03 -2.68068505e-04 9.99968463e-01 1.95917795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.124391418 meters Centerline goodness [0,1] 0.9990199838084282 Centerline is valid? [True, True] Translation: X:275.10, Y:10.28, Z:1.96 [[ 9.99158602e-01 -4.02178792e-02 -8.03799240e-03 2.75100830e+02] [ 4.02186284e-02 9.99190901e-01 -6.84756320e-05 1.02752696e+01] [ 8.03424281e-03 -2.54859012e-04 9.99967692e-01 1.95933317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.154391418 meters Centerline goodness [0,1] 0.9988709952283572 Centerline is valid? [True, True] Translation: X:275.13, Y:10.28, Z:1.96 [[ 9.99352626e-01 -3.51376144e-02 -7.72502290e-03 2.75131437e+02] [ 3.51381589e-02 9.99382462e-01 -6.52698422e-05 1.02786689e+01] [ 7.72254584e-03 -2.06215494e-04 9.99970159e-01 1.95913834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.184391418 meters Centerline goodness [0,1] 0.9990405321848148 Centerline is valid? [True, True] Translation: X:275.16, Y:10.28, Z:1.96 [[ 9.99446639e-01 -3.23146594e-02 -7.88531547e-03 2.75163539e+02] [ 3.23151416e-02 9.99477727e-01 -6.62819006e-05 1.02839537e+01] [ 7.88333906e-03 -1.88569863e-04 9.99968908e-01 1.95879661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.214391418 meters Centerline goodness [0,1] 0.998912278456715 Centerline is valid? [True, True] Translation: X:275.19, Y:10.28, Z:1.96 [[ 9.99524032e-01 -2.97687974e-02 -8.09499617e-03 2.75194469e+02] [ 2.97692274e-02 9.99556796e-01 -6.73909169e-05 1.02816786e+01] [ 8.09341458e-03 -1.73622941e-04 9.99967233e-01 1.95802420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.244391418 meters Centerline goodness [0,1] 0.9991504545068388 Centerline is valid? [True, True] Translation: X:275.22, Y:10.28, Z:1.96 [[ 9.99638547e-01 -2.52727542e-02 -9.16857117e-03 2.75224902e+02] [ 2.52731216e-02 9.99680581e-01 -7.58067170e-05 1.02847755e+01] [ 9.16755840e-03 -1.55939098e-04 9.99957965e-01 1.95740971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.274391418 meters Centerline goodness [0,1] 0.9989532822079337 Centerline is valid? [True, True] Translation: X:275.26, Y:10.29, Z:1.96 [[ 9.99681623e-01 -2.35372941e-02 -9.09114688e-03 2.75256667e+02] [ 2.35375859e-02 9.99722950e-01 -7.49133455e-05 1.02893717e+01] [ 9.09039144e-03 -1.39094156e-04 9.99958672e-01 1.95808432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.304391418 meters Centerline goodness [0,1] 0.9992730693577354 Centerline is valid? [True, True] Translation: X:275.29, Y:10.29, Z:1.96 [[ 9.99707098e-01 -2.23209383e-02 -9.35378571e-03 2.75288058e+02] [ 2.23211990e-02 9.99750848e-01 -7.65432734e-05 1.02905499e+01] [ 9.35316371e-03 -1.32266858e-04 9.99956249e-01 1.95831095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.334391418 meters Centerline goodness [0,1] 0.9995725125574436 Centerline is valid? [True, True] Translation: X:275.32, Y:10.29, Z:1.96 [[ 9.99725000e-01 -2.14670399e-02 -9.43877981e-03 2.75318840e+02] [ 2.14672705e-02 9.99769549e-01 -7.69021232e-05 1.02909681e+01] [ 9.43825550e-03 -1.25743864e-04 9.99955451e-01 1.95869810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.364391418 meters Centerline goodness [0,1] 0.9990418600689861 Centerline is valid? [True, True] Translation: X:275.35, Y:10.29, Z:1.96 [[ 9.99720185e-01 -2.12777879e-02 -1.03347408e-02 2.75348953e+02] [ 2.12780581e-02 9.99773593e-01 -8.38250398e-05 1.02900510e+01] [ 1.03341845e-02 -1.36101630e-04 9.99946592e-01 1.95827970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.394391418 meters Centerline goodness [0,1] 0.9994020799077494 Centerline is valid? [True, True] Translation: X:275.38, Y:10.29, Z:1.96 [[ 9.99701061e-01 -2.17912605e-02 -1.10873378e-02 2.75380198e+02] [ 2.17916104e-02 9.99762531e-01 -8.92613683e-05 1.02894173e+01] [ 1.10866501e-02 -1.52376262e-04 9.99938530e-01 1.95840974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.424391418 meters Centerline goodness [0,1] 0.9988938759013848 Centerline is valid? [True, True] Translation: X:275.41, Y:10.29, Z:1.96 [[ 9.99683839e-01 -2.24563462e-02 -1.13107828e-02 2.75411303e+02] [ 2.24567582e-02 9.99747811e-01 -9.05958740e-05 1.02880466e+01] [ 1.13099648e-02 -1.63436284e-04 9.99936027e-01 1.95812558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.454391418 meters Centerline goodness [0,1] 0.9989588424027368 Centerline is valid? [True, True] Translation: X:275.44, Y:10.28, Z:1.96 [[ 9.99612459e-01 -2.52196914e-02 -1.17855180e-02 2.75441292e+02] [ 2.52203373e-02 9.99681912e-01 -9.38363582e-05 1.02846544e+01] [ 1.17841357e-02 -2.03434747e-04 9.99930544e-01 1.95758037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48439141800003 meters Centerline goodness [0,1] 0.99912804916952 Centerline is valid? [True, True] Translation: X:275.47, Y:10.28, Z:1.96 [[ 9.99562002e-01 -2.69216231e-02 -1.22894670e-02 2.75472351e+02] [ 2.69224617e-02 9.99637520e-01 -9.72294024e-05 1.02831925e+01] [ 1.22876299e-02 -2.33675888e-04 9.99924477e-01 1.95764658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.514391418 meters Centerline goodness [0,1] 0.999405646359584 Centerline is valid? [True, True] Translation: X:275.50, Y:10.28, Z:1.96 [[ 9.99453856e-01 -3.06576419e-02 -1.23327978e-02 2.75503605e+02] [ 3.06587767e-02 9.99529905e-01 -9.70793779e-05 1.02791199e+01] [ 1.23299764e-02 -2.81082135e-04 9.99923943e-01 1.95852508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.544391418 meters Centerline goodness [0,1] 0.9993432481674506 Centerline is valid? [True, True] Translation: X:275.54, Y:10.28, Z:1.96 [[ 9.99382054e-01 -3.29006101e-02 -1.23717788e-02 2.75535285e+02] [ 3.29019300e-02 9.99458580e-01 -9.68953463e-05 1.02764397e+01] [ 1.23682684e-02 -3.10219931e-04 9.99923462e-01 1.95889570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.574391418 meters Centerline goodness [0,1] 0.999428111497077 Centerline is valid? [True, True] Translation: X:275.57, Y:10.27, Z:1.96 [[ 9.99291112e-01 -3.56350806e-02 -1.21414168e-02 2.75566507e+02] [ 3.56365592e-02 9.99364812e-01 -9.46140150e-05 1.02748337e+01] [ 1.21370763e-02 -3.38131376e-04 9.99926286e-01 1.95943063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.604391418 meters Centerline goodness [0,1] 0.9985574271288556 Centerline is valid? [True, True] Translation: X:275.60, Y:10.27, Z:1.96 [[ 9.99028637e-01 -4.21415808e-02 -1.28790272e-02 2.75596701e+02] [ 4.21437883e-02 9.99111551e-01 -1.00063630e-04 1.02683332e+01] [ 1.28718017e-02 -4.42804565e-04 9.99917057e-01 1.95971576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.634391418 meters Centerline goodness [0,1] 0.9990023773136356 Centerline is valid? [True, True] Translation: X:275.63, Y:10.26, Z:1.96 [[ 9.98878265e-01 -4.56587060e-02 -1.25496376e-02 2.75628271e+02] [ 4.56610819e-02 9.98956984e-01 -9.72878180e-05 1.02649128e+01] [ 1.25409901e-02 -4.75851342e-04 9.99921245e-01 1.96045546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.664391418 meters Centerline goodness [0,1] 0.9991294562286345 Centerline is valid? [True, True] Translation: X:275.66, Y:10.26, Z:1.96 [[ 9.98702116e-01 -4.93555440e-02 -1.25743647e-02 2.75658845e+02] [ 4.93582266e-02 9.98781135e-01 -9.70969516e-05 1.02606207e+01] [ 1.25638305e-02 -5.23677412e-04 9.99920935e-01 1.96101222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.694391418 meters Centerline goodness [0,1] 0.9991298442208922 Centerline is valid? [True, True] Translation: X:275.69, Y:10.26, Z:1.96 [[ 9.98372347e-01 -5.57112921e-02 -1.22027973e-02 2.75689334e+02] [ 5.57142940e-02 9.98446748e-01 -9.40767180e-05 1.02555032e+01] [ 1.21890844e-02 -5.85946644e-04 9.99925539e-01 1.96278120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.724391418 meters Centerline goodness [0,1] 0.9986858281402349 Centerline is valid? [True, True] Translation: X:275.72, Y:10.25, Z:1.96 [[ 9.98207090e-01 -5.86769347e-02 -1.18162452e-02 2.75720676e+02] [ 5.86799591e-02 9.98276842e-01 -9.08865305e-05 1.02532691e+01] [ 1.18012169e-02 -6.02653208e-04 9.99930182e-01 1.96315340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.754391418 meters Centerline goodness [0,1] 0.9984148119967028 Centerline is valid? [True, True] Translation: X:275.75, Y:10.25, Z:1.96 [[ 9.98068796e-01 -6.10655544e-02 -1.13875704e-02 2.75752629e+02] [ 6.10685250e-02 9.98133572e-01 -8.69944815e-05 1.02508273e+01] [ 1.13716287e-02 -6.08595649e-04 9.99935156e-01 1.96386541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.784391418 meters Centerline goodness [0,1] 0.99886145607118 Centerline is valid? [True, True] Translation: X:275.78, Y:10.25, Z:1.96 [[ 9.97819032e-01 -6.50331540e-02 -1.13078748e-02 2.75783702e+02] [ 6.50363441e-02 9.97882892e-01 -8.57702817e-05 1.02476130e+01] [ 1.12895127e-02 -6.49839616e-04 9.99936060e-01 1.96424508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.814391418 meters Centerline goodness [0,1] 0.9987961730976367 Centerline is valid? [True, True] Translation: X:275.81, Y:10.24, Z:1.96 [[ 9.97703726e-01 -6.67548496e-02 -1.14483957e-02 2.75814654e+02] [ 6.67582369e-02 9.97769177e-01 -8.64407828e-05 1.02432432e+01] [ 1.14286267e-02 -6.78032420e-04 9.99934461e-01 1.96401376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.844391418 meters Centerline goodness [0,1] 0.9986669205865549 Centerline is valid? [True, True] Translation: X:275.85, Y:10.25, Z:1.96 [[ 9.97464833e-01 -6.99544096e-02 -1.30493985e-02 2.75845993e+02] [ 6.99590928e-02 9.97549856e-01 -9.78201501e-05 1.02479996e+01] [ 1.30242686e-02 -8.15351922e-04 9.99914848e-01 1.96339511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.874391418 meters Centerline goodness [0,1] 0.9986885800706474 Centerline is valid? [True, True] Translation: X:275.88, Y:10.25, Z:1.96 [[ 9.97360691e-01 -7.13505986e-02 -1.34440963e-02 2.75876938e+02] [ 7.13557048e-02 9.97450928e-01 -1.00094227e-04 1.02461433e+01] [ 1.34169681e-02 -8.59482919e-04 9.99909619e-01 1.96247534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.904391418 meters Centerline goodness [0,1] 0.9986863571837193 Centerline is valid? [True, True] Translation: X:275.91, Y:10.25, Z:1.96 [[ 9.97281357e-01 -7.22498068e-02 -1.44865505e-02 2.75909300e+02] [ 7.22558456e-02 9.97386125e-01 -1.06788574e-04 1.02460541e+01] [ 1.44563999e-02 -9.40239704e-04 9.99895059e-01 1.96210180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.934391418 meters Centerline goodness [0,1] 0.9988968560397132 Centerline is valid? [True, True] Translation: X:275.94, Y:10.24, Z:1.96 [[ 9.97209350e-01 -7.31065950e-02 -1.51306763e-02 2.75940335e+02] [ 7.31132975e-02 9.97323635e-01 -1.10450218e-04 1.02436639e+01] [ 1.50982558e-02 -9.96111650e-04 9.99885519e-01 1.96142060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.964391418 meters Centerline goodness [0,1] 0.9986004198740378 Centerline is valid? [True, True] Translation: X:275.97, Y:10.24, Z:1.96 [[ 9.97139707e-01 -7.38476671e-02 -1.60912169e-02 2.75971880e+02] [ 7.38553598e-02 9.97268957e-01 -1.16468109e-04 1.02390455e+01] [ 1.60558720e-02 -1.07228764e-03 9.99870521e-01 1.95999094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.994391418 meters Centerline goodness [0,1] 0.9984512898845893 Centerline is valid? [True, True] Translation: X:276.00, Y:10.24, Z:1.96 [[ 9.97169159e-01 -7.34892426e-02 -1.59059497e-02 2.76003592e+02] [ 7.34967316e-02 9.97295451e-01 -1.14004329e-04 1.02441904e+01] [ 1.58713094e-02 -1.05535371e-03 9.99873486e-01 1.96095114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.024391418 meters Centerline goodness [0,1] 0.9985786414357843 Centerline is valid? [True, True] Translation: X:276.03, Y:10.25, Z:1.96 [[ 9.97294282e-01 -7.18504550e-02 -1.55443560e-02 2.76034033e+02] [ 7.18574202e-02 9.97414908e-01 -1.10699135e-04 1.02453539e+01] [ 1.55121262e-02 -1.00657771e-03 9.99879173e-01 1.96173991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.054391418 meters Centerline goodness [0,1] 0.9982582837723024 Centerline is valid? [True, True] Translation: X:276.07, Y:10.25, Z:1.96 [[ 9.97408273e-01 -7.03738604e-02 -1.49752076e-02 2.76065972e+02] [ 7.03801705e-02 9.97520236e-01 -1.05879530e-04 1.02507681e+01] [ 1.49455238e-02 -9.48352547e-04 9.99887860e-01 1.96284947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.084391418 meters Centerline goodness [0,1] 0.9987461214774515 Centerline is valid? [True, True] Translation: X:276.10, Y:10.25, Z:1.96 [[ 9.97531844e-01 -6.85948031e-02 -1.49991051e-02 2.76097441e+02] [ 6.86009462e-02 9.97644175e-01 -1.05166732e-04 1.02545017e+01] [ 1.49709838e-02 -9.24045640e-04 9.99887502e-01 1.96378625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.114391418 meters Centerline goodness [0,1] 0.9984009551627827 Centerline is valid? [True, True] Translation: X:276.13, Y:10.26, Z:1.96 [[ 9.97833306e-01 -6.40935262e-02 -1.48564216e-02 2.76128553e+02] [ 6.40990621e-02 9.97943535e-01 -1.03733845e-04 1.02605192e+01] [ 1.48325186e-02 -8.48773605e-04 9.99889632e-01 1.96438863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.144391418 meters Centerline goodness [0,1] 0.9985313524328466 Centerline is valid? [True, True] Translation: X:276.16, Y:10.26, Z:1.96 [[ 9.97982970e-01 -6.16514354e-02 -1.51357687e-02 2.76159567e+02] [ 6.16569084e-02 9.98097397e-01 -1.05223893e-04 1.02615864e+01] [ 1.51134585e-02 -8.28213048e-04 9.99885442e-01 1.96398929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.174391418 meters Centerline goodness [0,1] 0.9986595459477862 Centerline is valid? [True, True] Translation: X:276.19, Y:10.27, Z:1.96 [[ 9.98123740e-01 -5.92944589e-02 -1.52697724e-02 2.76191076e+02] [ 5.92997635e-02 9.98240215e-01 -1.05546860e-04 1.02667749e+01] [ 1.52491592e-02 -8.00145064e-04 9.99883405e-01 1.96442596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.204391418 meters Centerline goodness [0,1] 0.9987175924936414 Centerline is valid? [True, True] Translation: X:276.22, Y:10.27, Z:1.96 [[ 9.98310502e-01 -5.58881057e-02 -1.58953048e-02 2.76222799e+02] [ 5.58934361e-02 9.98436734e-01 -1.09057094e-04 1.02721860e+01] [ 1.58765512e-02 -7.79570361e-04 9.99873656e-01 1.96394600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.234391418 meters Centerline goodness [0,1] 0.9986589181940099 Centerline is valid? [True, True] Translation: X:276.26, Y:10.27, Z:1.96 [[ 9.98380684e-01 -5.44591065e-02 -1.64382250e-02 2.76255472e+02] [ 5.44646363e-02 9.98515694e-01 -1.11429436e-04 1.02746630e+01] [ 1.64198940e-02 -7.84052948e-04 9.99864877e-01 1.96392602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.264391418 meters Centerline goodness [0,1] 0.9987396932541548 Centerline is valid? [True, True] Translation: X:276.29, Y:10.28, Z:1.96 [[ 9.98424558e-01 -5.34789426e-02 -1.69824802e-02 2.76287262e+02] [ 5.34847285e-02 9.98568661e-01 -1.13627871e-04 1.02763082e+01] [ 1.69642492e-02 -7.94854485e-04 9.99855781e-01 1.96364042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.294391418 meters Centerline goodness [0,1] 0.9988461291907946 Centerline is valid? [True, True] Translation: X:276.32, Y:10.28, Z:1.96 [[ 9.98468652e-01 -5.23489281e-02 -1.78869014e-02 2.76319125e+02] [ 5.23551913e-02 9.98628520e-01 -1.18257704e-04 1.02784433e+01] [ 1.78685606e-02 -8.18395537e-04 9.99840010e-01 1.96323634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.324391418 meters Centerline goodness [0,1] 0.9983575786015955 Centerline is valid? [True, True] Translation: X:276.35, Y:10.28, Z:1.96 [[ 9.98490262e-01 -5.18622667e-02 -1.80970109e-02 2.76350013e+02] [ 5.18686197e-02 9.98653910e-01 -1.18455898e-04 1.02790291e+01] [ 1.80787940e-02 -8.20389914e-04 9.99836229e-01 1.96323155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.354391418 meters Centerline goodness [0,1] 0.9988220427919727 Centerline is valid? [True, True] Translation: X:276.38, Y:10.28, Z:1.96 [[ 9.98568882e-01 -5.03792933e-02 -1.79475656e-02 2.76381838e+02] [ 5.03853212e-02 9.98729846e-01 -1.16451443e-04 1.02821757e+01] [ 1.79306362e-02 -7.88009072e-04 9.99838923e-01 1.96434123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.384391418 meters Centerline goodness [0,1] 0.9988639773652849 Centerline is valid? [True, True] Translation: X:276.41, Y:10.28, Z:1.96 [[ 9.98612548e-01 -4.94675433e-02 -1.80538448e-02 2.76414495e+02] [ 4.94735226e-02 9.98775429e-01 -1.15559313e-04 1.02837727e+01] [ 1.80374530e-02 -7.77788318e-04 9.99837009e-01 1.96477034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.414391418 meters Centerline goodness [0,1] 0.9988639773652849 Centerline is valid? [True, True] Translation: X:276.45, Y:10.28, Z:1.96 [[ 9.98616296e-01 -4.93918182e-02 -1.80538548e-02 2.76446218e+02] [ 4.93978138e-02 9.98779176e-01 -1.13973700e-04 1.02838917e+01] [ 1.80374436e-02 -7.78004964e-04 9.99837009e-01 1.96499249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.444391418 meters Centerline goodness [0,1] 0.9987368601340213 Centerline is valid? [True, True] Translation: X:276.48, Y:10.29, Z:1.97 [[ 9.98696547e-01 -4.77768326e-02 -1.79605547e-02 2.76477761e+02] [ 4.77825227e-02 9.98857757e-01 -1.12435862e-04 1.02871846e+01] [ 1.79454112e-02 -7.45911306e-04 9.99838690e-01 1.96573511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.474391418 meters Centerline goodness [0,1] 0.9988204006348389 Centerline is valid? [True, True] Translation: X:276.51, Y:10.29, Z:1.97 [[ 9.98775976e-01 -4.61716536e-02 -1.77405703e-02 2.76509036e+02] [ 4.61769645e-02 9.98933269e-01 -1.10372785e-04 1.02910719e+01] [ 1.77267420e-02 -7.08967997e-04 9.99842618e-01 1.96676879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.504391418 meters Centerline goodness [0,1] 0.9985427426440648 Centerline is valid? [True, True] Translation: X:276.54, Y:10.30, Z:1.97 [[ 9.98964435e-01 -4.21182455e-02 -1.72078501e-02 2.76539570e+02] [ 4.21226664e-02 9.99112441e-01 -1.05615215e-04 1.02952416e+01] [ 1.71970255e-02 -6.19334685e-04 9.99851928e-01 1.96725096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.534391418 meters Centerline goodness [0,1] 0.9988634657860314 Centerline is valid? [True, True] Translation: X:276.57, Y:10.30, Z:1.97 [[ 9.99050142e-01 -3.99995582e-02 -1.72872730e-02 2.76570863e+02] [ 4.00037241e-02 9.99199525e-01 -1.04890556e-04 1.02988635e+01] [ 1.72776306e-02 -5.86764377e-04 9.99850558e-01 1.96782350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.564391418 meters Centerline goodness [0,1] 0.9988652421530424 Centerline is valid? [True, True] Translation: X:276.60, Y:10.30, Z:1.97 [[ 9.99222598e-01 -3.53812992e-02 -1.73886249e-02 2.76601106e+02] [ 3.53848238e-02 9.99373756e-01 -1.05028626e-04 1.03033797e+01] [ 1.73814514e-02 -5.10346452e-04 9.99848801e-01 1.96755546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.594391418 meters Centerline goodness [0,1] 0.9990149471069425 Centerline is valid? [True, True] Translation: X:276.63, Y:10.31, Z:1.97 [[ 9.99300156e-01 -3.29891991e-02 -1.76326430e-02 2.76632136e+02] [ 3.29924608e-02 9.99455595e-01 -1.05958228e-04 1.03074248e+01] [ 1.76265392e-02 -4.75860210e-04 9.99844527e-01 1.96810438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.624391418 meters Centerline goodness [0,1] 0.9989495573134393 Centerline is valid? [True, True] Translation: X:276.66, Y:10.31, Z:1.97 [[ 9.99378424e-01 -3.05584012e-02 -1.75769402e-02 2.76662620e+02] [ 3.05612713e-02 9.99532890e-01 -1.05356889e-04 1.03115052e+01] [ 1.75719494e-02 -4.31882237e-04 9.99845508e-01 1.96898593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.654391418 meters Centerline goodness [0,1] 0.998903885832187 Centerline is valid? [True, True] Translation: X:276.69, Y:10.32, Z:1.97 [[ 9.99506842e-01 -2.61856104e-02 -1.73316935e-02 2.76691845e+02] [ 2.61877404e-02 9.99657037e-01 -1.04086257e-04 1.03161121e+01] [ 1.73284749e-02 -3.49842964e-04 9.99849790e-01 1.96960154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.684391418 meters Centerline goodness [0,1] 0.9990529487731382 Centerline is valid? [True, True] Translation: X:276.72, Y:10.32, Z:1.97 [[ 9.99561509e-01 -2.39907480e-02 -1.73560765e-02 2.76721136e+02] [ 2.39925476e-02 9.99712132e-01 -1.04564544e-04 1.03167251e+01] [ 1.73535888e-02 -3.11897797e-04 9.99849366e-01 1.96944175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.714391418 meters Centerline goodness [0,1] 0.9989057672502575 Centerline is valid? [True, True] Translation: X:276.75, Y:10.32, Z:1.97 [[ 9.99600089e-01 -2.23850799e-02 -1.72792087e-02 2.76751032e+02] [ 2.23866147e-02 9.99749383e-01 -1.04623266e-04 1.03207159e+01] [ 1.72772202e-02 -2.82241562e-04 9.99850698e-01 1.97108046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.744391418 meters Centerline goodness [0,1] 0.9988788270806382 Centerline is valid? [True, True] Translation: X:276.78, Y:10.32, Z:1.97 [[ 9.99628329e-01 -2.03636927e-02 -1.81252088e-02 2.76780107e+02] [ 2.03650329e-02 9.99792605e-01 -1.10651660e-04 1.03227019e+01] [ 1.81237030e-02 -2.58509940e-04 9.99835719e-01 1.97079681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.774391418 meters Centerline goodness [0,1] 0.998881239242685 Centerline is valid? [True, True] Translation: X:276.81, Y:10.32, Z:1.97 [[ 9.99628281e-01 -2.02443501e-02 -1.82610410e-02 2.76808019e+02] [ 2.02456225e-02 9.99795030e-01 -1.15205644e-04 1.03234042e+01] [ 1.82596303e-02 -2.54543322e-04 9.99833247e-01 1.97110240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.804391418 meters Centerline goodness [0,1] 0.9990554899645808 Centerline is valid? [True, True] Translation: X:276.84, Y:10.32, Z:1.97 [[ 9.99625553e-01 -2.02250553e-02 -1.84309894e-02 2.76836296e+02] [ 2.02262475e-02 9.99795421e-01 -1.21741653e-04 1.03235475e+01] [ 1.84296810e-02 -2.51093685e-04 9.99830127e-01 1.97116397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.834391418 meters Centerline goodness [0,1] 0.9989457831325301 Centerline is valid? [True, True] Translation: X:276.87, Y:10.32, Z:1.97 [[ 9.99604964e-01 -2.09211266e-02 -1.87675721e-02 2.76865441e+02] [ 2.09223860e-02 9.99781095e-01 -1.29262087e-04 1.03238191e+01] [ 1.87661681e-02 -2.63451365e-04 9.99823865e-01 1.97216954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.864391418 meters Centerline goodness [0,1] 0.9989244536224402 Centerline is valid? [True, True] Translation: X:276.89, Y:10.32, Z:1.97 [[ 9.99588387e-01 -2.18039873e-02 -1.86452044e-02 2.76893267e+02] [ 2.18052803e-02 9.99762228e-01 -1.33971408e-04 1.03238871e+01] [ 1.86436922e-02 -2.72647645e-04 9.99826154e-01 1.97251606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.894391418 meters Centerline goodness [0,1] 0.99888039616751 Centerline is valid? [True, True] Translation: X:276.92, Y:10.32, Z:1.97 [[ 9.99539146e-01 -2.38773396e-02 -1.87448154e-02 2.76921893e+02] [ 2.38789073e-02 9.99714848e-01 -1.40219934e-04 1.03229612e+01] [ 1.87428183e-02 -3.07450394e-04 9.99824291e-01 1.97307653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.924391418 meters Centerline goodness [0,1] 0.9988403556242752 Centerline is valid? [True, True] Translation: X:276.95, Y:10.32, Z:1.97 [[ 9.99505330e-01 -2.53524747e-02 -1.86104343e-02 2.76949938e+02] [ 2.53542174e-02 9.99678520e-01 -1.42338027e-04 1.03214425e+01] [ 1.86080600e-02 -3.29585380e-04 9.99826801e-01 1.97251626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.954391418 meters Centerline goodness [0,1] 0.9989033673074442 Centerline is valid? [True, True] Translation: X:276.98, Y:10.32, Z:1.97 [[ 9.99453670e-01 -2.72835117e-02 -1.86539951e-02 2.76979117e+02] [ 2.72855728e-02 9.99627669e-01 -1.44065631e-04 1.03200958e+01] [ 1.86509803e-02 -3.64998019e-04 9.99825989e-01 1.97248749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.984391418 meters Centerline goodness [0,1] 0.9990759841842874 Centerline is valid? [True, True] Translation: X:277.01, Y:10.32, Z:1.97 [[ 9.99395542e-01 -2.95689089e-02 -1.82819567e-02 2.77008215e+02] [ 2.95712468e-02 9.99562665e-01 -1.42503319e-04 1.03186291e+01] [ 1.82781750e-02 -3.98203069e-04 9.99832861e-01 1.97284852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.014391418 meters Centerline goodness [0,1] 0.9990322372524141 Centerline is valid? [True, True] Translation: X:277.04, Y:10.31, Z:1.97 [[ 9.99192907e-01 -3.57493098e-02 -1.83172654e-02 2.77037395e+02] [ 3.57526757e-02 9.99360658e-01 -1.43789428e-04 1.03124456e+01] [ 1.83106948e-02 -5.11217872e-04 9.99832214e-01 1.97152240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.044391418 meters Centerline goodness [0,1] 0.9988604356146122 Centerline is valid? [True, True] Translation: X:277.07, Y:10.31, Z:1.97 [[ 9.99039341e-01 -3.95597124e-02 -1.88527196e-02 2.77069101e+02] [ 3.95639592e-02 9.99217029e-01 -1.47806882e-04 1.03097649e+01] [ 1.88438057e-02 -5.98223341e-04 9.99822261e-01 1.97099070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.074391418 meters Centerline goodness [0,1] 0.9990980737432087 Centerline is valid? [True, True] Translation: X:277.10, Y:10.30, Z:1.97 [[ 9.98685636e-01 -4.77708920e-02 -1.85726050e-02 2.77098871e+02] [ 4.77764327e-02 9.98858044e-01 -1.45517358e-04 1.03013312e+01] [ 1.85583473e-02 -7.42006714e-04 9.99827504e-01 1.96959376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.104391418 meters Centerline goodness [0,1] 0.998971766419605 Centerline is valid? [True, True] Translation: X:277.13, Y:10.30, Z:1.97 [[ 9.98487631e-01 -5.16347826e-02 -1.88758849e-02 2.77130183e+02] [ 5.16412016e-02 9.98665692e-01 -1.47535315e-04 1.02986309e+01] [ 1.88583167e-02 -8.27461193e-04 9.99821824e-01 1.96934124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.134391418 meters Centerline goodness [0,1] 0.9988459319099827 Centerline is valid? [True, True] Translation: X:277.16, Y:10.29, Z:1.97 [[ 9.98134015e-01 -5.81351257e-02 -1.86760712e-02 2.77159783e+02] [ 5.81425459e-02 9.98308281e-01 -1.45889020e-04 1.02907996e+01] [ 1.86529578e-02 -9.40257534e-04 9.99825576e-01 1.96803148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.164391418 meters Centerline goodness [0,1] 0.9989294049632786 Centerline is valid? [True, True] Translation: X:277.19, Y:10.29, Z:1.97 [[ 9.98023283e-01 -6.00209292e-02 -1.86283322e-02 2.77191377e+02] [ 6.00286496e-02 9.98196644e-01 -1.44950884e-04 1.02900157e+01] [ 1.86034387e-02 -9.73569266e-04 9.99826467e-01 1.96838493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.194391418 meters Centerline goodness [0,1] 0.9988008822080897 Centerline is valid? [True, True] Translation: X:277.22, Y:10.29, Z:1.97 [[ 9.97950502e-01 -6.14548304e-02 -1.78353323e-02 2.77223819e+02] [ 6.14621576e-02 9.98109405e-01 -1.37544432e-04 1.02895289e+01] [ 1.78100656e-02 -9.58935467e-04 9.99840928e-01 1.96923343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.224391418 meters Centerline goodness [0,1] 0.9988015494253858 Centerline is valid? [True, True] Translation: X:277.26, Y:10.29, Z:1.97 [[ 9.97927577e-01 -6.18495583e-02 -1.77534197e-02 2.77256340e+02] [ 6.18569051e-02 9.98085019e-01 -1.35534676e-04 1.02898056e+01] [ 1.77278050e-02 -9.62917808e-04 9.99842386e-01 1.97003111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.254391418 meters Centerline goodness [0,1] 0.9989709728594092 Centerline is valid? [True, True] Translation: X:277.29, Y:10.29, Z:1.97 [[ 9.98018142e-01 -6.06567613e-02 -1.67495033e-02 2.77287604e+02] [ 6.06631510e-02 9.98158287e-01 -1.26794094e-04 1.02915179e+01] [ 1.67263464e-02 -8.89534841e-04 9.99859709e-01 1.97106391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.284391418 meters Centerline goodness [0,1] 0.9991642200458607 Centerline is valid? [True, True] Translation: X:277.32, Y:10.30, Z:1.97 [[ 9.98108166e-01 -5.92550535e-02 -1.63990117e-02 2.77320078e+02] [ 5.92610087e-02 9.98242514e-01 -1.22991669e-04 1.02979920e+01] [ 1.63774786e-02 -8.49062986e-04 9.99865520e-01 1.97266664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.314391418 meters Centerline goodness [0,1] 0.9989260937734917 Centerline is valid? [True, True] Translation: X:277.35, Y:10.30, Z:1.97 [[ 9.98316412e-01 -5.59861051e-02 -1.51623473e-02 2.77350273e+02] [ 5.59908300e-02 9.98431277e-01 -1.13034595e-04 1.02977741e+01] [ 1.51448901e-02 -7.36108115e-04 9.99885039e-01 1.97293413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.344391418 meters Centerline goodness [0,1] 0.9989252627732519 Centerline is valid? [True, True] Translation: X:277.38, Y:10.31, Z:1.97 [[ 9.98434226e-01 -5.39574057e-02 -1.47544994e-02 2.77381275e+02] [ 5.39616653e-02 9.98543002e-01 -1.09549716e-04 1.03056007e+01] [ 1.47389132e-02 -6.86799174e-04 9.99891140e-01 1.97428952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.374391418 meters Centerline goodness [0,1] 0.9991403949885028 Centerline is valid? [True, True] Translation: X:277.41, Y:10.31, Z:1.97 [[ 9.98531783e-01 -5.20858127e-02 -1.48776964e-02 2.77413010e+02] [ 5.20899498e-02 9.98642391e-01 -1.09564803e-04 1.03080450e+01] [ 1.48632051e-02 -6.65574520e-04 9.99889315e-01 1.97449821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.404391418 meters Centerline goodness [0,1] 0.999203753120427 Centerline is valid? [True, True] Translation: X:277.44, Y:10.31, Z:1.97 [[ 9.98734039e-01 -4.81713120e-02 -1.44859740e-02 2.77444212e+02] [ 4.81748350e-02 9.98838913e-01 -1.05850191e-04 1.03141374e+01] [ 1.44742534e-02 -5.92143217e-04 9.99895067e-01 1.97463339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.434391418 meters Centerline goodness [0,1] 0.9995265049609366 Centerline is valid? [True, True] Translation: X:277.48, Y:10.32, Z:1.97 [[ 9.98823897e-01 -4.62117384e-02 -1.46730400e-02 2.77475792e+02] [ 4.62151547e-02 9.98931503e-01 -1.06344729e-04 1.03163799e+01] [ 1.46622762e-02 -5.71897155e-04 9.99892339e-01 1.97421160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.464391418 meters Centerline goodness [0,1] 0.9995484259418544 Centerline is valid? [True, True] Translation: X:277.51, Y:10.32, Z:1.97 [[ 9.98904390e-01 -4.42907661e-02 -1.51112055e-02 2.77507783e+02] [ 4.42941878e-02 9.99018525e-01 -1.08339754e-04 1.03192121e+01] [ 1.51011727e-02 -5.61117521e-04 9.99885813e-01 1.97404519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.494391418 meters Centerline goodness [0,1] 0.9995249713903224 Centerline is valid? [True, True] Translation: X:277.54, Y:10.33, Z:1.97 [[ 9.99033132e-01 -4.09178784e-02 -1.60788288e-02 2.77539589e+02] [ 4.09213337e-02 9.99162365e-01 -1.14186968e-04 1.03253150e+01] [ 1.60700329e-02 -5.43890554e-04 9.99870721e-01 1.97293149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.524391418 meters Centerline goodness [0,1] 0.9995679319060684 Centerline is valid? [True, True] Translation: X:277.57, Y:10.33, Z:1.97 [[ 9.99092339e-01 -3.90832241e-02 -1.69410706e-02 2.77570701e+02] [ 3.90868100e-02 9.99235812e-01 -1.19515109e-04 1.03287725e+01] [ 1.69327954e-02 -5.42765777e-04 9.99856483e-01 1.97253806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.554391418 meters Centerline goodness [0,1] 0.9998481956974323 Centerline is valid? [True, True] Translation: X:277.60, Y:10.34, Z:1.97 [[ 9.99236275e-01 -3.46472527e-02 -1.80675050e-02 2.77601345e+02] [ 3.46506196e-02 9.99399479e-01 -1.26765174e-04 1.03364313e+01] [ 1.80610472e-02 -4.99381883e-04 9.99836761e-01 1.97178666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.584391418 meters Centerline goodness [0,1] 0.9999349043093347 Centerline is valid? [True, True] Translation: X:277.63, Y:10.34, Z:1.97 [[ 9.99301166e-01 -3.24711263e-02 -1.85150204e-02 2.77632065e+02] [ 3.24743016e-02 9.99472562e-01 -1.29211068e-04 1.03403553e+01] [ 1.85094505e-02 -4.72141585e-04 9.99828574e-01 1.97153604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.614391418 meters Centerline goodness [0,1] 0.999718267126108 Centerline is valid? [True, True] Translation: X:277.66, Y:10.34, Z:1.97 [[ 9.99374433e-01 -2.99393293e-02 -1.88249584e-02 2.77662147e+02] [ 2.99421679e-02 9.99551624e-01 -1.31111440e-04 1.03449590e+01] [ 1.88204432e-02 -4.32630644e-04 9.99822786e-01 1.97150143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.644391418 meters Centerline goodness [0,1] 0.9996300084880406 Centerline is valid? [True, True] Translation: X:277.69, Y:10.35, Z:1.97 [[ 9.99514029e-01 -2.49252171e-02 -1.87200290e-02 2.77691920e+02] [ 2.49271450e-02 9.99689262e-01 -1.30380631e-04 1.03535103e+01] [ 1.87174617e-02 -3.36319608e-04 9.99824756e-01 1.97146539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.674391418 meters Centerline goodness [0,1] 0.9997817880288913 Centerline is valid? [True, True] Translation: X:277.72, Y:10.36, Z:1.97 [[ 9.99586479e-01 -2.24044568e-02 -1.80252732e-02 2.77721568e+02] [ 2.24058273e-02 9.99748950e-01 -1.25938327e-04 1.03578686e+01] [ 1.80235696e-02 -2.77984910e-04 9.99837524e-01 1.97203009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.704391418 meters Centerline goodness [0,1] 0.9996515375903824 Centerline is valid? [True, True] Translation: X:277.75, Y:10.36, Z:1.97 [[ 9.99643897e-01 -2.00636910e-02 -1.75933859e-02 2.77751249e+02] [ 2.00646232e-02 9.99798678e-01 -1.23546076e-04 1.03621958e+01] [ 1.75923227e-02 -2.29502578e-04 9.99845217e-01 1.97277731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.734391418 meters Centerline goodness [0,1] 0.9996719160104987 Centerline is valid? [True, True] Translation: X:277.78, Y:10.37, Z:1.98 [[ 9.99757035e-01 -1.53869648e-02 -1.57833074e-02 2.77780270e+02] [ 1.53870935e-02 9.99881605e-01 -1.13288585e-04 1.03722743e+01] [ 1.57831819e-02 -1.29598168e-04 9.99875429e-01 1.97610806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.764391418 meters Centerline goodness [0,1] 0.9999342753861321 Centerline is valid? [True, True] Translation: X:277.81, Y:10.38, Z:1.98 [[ 9.99799410e-01 -1.33843648e-02 -1.48996051e-02 2.77808809e+02] [ 1.33842001e-02 9.99910421e-01 -1.10775436e-04 1.03761942e+01] [ 1.48997531e-02 -8.86660798e-05 9.99888989e-01 1.97726210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.794391418 meters Centerline goodness [0,1] 0.9994966185900943 Centerline is valid? [True, True] Translation: X:277.84, Y:10.38, Z:1.98 [[ 9.99831149e-01 -1.14598910e-02 -1.43646993e-02 2.77836978e+02] [ 1.14595026e-02 9.99934332e-01 -1.09347348e-04 1.03795763e+01] [ 1.43650091e-02 -5.52834245e-05 9.99896816e-01 1.97780661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.824391418 meters Centerline goodness [0,1] 0.9996726606145251 Centerline is valid? [True, True] Translation: X:277.86, Y:10.38, Z:1.98 [[ 9.99867368e-01 -8.79444174e-03 -1.37077807e-02 2.77864972e+02] [ 8.79380074e-03 9.99961328e-01 -1.07037275e-04 1.03839173e+01] [ 1.37081919e-02 -1.35204129e-05 9.99906038e-01 1.97866697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.854391418 meters Centerline goodness [0,1] 0.999539312039312 Centerline is valid? [True, True] Translation: X:277.89, Y:10.38, Z:1.98 [[ 9.99877533e-01 -8.99776091e-03 -1.28046840e-02 2.77892517e+02] [ 8.99716920e-03 9.99959519e-01 -1.03816394e-04 1.03849354e+01] [ 1.28050998e-02 -1.14022286e-05 9.99918011e-01 1.97962573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.884391418 meters Centerline goodness [0,1] 0.9995168127210032 Centerline is valid? [True, True] Translation: X:277.92, Y:10.38, Z:1.98 [[ 9.99861649e-01 -1.10121941e-02 -1.24665045e-02 2.77920842e+02] [ 1.10117410e-02 9.99939363e-01 -1.04985819e-04 1.03840263e+01] [ 1.24669047e-02 -3.23066250e-05 9.99922285e-01 1.97988029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.914391418 meters Centerline goodness [0,1] 0.9997806825160102 Centerline is valid? [True, True] Translation: X:277.95, Y:10.38, Z:1.98 [[ 9.99839791e-01 -1.29769848e-02 -1.23284650e-02 2.77948994e+02] [ 1.29766571e-02 9.99915794e-01 -1.06582585e-04 1.03825545e+01] [ 1.23288100e-02 -5.34167532e-05 9.99923996e-01 1.97951821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.944391418 meters Centerline goodness [0,1] 0.9996052804701548 Centerline is valid? [True, True] Translation: X:277.98, Y:10.38, Z:1.98 [[ 9.99803756e-01 -1.52485441e-02 -1.26463772e-02 2.77979107e+02] [ 1.52483691e-02 9.99883731e-01 -1.10270574e-04 1.03806174e+01] [ 1.26465883e-02 -8.25876927e-05 9.99920025e-01 1.97907865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.974391418 meters Centerline goodness [0,1] 0.9996260777758226 Centerline is valid? [True, True] Translation: X:278.01, Y:10.38, Z:1.98 [[ 9.99755159e-01 -1.78070315e-02 -1.31351176e-02 2.78008541e+02] [ 1.78070565e-02 9.99841435e-01 -1.15065400e-04 1.03783770e+01] [ 1.31350838e-02 -1.18860553e-04 9.99913724e-01 1.97867975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.004391418 meters Centerline goodness [0,1] 0.9996707060063225 Centerline is valid? [True, True] Translation: X:278.04, Y:10.37, Z:1.98 [[ 9.99659109e-01 -2.26765815e-02 -1.29398360e-02 2.78038714e+02] [ 2.26770099e-02 9.99742837e-01 -1.13628976e-04 1.03728781e+01] [ 1.29390851e-02 -1.79846550e-04 9.99916270e-01 1.97789178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.034391418 meters Centerline goodness [0,1] 0.9995402802101576 Centerline is valid? [True, True] Translation: X:278.07, Y:10.37, Z:1.98 [[ 9.99599914e-01 -2.49932396e-02 -1.32419440e-02 2.78069971e+02] [ 2.49938948e-02 9.99687597e-01 -1.16031344e-04 1.03703772e+01] [ 1.32407072e-02 -2.14982835e-04 9.99912315e-01 1.97764303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.064391418 meters Centerline goodness [0,1] 0.9994536116271445 Centerline is valid? [True, True] Translation: X:278.10, Y:10.37, Z:1.98 [[ 9.99517069e-01 -2.81223972e-02 -1.32196549e-02 2.78100611e+02] [ 2.81233318e-02 9.99604454e-01 -1.15235898e-04 1.03660893e+01] [ 1.32176667e-02 -2.56600495e-04 9.99912610e-01 1.97774580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.094391418 meters Centerline goodness [0,1] 0.9994969818913481 Centerline is valid? [True, True] Translation: X:278.13, Y:10.36, Z:1.98 [[ 9.99487299e-01 -2.92339639e-02 -1.30580988e-02 2.78131683e+02] [ 2.92349799e-02 9.99572560e-01 -1.13111609e-04 1.03643182e+01] [ 1.30558240e-02 -2.68699640e-04 9.99914733e-01 1.97776182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.124391418 meters Centerline goodness [0,1] 0.99958482650118 Centerline is valid? [True, True] Translation: X:278.16, Y:10.36, Z:1.98 [[ 9.99453001e-01 -3.05054382e-02 -1.27717457e-02 2.78164196e+02] [ 3.05065250e-02 9.99534562e-01 -1.09768348e-04 1.03618043e+01] [ 1.27691498e-02 -2.79913275e-04 9.99918432e-01 1.97778378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.154391418 meters Centerline goodness [0,1] 0.9995633283116089 Centerline is valid? [True, True] Translation: X:278.20, Y:10.36, Z:1.98 [[ 9.99438123e-01 -3.10339907e-02 -1.26621220e-02 2.78196532e+02] [ 3.10351137e-02 9.99518289e-01 -1.07836565e-04 1.03608174e+01] [ 1.26593692e-02 -2.85194424e-04 9.99919826e-01 1.97792450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.184391418 meters Centerline goodness [0,1] 0.9995190100351997 Centerline is valid? [True, True] Translation: X:278.23, Y:10.36, Z:1.98 [[ 9.99445044e-01 -3.10036174e-02 -1.21811369e-02 2.78228668e+02] [ 3.10046658e-02 9.99519235e-01 -1.02812000e-04 1.03597633e+01] [ 1.21784682e-02 -2.74917134e-04 9.99925802e-01 1.97820287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.214391418 meters Centerline goodness [0,1] 0.9996727248925447 Centerline is valid? [True, True] Translation: X:278.26, Y:10.36, Z:1.98 [[ 9.99451750e-01 -3.07922888e-02 -1.21669195e-02 2.78261216e+02] [ 3.07933305e-02 9.99525768e-01 -1.01751271e-04 1.03589370e+01] [ 1.21642827e-02 -2.72964486e-04 9.99925975e-01 1.97851988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.244391418 meters Centerline goodness [0,1] 0.9994320167773506 Centerline is valid? [True, True] Translation: X:278.29, Y:10.36, Z:1.98 [[ 9.99479328e-01 -3.01890497e-02 -1.13883133e-02 2.78293307e+02] [ 3.01899329e-02 9.99544176e-01 -9.43934875e-05 1.03574487e+01] [ 1.13859719e-02 -2.49468075e-04 9.99935147e-01 1.97854639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.274391418 meters Centerline goodness [0,1] 0.9994114569709652 Centerline is valid? [True, True] Translation: X:278.33, Y:10.36, Z:1.98 [[ 9.99495687e-01 -2.96410562e-02 -1.13920622e-02 2.78325868e+02] [ 2.96419145e-02 9.99560578e-01 -9.35387666e-05 1.03567597e+01] [ 1.13898288e-02 -2.44190939e-04 9.99935104e-01 1.97861799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.304391418 meters Centerline goodness [0,1] 0.9994118031501209 Centerline is valid? [True, True] Translation: X:278.36, Y:10.35, Z:1.98 [[ 9.99557414e-01 -2.76775424e-02 -1.09054906e-02 2.78356976e+02] [ 2.76782202e-02 9.99616881e-01 -8.87969344e-05 1.03547062e+01] [ 1.09037702e-02 -2.13086936e-04 9.99940529e-01 1.97854262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.334391418 meters Centerline goodness [0,1] 0.9994118031501209 Centerline is valid? [True, True] Translation: X:278.39, Y:10.35, Z:1.98 [[ 9.99559481e-01 -2.76028049e-02 -1.09054962e-02 2.78388677e+02] [ 2.76034859e-02 9.99618947e-01 -8.81002091e-05 1.03548810e+01] [ 1.09037725e-02 -2.12968312e-04 9.99940529e-01 1.97876469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.364391418 meters Centerline goodness [0,1] 0.9992598236638729 Centerline is valid? [True, True] Translation: X:278.42, Y:10.36, Z:1.98 [[ 9.99596283e-01 -2.62968717e-02 -1.07585386e-02 2.78421165e+02] [ 2.62974676e-02 9.99654158e-01 -8.60934363e-05 1.03574067e+01] [ 1.07570819e-02 -1.96863642e-04 9.99942122e-01 1.97935541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.394391418 meters Centerline goodness [0,1] 0.999435175530066 Centerline is valid? [True, True] Translation: X:278.45, Y:10.36, Z:1.98 [[ 9.99634931e-01 -2.46404832e-02 -1.10838060e-02 2.78452714e+02] [ 2.46410231e-02 9.99696360e-01 -8.78686938e-05 1.03568988e+01] [ 1.10826056e-02 -1.85279704e-04 9.99938569e-01 1.97923791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.424391418 meters Centerline goodness [0,1] 0.9994360331438983 Centerline is valid? [True, True] Translation: X:278.48, Y:10.36, Z:1.98 [[ 9.99699589e-01 -2.15188969e-02 -1.17332491e-02 2.78483682e+02] [ 2.15192944e-02 9.99768429e-01 -9.23838212e-05 1.03575756e+01] [ 1.17325200e-02 -1.60135174e-04 9.99931159e-01 1.97899282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.454391418 meters Centerline goodness [0,1] 0.9995230765895641 Centerline is valid? [True, True] Translation: X:278.51, Y:10.36, Z:1.98 [[ 9.99723964e-01 -2.00903885e-02 -1.21808175e-02 2.78514523e+02] [ 2.00907169e-02 9.99798157e-01 -9.54160394e-05 1.03575956e+01] [ 1.21802758e-02 -1.49331654e-04 9.99925807e-01 1.97860271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.484391418 meters Centerline goodness [0,1] 0.999327796691025 Centerline is valid? [True, True] Translation: X:278.55, Y:10.36, Z:1.98 [[ 9.99756751e-01 -1.76915159e-02 -1.31699708e-02 2.78545668e+02] [ 1.76916988e-02 9.99843484e-01 -1.02627371e-04 1.03570594e+01] [ 1.31697251e-02 -1.30396750e-04 9.99913267e-01 1.97768754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.514391418 meters Centerline goodness [0,1] 0.9995445179481618 Centerline is valid? [True, True] Translation: X:278.58, Y:10.36, Z:1.98 [[ 9.99767423e-01 -1.68621200e-02 -1.34450624e-02 2.78575342e+02] [ 1.68622360e-02 9.99857817e-01 -1.04744839e-04 1.03567638e+01] [ 1.34449169e-02 -1.21993336e-04 9.99909606e-01 1.97731420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.544391418 meters Centerline goodness [0,1] 0.9991566838213035 Centerline is valid? [True, True] Translation: X:278.61, Y:10.36, Z:1.98 [[ 9.99768071e-01 -1.63210099e-02 -1.40509260e-02 2.78605010e+02] [ 1.63210753e-02 9.99866796e-01 -1.10024284e-04 1.03557829e+01] [ 1.40508501e-02 -1.19327455e-04 9.99901275e-01 1.97694872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.574391418 meters Centerline goodness [0,1] 0.9992848009362606 Centerline is valid? [True, True] Translation: X:278.63, Y:10.35, Z:1.98 [[ 9.99769085e-01 -1.59573522e-02 -1.43923729e-02 2.78633754e+02] [ 1.59573714e-02 9.99872667e-01 -1.13514084e-04 1.03536889e+01] [ 1.43923516e-02 -1.16176567e-04 9.99896418e-01 1.97563973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.604391418 meters Centerline goodness [0,1] 0.9992635751261669 Centerline is valid? [True, True] Translation: X:278.66, Y:10.35, Z:1.98 [[ 9.99766243e-01 -1.59277786e-02 -1.46207356e-02 2.78662224e+02] [ 1.59277576e-02 9.99873138e-01 -1.17889766e-04 1.03522576e+01] [ 1.46207586e-02 -1.15013325e-04 9.99893104e-01 1.97615739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.634391418 meters Centerline goodness [0,1] 0.9991985791024086 Centerline is valid? [True, True] Translation: X:278.69, Y:10.35, Z:1.98 [[ 9.99752398e-01 -1.64428684e-02 -1.49924796e-02 2.78691274e+02] [ 1.64428429e-02 9.99864800e-01 -1.24975104e-04 1.03515380e+01] [ 1.49925076e-02 -1.21574828e-04 9.99887599e-01 1.97616017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.664391418 meters Centerline goodness [0,1] 0.9992003803596127 Centerline is valid? [True, True] Translation: X:278.72, Y:10.35, Z:1.98 [[ 9.99734568e-01 -1.77194836e-02 -1.47245540e-02 2.78719577e+02] [ 1.77195397e-02 9.99842989e-01 -1.26663891e-04 1.03491176e+01] [ 1.47244865e-02 -1.34282049e-04 9.99891580e-01 1.97667214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.694391418 meters Centerline goodness [0,1] 0.999309898641363 Centerline is valid? [True, True] Translation: X:278.75, Y:10.35, Z:1.98 [[ 9.99717147e-01 -1.89011083e-02 -1.44351644e-02 2.78747957e+02] [ 1.89012527e-02 9.99821347e-01 -1.26441967e-04 1.03472502e+01] [ 1.44349754e-02 -1.46436487e-04 9.99895800e-01 1.97708073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.724391418 meters Centerline goodness [0,1] 0.9990727362905139 Centerline is valid? [True, True] Translation: X:278.78, Y:10.35, Z:1.98 [[ 9.99691036e-01 -2.04291612e-02 -1.41591418e-02 2.78777616e+02] [ 2.04294440e-02 9.99791289e-01 -1.24686181e-04 1.03454361e+01] [ 1.41587339e-02 -1.64615737e-04 9.99899747e-01 1.97739376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.754391418 meters Centerline goodness [0,1] 0.9992247060343714 Centerline is valid? [True, True] Translation: X:278.81, Y:10.34, Z:1.98 [[ 9.99648628e-01 -2.23572822e-02 -1.42398206e-02 2.78807153e+02] [ 2.23577559e-02 9.99750026e-01 -1.25945109e-04 1.03438615e+01] [ 1.42390768e-02 -1.92469578e-04 9.99898601e-01 1.97806251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.784391418 meters Centerline goodness [0,1] 0.999118999527268 Centerline is valid? [True, True] Translation: X:278.84, Y:10.34, Z:1.98 [[ 9.99503733e-01 -2.82174721e-02 -1.40022286e-02 2.78837047e+02] [ 2.82184999e-02 9.99601771e-01 -1.24205730e-04 1.03360150e+01] [ 1.40001573e-02 -2.70977796e-04 9.99901956e-01 1.97763279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.814391418 meters Centerline goodness [0,1] 0.9991206434316354 Centerline is valid? [True, True] Translation: X:278.87, Y:10.33, Z:1.98 [[ 9.99389589e-01 -3.20444016e-02 -1.39142604e-02 2.78868775e+02] [ 3.20457896e-02 9.99486394e-01 -1.23249564e-04 1.03328898e+01] [ 1.39110635e-02 -3.22719132e-04 9.99903184e-01 1.97817831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.844391418 meters Centerline goodness [0,1] 0.9990570485619991 Centerline is valid? [True, True] Translation: X:278.90, Y:10.33, Z:1.98 [[ 9.99246695e-01 -3.63846116e-02 -1.34982411e-02 2.78900487e+02] [ 3.63863204e-02 9.99337791e-01 -1.19047482e-04 1.03284383e+01] [ 1.34936340e-02 -3.72193523e-04 9.99908888e-01 1.97883161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.874391418 meters Centerline goodness [0,1] 0.9988654850586522 Centerline is valid? [True, True] Translation: X:278.93, Y:10.32, Z:1.98 [[ 9.98880171e-01 -4.54908974e-02 -1.29993145e-02 2.78930491e+02] [ 4.54932544e-02 9.98964639e-01 -1.14479510e-04 1.03178371e+01] [ 1.29910633e-02 -4.77029809e-04 9.99915499e-01 1.97893834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.904391418 meters Centerline goodness [0,1] 0.9988006510751306 Centerline is valid? [True, True] Translation: X:278.96, Y:10.31, Z:1.98 [[ 9.98655495e-01 -5.01071662e-02 -1.32843328e-02 2.78961623e+02] [ 5.01100377e-02 9.98743696e-01 -1.16819614e-04 1.03129743e+01] [ 1.32734971e-02 -5.49015867e-04 9.99911753e-01 1.97909427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.934391418 meters Centerline goodness [0,1] 0.998485494880546 Centerline is valid? [True, True] Translation: X:278.99, Y:10.30, Z:1.98 [[ 9.98217961e-01 -5.80869946e-02 -1.36676332e-02 2.78990926e+02] [ 5.80907832e-02 9.98311297e-01 -1.19972043e-04 1.03033346e+01] [ 1.36515215e-02 -6.74205270e-04 9.99906586e-01 1.97883013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.964391418 meters Centerline goodness [0,1] 0.9988673035412793 Centerline is valid? [True, True] Translation: X:279.02, Y:10.30, Z:1.98 [[ 9.98031160e-01 -6.12623297e-02 -1.34436028e-02 2.79022395e+02] [ 6.12662842e-02 9.98121450e-01 -1.17872046e-04 1.02998006e+01] [ 1.34255695e-02 -7.05999617e-04 9.99909624e-01 1.97918912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.994391418 meters Centerline goodness [0,1] 0.9982955150740386 Centerline is valid? [True, True] Translation: X:279.05, Y:10.30, Z:1.98 [[ 9.97875547e-01 -6.37290505e-02 -1.35277558e-02 2.79052130e+02] [ 6.37332843e-02 9.97966961e-01 -1.18341771e-04 1.02957998e+01] [ 1.35077952e-02 -7.44077948e-04 9.99908489e-01 1.97932661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.024391418 meters Centerline goodness [0,1] 0.998443894952251 Centerline is valid? [True, True] Translation: X:279.08, Y:10.29, Z:1.98 [[ 9.97756134e-01 -6.55411213e-02 -1.36769314e-02 2.79083775e+02] [ 6.55456289e-02 9.97849566e-01 -1.18896739e-04 1.02932122e+01] [ 1.36553127e-02 -7.77833121e-04 9.99906459e-01 1.97965344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.054391418 meters Centerline goodness [0,1] 0.9980669144981412 Centerline is valid? [True, True] Translation: X:279.12, Y:10.29, Z:1.98 [[ 9.97664504e-01 -6.69345693e-02 -1.36125600e-02 2.79116345e+02] [ 6.69391813e-02 9.97757051e-01 -1.17056120e-04 1.02901750e+01] [ 1.35898629e-02 -7.94430888e-04 9.99907338e-01 1.97960193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.084391418 meters Centerline goodness [0,1] 0.9982573584103709 Centerline is valid? [True, True] Translation: X:279.15, Y:10.29, Z:1.98 [[ 9.97688530e-01 -6.64478792e-02 -1.42224016e-02 2.79148298e+02] [ 6.64528799e-02 9.97789557e-01 -1.21210163e-04 1.02899193e+01] [ 1.41990179e-02 -8.24189554e-04 9.99898849e-01 1.97918083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.114391418 meters Centerline goodness [0,1] 0.998447832280836 Centerline is valid? [True, True] Translation: X:279.18, Y:10.29, Z:1.98 [[ 9.97876484e-01 -6.31859588e-02 -1.58131722e-02 2.79178672e+02] [ 6.31917572e-02 9.98001395e-01 -1.33209023e-04 1.02924264e+01] [ 1.57899848e-02 -8.66335984e-04 9.99874955e-01 1.97779846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.144391418 meters Centerline goodness [0,1] 0.9986616816076815 Centerline is valid? [True, True] Translation: X:279.21, Y:10.30, Z:1.98 [[ 9.98035563e-01 -6.03343113e-02 -1.68756235e-02 2.79210121e+02] [ 6.03405289e-02 9.98177840e-01 -1.40966579e-04 1.02954336e+01] [ 1.68533785e-02 -8.77594386e-04 9.99857587e-01 1.97712568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.174391418 meters Centerline goodness [0,1] 0.9984838778560752 Centerline is valid? [True, True] Translation: X:279.24, Y:10.30, Z:1.98 [[ 9.98221814e-01 -5.68681432e-02 -1.78668600e-02 2.79241807e+02] [ 5.68745763e-02 9.98381320e-01 -1.48273987e-04 1.02994447e+01] [ 1.78463714e-02 -8.68159765e-04 9.99840364e-01 1.97642862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.204391418 meters Centerline goodness [0,1] 0.9986959124337267 Centerline is valid? [True, True] Translation: X:279.27, Y:10.32, Z:1.98 [[ 9.98657388e-01 -4.83098769e-02 -1.86969747e-02 2.79272441e+02] [ 4.83154330e-02 9.98832116e-01 -1.54694641e-04 1.03153916e+01] [ 1.86826121e-02 -7.48865484e-04 9.99825184e-01 1.97801720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.234391418 meters Centerline goodness [0,1] 0.9989315554415882 Centerline is valid? [True, True] Translation: X:279.30, Y:10.32, Z:1.98 [[ 9.98890697e-01 -4.30504480e-02 -1.90796654e-02 2.79301855e+02] [ 4.30552713e-02 9.99072679e-01 -1.58098450e-04 1.03187427e+01] [ 1.90687786e-02 -6.63557097e-04 9.99817954e-01 1.97770883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.264391418 meters Centerline goodness [0,1] 0.9989704431384325 Centerline is valid? [True, True] Translation: X:279.33, Y:10.33, Z:1.98 [[ 9.99292812e-01 -3.19223288e-02 -1.98706037e-02 2.79331693e+02] [ 3.19253542e-02 9.99490242e-01 -1.65028846e-04 1.03276751e+01] [ 1.98657426e-02 -4.69463922e-04 9.99802546e-01 1.97660654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.294391418 meters Centerline goodness [0,1] 0.9991618310767247 Centerline is valid? [True, True] Translation: X:279.36, Y:10.34, Z:1.98 [[ 9.99463745e-01 -2.60145333e-02 -1.98863544e-02 2.79361578e+02] [ 2.60163875e-02 9.99661503e-01 -1.65511731e-04 1.03351299e+01] [ 1.98839287e-02 -3.51948127e-04 9.99802233e-01 1.97704916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.324391418 meters Centerline goodness [0,1] 0.9989234114936589 Centerline is valid? [True, True] Translation: X:279.39, Y:10.34, Z:1.98 [[ 9.99592630e-01 -2.03844799e-02 -1.99761722e-02 2.79390617e+02] [ 2.03851660e-02 9.99792187e-01 -1.69301114e-04 1.03426185e+01] [ 1.99754720e-02 -2.37985442e-04 9.99800442e-01 1.97750818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.354391418 meters Centerline goodness [0,1] 0.9991163793103448 Centerline is valid? [True, True] Translation: X:279.42, Y:10.36, Z:1.98 [[ 9.99759455e-01 -9.69476724e-03 -1.96734298e-02 2.79418856e+02] [ 9.69326308e-03 9.99953004e-01 -1.71816342e-04 1.03558457e+01] [ 1.96741709e-02 -1.89247185e-05 9.99806445e-01 1.98191691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.384391418 meters Centerline goodness [0,1] 0.9992890229451686 Centerline is valid? [True, True] Translation: X:279.45, Y:10.36, Z:1.98 [[ 9.99801262e-01 -5.16047048e-03 -1.92563388e-02 2.79445689e+02] [ 5.15811924e-03 9.99986682e-01 -1.71768441e-04 1.03604095e+01] [ 1.92569687e-02 7.24078122e-05 9.99814565e-01 1.98187149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.414391418 meters Centerline goodness [0,1] 0.999373812402833 Centerline is valid? [True, True] Translation: X:279.47, Y:10.37, Z:1.98 [[ 9.99813678e-01 2.49060618e-03 -1.91417418e-02 2.79474615e+02] [-2.49441428e-03 9.99996874e-01 -1.75068951e-04 1.03667705e+01] [ 1.91412459e-02 2.22783766e-04 9.99816765e-01 1.98328374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.444391418 meters Centerline goodness [0,1] 0.9993956921483144 Centerline is valid? [True, True] Translation: X:279.50, Y:10.37, Z:1.98 [[ 9.99806133e-01 5.30911386e-03 -1.89607641e-02 2.79502281e+02] [-5.31341570e-03 9.99985868e-01 -1.76510532e-04 1.03697301e+01] [ 1.89595590e-02 2.77222734e-04 9.99820213e-01 1.98314775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.474391418 meters Centerline goodness [0,1] 0.999439304737875 Centerline is valid? [True, True] Translation: X:279.53, Y:10.37, Z:1.98 [[ 9.99789003e-01 7.27865422e-03 -1.92085937e-02 2.79530722e+02] [-7.28350970e-03 9.99973458e-01 -1.82828365e-04 1.03715105e+01] [ 1.92067532e-02 3.22695768e-04 9.99815481e-01 1.98340973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.504391418 meters Centerline goodness [0,1] 0.9993303523210852 Centerline is valid? [True, True] Translation: X:279.56, Y:10.37, Z:1.98 [[ 9.99766997e-01 8.28370189e-03 -1.99332079e-02 2.79558388e+02] [-8.28920679e-03 9.99965625e-01 -1.93558322e-04 1.03730478e+01] [ 1.99309193e-02 3.58743704e-04 9.99801295e-01 1.98313273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.534391418 meters Centerline goodness [0,1] 0.9995028746811914 Centerline is valid? [True, True] Translation: X:279.59, Y:10.37, Z:1.98 [[ 9.99764062e-01 7.61575573e-03 -2.03425604e-02 2.79587687e+02] [-7.62139264e-03 9.99970937e-01 -1.99585550e-04 1.03718474e+01] [ 2.03404492e-02 3.54577101e-04 9.99793049e-01 1.98324343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.564391418 meters Centerline goodness [0,1] 0.9995251661918328 Centerline is valid? [True, True] Translation: X:279.62, Y:10.37, Z:1.98 [[ 9.99772908e-01 5.50527792e-03 -2.05869963e-02 2.79615199e+02] [-5.51064173e-03 9.99984796e-01 -2.03822468e-04 1.03699577e+01] [ 2.05855611e-02 3.17223742e-04 9.99788045e-01 1.98333394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.594391418 meters Centerline goodness [0,1] 0.9995900489783589 Centerline is valid? [True, True] Translation: X:279.64, Y:10.36, Z:1.98 [[ 9.99784523e-01 -1.39786508e-03 -2.07112117e-02 2.79643830e+02] [ 1.39388104e-03 9.99999007e-01 -2.06796328e-04 1.03609028e+01] [ 2.07114803e-02 1.77882802e-04 9.99785478e-01 1.98433111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.624391418 meters Centerline goodness [0,1] 0.9992899713836951 Centerline is valid? [True, True] Translation: X:279.67, Y:10.36, Z:1.98 [[ 9.99767103e-01 -6.13622661e-03 -2.06902714e-02 2.79672964e+02] [ 6.13323130e-03 9.99981170e-01 -2.08222174e-04 1.03557188e+01] [ 2.06911595e-02 8.12754594e-05 9.99785912e-01 1.98486587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.654391418 meters Centerline goodness [0,1] 0.9991826023360365 Centerline is valid? [True, True] Translation: X:279.70, Y:10.35, Z:1.98 [[ 9.99727602e-01 -1.13748993e-02 -2.03797278e-02 2.79701354e+02] [ 1.13730489e-02 9.99935303e-01 -2.06702347e-04 1.03502691e+01] [ 2.03807605e-02 -2.51335982e-05 9.99792290e-01 1.98497679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.684391418 meters Centerline goodness [0,1] 0.9990159164812596 Centerline is valid? [True, True] Translation: X:279.73, Y:10.34, Z:1.99 [[ 9.99553605e-01 -2.15372112e-02 -2.07060226e-02 2.79730542e+02] [ 2.15374464e-02 9.99768020e-01 -2.11663982e-04 1.03390191e+01] [ 2.07057779e-02 -2.34385357e-04 9.99785585e-01 1.98536161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.714391418 meters Centerline goodness [0,1] 0.9989105357600615 Centerline is valid? [True, True] Translation: X:279.76, Y:10.33, Z:1.98 [[ 9.99417483e-01 -2.67723643e-02 -2.11644941e-02 2.79757829e+02] [ 2.67737194e-02 9.99641496e-01 -2.19380481e-04 1.03310750e+01] [ 2.11627799e-02 -3.47399539e-04 9.99775983e-01 1.98355582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.744391418 meters Centerline goodness [0,1] 0.9986319817027552 Centerline is valid? [True, True] Translation: X:279.79, Y:10.32, Z:1.98 [[ 9.99259244e-01 -3.20069596e-02 -2.13662772e-02 2.79787651e+02] [ 3.20094991e-02 9.99487540e-01 -2.23224300e-04 1.03247657e+01] [ 2.13624726e-02 -4.60864886e-04 9.99771690e-01 1.98359399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.774391418 meters Centerline goodness [0,1] 0.998680822996234 Centerline is valid? [True, True] Translation: X:279.82, Y:10.31, Z:1.98 [[ 9.98930159e-01 -4.07608235e-02 -2.18424401e-02 2.79817123e+02] [ 4.07655504e-02 9.99168713e-01 -2.28995981e-04 1.03115680e+01] [ 2.18336168e-02 -6.61668100e-04 9.99761399e-01 1.98303388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.804391418 meters Centerline goodness [0,1] 0.9989372329797862 Centerline is valid? [True, True] Translation: X:279.85, Y:10.31, Z:1.98 [[ 9.98772127e-01 -4.44748809e-02 -2.18225376e-02 2.79847116e+02] [ 4.44804675e-02 9.99010228e-01 -2.29569467e-04 1.03058266e+01] [ 2.18111483e-02 -7.41389088e-04 9.99761834e-01 1.98305513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.834391418 meters Centerline goodness [0,1] 0.9986844897093147 Centerline is valid? [True, True] Translation: X:279.88, Y:10.30, Z:1.98 [[ 9.98641854e-01 -4.74786023e-02 -2.14529781e-02 2.79876966e+02] [ 4.74846769e-02 9.98871941e-01 -2.26441598e-04 1.03009398e+01] [ 2.14395290e-02 -7.92553677e-04 9.99769833e-01 1.98372945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.864391418 meters Centerline goodness [0,1] 0.9987066406581291 Centerline is valid? [True, True] Translation: X:279.91, Y:10.30, Z:1.99 [[ 9.98478065e-01 -5.10128766e-02 -2.09580750e-02 2.79907880e+02] [ 5.10194578e-02 9.98697635e-01 -2.20902456e-04 1.03023800e+01] [ 2.09420488e-02 -8.48703369e-04 9.99780331e-01 1.98751263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.894391418 meters Centerline goodness [0,1] 0.9988110150958619 Centerline is valid? [True, True] Translation: X:279.94, Y:10.30, Z:1.99 [[ 9.98476778e-01 -5.11220136e-02 -2.07524390e-02 2.79939142e+02] [ 5.11285069e-02 9.98692059e-01 -2.17909855e-04 1.03009090e+01] [ 2.07364360e-02 -8.43463293e-04 9.99784621e-01 1.98778278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.924391418 meters Centerline goodness [0,1] 0.9986625339673914 Centerline is valid? [True, True] Translation: X:279.97, Y:10.30, Z:1.99 [[ 9.98655632e-01 -4.76269766e-02 -2.04597126e-02 2.79969069e+02] [ 4.76325612e-02 9.98864902e-01 -2.14561036e-04 1.03013988e+01] [ 2.04467077e-02 -7.60275925e-04 9.99790655e-01 1.98875440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.954391418 meters Centerline goodness [0,1] 0.9987916816823182 Centerline is valid? [True, True] Translation: X:280.00, Y:10.30, Z:1.99 [[ 9.98830795e-01 -4.39143626e-02 -2.02131585e-02 2.79999961e+02] [ 4.39190592e-02 9.99035070e-01 -2.11717841e-04 1.03039954e+01] [ 2.02029516e-02 -6.76272605e-04 9.99795671e-01 1.98941071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.984391418 meters Centerline goodness [0,1] 0.9987470534519739 Centerline is valid? [True, True] Translation: X:280.03, Y:10.31, Z:1.99 [[ 9.99005513e-01 -3.96765407e-02 -2.03410275e-02 2.80029296e+02] [ 3.96804168e-02 9.99212399e-01 -2.13177380e-04 1.03063701e+01] [ 2.03334650e-02 -5.94175070e-04 9.99793077e-01 1.98934205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.014391418 meters Centerline goodness [0,1] 0.9987687604814571 Centerline is valid? [True, True] Translation: X:280.06, Y:10.31, Z:1.99 [[ 9.99181657e-01 -3.50325823e-02 -2.02171929e-02 2.80059300e+02] [ 3.50354532e-02 9.99386048e-01 -2.12284567e-04 1.03131659e+01] [ 2.02122174e-02 -4.96207672e-04 9.99795589e-01 1.99083373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.044391418 meters Centerline goodness [0,1] 0.9987458549443075 Centerline is valid? [True, True] Translation: X:280.09, Y:10.32, Z:1.99 [[ 9.99462347e-01 -2.53215013e-02 -2.08288036e-02 2.80088222e+02] [ 2.53224255e-02 9.99679312e-01 -2.19414361e-04 1.03189133e+01] [ 2.08276799e-02 -3.08139435e-04 9.99783033e-01 1.98997291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.074391418 meters Centerline goodness [0,1] 0.9991699301890005 Centerline is valid? [True, True] Translation: X:280.12, Y:10.32, Z:1.99 [[ 9.99604368e-01 -1.75828592e-02 -2.19533515e-02 2.80116879e+02] [ 1.75819218e-02 9.99845398e-01 -2.35726527e-04 1.03246956e+01] [ 2.19541022e-02 -1.50348844e-04 9.99758968e-01 1.98934995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.104391418 meters Centerline goodness [0,1] 0.9991710769623159 Centerline is valid? [True, True] Translation: X:280.15, Y:10.33, Z:1.99 [[ 9.99632393e-01 -1.48320458e-02 -2.26956003e-02 2.80145168e+02] [ 1.48301756e-02 9.99889995e-01 -2.50719524e-04 1.03268248e+01] [ 2.26968223e-02 -8.59523795e-05 9.99742390e-01 1.98851444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.134391418 meters Centerline goodness [0,1] 0.9989787885879625 Centerline is valid? [True, True] Translation: X:280.17, Y:10.33, Z:1.99 [[ 9.99627094e-01 -1.31553874e-02 -2.39292263e-02 2.80173150e+02] [ 1.31527318e-02 9.99913463e-01 -2.68371027e-04 1.03280941e+01] [ 2.39306860e-02 -4.64637449e-05 9.99713619e-01 1.98703258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.164391418 meters Centerline goodness [0,1] 0.998934515311015 Centerline is valid? [True, True] Translation: X:280.20, Y:10.33, Z:1.99 [[ 9.99601913e-01 -1.26860747e-02 -2.52007659e-02 2.80202070e+02] [ 1.26828318e-02 9.99919528e-01 -2.88517247e-04 1.03288437e+01] [ 2.52023981e-02 -3.12146822e-05 9.99682369e-01 1.98718912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.194391418 meters Centerline goodness [0,1] 0.999020547216012 Centerline is valid? [True, True] Translation: X:280.23, Y:10.33, Z:1.98 [[ 9.99512404e-01 -1.43502389e-02 -2.77313038e-02 2.80229661e+02] [ 1.43468341e-02 9.99897027e-01 -3.21752322e-04 1.03266553e+01] [ 2.77330655e-02 -7.62609776e-05 9.99615362e-01 1.98428506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.224391418 meters Centerline goodness [0,1] 0.999020547216012 Centerline is valid? [True, True] Translation: X:280.26, Y:10.33, Z:1.98 [[ 9.99507782e-01 -1.46688126e-02 -2.77312178e-02 2.80257054e+02] [ 1.46653277e-02 9.99892404e-01 -3.29057604e-04 1.03271136e+01] [ 2.77330609e-02 -7.77917617e-05 9.99615362e-01 1.98447730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.254391418 meters Centerline goodness [0,1] 0.9992553825206365 Centerline is valid? [True, True] Translation: X:280.29, Y:10.32, Z:1.98 [[ 9.99450659e-01 -1.70832550e-02 -2.83996776e-02 2.80285918e+02] [ 1.70803417e-02 9.99854061e-01 -3.45183707e-04 1.03249132e+01] [ 2.84014298e-02 -1.40082115e-04 9.99596588e-01 1.98345079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.284391418 meters Centerline goodness [0,1] 0.9991262094539874 Centerline is valid? [True, True] Translation: X:280.31, Y:10.32, Z:1.98 [[ 9.99301706e-01 -2.34055131e-02 -2.91252794e-02 2.80314263e+02] [ 2.34050104e-02 9.99726001e-01 -3.58216917e-04 1.03189938e+01] [ 2.91256833e-02 -3.23710690e-04 9.99575705e-01 1.98347552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.314391418 meters Centerline goodness [0,1] 0.9989179555725288 Centerline is valid? [True, True] Translation: X:280.34, Y:10.32, Z:1.98 [[ 9.99216849e-01 -2.70935696e-02 -2.88379300e-02 2.80342349e+02] [ 2.70945288e-02 9.99632812e-01 -3.57566828e-04 1.03152803e+01] [ 2.88370288e-02 -4.24063325e-04 9.99584036e-01 1.98316321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.344391418 meters Centerline goodness [0,1] 0.9989607194366675 Centerline is valid? [True, True] Translation: X:280.37, Y:10.31, Z:1.98 [[ 9.99133511e-01 -3.08626190e-02 -2.79235623e-02 2.80371413e+02] [ 3.08648092e-02 9.99523506e-01 -3.52675739e-04 1.03120531e+01] [ 2.79211414e-02 -5.09485273e-04 9.99609999e-01 1.98399316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.374391418 meters Centerline goodness [0,1] 0.998878710305287 Centerline is valid? [True, True] Translation: X:280.40, Y:10.30, Z:1.99 [[ 9.98928054e-01 -3.81072523e-02 -2.62789051e-02 2.80400410e+02] [ 3.81116189e-02 9.99273432e-01 -3.34849237e-04 1.03047368e+01] [ 2.62725719e-02 -6.67041323e-04 9.99654594e-01 1.98611884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.404391418 meters Centerline goodness [0,1] 0.9986041199610846 Centerline is valid? [True, True] Translation: X:280.43, Y:10.30, Z:1.99 [[ 9.98815687e-01 -4.16428193e-02 -2.51614591e-02 2.80428052e+02] [ 4.16478888e-02 9.99132298e-01 -3.22758335e-04 1.03008027e+01] [ 2.51530670e-02 -7.25545561e-04 9.99683348e-01 1.98680791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.434391418 meters Centerline goodness [0,1] 0.998877974426285 Centerline is valid? [True, True] Translation: X:280.46, Y:10.30, Z:1.99 [[ 9.98686989e-01 -4.50673933e-02 -2.43562939e-02 2.80456614e+02] [ 4.50730275e-02 9.98983644e-01 -3.17892487e-04 1.02992898e+01] [ 2.43458658e-02 -7.80336813e-04 9.99703291e-01 1.98851143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.464391418 meters Centerline goodness [0,1] 0.9989860583016477 Centerline is valid? [True, True] Translation: X:280.49, Y:10.29, Z:1.99 [[ 9.98465606e-01 -5.05727221e-02 -2.25573253e-02 2.80485710e+02] [ 5.05788956e-02 9.98720024e-01 -2.97138837e-04 1.02939469e+01] [ 2.25434796e-02 -8.44241690e-04 9.99745507e-01 1.99029989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.494391418 meters Centerline goodness [0,1] 0.9989416645499958 Centerline is valid? [True, True] Translation: X:280.52, Y:10.29, Z:1.99 [[ 9.98338337e-01 -5.33938489e-02 -2.16716885e-02 2.80516555e+02] [ 5.34002017e-02 9.98573150e-01 -2.85874486e-04 1.02914353e+01] [ 2.16560302e-02 -8.71873078e-04 9.99765101e-01 1.99116980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.524391418 meters Centerline goodness [0,1] 0.9986504154190038 Centerline is valid? [True, True] Translation: X:280.55, Y:10.29, Z:1.99 [[ 9.98212174e-01 -5.59147738e-02 -2.11185448e-02 2.80547047e+02] [ 5.59213693e-02 9.98435137e-01 -2.78577885e-04 1.02908211e+01] [ 2.11010738e-02 -9.02898107e-04 9.99776940e-01 1.99259909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.554391418 meters Centerline goodness [0,1] 0.9985879575965774 Centerline is valid? [True, True] Translation: X:280.58, Y:10.28, Z:1.99 [[ 9.97977345e-01 -6.06807057e-02 -1.89491724e-02 2.80577421e+02] [ 6.06868770e-02 9.98156822e-01 -2.49718069e-04 1.02817313e+01] [ 1.89293988e-02 -9.00753122e-04 9.99820417e-01 1.99341329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.584391418 meters Centerline goodness [0,1] 0.9984189889961634 Centerline is valid? [True, True] Translation: X:280.61, Y:10.28, Z:1.99 [[ 9.97845435e-01 -6.30019949e-02 -1.83094815e-02 2.80608521e+02] [ 6.30081568e-02 9.98012983e-01 -2.40706441e-04 1.02811838e+01] [ 1.82882652e-02 -9.13458857e-04 9.99832338e-01 1.99471368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.614391418 meters Centerline goodness [0,1] 0.998443907054989 Centerline is valid? [True, True] Translation: X:280.64, Y:10.28, Z:2.00 [[ 9.97570125e-01 -6.75172762e-02 -1.71831979e-02 2.80639067e+02] [ 6.75233788e-02 9.97717667e-01 -2.25443081e-04 1.02767626e+01] [ 1.71592014e-02 -9.35372296e-04 9.99852333e-01 1.99577188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.644391418 meters Centerline goodness [0,1] 0.9987990139272245 Centerline is valid? [True, True] Translation: X:280.67, Y:10.28, Z:2.00 [[ 9.97454497e-01 -6.92330851e-02 -1.70677151e-02 2.80671291e+02] [ 6.92393722e-02 9.97600050e-01 -2.22993523e-04 1.02771790e+01] [ 1.70421919e-02 -9.59331983e-04 9.99854311e-01 1.99637533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.674391418 meters Centerline goodness [0,1] 0.9984441033619983 Centerline is valid? [True, True] Translation: X:280.70, Y:10.28, Z:2.00 [[ 9.97365018e-01 -7.05331239e-02 -1.69735149e-02 2.80703273e+02] [ 7.05395522e-02 9.97508959e-01 -2.20418735e-04 1.02767099e+01] [ 1.69467800e-02 -9.77466208e-04 9.99855915e-01 1.99646458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.704391418 meters Centerline goodness [0,1] 0.9984384232295096 Centerline is valid? [True, True] Translation: X:280.74, Y:10.28, Z:2.00 [[ 9.97285504e-01 -7.14457535e-02 -1.78081062e-02 2.80735336e+02] [ 7.14530001e-02 9.97443941e-01 -2.29823250e-04 1.02760752e+01] [ 1.77790075e-02 -1.04324322e-03 9.99841397e-01 1.99589419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.734391418 meters Centerline goodness [0,1] 0.9985685415964971 Centerline is valid? [True, True] Translation: X:280.77, Y:10.28, Z:1.99 [[ 9.97252519e-01 -7.17138518e-02 -1.85616884e-02 2.80766813e+02] [ 7.17217944e-02 9.97424647e-01 -2.38296630e-04 1.02762412e+01] [ 1.85309747e-02 -1.09363569e-03 9.99827689e-01 1.99474075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.764391418 meters Centerline goodness [0,1] 0.9984767707539984 Centerline is valid? [True, True] Translation: X:280.80, Y:10.28, Z:1.99 [[ 9.97352336e-01 -7.01075352e-02 -1.93197376e-02 2.80798212e+02] [ 7.01158571e-02 9.97538824e-01 -2.47125073e-04 1.02788394e+01] [ 1.92895137e-02 -1.10814920e-03 9.99813326e-01 1.99347010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.794391418 meters Centerline goodness [0,1] 0.9984657096618256 Centerline is valid? [True, True] Translation: X:280.83, Y:10.28, Z:1.99 [[ 9.97417575e-01 -6.91043929e-02 -1.95643484e-02 2.80829428e+02] [ 6.91127493e-02 9.97608824e-01 -2.49500144e-04 1.02805059e+01] [ 1.95348082e-02 -1.10329008e-03 9.99808569e-01 1.99294851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.824391418 meters Centerline goodness [0,1] 0.9983765891505555 Centerline is valid? [True, True] Translation: X:280.86, Y:10.28, Z:1.99 [[ 9.97495198e-01 -6.79080006e-02 -1.97947954e-02 2.80860982e+02] [ 6.79163352e-02 9.97690988e-01 -2.51679965e-04 1.02830237e+01] [ 1.97661800e-02 -1.09334040e-03 9.99804032e-01 1.99275662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.854391418 meters Centerline goodness [0,1] 0.9987113129819373 Centerline is valid? [True, True] Translation: X:280.89, Y:10.29, Z:1.99 [[ 9.97573005e-01 -6.65730355e-02 -2.03992754e-02 2.80891035e+02] [ 6.65816197e-02 9.97780948e-01 -2.58835933e-04 1.02852465e+01] [ 2.03712398e-02 -1.10000906e-03 9.99791880e-01 1.99237700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.884391418 meters Centerline goodness [0,1] 0.9987319300025361 Centerline is valid? [True, True] Translation: X:280.92, Y:10.29, Z:1.99 [[ 9.97777537e-01 -6.30823686e-02 -2.14616123e-02 2.80922055e+02] [ 6.30910796e-02 9.98007736e-01 -2.71639455e-04 1.02946366e+01] [ 2.14359907e-02 -1.08300054e-03 9.99769636e-01 1.99193054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.914391418 meters Centerline goodness [0,1] 0.9987475056256103 Centerline is valid? [True, True] Translation: X:280.95, Y:10.30, Z:1.99 [[ 9.97899016e-01 -6.10849698e-02 -2.15912004e-02 2.80953399e+02] [ 6.10933386e-02 9.98132020e-01 -2.72418234e-04 1.03025739e+01] [ 2.15675091e-02 -1.04723263e-03 9.99766846e-01 1.99280775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.944391418 meters Centerline goodness [0,1] 0.9988124019171226 Centerline is valid? [True, True] Translation: X:280.98, Y:10.31, Z:1.99 [[ 9.98192679e-01 -5.62587612e-02 -2.11264511e-02 2.80983339e+02] [ 5.62657005e-02 9.98415795e-01 -2.66272379e-04 1.03087436e+01] [ 2.11079627e-02 -9.22903433e-04 9.99776776e-01 1.99338233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.974391418 meters Centerline goodness [0,1] 0.9987672950628042 Centerline is valid? [True, True] Translation: X:281.01, Y:10.31, Z:2.00 [[ 9.98366647e-01 -5.35421756e-02 -1.99317450e-02 2.81014692e+02] [ 5.35478221e-02 9.98565255e-01 -2.50686119e-04 1.03144768e+01] [ 1.99165703e-02 -8.17024876e-04 9.99801312e-01 1.99519760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.004391418 meters Centerline goodness [0,1] 0.9989150321235587 Centerline is valid? [True, True] Translation: X:281.04, Y:10.32, Z:2.00 [[ 9.98703163e-01 -4.74179996e-02 -1.85344259e-02 2.81044214e+02] [ 4.74218335e-02 9.98874925e-01 -2.32845229e-04 1.03229814e+01] [ 1.85246143e-02 -6.46393191e-04 9.99828196e-01 1.99713420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.034391418 meters Centerline goodness [0,1] 0.998870273265976 Centerline is valid? [True, True] Translation: X:281.08, Y:10.33, Z:2.00 [[ 9.98855423e-01 -4.43635227e-02 -1.78807429e-02 2.81075217e+02] [ 4.43666098e-02 9.99015292e-01 -2.24190092e-04 1.03288091e+01] [ 1.78730815e-02 -5.69374456e-04 9.99840102e-01 1.99848294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.064391418 meters Centerline goodness [0,1] 0.9991262839364106 Centerline is valid? [True, True] Translation: X:281.11, Y:10.33, Z:2.00 [[ 9.99001827e-01 -4.13389989e-02 -1.69244215e-02 2.81105358e+02] [ 4.13413510e-02 9.99145059e-01 -2.11011874e-04 1.03318264e+01] [ 1.69186751e-02 -4.88877203e-04 9.99856749e-01 1.99882395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.094391418 meters Centerline goodness [0,1] 0.9988507214915081 Centerline is valid? [True, True] Translation: X:281.14, Y:10.34, Z:2.00 [[ 9.99117969e-01 -3.86069611e-02 -1.65162403e-02 2.81137197e+02] [ 3.86088470e-02 9.99254380e-01 -2.04779422e-04 1.03358483e+01] [ 1.65118314e-02 -4.33074194e-04 9.99863577e-01 1.99949714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.124391418 meters Centerline goodness [0,1] 0.998870514022675 Centerline is valid? [True, True] Translation: X:281.17, Y:10.34, Z:2.00 [[ 9.99327754e-01 -3.33340154e-02 -1.52605512e-02 2.81168298e+02] [ 3.33350211e-02 9.99444216e-01 -1.88533104e-04 1.03437659e+01] [ 1.52583542e-02 -3.20304434e-04 9.99883533e-01 2.00009818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.154391418 meters Centerline goodness [0,1] 0.9986756664388243 Centerline is valid? [True, True] Translation: X:281.20, Y:10.35, Z:2.00 [[ 9.99413586e-01 -3.08047047e-02 -1.49517461e-02 2.81198343e+02] [ 3.08054007e-02 9.99525384e-01 -1.83812092e-04 1.03464639e+01] [ 1.49503120e-02 -2.76890228e-04 9.99888200e-01 1.99986223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.184391418 meters Centerline goodness [0,1] 0.9990796429870936 Centerline is valid? [True, True] Translation: X:281.23, Y:10.35, Z:2.00 [[ 9.99531979e-01 -2.65668559e-02 -1.51665827e-02 2.81229825e+02] [ 2.65670979e-02 9.99647015e-01 -1.85559213e-04 1.03540586e+01] [ 1.51661588e-02 -2.17459719e-04 9.99884964e-01 2.00031924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.214391418 meters Centerline goodness [0,1] 0.9990580780510778 Centerline is valid? [True, True] Translation: X:281.26, Y:10.36, Z:2.00 [[ 9.99573219e-01 -2.48756601e-02 -1.53160611e-02 2.81260485e+02] [ 2.48757128e-02 9.99690534e-01 -1.87102805e-04 1.03570222e+01] [ 1.53159756e-02 -1.93974984e-04 9.99882685e-01 2.00024726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.244391418 meters Centerline goodness [0,1] 0.9989472327260227 Centerline is valid? [True, True] Translation: X:281.29, Y:10.36, Z:2.00 [[ 9.99646640e-01 -2.17218804e-02 -1.53217224e-02 2.81291087e+02] [ 2.17215626e-02 9.99764042e-01 -1.87171964e-04 1.03621575e+01] [ 1.53221729e-02 -1.45705928e-04 9.99882598e-01 2.00052590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.274391418 meters Centerline goodness [0,1] 0.9990544954443872 Centerline is valid? [True, True] Translation: X:281.32, Y:10.36, Z:2.00 [[ 9.99676474e-01 -2.02534091e-02 -1.53865770e-02 2.81320903e+02] [ 2.02529121e-02 9.99794871e-01 -1.88133653e-04 1.03639410e+01] [ 1.53872311e-02 -1.23550205e-04 9.99881602e-01 2.00045819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.304391418 meters Centerline goodness [0,1] 0.9991839013809247 Centerline is valid? [True, True] Translation: X:281.35, Y:10.37, Z:2.00 [[ 9.99703097e-01 -1.88498037e-02 -1.54403201e-02 2.81350066e+02] [ 1.88491283e-02 9.99822321e-01 -1.89277692e-04 1.03660934e+01] [ 1.54411445e-02 -1.01815080e-04 9.99880773e-01 2.00110150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.334391418 meters Centerline goodness [0,1] 0.9988396080453842 Centerline is valid? [True, True] Translation: X:281.38, Y:10.37, Z:2.00 [[ 9.99731091e-01 -1.77687616e-02 -1.49002040e-02 2.81378964e+02] [ 1.77680014e-02 9.99842120e-01 -1.83412845e-04 1.03675433e+01] [ 1.49011106e-02 -8.13833211e-05 9.99888969e-01 2.00106817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.364391418 meters Centerline goodness [0,1] 0.9991198505892708 Centerline is valid? [True, True] Translation: X:281.41, Y:10.37, Z:2.00 [[ 9.99769252e-01 -1.60920464e-02 -1.42298762e-02 2.81407366e+02] [ 1.60911482e-02 9.99870513e-01 -1.77620816e-04 1.03702085e+01] [ 1.42308920e-02 -5.13952175e-05 9.99898734e-01 2.00165625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.394391418 meters Centerline goodness [0,1] 0.9990744726646578 Centerline is valid? [True, True] Translation: X:281.44, Y:10.37, Z:2.00 [[ 9.99784318e-01 -1.52368559e-02 -1.41122830e-02 2.81436128e+02] [ 1.52358518e-02 9.99883912e-01 -1.78668523e-04 1.03712267e+01] [ 1.41133670e-02 -3.63826647e-05 9.99900401e-01 2.00188208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.424391418 meters Centerline goodness [0,1] 0.9992261226595585 Centerline is valid? [True, True] Translation: X:281.47, Y:10.37, Z:2.00 [[ 9.99793898e-01 -1.48743289e-02 -1.38172185e-02 2.81465113e+02] [ 1.48732982e-02 9.99889371e-01 -1.77358242e-04 1.03721678e+01] [ 1.38183280e-02 -2.81859232e-05 9.99904522e-01 2.00188104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.454391418 meters Centerline goodness [0,1] 0.9991411148329469 Centerline is valid? [True, True] Translation: X:281.49, Y:10.37, Z:2.00 [[ 9.99793645e-01 -1.42789941e-02 -1.44491153e-02 2.81494078e+02] [ 1.42777453e-02 9.99898050e-01 -1.89583510e-04 1.03723429e+01] [ 1.44503493e-02 -1.67564008e-05 9.99895588e-01 2.00136003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.484391418 meters Centerline goodness [0,1] 0.9990552263162416 Centerline is valid? [True, True] Translation: X:281.52, Y:10.37, Z:2.00 [[ 9.99786526e-01 -1.48084645e-02 -1.44087366e-02 2.81521852e+02] [ 1.48072159e-02 9.99890348e-01 -1.93342966e-04 1.03720067e+01] [ 1.44100197e-02 -2.00515803e-05 9.99896170e-01 2.00131761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.514391418 meters Centerline goodness [0,1] 0.9991624251014755 Centerline is valid? [True, True] Translation: X:281.55, Y:10.37, Z:2.00 [[ 9.99772341e-01 -1.56613137e-02 -1.44910301e-02 2.81549399e+02] [ 1.56600737e-02 9.99877354e-01 -1.99048680e-04 1.03713406e+01] [ 1.44923701e-02 -2.79272337e-05 9.99894980e-01 2.00144625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.544391418 meters Centerline goodness [0,1] 0.9992709338479683 Centerline is valid? [True, True] Translation: X:281.58, Y:10.37, Z:2.00 [[ 9.99733086e-01 -1.79602023e-02 -1.45323166e-02 2.81577159e+02] [ 1.79591551e-02 9.99838701e-01 -2.02571687e-04 1.03682874e+01] [ 1.45336108e-02 -5.84705108e-05 9.99894380e-01 2.00137349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.574391418 meters Centerline goodness [0,1] 0.9993769871960128 Centerline is valid? [True, True] Translation: X:281.61, Y:10.37, Z:2.00 [[ 9.99693360e-01 -2.00350749e-02 -1.45527100e-02 2.81605823e+02] [ 2.00342046e-02 9.99799274e-01 -2.05600915e-04 1.03667587e+01] [ 1.45539081e-02 -8.60141006e-05 9.99894083e-01 2.00177868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.604391418 meters Centerline goodness [0,1] 0.9989072911533434 Centerline is valid? [True, True] Translation: X:281.63, Y:10.36, Z:2.00 [[ 9.99636071e-01 -2.28628859e-02 -1.43183196e-02 2.81634660e+02] [ 2.28623005e-02 9.99738603e-01 -2.04594005e-04 1.03632152e+01] [ 1.43192545e-02 -1.22830178e-04 9.99897467e-01 2.00210848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.634391418 meters Centerline goodness [0,1] 0.9989943082124363 Centerline is valid? [True, True] Translation: X:281.66, Y:10.36, Z:2.00 [[ 9.99602213e-01 -2.39273028e-02 -1.49298649e-02 2.81664741e+02] [ 2.39267786e-02 9.99713691e-01 -2.13755233e-04 1.03614466e+01] [ 1.49307049e-02 -1.43553368e-04 9.99888521e-01 2.00186517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.664391418 meters Centerline goodness [0,1] 0.9989934682514188 Centerline is valid? [True, True] Translation: X:281.70, Y:10.36, Z:2.00 [[ 9.99585009e-01 -2.44769079e-02 -1.51884829e-02 2.81695254e+02] [ 2.44764288e-02 9.99700384e-01 -2.17457943e-04 1.03607386e+01] [ 1.51892549e-02 -1.54392121e-04 9.99884625e-01 2.00210666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.694391418 meters Centerline goodness [0,1] 0.9989743370584842 Centerline is valid? [True, True] Translation: X:281.73, Y:10.36, Z:2.00 [[ 9.99575554e-01 -2.46775984e-02 -1.54831277e-02 2.81725115e+02] [ 2.46771221e-02 9.99695449e-01 -2.21843534e-04 1.03588355e+01] [ 1.54838868e-02 -1.60329658e-04 9.99880105e-01 2.00140779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.724391418 meters Centerline goodness [0,1] 0.999120398180726 Centerline is valid? [True, True] Translation: X:281.76, Y:10.36, Z:2.00 [[ 9.99611781e-01 -2.36398811e-02 -1.47459689e-02 2.81755632e+02] [ 2.36393342e-02 9.99720530e-01 -2.11413044e-04 1.03596597e+01] [ 1.47468456e-02 -1.37253916e-04 9.99891250e-01 2.00346375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.754391418 meters Centerline goodness [0,1] 0.9989299548440944 Centerline is valid? [True, True] Translation: X:281.79, Y:10.36, Z:2.00 [[ 9.99635609e-01 -2.28015051e-02 -1.44478506e-02 2.81786191e+02] [ 2.28008925e-02 9.99740004e-01 -2.07138922e-04 1.03598089e+01] [ 1.44488174e-02 -1.22360447e-04 9.99895603e-01 2.00399609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.784391418 meters Centerline goodness [0,1] 0.9992520248755156 Centerline is valid? [True, True] Translation: X:281.82, Y:10.36, Z:2.00 [[ 9.99692303e-01 -2.05664810e-02 -1.38678882e-02 2.81816842e+02] [ 2.05657016e-02 9.99788484e-01 -1.98823997e-04 1.03599416e+01] [ 1.38690441e-02 -8.64400313e-05 9.99903816e-01 2.00488784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.814391418 meters Centerline goodness [0,1] 0.9987624026458978 Centerline is valid? [True, True] Translation: X:281.85, Y:10.36, Z:2.00 [[ 9.99710675e-01 -1.99884692e-02 -1.33800823e-02 2.81846340e+02] [ 1.99876901e-02 9.99800208e-01 -1.91957675e-04 1.03595506e+01] [ 1.33812460e-02 -7.55348021e-05 9.99910464e-01 2.00480799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.844391418 meters Centerline goodness [0,1] 0.9989358758805628 Centerline is valid? [True, True] Translation: X:281.88, Y:10.36, Z:2.01 [[ 9.99720636e-01 -1.96070779e-02 -1.31989442e-02 2.81876236e+02] [ 1.96062815e-02 9.99807760e-01 -1.89741584e-04 1.03592188e+01] [ 1.32001271e-02 -6.90936385e-05 9.99912872e-01 2.00507700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.874391418 meters Centerline goodness [0,1] 0.9991909385113269 Centerline is valid? [True, True] Translation: X:281.91, Y:10.36, Z:2.00 [[ 9.99670814e-01 -2.14008960e-02 -1.41515112e-02 2.81906007e+02] [ 2.14001520e-02 9.99770970e-01 -2.04020067e-04 1.03552907e+01] [ 1.41526363e-02 -9.88915840e-05 9.99899842e-01 2.00430587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.904391418 meters Centerline goodness [0,1] 0.9988915416098226 Centerline is valid? [True, True] Translation: X:281.94, Y:10.35, Z:2.00 [[ 9.99547582e-01 -2.62425788e-02 -1.46954988e-02 2.81935240e+02] [ 2.62422884e-02 9.99655589e-01 -2.12627467e-04 1.03489420e+01] [ 1.46960174e-02 -1.73112247e-04 9.99891993e-01 2.00333271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.934391418 meters Centerline goodness [0,1] 0.9988121752041574 Centerline is valid? [True, True] Translation: X:281.96, Y:10.34, Z:2.00 [[ 9.99446440e-01 -2.95572461e-02 -1.52703328e-02 2.81964643e+02] [ 2.95573100e-02 9.99563063e-01 -2.21558526e-04 1.03448356e+01] [ 1.52702093e-02 -2.29914079e-04 9.99883377e-01 2.00277885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.964391418 meters Centerline goodness [0,1] 0.9989391271137892 Centerline is valid? [True, True] Translation: X:282.00, Y:10.34, Z:2.00 [[ 9.99323589e-01 -3.34024416e-02 -1.53831699e-02 2.81995168e+02] [ 3.34029622e-02 9.99441940e-01 -2.23171070e-04 1.03402386e+01] [ 1.53820397e-02 -2.90823328e-04 9.99881647e-01 2.00227818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.994391418 meters Centerline goodness [0,1] 0.9988975342930438 Centerline is valid? [True, True] Translation: X:282.03, Y:10.34, Z:2.00 [[ 9.99168369e-01 -3.76273482e-02 -1.57083884e-02 2.82026846e+02] [ 3.76284205e-02 9.99291774e-01 -2.27392707e-04 1.03362108e+01] [ 1.57058195e-02 -3.63878246e-04 9.99876590e-01 2.00221120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.024391418 meters Centerline goodness [0,1] 0.9990282032322806 Centerline is valid? [True, True] Translation: X:282.06, Y:10.33, Z:2.00 [[ 9.98780491e-01 -4.65204117e-02 -1.65342499e-02 2.82057628e+02] [ 4.65228249e-02 9.98917199e-01 -2.38859895e-04 1.03266782e+01] [ 1.65274585e-02 -5.30651410e-04 9.99863271e-01 2.00159956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.054391418 meters Centerline goodness [0,1] 0.998833806878419 Centerline is valid? [True, True] Translation: X:282.09, Y:10.32, Z:2.00 [[ 9.98560533e-01 -5.08889694e-02 -1.69462438e-02 2.82088084e+02] [ 5.08921384e-02 9.98704126e-01 -2.44470137e-04 1.03214140e+01] [ 1.69367244e-02 -6.18312352e-04 9.99856372e-01 2.00125243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.084391418 meters Centerline goodness [0,1] 0.9990280184253898 Centerline is valid? [True, True] Translation: X:282.12, Y:10.32, Z:2.00 [[ 9.98337019e-01 -5.50299909e-02 -1.71725539e-02 2.82118967e+02] [ 5.50338626e-02 9.98484458e-01 -2.47387726e-04 1.03175579e+01] [ 1.71601419e-02 -6.98095648e-04 9.99852510e-01 2.00113179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.114391418 meters Centerline goodness [0,1] 0.9987772483872328 Centerline is valid? [True, True] Translation: X:282.15, Y:10.31, Z:2.00 [[ 9.97897834e-01 -6.24703590e-02 -1.72443606e-02 2.82149000e+02] [ 6.24753709e-02 9.98046475e-01 -2.48448940e-04 1.03092460e+01] [ 1.72261940e-02 -8.29421164e-04 9.99851274e-01 2.00099566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.144391418 meters Centerline goodness [0,1] 0.9987772483872328 Centerline is valid? [True, True] Translation: X:282.18, Y:10.31, Z:2.00 [[ 9.97902817e-01 -6.23907027e-02 -1.72443707e-02 2.82180726e+02] [ 6.23957148e-02 9.98051458e-01 -2.47747220e-04 1.03096241e+01] [ 1.72262264e-02 -8.28747185e-04 9.99851274e-01 2.00121808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.174391418 meters Centerline goodness [0,1] 0.9989683993347228 Centerline is valid? [True, True] Translation: X:282.21, Y:10.31, Z:2.00 [[ 9.97707717e-01 -6.55283279e-02 -1.68922768e-02 2.82211765e+02] [ 6.55336034e-02 9.97850334e-01 -2.41651743e-04 1.03071289e+01] [ 1.68717991e-02 -8.65913961e-04 9.99857286e-01 2.00196068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.204391418 meters Centerline goodness [0,1] 0.9985654311090484 Centerline is valid? [True, True] Translation: X:282.24, Y:10.31, Z:2.00 [[ 9.97353375e-01 -7.10751189e-02 -1.53157444e-02 2.82242517e+02] [ 7.10801126e-02 9.97470586e-01 -2.18743772e-04 1.03057712e+01] [ 1.52925518e-02 -8.70479999e-04 9.99882683e-01 2.00413647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.234391418 meters Centerline goodness [0,1] 0.9988396869264361 Centerline is valid? [True, True] Translation: X:282.27, Y:10.30, Z:2.00 [[ 9.97199853e-01 -7.32615065e-02 -1.50068015e-02 2.82274622e+02] [ 7.32665579e-02 9.97312371e-01 -2.13632784e-04 1.03032354e+01] [ 1.49821198e-02 -8.86462110e-04 9.99887369e-01 2.00496837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.264391418 meters Centerline goodness [0,1] 0.9983363868005981 Centerline is valid? [True, True] Translation: X:282.31, Y:10.29, Z:2.00 [[ 9.97066865e-01 -7.51925993e-02 -1.42737411e-02 2.82305525e+02] [ 7.51973785e-02 9.97168648e-01 -2.02341945e-04 1.02936844e+01] [ 1.42485418e-02 -8.71599466e-04 9.99898104e-01 2.00448625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.294391418 meters Centerline goodness [0,1] 0.9983578601654771 Centerline is valid? [True, True] Translation: X:282.34, Y:10.30, Z:2.01 [[ 9.96835621e-01 -7.82824874e-02 -1.38056810e-02 2.82336441e+02] [ 7.82872617e-02 9.96930823e-01 -1.95101941e-04 1.02967160e+01] [ 1.37785820e-02 -8.86324398e-04 9.99904678e-01 2.00554602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.324391418 meters Centerline goodness [0,1] 0.9986277945491777 Centerline is valid? [True, True] Translation: X:282.37, Y:10.30, Z:2.01 [[ 9.96760021e-01 -7.91980060e-02 -1.40404922e-02 2.82368841e+02] [ 7.92030475e-02 9.96858485e-01 -1.97494938e-04 1.02992355e+01] [ 1.40120250e-02 -9.15194711e-04 9.99901408e-01 2.00608840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.354391418 meters Centerline goodness [0,1] 0.9983385560158994 Centerline is valid? [True, True] Translation: X:282.40, Y:10.30, Z:2.01 [[ 9.96719973e-01 -7.96942122e-02 -1.40758005e-02 2.82399687e+02] [ 7.96993427e-02 9.96818928e-01 -1.96968391e-04 1.02957349e+01] [ 1.40467216e-02 -9.25509719e-04 9.99900912e-01 2.00584787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.384391418 meters Centerline goodness [0,1] 0.9982893347412882 Centerline is valid? [True, True] Translation: X:282.43, Y:10.30, Z:2.01 [[ 9.96658263e-01 -8.04712197e-02 -1.40246236e-02 2.82431988e+02] [ 8.04764037e-02 9.96756495e-01 -1.95245496e-04 1.02982918e+01] [ 1.39948463e-02 -9.34058232e-04 9.99901631e-01 2.00597300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.414391418 meters Centerline goodness [0,1] 0.9980984576378619 Centerline is valid? [True, True] Translation: X:282.46, Y:10.30, Z:2.01 [[ 9.96670878e-01 -8.03608698e-02 -1.37583359e-02 2.82464204e+02] [ 8.03658636e-02 9.96765415e-01 -1.90424474e-04 1.02986657e+01] [ 1.37291360e-02 -9.15910015e-04 9.99905331e-01 2.00585459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.444391418 meters Centerline goodness [0,1] 0.998203377650018 Centerline is valid? [True, True] Translation: X:282.50, Y:10.30, Z:2.01 [[ 9.96713105e-01 -7.98146856e-02 -1.38781030e-02 2.82495551e+02] [ 7.98197277e-02 9.96809297e-01 -1.91086124e-04 1.02994642e+01] [ 1.38490735e-02 -9.17288356e-04 9.99903676e-01 2.00586551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.474391418 meters Centerline goodness [0,1] 0.9985020781029136 Centerline is valid? [True, True] Translation: X:282.53, Y:10.30, Z:2.01 [[ 9.96756106e-01 -7.91985021e-02 -1.43130408e-02 2.82527368e+02] [ 7.92038168e-02 9.96858424e-01 -1.96042587e-04 1.03010824e+01] [ 1.42836016e-02 -9.38240819e-04 9.99897544e-01 2.00585886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.504391418 meters Centerline goodness [0,1] 0.9984331328872703 Centerline is valid? [True, True] Translation: X:282.56, Y:10.31, Z:2.01 [[ 9.96808811e-01 -7.84828894e-02 -1.45818171e-02 2.82559447e+02] [ 7.84883470e-02 9.96915011e-01 -1.98516704e-04 1.03053538e+01] [ 1.45524125e-02 -9.46619522e-04 9.99893660e-01 2.00591666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.534391418 meters Centerline goodness [0,1] 0.9982620490865161 Centerline is valid? [True, True] Translation: X:282.59, Y:10.31, Z:2.00 [[ 9.97054914e-01 -7.51284252e-02 -1.54019176e-02 2.82589579e+02] [ 7.51341248e-02 9.97173415e-01 -2.09067102e-04 1.03065765e+01] [ 1.53740896e-02 -9.48758217e-04 9.99881362e-01 2.00449988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.564391418 meters Centerline goodness [0,1] 0.9985201784242014 Centerline is valid? [True, True] Translation: X:282.62, Y:10.31, Z:2.00 [[ 9.97226723e-01 -7.26786577e-02 -1.60210877e-02 2.82621340e+02] [ 7.26845186e-02 9.97354959e-01 -2.16921078e-04 1.03120208e+01] [ 1.59944768e-02 -9.48165548e-04 9.99871631e-01 2.00432314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.594391418 meters Centerline goodness [0,1] 0.9984309401636912 Centerline is valid? [True, True] Translation: X:282.65, Y:10.32, Z:2.00 [[ 9.97416155e-01 -6.98410588e-02 -1.68297475e-02 2.82652874e+02] [ 6.98471414e-02 9.97557680e-01 -2.26825723e-04 1.03152295e+01] [ 1.68044857e-02 -9.49270114e-04 9.99858344e-01 2.00428041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.624391418 meters Centerline goodness [0,1] 0.9986056534415009 Centerline is valid? [True, True] Translation: X:282.68, Y:10.32, Z:2.00 [[ 9.97651445e-01 -6.64355228e-02 -1.66707840e-02 2.82683126e+02] [ 6.64410239e-02 9.97790329e-01 -2.24263025e-04 1.03209387e+01] [ 1.66488460e-02 -8.83887625e-04 9.99861008e-01 2.00497697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.654391418 meters Centerline goodness [0,1] 0.9987046357053365 Centerline is valid? [True, True] Translation: X:282.71, Y:10.33, Z:2.01 [[ 9.98152543e-01 -5.86178779e-02 -1.59826637e-02 2.82713859e+02] [ 5.86219367e-02 9.98280232e-01 -2.14832057e-04 1.03307865e+01] [ 1.59677702e-02 -7.22499536e-04 9.99872246e-01 2.00613347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.684391418 meters Centerline goodness [0,1] 0.9986220931465033 Centerline is valid? [True, True] Translation: X:282.74, Y:10.34, Z:2.01 [[ 9.98418092e-01 -5.41959476e-02 -1.49704204e-02 2.82743572e+02] [ 5.41990141e-02 9.98530133e-01 -2.01098603e-04 1.03352611e+01] [ 1.49593146e-02 -6.10601539e-04 9.99887917e-01 2.00693962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.714391418 meters Centerline goodness [0,1] 0.9987469203975873 Centerline is valid? [True, True] Translation: X:282.77, Y:10.34, Z:2.01 [[ 9.98682549e-01 -4.92455137e-02 -1.44238012e-02 2.82774153e+02] [ 4.92478471e-02 9.98786570e-01 -1.93587128e-04 1.03431604e+01] [ 1.44158323e-02 -5.17009072e-04 9.99895953e-01 2.00856318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.744391418 meters Centerline goodness [0,1] 0.9987909384014932 Centerline is valid? [True, True] Translation: X:282.80, Y:10.35, Z:2.01 [[ 9.99161902e-01 -3.90217696e-02 -1.23610103e-02 2.82803611e+02] [ 3.90227017e-02 9.99238311e-01 -1.65863446e-04 1.03537915e+01] [ 1.23580674e-02 -3.16635583e-04 9.99923586e-01 2.01016187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.774391418 meters Centerline goodness [0,1] 0.9987866660990251 Centerline is valid? [True, True] Translation: X:282.83, Y:10.36, Z:2.01 [[ 9.99355571e-01 -3.39350510e-02 -1.16984709e-02 2.82834093e+02] [ 3.39355372e-02 9.99424011e-01 -1.57000078e-04 1.03588446e+01] [ 1.16970606e-02 -2.40094993e-04 9.99931558e-01 2.01076929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.804391418 meters Centerline goodness [0,1] 0.9990657777400315 Centerline is valid? [True, True] Translation: X:282.87, Y:10.37, Z:2.01 [[ 9.99653525e-01 -2.37954514e-02 -1.12519814e-02 2.82865060e+02] [ 2.37952622e-02 9.99716841e-01 -1.50701536e-04 1.03691210e+01] [ 1.12523813e-02 -1.17094527e-04 9.99936683e-01 2.01091252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.834391418 meters Centerline goodness [0,1] 0.9990816871329418 Centerline is valid? [True, True] Translation: X:282.90, Y:10.37, Z:2.01 [[ 9.99750510e-01 -1.95299103e-02 -1.08397925e-02 2.82896033e+02] [ 1.95294866e-02 9.99809271e-01 -1.44948622e-04 1.03739581e+01] [ 1.08405559e-02 -6.67831247e-05 9.99941237e-01 2.01123484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.864391418 meters Centerline goodness [0,1] 0.9993366287903105 Centerline is valid? [True, True] Translation: X:282.93, Y:10.38, Z:2.01 [[ 9.99864945e-01 -1.19461634e-02 -1.12863378e-02 2.82926778e+02] [ 1.19452201e-02 9.99928642e-01 -1.50991113e-04 1.03813188e+01] [ 1.12873362e-02 1.61529318e-05 9.99936296e-01 2.01106974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.894391418 meters Centerline goodness [0,1] 0.9991874612440396 Centerline is valid? [True, True] Translation: X:282.96, Y:10.38, Z:2.01 [[ 9.99893226e-01 -9.21744659e-03 -1.13390688e-02 2.82955893e+02] [ 9.21630520e-03 9.99957517e-01 -1.52910770e-04 1.03846284e+01] [ 1.13399966e-02 4.83901244e-05 9.99935699e-01 2.01101500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.924391418 meters Centerline goodness [0,1] 0.9992065364242672 Centerline is valid? [True, True] Translation: X:282.98, Y:10.39, Z:2.01 [[ 9.99910503e-01 -7.16502154e-03 -1.12981862e-02 2.82984052e+02] [ 7.16372799e-03 9.99974328e-01 -1.54958159e-04 1.03872079e+01] [ 1.12990065e-02 7.40071573e-05 9.99936161e-01 2.01109934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.954391418 meters Centerline goodness [0,1] 0.9992079292702246 Centerline is valid? [True, True] Translation: X:283.01, Y:10.39, Z:2.01 [[ 9.99917160e-01 -6.18964373e-03 -1.12854364e-02 2.83012870e+02] [ 6.18826553e-03 9.99980840e-01 -1.57038661e-04 1.03883710e+01] [ 1.12861922e-02 8.71883749e-05 9.99936305e-01 2.01102412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.984391418 meters Centerline goodness [0,1] 0.9992289074046309 Centerline is valid? [True, True] Translation: X:283.04, Y:10.39, Z:2.01 [[ 9.99915637e-01 -6.35853305e-03 -1.13264373e-02 2.83040584e+02] [ 6.35711742e-03 9.99979780e-01 -1.60982741e-04 1.03891667e+01] [ 1.13272319e-02 8.89656681e-05 9.99935841e-01 2.01090971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.014391418 meters Centerline goodness [0,1] 0.9994861583916758 Centerline is valid? [True, True] Translation: X:283.07, Y:10.39, Z:2.01 [[ 9.99905415e-01 -8.31833509e-03 -1.09528741e-02 2.83068465e+02] [ 8.31710080e-03 9.99965400e-01 -1.58236689e-04 1.03877958e+01] [ 1.09538114e-02 6.71255640e-05 9.99940003e-01 2.01151410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.044391418 meters Centerline goodness [0,1] 0.9992307034789298 Centerline is valid? [True, True] Translation: X:283.10, Y:10.38, Z:2.01 [[ 9.99864403e-01 -1.31030762e-02 -9.97423344e-03 2.83097829e+02] [ 1.31022826e-02 9.99914151e-01 -1.44911587e-04 1.03833538e+01] [ 9.97527594e-03 1.42067130e-05 9.99950246e-01 2.01294197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.074391418 meters Centerline goodness [0,1] 0.9991035792798754 Centerline is valid? [True, True] Translation: X:283.13, Y:10.38, Z:2.01 [[ 9.99815803e-01 -1.62233001e-02 -1.02549554e-02 2.83127147e+02] [ 1.62226194e-02 9.99868393e-01 -1.49560333e-04 1.03806898e+01] [ 1.02560322e-02 -1.68294547e-05 9.99947405e-01 2.01333097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.104391418 meters Centerline goodness [0,1] 0.9993393994928292 Centerline is valid? [True, True] Translation: X:283.16, Y:10.38, Z:2.01 [[ 9.99762994e-01 -1.91181524e-02 -1.04140257e-02 2.83156871e+02] [ 1.91176044e-02 9.99817230e-01 -1.52175062e-04 1.03776818e+01] [ 1.04150316e-02 -4.69522281e-05 9.99945761e-01 2.01364701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.134391418 meters Centerline goodness [0,1] 0.9992758407701646 Centerline is valid? [True, True] Translation: X:283.19, Y:10.38, Z:2.01 [[ 9.99692693e-01 -2.25329753e-02 -1.03336454e-02 2.83187637e+02] [ 2.25326180e-02 9.99746097e-01 -1.51015411e-04 1.03751917e+01] [ 1.03344244e-02 -8.18750801e-05 9.99946595e-01 2.01405556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.164391418 meters Centerline goodness [0,1] 0.9993408883124615 Centerline is valid? [True, True] Translation: X:283.22, Y:10.37, Z:2.01 [[ 9.99534585e-01 -2.84081216e-02 -1.11172169e-02 2.83219520e+02] [ 2.84080741e-02 9.99596396e-01 -1.62218296e-04 1.03692663e+01] [ 1.11173383e-02 -1.53675926e-04 9.99938189e-01 2.01487540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.194391418 meters Centerline goodness [0,1] 0.9991716403644783 Centerline is valid? [True, True] Translation: X:283.25, Y:10.37, Z:2.01 [[ 9.99442712e-01 -3.13989607e-02 -1.13300816e-02 2.83251061e+02] [ 3.13991113e-02 9.99506913e-01 -1.64634081e-04 1.03658920e+01] [ 1.13296642e-02 -1.91212160e-04 9.99935799e-01 2.01481207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.224391418 meters Centerline goodness [0,1] 0.9990249899319612 Centerline is valid? [True, True] Translation: X:283.28, Y:10.36, Z:2.01 [[ 9.99332096e-01 -3.44852974e-02 -1.20882282e-02 2.83282491e+02] [ 3.44857036e-02 9.99405176e-01 -1.74901088e-04 1.03604660e+01] [ 1.20870693e-02 -2.42086783e-04 9.99926919e-01 2.01450513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.254391418 meters Centerline goodness [0,1] 0.9991084695393759 Centerline is valid? [True, True] Translation: X:283.31, Y:10.35, Z:2.02 [[ 9.99118584e-01 -4.04113009e-02 -1.13570335e-02 2.83313788e+02] [ 4.04120484e-02 9.99183086e-01 -1.63761783e-04 1.03546318e+01] [ 1.13543736e-02 -2.95343544e-04 9.99935493e-01 2.01632312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.284391418 meters Centerline goodness [0,1] 0.9990272167826253 Centerline is valid? [True, True] Translation: X:283.35, Y:10.35, Z:2.02 [[ 9.99004621e-01 -4.31845256e-02 -1.11742341e-02 2.83346372e+02] [ 4.31854292e-02 9.99067061e-01 -1.60527954e-04 1.03519378e+01] [ 1.11707415e-02 -3.22195925e-04 9.99937553e-01 2.01711249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.314391418 meters Centerline goodness [0,1] 0.9990509332489719 Centerline is valid? [True, True] Translation: X:283.38, Y:10.34, Z:2.02 [[ 9.98805329e-01 -4.76130066e-02 -1.09962052e-02 2.83376814e+02] [ 4.76141565e-02 9.98865790e-01 -1.57345899e-04 1.03440332e+01] [ 1.09912249e-02 -3.66417112e-04 9.99939528e-01 2.01828127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.344391418 meters Centerline goodness [0,1] 0.9991749349467939 Centerline is valid? [True, True] Translation: X:283.41, Y:10.34, Z:2.02 [[ 9.98722010e-01 -4.92577161e-02 -1.13148018e-02 2.83408849e+02] [ 4.92590445e-02 9.98786023e-01 -1.61428490e-04 1.03427495e+01] [ 1.13090175e-02 -3.96134141e-04 9.99935973e-01 2.01896514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.374391418 meters Centerline goodness [0,1] 0.9990505127231295 Centerline is valid? [True, True] Translation: X:283.44, Y:10.34, Z:2.02 [[ 9.98687872e-01 -4.99540786e-02 -1.12749547e-02 2.83439753e+02] [ 4.99554509e-02 9.98751434e-01 -1.60068785e-04 1.03393495e+01] [ 1.12688733e-02 -4.03386694e-04 9.99936423e-01 2.01921952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.404391418 meters Centerline goodness [0,1] 0.9989432973349959 Centerline is valid? [True, True] Translation: X:283.47, Y:10.34, Z:2.02 [[ 9.98707601e-01 -4.94247336e-02 -1.18458340e-02 2.83472111e+02] [ 4.94262209e-02 9.98777763e-01 -1.67352751e-04 1.03419599e+01] [ 1.18396269e-02 -4.18358342e-04 9.99929822e-01 2.01980412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.434391418 meters Centerline goodness [0,1] 0.9988807467319917 Centerline is valid? [True, True] Translation: X:283.50, Y:10.34, Z:2.02 [[ 9.98767391e-01 -4.81479816e-02 -1.20611319e-02 2.83504087e+02] [ 4.81494424e-02 9.98840129e-01 -1.69402138e-04 1.03425002e+01] [ 1.20552989e-02 -4.11543446e-04 9.99927248e-01 2.01940105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.464391418 meters Centerline goodness [0,1] 0.9992823370482945 Centerline is valid? [True, True] Translation: X:283.53, Y:10.34, Z:2.02 [[ 9.98904682e-01 -4.47649578e-02 -1.36211166e-02 2.83534331e+02] [ 4.47665174e-02 9.98997459e-01 -1.90533782e-04 1.03405049e+01] [ 1.36159901e-02 -4.19444868e-04 9.99907210e-01 2.01792739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.494391418 meters Centerline goodness [0,1] 0.9990270521796146 Centerline is valid? [True, True] Translation: X:283.57, Y:10.34, Z:2.02 [[ 9.98990276e-01 -4.27075056e-02 -1.39462525e-02 2.83565255e+02] [ 4.27089557e-02 9.99087537e-01 -1.93968265e-04 1.03417474e+01] [ 1.39418110e-02 -4.01857470e-04 9.99902727e-01 2.01771340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.524391418 meters Centerline goodness [0,1] 0.9991958352732044 Centerline is valid? [True, True] Translation: X:283.60, Y:10.35, Z:2.02 [[ 9.99052236e-01 -4.11587439e-02 -1.41628728e-02 2.83597785e+02] [ 4.11601062e-02 9.99152545e-01 -1.95410823e-04 1.03471759e+01] [ 1.41589132e-02 -3.87719727e-04 9.99899682e-01 2.01860767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.554391418 meters Centerline goodness [0,1] 0.9987920913772278 Centerline is valid? [True, True] Translation: X:283.63, Y:10.35, Z:2.02 [[ 9.99098630e-01 -3.94358585e-02 -1.57079608e-02 2.83628939e+02] [ 3.94373369e-02 9.99222022e-01 -2.15748612e-04 1.03494156e+01] [ 1.57042485e-02 -4.03925998e-04 9.99876599e-01 2.01765411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.584391418 meters Centerline goodness [0,1] 0.9985821906212967 Centerline is valid? [True, True] Translation: X:283.66, Y:10.35, Z:2.02 [[ 9.99090212e-01 -3.92161951e-02 -1.67582174e-02 2.83660084e+02] [ 3.92178621e-02 9.99230657e-01 -2.29275395e-04 1.03472953e+01] [ 1.67543159e-02 -4.28154657e-04 9.99859545e-01 2.01619657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.614391418 meters Centerline goodness [0,1] 0.9987341772151899 Centerline is valid? [True, True] Translation: X:283.69, Y:10.35, Z:2.02 [[ 9.99051360e-01 -3.96400349e-02 -1.80290648e-02 2.83691074e+02] [ 3.96420496e-02 9.99213915e-01 -2.45760807e-04 1.03490572e+01] [ 1.80246344e-02 -4.69181413e-04 9.99837433e-01 2.01613482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.644391418 meters Centerline goodness [0,1] 0.9987955880488526 Centerline is valid? [True, True] Translation: X:283.72, Y:10.34, Z:2.01 [[ 9.98914813e-01 -4.20253954e-02 -2.00764125e-02 2.83720969e+02] [ 4.20283787e-02 9.99116380e-01 -2.73499345e-04 1.03414640e+01] [ 2.00701665e-02 -5.70576518e-04 9.99798411e-01 2.01179394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.674391418 meters Centerline goodness [0,1] 0.9987751826667229 Centerline is valid? [True, True] Translation: X:283.75, Y:10.35, Z:2.01 [[ 9.98831328e-01 -4.35087070e-02 -2.10468549e-02 2.83751731e+02] [ 4.35123131e-02 9.99052850e-01 -2.86800321e-04 1.03461840e+01] [ 2.10393987e-02 -6.29332194e-04 9.99778449e-01 2.01377973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.704391418 meters Centerline goodness [0,1] 0.998693526635199 Centerline is valid? [True, True] Translation: X:283.78, Y:10.35, Z:2.01 [[ 9.98747332e-01 -4.51645591e-02 -2.15390351e-02 2.83782577e+02] [ 4.51687205e-02 9.98979329e-01 -2.93507140e-04 1.03462629e+01] [ 2.15303069e-02 -6.79751183e-04 9.99767965e-01 2.01417394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.734391418 meters Centerline goodness [0,1] 0.9987366825283194 Centerline is valid? [True, True] Translation: X:283.81, Y:10.34, Z:2.01 [[ 9.98597112e-01 -4.82675518e-02 -2.17727097e-02 2.83812210e+02] [ 4.82725342e-02 9.98834158e-01 -2.96983182e-04 1.03449095e+01] [ 2.17616608e-02 -7.54457325e-04 9.99762902e-01 2.01432002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.764391418 meters Centerline goodness [0,1] 0.9987325996493526 Centerline is valid? [True, True] Translation: X:283.84, Y:10.35, Z:2.02 [[ 9.98542524e-01 -4.94317856e-02 -2.16639425e-02 2.83842482e+02] [ 4.94369890e-02 9.98777201e-01 -2.95637390e-04 1.03458329e+01] [ 2.16520657e-02 -7.75793579e-04 9.99765266e-01 2.01542335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.794391418 meters Centerline goodness [0,1] 0.9986483917974277 Centerline is valid? [True, True] Translation: X:283.87, Y:10.35, Z:2.02 [[ 9.98489118e-01 -5.06620581e-02 -2.12799757e-02 2.83872411e+02] [ 5.06673636e-02 9.98715542e-01 -2.90113979e-04 1.03457312e+01] [ 2.12673403e-02 -7.88524616e-04 9.99773514e-01 2.01676815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.824391418 meters Centerline goodness [0,1] 0.99890320811626 Centerline is valid? [True, True] Translation: X:283.90, Y:10.35, Z:2.02 [[ 9.98502436e-01 -5.06611626e-02 -2.06478178e-02 2.83902443e+02] [ 5.06661655e-02 9.98715605e-01 -2.81095014e-04 1.03457962e+01] [ 2.06355385e-02 -7.65471697e-04 9.99786772e-01 2.01764620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.854391418 meters Centerline goodness [0,1] 0.9987550904141962 Centerline is valid? [True, True] Translation: X:283.93, Y:10.35, Z:2.02 [[ 9.98513533e-01 -5.06240833e-02 -2.01971757e-02 2.83934192e+02] [ 5.06288759e-02 9.98717498e-01 -2.74302128e-04 1.03488678e+01] [ 2.01851591e-02 -7.48665915e-04 9.99795979e-01 2.01941329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.884391418 meters Centerline goodness [0,1] 0.9986696792448846 Centerline is valid? [True, True] Translation: X:283.97, Y:10.35, Z:2.02 [[ 9.98568187e-01 -5.00346686e-02 -1.89237602e-02 2.83965399e+02] [ 5.00387838e-02 9.98747243e-01 -2.56274289e-04 1.03508359e+01] [ 1.89128759e-02 -6.91014593e-04 9.99820897e-01 2.02106863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.914391418 meters Centerline goodness [0,1] 0.9987517718492818 Centerline is valid? [True, True] Translation: X:284.00, Y:10.35, Z:2.02 [[ 9.98600230e-01 -4.96557243e-02 -1.82178650e-02 2.83995320e+02] [ 4.96594841e-02 9.98766176e-01 -2.46227095e-04 1.03494823e+01] [ 1.82076140e-02 -6.58807343e-04 9.99834011e-01 2.02129826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.944391418 meters Centerline goodness [0,1] 0.9986499029617754 Centerline is valid? [True, True] Translation: X:284.03, Y:10.36, Z:2.02 [[ 9.98714235e-01 -4.76936186e-02 -1.71812399e-02 2.84026483e+02] [ 4.76966817e-02 9.98861839e-01 -2.31679629e-04 1.03564264e+01] [ 1.71727345e-02 -5.88106386e-04 9.99852365e-01 2.02392600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.974391418 meters Centerline goodness [0,1] 0.9990272990632467 Centerline is valid? [True, True] Translation: X:284.06, Y:10.36, Z:2.02 [[ 9.98799937e-01 -4.59089767e-02 -1.70602086e-02 2.84057150e+02] [ 4.59117449e-02 9.98945473e-01 -2.29570129e-04 1.03580097e+01] [ 1.70527575e-02 -5.53969316e-04 9.99854438e-01 2.02424629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.004391418 meters Centerline goodness [0,1] 0.9989434536387457 Centerline is valid? [True, True] Translation: X:284.09, Y:10.36, Z:2.02 [[ 9.98897303e-01 -4.37303597e-02 -1.70831637e-02 2.84088977e+02] [ 4.37328296e-02 9.99043236e-01 -2.29143258e-04 1.03605405e+01] [ 1.70768397e-02 -5.18204507e-04 9.99854046e-01 2.02424185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.034391418 meters Centerline goodness [0,1] 0.9989434536387457 Centerline is valid? [True, True] Translation: X:284.12, Y:10.36, Z:2.02 [[ 9.98899019e-01 -4.36911318e-02 -1.70831746e-02 2.84119835e+02] [ 4.36936099e-02 9.99044952e-01 -2.28332651e-04 1.03609141e+01] [ 1.70768355e-02 -5.18344306e-04 9.99854046e-01 2.02445805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.064391418 meters Centerline goodness [0,1] 0.9987947731213261 Centerline is valid? [True, True] Translation: X:284.15, Y:10.37, Z:2.02 [[ 9.99098479e-01 -3.87200852e-02 -1.74064291e-02 2.84150225e+02] [ 3.87219125e-02 9.99249999e-01 -2.32167191e-04 1.03651116e+01] [ 1.74023638e-02 -4.42052337e-04 9.99848470e-01 2.02404248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.094391418 meters Centerline goodness [0,1] 0.9987724348120556 Centerline is valid? [True, True] Translation: X:284.18, Y:10.37, Z:2.02 [[ 9.99190300e-01 -3.62423046e-02 -1.74710850e-02 2.84181473e+02] [ 3.62437764e-02 9.99342951e-01 -2.32485233e-04 1.03690081e+01] [ 1.74680315e-02 -4.00921109e-04 9.99847342e-01 2.02449204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.124391418 meters Centerline goodness [0,1] 0.99891946863281 Centerline is valid? [True, True] Translation: X:284.21, Y:10.37, Z:2.02 [[ 9.99279459e-01 -3.35561011e-02 -1.77355568e-02 2.84212494e+02] [ 3.35572035e-02 9.99436771e-01 -2.35523277e-04 1.03724317e+01] [ 1.77334708e-02 -3.59802116e-04 9.99842685e-01 2.02474740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.154391418 meters Centerline goodness [0,1] 0.9986193712829227 Centerline is valid? [True, True] Translation: X:284.24, Y:10.38, Z:2.02 [[ 9.99361427e-01 -3.08488771e-02 -1.80301335e-02 2.84241661e+02] [ 3.08495811e-02 9.99524010e-01 -2.39153831e-04 1.03755844e+01] [ 1.80289289e-02 -3.17220951e-04 9.99837415e-01 2.02391172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.184391418 meters Centerline goodness [0,1] 0.9991696297400302 Centerline is valid? [True, True] Translation: X:284.27, Y:10.38, Z:2.03 [[ 9.99462052e-01 -2.72649132e-02 -1.82271872e-02 2.84272242e+02] [ 2.72650385e-02 9.99628211e-01 -2.41674550e-04 1.03821341e+01] [ 1.82269998e-02 -2.55420419e-04 9.99833842e-01 2.02567463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.214391418 meters Centerline goodness [0,1] 0.9990204012095916 Centerline is valid? [True, True] Translation: X:284.30, Y:10.38, Z:2.03 [[ 9.99475331e-01 -2.62647633e-02 -1.89532361e-02 2.84301762e+02] [ 2.62647099e-02 9.99654991e-01 -2.51778911e-04 1.03839955e+01] [ 1.89533100e-02 -2.46154439e-04 9.99820340e-01 2.02543530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.244391418 meters Centerline goodness [0,1] 0.9992979022169269 Centerline is valid? [True, True] Translation: X:284.33, Y:10.38, Z:2.02 [[ 9.99447712e-01 -2.64624500e-02 -2.00999716e-02 2.84329769e+02] [ 2.64623981e-02 9.99649773e-01 -2.68606090e-04 1.03834277e+01] [ 2.01000400e-02 -2.63435708e-04 9.99797939e-01 2.02287838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.274391418 meters Centerline goodness [0,1] 0.9987451614275384 Centerline is valid? [True, True] Translation: X:284.36, Y:10.38, Z:2.02 [[ 9.99400027e-01 -2.77987354e-02 -2.06595445e-02 2.84358069e+02] [ 2.77989231e-02 9.99613497e-01 -2.78157262e-04 1.03842631e+01] [ 2.06592920e-02 -2.96322715e-04 9.99786530e-01 2.02397377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.304391418 meters Centerline goodness [0,1] 0.9988505991783913 Centerline is valid? [True, True] Translation: X:284.39, Y:10.38, Z:2.02 [[ 9.99343066e-01 -2.97596866e-02 -2.06832779e-02 2.84387011e+02] [ 2.97602014e-02 9.99557027e-01 -2.82979985e-04 1.03833785e+01] [ 2.06825372e-02 -3.32744431e-04 9.99786038e-01 2.02384061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.334391418 meters Centerline goodness [0,1] 0.9988526993434891 Centerline is valid? [True, True] Translation: X:284.42, Y:10.38, Z:2.02 [[ 9.99196408e-01 -3.45768545e-02 -2.02726312e-02 2.84415576e+02] [ 3.45782256e-02 9.99401954e-01 -2.82999215e-04 1.03807164e+01] [ 2.02702925e-02 -4.18219816e-04 9.99794449e-01 2.02462897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.364391418 meters Centerline goodness [0,1] 0.9989385640895003 Centerline is valid? [True, True] Translation: X:284.45, Y:10.38, Z:2.02 [[ 9.99099999e-01 -3.72458214e-02 -2.02963423e-02 2.84445499e+02] [ 3.72476953e-02 9.99306023e-01 -2.85830678e-04 1.03789373e+01] [ 2.02929031e-02 -4.70418543e-04 9.99793967e-01 2.02490938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.394391418 meters Centerline goodness [0,1] 0.9986451872393574 Centerline is valid? [True, True] Translation: X:284.48, Y:10.38, Z:2.03 [[ 9.99004688e-01 -4.00040797e-02 -1.97308457e-02 2.84475522e+02] [ 4.00064075e-02 9.99199385e-01 -2.76882675e-04 1.03763989e+01] [ 1.97261253e-02 -5.12753164e-04 9.99805290e-01 2.02500378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.424391418 meters Centerline goodness [0,1] 0.9987715247919006 Centerline is valid? [True, True] Translation: X:284.51, Y:10.37, Z:2.02 [[ 9.98894733e-01 -4.27431391e-02 -1.95534500e-02 2.84505201e+02] [ 4.27459582e-02 9.99085936e-01 -2.73951264e-04 1.03694237e+01] [ 1.95472864e-02 -5.62182480e-04 9.99808775e-01 2.02334518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.454391418 meters Centerline goodness [0,1] 0.9987494436083851 Centerline is valid? [True, True] Translation: X:284.54, Y:10.37, Z:2.03 [[ 9.98642561e-01 -4.86836875e-02 -1.85184775e-02 2.84536608e+02] [ 4.86872423e-02 9.98814039e-01 -2.59104050e-04 1.03722452e+01] [ 1.85091294e-02 -6.42861267e-04 9.99828485e-01 2.02777981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.484391418 meters Centerline goodness [0,1] 0.9988575055537925 Centerline is valid? [True, True] Translation: X:284.57, Y:10.37, Z:2.03 [[ 9.98520903e-01 -5.13706025e-02 -1.78064075e-02 2.84567636e+02] [ 5.13743326e-02 9.98679436e-01 -2.48194622e-04 1.03680784e+01] [ 1.77956429e-02 -6.66964781e-04 9.99841423e-01 2.02789125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.514391418 meters Centerline goodness [0,1] 0.9987507410857965 Centerline is valid? [True, True] Translation: X:284.60, Y:10.37, Z:2.03 [[ 9.98320917e-01 -5.56671942e-02 -1.60159192e-02 2.84598830e+02] [ 5.56707756e-02 9.98449155e-01 -2.22482157e-04 1.03651864e+01] [ 1.60034660e-02 -6.69510055e-04 9.99871712e-01 2.02952639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.544391418 meters Centerline goodness [0,1] 0.99870776400805 Centerline is valid? [True, True] Translation: X:284.63, Y:10.37, Z:2.03 [[ 9.98261664e-01 -5.69545810e-02 -1.51600358e-02 2.84631145e+02] [ 5.69579523e-02 9.98376556e-01 -2.09650698e-04 1.03654790e+01] [ 1.51473649e-02 -6.54198339e-04 9.99885058e-01 2.03057632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.574391418 meters Centerline goodness [0,1] 0.9987918353504738 Centerline is valid? [True, True] Translation: X:284.66, Y:10.37, Z:2.03 [[ 9.98252488e-01 -5.72348049e-02 -1.47019809e-02 2.84663341e+02] [ 5.72380233e-02 9.98360540e-01 -2.02118797e-04 1.03655600e+01] [ 1.46894459e-02 -6.39746737e-04 9.99891900e-01 2.03149947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.604391418 meters Centerline goodness [0,1] 0.9988343753311434 Centerline is valid? [True, True] Translation: X:284.69, Y:10.36, Z:2.03 [[ 9.98282770e-01 -5.68238724e-02 -1.42322977e-02 2.84694535e+02] [ 5.68268611e-02 9.98384029e-01 -1.94655665e-04 1.03641836e+01] [ 1.42203598e-02 -6.14455406e-04 9.99898697e-01 2.03169485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.634391418 meters Centerline goodness [0,1] 0.9986224727673463 Centerline is valid? [True, True] Translation: X:284.73, Y:10.37, Z:2.03 [[ 9.98343614e-01 -5.58267307e-02 -1.39070176e-02 2.84727050e+02] [ 5.58295013e-02 9.98440299e-01 -1.89228499e-04 1.03655179e+01] [ 1.38958908e-02 -5.87506796e-04 9.99903275e-01 2.03185340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.664391418 meters Centerline goodness [0,1] 0.9987305080083786 Centerline is valid? [True, True] Translation: X:284.76, Y:10.37, Z:2.03 [[ 9.98496931e-01 -5.30916750e-02 -1.36070527e-02 2.84758810e+02] [ 5.30940867e-02 9.98589497e-01 -1.84197241e-04 1.03678650e+01] [ 1.35976393e-02 -5.38533656e-04 9.99907403e-01 2.03209826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.694391418 meters Centerline goodness [0,1] 0.9989623260837339 Centerline is valid? [True, True] Translation: X:284.79, Y:10.37, Z:2.03 [[ 9.98580190e-01 -5.14010648e-02 -1.39833596e-02 2.84791342e+02] [ 5.14034601e-02 9.98677951e-01 -1.88303410e-04 1.03696931e+01] [ 1.39745519e-02 -5.30757010e-04 9.99902210e-01 2.03239256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.724391418 meters Centerline goodness [0,1] 0.9990448698900539 Centerline is valid? [True, True] Translation: X:284.82, Y:10.37, Z:2.03 [[ 9.98659314e-01 -4.97568075e-02 -1.42770478e-02 2.84823599e+02] [ 4.97591529e-02 9.98761228e-01 -1.91115374e-04 1.03713686e+01] [ 1.42688711e-02 -5.19554657e-04 9.99898059e-01 2.03226321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.754391418 meters Centerline goodness [0,1] 0.9987919121698953 Centerline is valid? [True, True] Translation: X:284.85, Y:10.37, Z:2.03 [[ 9.98782371e-01 -4.66623975e-02 -1.60123860e-02 2.84854613e+02] [ 4.66649664e-02 9.98910574e-01 -2.13371062e-04 1.03749890e+01] [ 1.60048981e-02 -5.34106200e-04 9.99871771e-01 2.03058902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.784391418 meters Centerline goodness [0,1] 0.9989818428644154 Centerline is valid? [True, True] Translation: X:284.89, Y:10.38, Z:2.03 [[ 9.98835769e-01 -4.52102485e-02 -1.68267487e-02 2.84886287e+02] [ 4.52128972e-02 9.98977349e-01 -2.23172228e-04 1.03763739e+01] [ 1.68196305e-02 -5.37873656e-04 9.99858395e-01 2.03004974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.814391418 meters Centerline goodness [0,1] 0.9989805454082066 Centerline is valid? [True, True] Translation: X:284.92, Y:10.38, Z:2.03 [[ 9.98928145e-01 -4.28185599e-02 -1.75821258e-02 2.84916990e+02] [ 4.28210988e-02 9.99082729e-01 -2.32218801e-04 1.03788039e+01] [ 1.75759415e-02 -5.20916049e-04 9.99845396e-01 2.02916722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.844391418 meters Centerline goodness [0,1] 0.9988330398251681 Centerline is valid? [True, True] Translation: X:284.95, Y:10.38, Z:2.03 [[ 9.98969788e-01 -4.18367075e-02 -1.75798661e-02 2.84948780e+02] [ 4.18391091e-02 9.99124334e-01 -2.31320605e-04 1.03798191e+01] [ 1.75741497e-02 -5.04443638e-04 9.99845435e-01 2.02915153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.874391418 meters Centerline goodness [0,1] 0.9989621062887887 Centerline is valid? [True, True] Translation: X:284.98, Y:10.38, Z:2.03 [[ 9.98999156e-01 -4.10459680e-02 -1.77740122e-02 2.84979788e+02] [ 4.10483123e-02 9.99157136e-01 -2.33067032e-04 1.03809593e+01] [ 1.77685976e-02 -4.96759438e-04 9.99842003e-01 2.02901076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.904391418 meters Centerline goodness [0,1] 0.9988954031778401 Centerline is valid? [True, True] Translation: X:285.01, Y:10.38, Z:2.03 [[ 9.99021246e-01 -4.04978728e-02 -1.77896424e-02 2.85011376e+02] [ 4.05001462e-02 9.99179505e-01 -2.32604125e-04 1.03817853e+01] [ 1.77844661e-02 -4.88106655e-04 9.99841725e-01 2.02908216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.934391418 meters Centerline goodness [0,1] 0.9988754031573587 Centerline is valid? [True, True] Translation: X:285.04, Y:10.39, Z:2.03 [[ 9.99033026e-01 -4.03937270e-02 -1.73597217e-02 2.85042185e+02] [ 4.03958879e-02 9.99183727e-01 -2.26302997e-04 1.03874059e+01] [ 1.73546926e-02 -4.75177203e-04 9.99849283e-01 2.03133767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.964391418 meters Centerline goodness [0,1] 0.9990454776853894 Centerline is valid? [True, True] Translation: X:285.07, Y:10.39, Z:2.03 [[ 9.99029141e-01 -4.05865753e-02 -1.71320156e-02 2.85074038e+02] [ 4.05887274e-02 9.99175913e-01 -2.22212813e-04 1.03881669e+01] [ 1.71269162e-02 -4.73369637e-04 9.99853212e-01 2.03184269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.994391418 meters Centerline goodness [0,1] 0.9990466101694915 Centerline is valid? [True, True] Translation: X:285.10, Y:10.38, Z:2.03 [[ 9.98959459e-01 -4.23998363e-02 -1.68003962e-02 2.85104313e+02] [ 4.24021750e-02 9.99100600e-01 -2.17142100e-04 1.03822682e+01] [ 1.67944927e-02 -4.95457183e-04 9.99858840e-01 2.03072423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.024391418 meters Centerline goodness [0,1] 0.9988788763379447 Centerline is valid? [True, True] Translation: X:285.14, Y:10.38, Z:2.03 [[ 9.98883635e-01 -4.40319238e-02 -1.71076864e-02 2.85135984e+02] [ 4.40345972e-02 9.99029982e-01 -2.20572485e-04 1.03842594e+01] [ 1.71008039e-02 -5.33003836e-04 9.99853628e-01 2.03167619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.054391418 meters Centerline goodness [0,1] 0.9988754031573587 Centerline is valid? [True, True] Translation: X:285.17, Y:10.38, Z:2.03 [[ 9.98787396e-01 -4.62895991e-02 -1.67633423e-02 2.85167617e+02] [ 4.62925072e-02 9.98927904e-01 -2.14726140e-04 1.03841468e+01] [ 1.67553100e-02 -5.61551383e-04 9.99859462e-01 2.03255071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.084391418 meters Centerline goodness [0,1] 0.9989199720463353 Centerline is valid? [True, True] Translation: X:285.20, Y:10.38, Z:2.03 [[ 9.98535586e-01 -5.17323524e-02 -1.58255192e-02 2.85198919e+02] [ 5.17356443e-02 9.98660795e-01 -2.01589036e-04 1.03803194e+01] [ 1.58147543e-02 -6.17449607e-04 9.99874748e-01 2.03323907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.114391418 meters Centerline goodness [0,1] 0.9988120996139324 Centerline is valid? [True, True] Translation: X:285.23, Y:10.38, Z:2.03 [[ 9.98384166e-01 -5.46357377e-02 -1.56202721e-02 2.85230012e+02] [ 5.46393181e-02 9.98506137e-01 -1.97781136e-04 1.03778180e+01] [ 1.56077435e-02 -6.56019463e-04 9.99877977e-01 2.03358950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.144391418 meters Centerline goodness [0,1] 0.9989402738332415 Centerline is valid? [True, True] Translation: X:285.26, Y:10.37, Z:2.03 [[ 9.98216211e-01 -5.78221071e-02 -1.48660677e-02 2.85260113e+02] [ 5.78257131e-02 9.98326676e-01 -1.87521484e-04 1.03747633e+01] [ 1.48520348e-02 -6.72453979e-04 9.99889476e-01 2.03385146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.174391418 meters Centerline goodness [0,1] 0.9989026063100137 Centerline is valid? [True, True] Translation: X:285.29, Y:10.37, Z:2.03 [[ 9.97895358e-01 -6.32244732e-02 -1.44055779e-02 2.85290946e+02] [ 6.32284228e-02 9.97999065e-01 -1.81568130e-04 1.03744176e+01] [ 1.43882328e-02 -7.29655974e-04 9.99896218e-01 2.03494469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.204391418 meters Centerline goodness [0,1] 0.9987726166543223 Centerline is valid? [True, True] Translation: X:285.32, Y:10.37, Z:2.03 [[ 9.97753246e-01 -6.54591724e-02 -1.42673101e-02 2.85322221e+02] [ 6.54632824e-02 9.97854963e-01 -1.79250963e-04 1.03707212e+01] [ 1.42484398e-02 -7.55136720e-04 9.99898201e-01 2.03475952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.234391418 meters Centerline goodness [0,1] 0.9987517982567488 Centerline is valid? [True, True] Translation: X:285.35, Y:10.37, Z:2.04 [[ 9.97539064e-01 -6.88316702e-02 -1.33423187e-02 2.85353475e+02] [ 6.88355739e-02 9.97628005e-01 -1.66974561e-04 1.03732821e+01] [ 1.33221639e-02 -7.51862516e-04 9.99910973e-01 2.03601189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.264391418 meters Centerline goodness [0,1] 0.9987961985216474 Centerline is valid? [True, True] Translation: X:285.38, Y:10.37, Z:2.04 [[ 9.97461350e-01 -6.99238157e-02 -1.34727322e-02 2.85384783e+02] [ 6.99279046e-02 9.97552034e-01 -1.67921776e-04 1.03715060e+01] [ 1.34514931e-02 -7.74624450e-04 9.99909225e-01 2.03611994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.294391418 meters Centerline goodness [0,1] 0.9987102776074592 Centerline is valid? [True, True] Translation: X:285.42, Y:10.37, Z:2.04 [[ 9.97440252e-01 -7.02863822e-02 -1.31441381e-02 2.85416804e+02] [ 7.02903174e-02 9.97526563e-01 -1.62917520e-04 1.03714605e+01] [ 1.31230778e-02 -7.61405149e-04 9.99913599e-01 2.03640140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.324391418 meters Centerline goodness [0,1] 0.9988953327809997 Centerline is valid? [True, True] Translation: X:285.45, Y:10.37, Z:2.04 [[ 9.97435153e-01 -7.03592427e-02 -1.31412377e-02 2.85448924e+02] [ 7.03631963e-02 9.97521426e-01 -1.61822084e-04 1.03742010e+01] [ 1.31200518e-02 -7.63252451e-04 9.99913637e-01 2.03700631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.354391418 meters Centerline goodness [0,1] 0.9987258982417395 Centerline is valid? [True, True] Translation: X:285.48, Y:10.38, Z:2.04 [[ 9.97513519e-01 -6.92600244e-02 -1.30318069e-02 2.85481514e+02] [ 6.92638343e-02 9.97598364e-01 -1.59298104e-04 1.03770717e+01] [ 1.30115423e-02 -7.43730902e-04 9.99915070e-01 2.03788802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.384391418 meters Centerline goodness [0,1] 0.999002716007469 Centerline is valid? [True, True] Translation: X:285.51, Y:10.38, Z:2.04 [[ 9.97586629e-01 -6.81786896e-02 -1.31370997e-02 2.85514023e+02] [ 6.81824839e-02 9.97672854e-01 -1.59365369e-04 1.03802377e+01] [ 1.31173931e-02 -7.36739327e-04 9.99913692e-01 2.03834299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.414391418 meters Centerline goodness [0,1] 0.9985984583041345 Centerline is valid? [True, True] Translation: X:285.55, Y:10.38, Z:2.04 [[ 9.97665390e-01 -6.70021290e-02 -1.32092553e-02 2.85545266e+02] [ 6.70058820e-02 9.97752568e-01 -1.58735321e-04 1.03792216e+01] [ 1.31902040e-02 -7.26733068e-04 9.99912741e-01 2.03814303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.444391418 meters Centerline goodness [0,1] 0.998723648663022 Centerline is valid? [True, True] Translation: X:285.58, Y:10.38, Z:2.04 [[ 9.97840693e-01 -6.42041341e-02 -1.38485203e-02 2.85575693e+02] [ 6.42080077e-02 9.97936523e-01 -1.65182894e-04 1.03820314e+01] [ 1.38305496e-02 -7.24359681e-04 9.99904091e-01 2.03752446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.474391418 meters Centerline goodness [0,1] 0.9989576020592678 Centerline is valid? [True, True] Translation: X:285.61, Y:10.39, Z:2.04 [[ 9.97948274e-01 -6.24018144e-02 -1.43267371e-02 2.85607463e+02] [ 6.24057856e-02 9.98050845e-01 -1.70144954e-04 1.03874035e+01] [ 1.43094295e-02 -7.24275422e-04 9.99897353e-01 2.03818349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.504391418 meters Centerline goodness [0,1] 0.9988066571483368 Centerline is valid? [True, True] Translation: X:285.64, Y:10.39, Z:2.04 [[ 9.98070543e-01 -6.02826534e-02 -1.48725609e-02 2.85637531e+02] [ 6.02867094e-02 9.98181087e-01 -1.75875906e-04 1.03884949e+01] [ 1.48561112e-02 -7.21081194e-04 9.99889382e-01 2.03772786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.534391418 meters Centerline goodness [0,1] 0.9990180801331996 Centerline is valid? [True, True] Translation: X:285.67, Y:10.39, Z:2.04 [[ 9.98365721e-01 -5.50661971e-02 -1.52840232e-02 2.85666908e+02] [ 5.50698702e-02 9.98482487e-01 -1.80759511e-04 1.03942227e+01] [ 1.52707832e-02 -6.61225072e-04 9.99883176e-01 2.03791325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.564391418 meters Centerline goodness [0,1] 0.9990187085351026 Centerline is valid? [True, True] Translation: X:285.70, Y:10.40, Z:2.04 [[ 9.98524410e-01 -5.20226417e-02 -1.55771230e-02 2.85698588e+02] [ 5.20260931e-02 9.98645709e-01 -1.83859556e-04 1.03988035e+01] [ 1.55655919e-02 -6.26828598e-04 9.99878652e-01 2.03839199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.594391418 meters Centerline goodness [0,1] 0.9988472868548008 Centerline is valid? [True, True] Translation: X:285.73, Y:10.41, Z:2.04 [[ 9.98843042e-01 -4.53733492e-02 -1.59322708e-02 2.85728680e+02] [ 4.53761216e-02 9.98969956e-01 -1.87627514e-04 1.04063963e+01] [ 1.59243732e-02 -5.35534223e-04 9.99873056e-01 2.03869315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.624391418 meters Centerline goodness [0,1] 0.9989731741753305 Centerline is valid? [True, True] Translation: X:285.76, Y:10.41, Z:2.04 [[ 9.98996035e-01 -4.18249732e-02 -1.60497179e-02 2.85759901e+02] [ 4.18273347e-02 9.99124836e-01 -1.88657098e-04 1.04110051e+01] [ 1.60435624e-02 -4.82849232e-04 9.99871177e-01 2.03907015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.654391418 meters Centerline goodness [0,1] 0.9989706197726785 Centerline is valid? [True, True] Translation: X:285.79, Y:10.41, Z:2.04 [[ 9.99139859e-01 -3.83291339e-02 -1.58246297e-02 2.85791819e+02] [ 3.83310039e-02 9.99265080e-01 -1.85228499e-04 1.04149837e+01] [ 1.58200996e-02 -4.21504768e-04 9.99874766e-01 2.03938758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.684391418 meters Centerline goodness [0,1] 0.9992058381626958 Centerline is valid? [True, True] Translation: X:285.82, Y:10.42, Z:2.04 [[ 9.99353627e-01 -3.20668577e-02 -1.62494345e-02 2.85822632e+02] [ 3.20680146e-02 9.99485671e-01 -1.89426903e-04 1.04222129e+01] [ 1.62471513e-02 -3.31782641e-04 9.99867951e-01 2.03943260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.714391418 meters Centerline goodness [0,1] 0.999140228699166 Centerline is valid? [True, True] Translation: X:285.85, Y:10.43, Z:2.04 [[ 9.99449922e-01 -2.90362383e-02 -1.60233995e-02 2.85853609e+02] [ 2.90369808e-02 9.99578321e-01 -1.86356381e-04 1.04259378e+01] [ 1.60220539e-02 -2.79017274e-04 9.99871600e-01 2.03988570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.744391418 meters Centerline goodness [0,1] 0.9991622811728064 Centerline is valid? [True, True] Translation: X:285.88, Y:10.43, Z:2.04 [[ 9.99593579e-01 -2.35090132e-02 -1.61246256e-02 2.85883934e+02] [ 2.35090482e-02 9.99723607e-01 -1.87400960e-04 1.04326085e+01] [ 1.61245744e-02 -1.91749804e-04 9.99869972e-01 2.03966385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.774391418 meters Centerline goodness [0,1] 0.999203992943505 Centerline is valid? [True, True] Translation: X:285.91, Y:10.44, Z:2.04 [[ 9.99643607e-01 -2.07585515e-02 -1.67851347e-02 2.85913277e+02] [ 2.07581988e-02 9.99784506e-01 -1.95258269e-04 1.04358006e+01] [ 1.67855709e-02 -1.53240482e-04 9.99859101e-01 2.03977888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.804391418 meters Centerline goodness [0,1] 0.9991400438577632 Centerline is valid? [True, True] Translation: X:285.94, Y:10.44, Z:2.04 [[ 9.99688980e-01 -1.86543675e-02 -1.65516945e-02 2.85941786e+02] [ 1.86536933e-02 9.99825986e-01 -1.95127547e-04 1.04388095e+01] [ 1.65524542e-02 -1.13683374e-04 9.99862992e-01 2.04019146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.834391418 meters Centerline goodness [0,1] 0.9993123012120692 Centerline is valid? [True, True] Translation: X:285.97, Y:10.44, Z:2.04 [[ 9.99738589e-01 -1.56508552e-02 -1.66674824e-02 2.85969827e+02] [ 1.56497019e-02 9.99877516e-01 -1.99630457e-04 1.04424266e+01] [ 1.66685653e-02 -6.12628591e-05 9.99861068e-01 2.04042994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.864391418 meters Centerline goodness [0,1] 0.999312049876384 Centerline is valid? [True, True] Translation: X:286.00, Y:10.44, Z:2.04 [[ 9.99743751e-01 -1.50903287e-02 -1.68735002e-02 2.85998044e+02] [ 1.50889982e-02 9.99886133e-01 -2.06171176e-04 1.04442724e+01] [ 1.68746901e-02 -4.84858694e-05 9.99857611e-01 2.04216124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.894391418 meters Centerline goodness [0,1] 0.9993764915826364 Centerline is valid? [True, True] Translation: X:286.02, Y:10.44, Z:2.04 [[ 9.99752954e-01 -1.44136921e-02 -1.69197194e-02 2.86024933e+02] [ 1.44121971e-02 9.99896117e-01 -2.10295811e-04 1.04447982e+01] [ 1.69209929e-02 -3.36064719e-05 9.99856829e-01 2.04101426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.924391418 meters Centerline goodness [0,1] 0.9993139966128582 Centerline is valid? [True, True] Translation: X:286.05, Y:10.45, Z:2.04 [[ 9.99755342e-01 -1.44355575e-02 -1.67591749e-02 2.86052463e+02] [ 1.44340253e-02 9.99895801e-01 -2.12382388e-04 1.04459838e+01] [ 1.67604945e-02 -2.95719283e-05 9.99859533e-01 2.04348820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.954391418 meters Centerline goodness [0,1] 0.9993139966128582 Centerline is valid? [True, True] Translation: X:286.08, Y:10.45, Z:2.04 [[ 9.99750647e-01 -1.47572573e-02 -1.67591054e-02 2.86079836e+02] [ 1.47556800e-02 9.99891105e-01 -2.17773737e-04 1.04464717e+01] [ 1.67604941e-02 -2.95725620e-05 9.99859533e-01 2.04368085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.984391418 meters Centerline goodness [0,1] 0.9991840415709347 Centerline is valid? [True, True] Translation: X:286.11, Y:10.44, Z:2.04 [[ 9.99732031e-01 -1.60189455e-02 -1.67110537e-02 2.86106868e+02] [ 1.60174933e-02 9.99871687e-01 -2.20749290e-04 1.04447700e+01] [ 1.67124456e-02 -4.69790538e-05 9.99860336e-01 2.04304609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.014391418 meters Centerline goodness [0,1] 0.9992482979317454 Centerline is valid? [True, True] Translation: X:286.14, Y:10.44, Z:2.04 [[ 9.99698202e-01 -1.75018473e-02 -1.72392282e-02 2.86135630e+02] [ 1.75004575e-02 9.99846828e-01 -2.31483264e-04 1.04431286e+01] [ 1.72406391e-02 -7.02809793e-05 9.99851367e-01 2.04272391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.044391418 meters Centerline goodness [0,1] 0.9991427897906264 Centerline is valid? [True, True] Translation: X:286.16, Y:10.44, Z:2.04 [[ 9.99625743e-01 -2.09930501e-02 -1.75404320e-02 2.86163949e+02] [ 2.09920627e-02 9.99779613e-01 -2.40426343e-04 1.04395978e+01] [ 1.75416136e-02 -1.27873487e-04 9.99846126e-01 2.04321556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.074391418 meters Centerline goodness [0,1] 0.9991628386210449 Centerline is valid? [True, True] Translation: X:286.19, Y:10.44, Z:2.04 [[ 9.99566371e-01 -2.33497163e-02 -1.79404666e-02 2.86192536e+02] [ 2.33489707e-02 9.99727344e-01 -2.51053475e-04 1.04377229e+01] [ 1.79414370e-02 -1.67946817e-04 9.99839025e-01 2.04318160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.104391418 meters Centerline goodness [0,1] 0.9992483302192728 Centerline is valid? [True, True] Translation: X:286.22, Y:10.43, Z:2.04 [[ 9.99443033e-01 -2.77946453e-02 -1.84683807e-02 2.86221253e+02] [ 2.77945157e-02 9.99613623e-01 -2.63750967e-04 1.04330624e+01] [ 1.84685758e-02 -2.49715630e-04 9.99829410e-01 2.04291873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.134391418 meters Centerline goodness [0,1] 0.9990993116167356 Centerline is valid? [True, True] Translation: X:286.25, Y:10.43, Z:2.04 [[ 9.99376801e-01 -3.00716409e-02 -1.84853153e-02 2.86250696e+02] [ 3.00718593e-02 9.99547704e-01 -2.66215386e-04 1.04304528e+01] [ 1.84849599e-02 -2.89838320e-04 9.99829097e-01 2.04252850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.164391418 meters Centerline goodness [0,1] 0.9988429645818603 Centerline is valid? [True, True] Translation: X:286.28, Y:10.43, Z:2.04 [[ 9.99305469e-01 -3.20333152e-02 -1.90380211e-02 2.86281652e+02] [ 3.20338999e-02 9.99486745e-01 -2.74320074e-04 1.04281328e+01] [ 1.90370371e-02 -3.35732513e-04 9.99818723e-01 2.04257079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.194391418 meters Centerline goodness [0,1] 0.9988880097512991 Centerline is valid? [True, True] Translation: X:286.31, Y:10.42, Z:2.04 [[ 9.99153281e-01 -3.61694154e-02 -1.96085430e-02 2.86311769e+02] [ 3.61708562e-02 9.99345581e-01 -2.81293530e-04 1.04214505e+01] [ 1.96058850e-02 -4.28202438e-04 9.99807694e-01 2.04125825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.224391418 meters Centerline goodness [0,1] 0.9990837612665402 Centerline is valid? [True, True] Translation: X:286.34, Y:10.42, Z:2.04 [[ 9.99081711e-01 -3.81624406e-02 -1.94772511e-02 2.86342634e+02] [ 3.81642541e-02 9.99271441e-01 -2.78721085e-04 1.04200838e+01] [ 1.94736974e-02 -4.64869621e-04 9.99810262e-01 2.04177389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.254391418 meters Centerline goodness [0,1] 0.9988914943508846 Centerline is valid? [True, True] Translation: X:286.37, Y:10.42, Z:2.04 [[ 9.98968918e-01 -4.09846721e-02 -1.95283974e-02 2.86373518e+02] [ 4.09870388e-02 9.99159639e-01 -2.79206067e-04 1.04162692e+01] [ 1.95234296e-02 -5.21492996e-04 9.99809264e-01 2.04289448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.284391418 meters Centerline goodness [0,1] 0.9991260045618299 Centerline is valid? [True, True] Translation: X:286.40, Y:10.42, Z:2.04 [[ 9.98938781e-01 -4.20597383e-02 -1.87693971e-02 2.86404565e+02] [ 4.20621253e-02 9.99114961e-01 -2.67753252e-04 1.04154837e+01] [ 1.87640470e-02 -5.22011625e-04 9.99823803e-01 2.04381191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.314391418 meters Centerline goodness [0,1] 0.9988063519130342 Centerline is valid? [True, True] Translation: X:286.44, Y:10.41, Z:2.04 [[ 9.98907509e-01 -4.28965285e-02 -1.85385210e-02 2.86435547e+02] [ 4.28990147e-02 9.99079379e-01 -2.63726520e-04 1.04139273e+01] [ 1.85327670e-02 -5.31845884e-04 9.99828112e-01 2.04432622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.344391418 meters Centerline goodness [0,1] 0.998997995991984 Centerline is valid? [True, True] Translation: X:286.47, Y:10.41, Z:2.04 [[ 9.98902493e-01 -4.33048560e-02 -1.78465461e-02 2.86466230e+02] [ 4.33072427e-02 9.99061769e-01 -2.52895627e-04 1.04113925e+01] [ 1.78407535e-02 -5.20266629e-04 9.99840706e-01 2.04474204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.374391418 meters Centerline goodness [0,1] 0.9990420844242928 Centerline is valid? [True, True] Translation: X:286.50, Y:10.41, Z:2.05 [[ 9.98857963e-01 -4.46190994e-02 -1.70852563e-02 2.86497166e+02] [ 4.46214964e-02 9.99003936e-01 -2.41079831e-04 1.04077190e+01] [ 1.70789950e-02 -5.21565193e-04 9.99854007e-01 2.04536702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.404391418 meters Centerline goodness [0,1] 0.998809194717928 Centerline is valid? [True, True] Translation: X:286.53, Y:10.41, Z:2.05 [[ 9.98809684e-01 -4.57540330e-02 -1.69051489e-02 2.86529572e+02] [ 4.57565625e-02 9.98952592e-01 -2.37335039e-04 1.04095274e+01] [ 1.68983013e-02 -5.36468966e-04 9.99857070e-01 2.04649821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.434391418 meters Centerline goodness [0,1] 0.9987433172165542 Centerline is valid? [True, True] Translation: X:286.56, Y:10.41, Z:2.05 [[ 9.98757925e-01 -4.69363243e-02 -1.67208827e-02 2.86561753e+02] [ 4.69389870e-02 9.98897731e-01 -2.33393772e-04 1.04085471e+01] [ 1.67134064e-02 -5.51757415e-04 9.99860169e-01 2.04680048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.464391418 meters Centerline goodness [0,1] 0.9989604548540394 Centerline is valid? [True, True] Translation: X:286.59, Y:10.40, Z:2.05 [[ 9.98567396e-01 -5.05685497e-02 -1.74922097e-02 2.86591577e+02] [ 5.05720308e-02 9.98720386e-01 -2.43562078e-04 1.04009456e+01] [ 1.74821430e-02 -6.41403416e-04 9.99846970e-01 2.04537194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.494391418 meters Centerline goodness [0,1] 0.9987026797107614 Centerline is valid? [True, True] Translation: X:286.62, Y:10.40, Z:2.04 [[ 9.98449809e-01 -5.27895204e-02 -1.76421721e-02 2.86623003e+02] [ 5.27934147e-02 9.98605425e-01 -2.45242737e-04 1.03983345e+01] [ 1.76305150e-02 -6.86527945e-04 9.99844335e-01 2.04475468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.524391418 meters Centerline goodness [0,1] 0.9988752122241087 Centerline is valid? [True, True] Translation: X:286.65, Y:10.40, Z:2.04 [[ 9.98197483e-01 -5.69251316e-02 -1.90082913e-02 2.86654369e+02] [ 5.69304155e-02 9.98378114e-01 -2.63466509e-04 1.03959357e+01] [ 1.89924599e-02 -8.19158318e-04 9.99819291e-01 2.04456158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.554391418 meters Centerline goodness [0,1] 0.9990033081686318 Centerline is valid? [True, True] Translation: X:286.69, Y:10.39, Z:2.04 [[ 9.98085654e-01 -5.87933215e-02 -1.91930179e-02 2.86685102e+02] [ 5.87990911e-02 9.98269802e-01 -2.64058782e-04 1.03921531e+01] [ 1.91753351e-02 -8.64978724e-04 9.99815762e-01 2.04409731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.584391418 meters Centerline goodness [0,1] 0.9988746151396114 Centerline is valid? [True, True] Translation: X:286.72, Y:10.39, Z:2.04 [[ 9.97972423e-01 -6.06618547e-02 -1.92660726e-02 2.86716880e+02] [ 6.06680487e-02 9.98157963e-01 -2.63346601e-04 1.03923605e+01] [ 1.92465589e-02 -9.06022388e-04 9.99814357e-01 2.04439786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.614391418 meters Centerline goodness [0,1] 0.9987108227486949 Centerline is valid? [True, True] Translation: X:286.75, Y:10.39, Z:2.04 [[ 9.97776020e-01 -6.37247529e-02 -1.95491818e-02 2.86747495e+02] [ 6.37317300e-02 9.97967031e-01 -2.66534630e-04 1.03851351e+01] [ 1.95264238e-02 -9.79961315e-04 9.99808861e-01 2.04386508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.644391418 meters Centerline goodness [0,1] 0.9988336584952074 Centerline is valid? [True, True] Translation: X:286.78, Y:10.39, Z:2.04 [[ 9.97708737e-01 -6.46422068e-02 -1.99664804e-02 2.86779376e+02] [ 6.46496916e-02 9.97907984e-01 -2.71057454e-04 1.03865164e+01] [ 1.99422319e-02 -1.02039041e-03 9.99800613e-01 2.04423139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.674391418 meters Centerline goodness [0,1] 0.9986441252489301 Centerline is valid? [True, True] Translation: X:286.81, Y:10.39, Z:2.04 [[ 9.97650728e-01 -6.53559877e-02 -2.05333775e-02 2.86811587e+02] [ 6.53640886e-02 9.97861443e-01 -2.77094245e-04 1.03872131e+01] [ 2.05075755e-02 -1.06570223e-03 9.99789130e-01 2.04408063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.704391418 meters Centerline goodness [0,1] 0.9988983284252452 Centerline is valid? [True, True] Translation: X:286.84, Y:10.39, Z:2.04 [[ 9.97594031e-01 -6.59616834e-02 -2.13355695e-02 2.86843579e+02] [ 6.59706048e-02 9.97821526e-01 -2.86187391e-04 1.03860638e+01] [ 2.13079679e-02 -1.12202159e-03 9.99772330e-01 2.04323483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.734391418 meters Centerline goodness [0,1] 0.9988952623751859 Centerline is valid? [True, True] Translation: X:286.88, Y:10.39, Z:2.04 [[ 9.97562234e-01 -6.60653032e-02 -2.24714118e-02 2.86875875e+02] [ 6.60752673e-02 9.97814597e-01 -2.99606601e-04 1.03856536e+01] [ 2.24420963e-02 -1.18592831e-03 9.99747441e-01 2.04200743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.764391418 meters Centerline goodness [0,1] 0.9988125026506637 Centerline is valid? [True, True] Translation: X:286.91, Y:10.39, Z:2.04 [[ 9.97590583e-01 -6.55834184e-02 -2.26239543e-02 2.86907080e+02] [ 6.55934282e-02 9.97846387e-01 -3.00158876e-04 1.03854975e+01] [ 2.25949165e-02 -1.18454705e-03 9.99744001e-01 2.04215189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.794391418 meters Centerline goodness [0,1] 0.9988148900598903 Centerline is valid? [True, True] Translation: X:286.94, Y:10.39, Z:2.04 [[ 9.97701579e-01 -6.43083178e-02 -2.13541570e-02 2.86937836e+02] [ 6.43169639e-02 9.97929481e-01 -2.82365490e-04 1.03867211e+01] [ 2.13281012e-02 -1.09171805e-03 9.99771934e-01 2.04369375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.824391418 meters Centerline goodness [0,1] 0.9988786391333785 Centerline is valid? [True, True] Translation: X:286.97, Y:10.39, Z:2.05 [[ 9.97780357e-01 -6.34182021e-02 -2.03098910e-02 2.86968933e+02] [ 6.34258548e-02 9.97986518e-01 -2.67784405e-04 1.03898160e+01] [ 2.02859798e-02 -1.02098218e-03 9.99793697e-01 2.04502904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.854391418 meters Centerline goodness [0,1] 0.9984551572353663 Centerline is valid? [True, True] Translation: X:287.00, Y:10.39, Z:2.05 [[ 9.97993366e-01 -6.06449160e-02 -1.82053830e-02 2.86999404e+02] [ 6.06506320e-02 9.98159027e-01 -2.38503810e-04 1.03912606e+01] [ 1.81863314e-02 -8.66142763e-04 9.99834240e-01 2.04644173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.884391418 meters Centerline goodness [0,1] 0.9987954353338969 Centerline is valid? [True, True] Translation: X:287.03, Y:10.39, Z:2.05 [[ 9.98110970e-01 -5.89265615e-02 -1.73825436e-02 2.87031314e+02] [ 5.89315348e-02 9.98262001e-01 -2.26426471e-04 1.03935318e+01] [ 1.73656753e-02 -7.98381228e-04 9.99848887e-01 2.04732085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.914391418 meters Centerline goodness [0,1] 0.9987472662802301 Centerline is valid? [True, True] Translation: X:287.06, Y:10.40, Z:2.05 [[ 9.98233920e-01 -5.70457894e-02 -1.65776335e-02 2.87063161e+02] [ 5.70500687e-02 9.98371295e-01 -2.15046410e-04 1.03976740e+01] [ 1.65629009e-02 -7.31088508e-04 9.99862558e-01 2.04848366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.944391418 meters Centerline goodness [0,1] 0.9988735148462241 Centerline is valid? [True, True] Translation: X:287.09, Y:10.40, Z:2.05 [[ 9.98337256e-01 -5.52748721e-02 -1.63527133e-02 2.87094470e+02] [ 5.52788113e-02 9.98470935e-01 -2.11369298e-04 1.04002086e+01] [ 1.63393923e-02 -6.92940707e-04 9.99866263e-01 2.04921485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.974391418 meters Centerline goodness [0,1] 0.9988109141097781 Centerline is valid? [True, True] Translation: X:287.13, Y:10.40, Z:2.05 [[ 9.98548907e-01 -5.11887631e-02 -1.67269485e-02 2.87125046e+02] [ 5.11923230e-02 9.98688790e-01 -2.15560675e-04 1.04048859e+01] [ 1.67160503e-02 -6.41043476e-04 9.99860072e-01 2.04842830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.004391418 meters Centerline goodness [0,1] 0.9988949571795908 Centerline is valid? [True, True] Translation: X:287.16, Y:10.41, Z:2.05 [[ 9.98637844e-01 -4.92634008e-02 -1.71922369e-02 2.87156270e+02] [ 4.92668880e-02 9.98785625e-01 -2.20899473e-04 1.04073042e+01] [ 1.71822414e-02 -6.26409438e-04 9.99852178e-01 2.04779904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.034391418 meters Centerline goodness [0,1] 0.9990666298975415 Centerline is valid? [True, True] Translation: X:287.19, Y:10.41, Z:2.05 [[ 9.98775016e-01 -4.60724303e-02 -1.80498942e-02 2.87186969e+02] [ 4.60757661e-02 9.98937921e-01 -2.31229966e-04 1.04103314e+01] [ 1.80413772e-02 -6.00715993e-04 9.99837061e-01 2.04613666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.064391418 meters Centerline goodness [0,1] 0.9991919707408352 Centerline is valid? [True, True] Translation: X:287.22, Y:10.42, Z:2.05 [[ 9.98835139e-01 -4.45363578e-02 -1.85709025e-02 2.87219083e+02] [ 4.45396458e-02 9.99007590e-01 -2.36722596e-04 1.04150531e+01] [ 1.85630153e-02 -5.90694573e-04 9.99827518e-01 2.04661881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.094391418 meters Centerline goodness [0,1] 0.9989347423141658 Centerline is valid? [True, True] Translation: X:287.25, Y:10.42, Z:2.05 [[ 9.98892946e-01 -4.29874630e-02 -1.91039335e-02 2.87250338e+02] [ 4.29906795e-02 9.99075444e-01 -2.42471826e-04 1.04171916e+01] [ 1.90966940e-02 -5.79087684e-04 9.99817474e-01 2.04620617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.124391418 meters Centerline goodness [0,1] 0.9988048488987536 Centerline is valid? [True, True] Translation: X:287.28, Y:10.42, Z:2.05 [[ 9.98985247e-01 -4.01425260e-02 -2.04219022e-02 2.87281774e+02] [ 4.01456249e-02 9.99193806e-01 -2.58368379e-04 1.04226853e+01] [ 2.04158097e-02 -5.61743824e-04 9.99791418e-01 2.04577703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.154391418 meters Centerline goodness [0,1] 0.9989749284585486 Centerline is valid? [True, True] Translation: X:287.31, Y:10.43, Z:2.05 [[ 9.99055801e-01 -3.82062361e-02 -2.06830773e-02 2.87312234e+02] [ 3.82090060e-02 9.99269735e-01 -2.61388945e-04 1.04257862e+01] [ 2.06779599e-02 -5.29137684e-04 9.99786048e-01 2.04566974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.184391418 meters Centerline goodness [0,1] 0.9991236320109439 Centerline is valid? [True, True] Translation: X:287.34, Y:10.43, Z:2.05 [[ 9.99132134e-01 -3.61173866e-02 -2.07488007e-02 2.87342577e+02] [ 3.61197240e-02 9.99347435e-01 -2.62219544e-04 1.04290939e+01] [ 2.07447314e-02 -4.87448981e-04 9.99784686e-01 2.04583270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.214391418 meters Centerline goodness [0,1] 0.9988888414034788 Centerline is valid? [True, True] Translation: X:287.37, Y:10.44, Z:2.05 [[ 9.99323877e-01 -3.09893701e-02 -1.97850530e-02 2.87372869e+02] [ 3.09904906e-02 9.99519648e-01 -2.50039877e-04 1.04358189e+01] [ 1.97832978e-02 -3.63277680e-04 9.99804225e-01 2.04696681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.244391418 meters Centerline goodness [0,1] 0.9991434506092207 Centerline is valid? [True, True] Translation: X:287.40, Y:10.44, Z:2.05 [[ 9.99411294e-01 -2.88255034e-02 -1.86052526e-02 2.87402437e+02] [ 2.88261151e-02 9.99584413e-01 -2.35361316e-04 1.04383077e+01] [ 1.86043049e-02 -3.01094394e-04 9.99826880e-01 2.04739581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.274391418 meters Centerline goodness [0,1] 0.9990754080030964 Centerline is valid? [True, True] Translation: X:287.43, Y:10.44, Z:2.05 [[ 9.99551562e-01 -2.50128207e-02 -1.64631195e-02 2.87432862e+02] [ 2.50127805e-02 9.99687110e-01 -2.08386581e-04 1.04444162e+01] [ 1.64631807e-02 -2.03495262e-04 9.99864452e-01 2.05011081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.304391418 meters Centerline goodness [0,1] 0.9993550883528957 Centerline is valid? [True, True] Translation: X:287.46, Y:10.45, Z:2.05 [[ 9.99594288e-01 -2.39753280e-02 -1.53766867e-02 2.87462017e+02] [ 2.39751675e-02 9.99712535e-01 -1.94802853e-04 1.04465126e+01] [ 1.53769369e-02 -1.73934820e-04 9.99881753e-01 2.05113880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.334391418 meters Centerline goodness [0,1] 0.9992497642116094 Centerline is valid? [True, True] Translation: X:287.49, Y:10.45, Z:2.05 [[ 9.99620223e-01 -2.36576979e-02 -1.41323553e-02 2.87491671e+02] [ 2.36575267e-02 9.99720105e-01 -1.79309171e-04 1.04481358e+01] [ 1.41326418e-02 -1.55095500e-04 9.99900117e-01 2.05213075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.364391418 meters Centerline goodness [0,1] 0.9993978494623655 Centerline is valid? [True, True] Translation: X:287.52, Y:10.45, Z:2.05 [[ 9.99591942e-01 -2.56803024e-02 -1.25088906e-02 2.87522546e+02] [ 2.56803251e-02 9.99670193e-01 -1.58833683e-04 1.04489125e+01] [ 1.25088439e-02 -1.62463508e-04 9.99921748e-01 2.05361052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.394391418 meters Centerline goodness [0,1] 0.9993132752478647 Centerline is valid? [True, True] Translation: X:287.55, Y:10.45, Z:2.05 [[ 9.99548168e-01 -2.75188641e-02 -1.20901428e-02 2.87552709e+02] [ 2.75190236e-02 9.99621268e-01 -1.53198703e-04 1.04468035e+01] [ 1.20897797e-02 -1.79579442e-04 9.99926900e-01 2.05352304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.424391418 meters Centerline goodness [0,1] 0.9989507045269604 Centerline is valid? [True, True] Translation: X:287.58, Y:10.44, Z:2.05 [[ 9.99395276e-01 -3.27595574e-02 -1.16573275e-02 2.87584188e+02] [ 3.27600691e-02 9.99463234e-01 -1.47105366e-04 1.04434019e+01] [ 1.16558893e-02 -2.34878446e-04 9.99932040e-01 2.05322644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.454391418 meters Centerline goodness [0,1] 0.9990797611659212 Centerline is valid? [True, True] Translation: X:287.62, Y:10.44, Z:2.05 [[ 9.99312972e-01 -3.52636314e-02 -1.14043803e-02 2.87616298e+02] [ 3.52642913e-02 9.99378011e-01 -1.43283904e-04 1.04411883e+01] [ 1.14023396e-02 -2.58981924e-04 9.99934958e-01 2.05267712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.484391418 meters Centerline goodness [0,1] 0.9990157690908702 Centerline is valid? [True, True] Translation: X:287.65, Y:10.44, Z:2.05 [[ 9.99224947e-01 -3.75230027e-02 -1.18966291e-02 2.87648107e+02] [ 3.75238914e-02 9.99295720e-01 -1.48580489e-04 1.04392836e+01] [ 1.18938258e-02 -2.97942488e-04 9.99929222e-01 2.05239985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.514391418 meters Centerline goodness [0,1] 0.9990591455330796 Centerline is valid? [True, True] Translation: X:287.68, Y:10.44, Z:2.05 [[ 9.99164469e-01 -3.91724472e-02 -1.16568641e-02 2.87680579e+02] [ 3.91734219e-02 9.99232416e-01 -1.44788720e-04 1.04381742e+01] [ 1.16535882e-02 -3.11971512e-04 9.99932046e-01 2.05231152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.544391418 meters Centerline goodness [0,1] 0.9994009798258563 Centerline is valid? [True, True] Translation: X:287.71, Y:10.44, Z:2.05 [[ 9.99079951e-01 -4.12992935e-02 -1.15593965e-02 2.87712705e+02] [ 4.13004050e-02 9.99146764e-01 -1.42634856e-04 1.04367316e+01] [ 1.15554243e-02 -3.34904131e-04 9.99933178e-01 2.05185514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.574391418 meters Centerline goodness [0,1] 0.9989123944382837 Centerline is valid? [True, True] Translation: X:287.74, Y:10.44, Z:2.05 [[ 9.99068885e-01 -4.16878659e-02 -1.11124095e-02 2.87744178e+02] [ 4.16889262e-02 9.99130630e-01 -1.36307676e-04 1.04350037e+01] [ 1.11084311e-02 -3.27083662e-04 9.99938246e-01 2.05152889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.604391418 meters Centerline goodness [0,1] 0.998846301756185 Centerline is valid? [True, True] Translation: X:287.78, Y:10.43, Z:2.05 [[ 9.99105887e-01 -4.07996972e-02 -1.10819858e-02 2.87775870e+02] [ 4.08007056e-02 9.99167295e-01 -1.35176331e-04 1.04326681e+01] [ 1.10782729e-02 -3.17097372e-04 9.99938584e-01 2.05053926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.634391418 meters Centerline goodness [0,1] 0.998908460501252 Centerline is valid? [True, True] Translation: X:287.81, Y:10.44, Z:2.05 [[ 9.99139538e-01 -3.98794796e-02 -1.13934107e-02 2.87807964e+02] [ 3.98804963e-02 9.99204447e-01 -1.38042217e-04 1.04351788e+01] [ 1.13898516e-02 -3.16451434e-04 9.99935083e-01 2.05057047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.664391418 meters Centerline goodness [0,1] 0.9992945250871155 Centerline is valid? [True, True] Translation: X:287.84, Y:10.44, Z:2.05 [[ 9.99188503e-01 -3.87258483e-02 -1.10744924e-02 2.87840425e+02] [ 3.87267478e-02 9.99249829e-01 -1.33292689e-04 1.04367639e+01] [ 1.10713465e-02 -2.95694553e-04 9.99938667e-01 2.05086345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.694391418 meters Centerline goodness [0,1] 0.9990193361331997 Centerline is valid? [True, True] Translation: X:287.87, Y:10.44, Z:2.05 [[ 9.99251590e-01 -3.70093350e-02 -1.12502795e-02 2.87871343e+02] [ 3.70101682e-02 9.99314880e-01 -1.34198342e-04 1.04375633e+01] [ 1.12475383e-02 -2.82276831e-04 9.99936705e-01 2.05093692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.724391418 meters Centerline goodness [0,1] 0.9989973333333333 Centerline is valid? [True, True] Translation: X:287.90, Y:10.44, Z:2.05 [[ 9.99384128e-01 -3.36725027e-02 -9.87556223e-03 2.87903268e+02] [ 3.36729930e-02 9.99432897e-01 -1.16662114e-04 1.04404442e+01] [ 9.87389008e-03 -2.15949473e-04 9.99951229e-01 2.05163627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.754391418 meters Centerline goodness [0,1] 0.9989515128172208 Centerline is valid? [True, True] Translation: X:287.94, Y:10.44, Z:2.05 [[ 9.99438778e-01 -3.21914831e-02 -9.26488074e-03 2.87935638e+02] [ 3.21918577e-02 9.99481702e-01 -1.08736456e-04 1.04417853e+01] [ 9.26357916e-03 -1.89578291e-04 9.99957074e-01 2.05238763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.784391418 meters Centerline goodness [0,1] 0.9989540865333305 Centerline is valid? [True, True] Translation: X:287.97, Y:10.44, Z:2.05 [[ 9.99541717e-01 -2.91188187e-02 -8.27344890e-03 2.87967489e+02] [ 2.91190172e-02 9.99575947e-01 -9.64973826e-05 1.04446778e+01] [ 8.27275040e-03 -1.44461541e-04 9.99965770e-01 2.05332912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.814391418 meters Centerline goodness [0,1] 0.9987816868293934 Centerline is valid? [True, True] Translation: X:288.00, Y:10.45, Z:2.05 [[ 9.99573105e-01 -2.79263417e-02 -8.58640823e-03 2.87999525e+02] [ 2.79265176e-02 9.99609974e-01 -9.94333000e-05 1.04456966e+01] [ 8.58583611e-03 -1.40397628e-04 9.99963131e-01 2.05318429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.844391418 meters Centerline goodness [0,1] 0.9987816868293934 Centerline is valid? [True, True] Translation: X:288.03, Y:10.45, Z:2.05 [[ 9.99575359e-01 -2.78455609e-02 -8.58641622e-03 2.88031223e+02] [ 2.78457398e-02 9.99612227e-01 -9.87391448e-05 1.04459851e+01] [ 8.58583608e-03 -1.40397896e-04 9.99963131e-01 2.05340631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.874391418 meters Centerline goodness [0,1] 0.9990804892652467 Centerline is valid? [True, True] Translation: X:288.06, Y:10.45, Z:2.05 [[ 9.99591018e-01 -2.71238092e-02 -9.06069829e-03 2.88063686e+02] [ 2.71239857e-02 9.99632072e-01 -1.03430375e-04 1.04466029e+01] [ 9.06017003e-03 -1.42374177e-04 9.99958946e-01 2.05301882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.904391418 meters Centerline goodness [0,1] 0.999164255866281 Centerline is valid? [True, True] Translation: X:288.10, Y:10.45, Z:2.05 [[ 9.99592874e-01 -2.68118963e-02 -9.75743681e-03 2.88095702e+02] [ 2.68120942e-02 9.99640485e-01 -1.10553161e-04 1.04464756e+01] [ 9.75689301e-03 -1.51109163e-04 9.99952389e-01 2.05171783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.934391418 meters Centerline goodness [0,1] 0.998913899951019 Centerline is valid? [True, True] Translation: X:288.13, Y:10.45, Z:2.05 [[ 9.99578288e-01 -2.71012841e-02 -1.04291145e-02 2.88126652e+02] [ 2.71015344e-02 9.99632679e-01 -1.17346537e-04 1.04454275e+01] [ 1.04284639e-02 -1.65347954e-04 9.99945608e-01 2.05085322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.964391418 meters Centerline goodness [0,1] 0.9991019884541372 Centerline is valid? [True, True] Translation: X:288.16, Y:10.44, Z:2.05 [[ 9.99549065e-01 -2.79721884e-02 -1.09189773e-02 2.88158483e+02] [ 2.79725231e-02 9.99608685e-01 -1.22098047e-04 1.04446958e+01] [ 1.09181199e-02 -1.83388355e-04 9.99940379e-01 2.05088536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.994391418 meters Centerline goodness [0,1] 0.9990594874206442 Centerline is valid? [True, True] Translation: X:288.19, Y:10.44, Z:2.05 [[ 9.99519726e-01 -2.91227801e-02 -1.05915393e-02 2.88190339e+02] [ 2.91231685e-02 9.99575824e-01 -1.17596686e-04 1.04425955e+01] [ 1.05904714e-02 -1.90918976e-04 9.99943901e-01 2.05067667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.024391418 meters Centerline goodness [0,1] 0.9988654121978893 Centerline is valid? [True, True] Translation: X:288.22, Y:10.44, Z:2.05 [[ 9.99509728e-01 -2.94781927e-02 -1.05517756e-02 2.88221915e+02] [ 2.94786062e-02 9.99565405e-01 -1.16375927e-04 1.04414421e+01] [ 1.05506204e-02 -1.94732766e-04 9.99944322e-01 2.05067933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.054391418 meters Centerline goodness [0,1] 0.9990798399349469 Centerline is valid? [True, True] Translation: X:288.25, Y:10.44, Z:2.05 [[ 9.99518608e-01 -2.93164009e-02 -1.01538909e-02 2.88253934e+02] [ 2.93167821e-02 9.99570165e-01 -1.11330365e-04 1.04408904e+01] [ 1.01527902e-02 -1.86402634e-04 9.99948442e-01 2.05099799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.084391418 meters Centerline goodness [0,1] 0.9991001028453891 Centerline is valid? [True, True] Translation: X:288.29, Y:10.44, Z:2.05 [[ 9.99583441e-01 -2.73149189e-02 -9.31877518e-03 2.88285078e+02] [ 2.73151591e-02 9.99626866e-01 -1.01525065e-04 1.04413168e+01] [ 9.31807118e-03 -1.53061052e-04 9.99956574e-01 2.05204719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.114391418 meters Centerline goodness [0,1] 0.9990566846754138 Centerline is valid? [True, True] Translation: X:288.32, Y:10.44, Z:2.05 [[ 9.99636624e-01 -2.54705813e-02 -8.82437298e-03 2.88317740e+02] [ 2.54707298e-02 9.99675564e-01 -9.55630006e-05 1.04430523e+01] [ 8.82394408e-03 -1.29234945e-04 9.99961060e-01 2.05289356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.144391418 meters Centerline goodness [0,1] 0.9991638795986622 Centerline is valid? [True, True] Translation: X:288.35, Y:10.44, Z:2.05 [[ 9.99694404e-01 -2.32892688e-02 -8.28905570e-03 2.88349264e+02] [ 2.32893311e-02 9.99728763e-01 -8.90281309e-05 1.04432372e+01] [ 8.28888080e-03 -1.04045638e-04 9.99965641e-01 2.05375855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.174391418 meters Centerline goodness [0,1] 0.9991650788893408 Centerline is valid? [True, True] Translation: X:288.38, Y:10.45, Z:2.06 [[ 9.99815745e-01 -1.81104348e-02 -6.36310083e-03 2.88380562e+02] [ 1.81103685e-02 9.99835992e-01 -6.80466980e-05 1.04471013e+01] [ 6.36328958e-03 -4.72039405e-05 9.99979753e-01 2.05542288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.204391418 meters Centerline goodness [0,1] 0.999015937533426 Centerline is valid? [True, True] Translation: X:288.41, Y:10.45, Z:2.06 [[ 9.99858191e-01 -1.58695731e-02 -5.63503098e-03 2.88412038e+02] [ 1.58694864e-02 9.99874070e-01 -6.00912753e-05 1.04476811e+01] [ 5.63527499e-03 -2.93422938e-05 9.99984121e-01 2.05612159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.234391418 meters Centerline goodness [0,1] 0.9992934072757639 Centerline is valid? [True, True] Translation: X:288.44, Y:10.45, Z:2.06 [[ 9.99905129e-01 -1.27404997e-02 -5.23562214e-03 2.88443341e+02] [ 1.27403837e-02 9.99918836e-01 -5.55065881e-05 1.04479280e+01] [ 5.23590438e-03 -1.12025130e-05 9.99986292e-01 2.05609200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.264391418 meters Centerline goodness [0,1] 0.9991665063794319 Centerline is valid? [True, True] Translation: X:288.47, Y:10.45, Z:2.06 [[ 9.99912672e-01 -1.19282649e-02 -5.68901955e-03 2.88474563e+02] [ 1.19281163e-02 9.99928856e-01 -6.00567493e-05 1.04474500e+01] [ 5.68933118e-03 -7.80778209e-06 9.99983816e-01 2.05573354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.294391418 meters Centerline goodness [0,1] 0.9992305390501433 Centerline is valid? [True, True] Translation: X:288.51, Y:10.45, Z:2.06 [[ 9.99912237e-01 -1.17451483e-02 -6.12947443e-03 2.88506218e+02] [ 1.17449740e-02 9.99931023e-01 -6.44372601e-05 1.04462661e+01] [ 6.12980846e-03 -7.55891285e-06 9.99981213e-01 2.05531887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.324391418 meters Centerline goodness [0,1] 0.9991483925910155 Centerline is valid? [True, True] Translation: X:288.54, Y:10.44, Z:2.05 [[ 9.99874778e-01 -1.37804124e-02 -7.78004018e-03 2.88537095e+02] [ 1.37801960e-02 9.99905045e-01 -8.14293474e-05 1.04420394e+01] [ 7.78042355e-03 -2.57913275e-05 9.99969732e-01 2.05402537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.354391418 meters Centerline goodness [0,1] 0.9991262466967863 Centerline is valid? [True, True] Translation: X:288.57, Y:10.44, Z:2.05 [[ 9.99839977e-01 -1.57592991e-02 -8.46553352e-03 2.88567491e+02] [ 1.57591140e-02 9.99875814e-01 -8.85747682e-05 1.04390917e+01] [ 8.46587809e-03 -4.48487134e-05 9.99964163e-01 2.05335134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.384391418 meters Centerline goodness [0,1] 0.9989373459151577 Centerline is valid? [True, True] Translation: X:288.60, Y:10.43, Z:2.05 [[ 9.99735722e-01 -2.04845920e-02 -1.04339908e-02 2.88598491e+02] [ 2.04845706e-02 9.99790163e-01 -1.08928267e-04 1.04320461e+01] [ 1.04340327e-02 -1.04836341e-04 9.99945559e-01 2.05216826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.414391418 meters Centerline goodness [0,1] 0.9991295486391236 Centerline is valid? [True, True] Translation: X:288.63, Y:10.43, Z:2.05 [[ 9.99668564e-01 -2.32735111e-02 -1.10048457e-02 2.88629483e+02] [ 2.32736580e-02 9.99729125e-01 -1.14739026e-04 1.04282292e+01] [ 1.10045351e-02 -1.41422017e-04 9.99939438e-01 2.05153824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.444391418 meters Centerline goodness [0,1] 0.9987905279239518 Centerline is valid? [True, True] Translation: X:288.66, Y:10.42, Z:2.05 [[ 9.99590700e-01 -2.60570983e-02 -1.18092977e-02 2.88660914e+02] [ 2.60574639e-02 9.99660439e-01 -1.22933460e-04 1.04245354e+01] [ 1.18084910e-02 -1.84837206e-04 9.99930260e-01 2.05111801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.474391418 meters Centerline goodness [0,1] 0.9991516077034021 Centerline is valid? [True, True] Translation: X:288.69, Y:10.42, Z:2.05 [[ 9.99516962e-01 -2.84793832e-02 -1.24405615e-02 2.88692493e+02] [ 2.84799829e-02 9.99594355e-01 -1.28986903e-04 1.04211326e+01] [ 1.24391886e-02 -2.25382383e-04 9.99922605e-01 2.05095126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.504391418 meters Centerline goodness [0,1] 0.998791758521282 Centerline is valid? [True, True] Translation: X:288.72, Y:10.41, Z:2.05 [[ 9.99394772e-01 -3.24289989e-02 -1.25876950e-02 2.88722517e+02] [ 3.24299367e-02 9.99474003e-01 -1.29660445e-04 1.04149525e+01] [ 1.25852787e-02 -2.78636181e-04 9.99920763e-01 2.05127221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.534391418 meters Centerline goodness [0,1] 0.9990073498352623 Centerline is valid? [True, True] Translation: X:288.75, Y:10.41, Z:2.05 [[ 9.99373141e-01 -3.32188686e-02 -1.22405847e-02 2.88753816e+02] [ 3.32198256e-02 9.99448061e-01 -1.25186429e-04 1.04133736e+01] [ 1.22379872e-02 -2.81522135e-04 9.99925073e-01 2.05199738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.564391418 meters Centerline goodness [0,1] 0.9988990514905149 Centerline is valid? [True, True] Translation: X:288.79, Y:10.41, Z:2.05 [[ 9.99356201e-01 -3.38413867e-02 -1.19140623e-02 2.88785507e+02] [ 3.38423432e-02 9.99427176e-01 -1.21375755e-04 1.04118554e+01] [ 1.19113452e-02 -2.81902171e-04 9.99929018e-01 2.05258880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.594391418 meters Centerline goodness [0,1] 0.9989628532119801 Centerline is valid? [True, True] Translation: X:288.82, Y:10.41, Z:2.05 [[ 9.99389771e-01 -3.31774150e-02 -1.09244642e-02 2.88817919e+02] [ 3.31781858e-02 9.99449446e-01 -1.10718907e-04 1.04102604e+01] [ 1.09221231e-02 -2.51802560e-04 9.99940320e-01 2.05424953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.624391418 meters Centerline goodness [0,1] 0.9988154415653093 Centerline is valid? [True, True] Translation: X:288.85, Y:10.41, Z:2.06 [[ 9.99416454e-01 -3.25477495e-02 -1.03632202e-02 2.88849021e+02] [ 3.25484170e-02 9.99470154e-01 -1.04289396e-04 1.04084331e+01] [ 1.03611237e-02 -2.33077873e-04 9.99946295e-01 2.05502250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.654391418 meters Centerline goodness [0,1] 0.9989026526262477 Centerline is valid? [True, True] Translation: X:288.88, Y:10.41, Z:2.06 [[ 9.99459262e-01 -3.13505018e-02 -9.91612547e-03 2.88880222e+02] [ 3.13510592e-02 9.99508430e-01 -9.92682698e-05 1.04082053e+01] [ 9.91436310e-03 -2.11666445e-04 9.99950829e-01 2.05566189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.684391418 meters Centerline goodness [0,1] 0.9990071401411128 Centerline is valid? [True, True] Translation: X:288.91, Y:10.41, Z:2.06 [[ 9.99466840e-01 -3.09647911e-02 -1.03545858e-02 2.88912418e+02] [ 3.09653841e-02 9.99520452e-01 -1.03088631e-04 1.04077963e+01] [ 1.03528124e-02 -2.17600057e-04 9.99946385e-01 2.05564866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.714391418 meters Centerline goodness [0,1] 0.9989641029977591 Centerline is valid? [True, True] Translation: X:288.94, Y:10.40, Z:2.06 [[ 9.99470428e-01 -3.08265463e-02 -1.04205696e-02 2.88943258e+02] [ 3.08271502e-02 9.99524725e-01 -1.02703657e-04 1.04045170e+01] [ 1.04187830e-02 -2.18587198e-04 9.99945699e-01 2.05543061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.744391418 meters Centerline goodness [0,1] 0.9989259766241971 Centerline is valid? [True, True] Translation: X:288.97, Y:10.40, Z:2.05 [[ 9.99426867e-01 -3.18893522e-02 -1.13581401e-02 2.88974235e+02] [ 3.18901519e-02 9.99491374e-01 -1.10738465e-04 1.04015527e+01] [ 1.13558944e-02 -2.51537816e-04 9.99935488e-01 2.05494514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.774391418 meters Centerline goodness [0,1] 0.9992615098957673 Centerline is valid? [True, True] Translation: X:289.01, Y:10.40, Z:2.05 [[ 9.99398180e-01 -3.23878007e-02 -1.24221157e-02 2.89005319e+02] [ 3.23888020e-02 9.99475338e-01 -1.20614546e-04 1.04000784e+01] [ 1.24195047e-02 -2.81795487e-04 9.99922835e-01 2.05469402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.804391418 meters Centerline goodness [0,1] 0.9991371327552825 Centerline is valid? [True, True] Translation: X:289.04, Y:10.40, Z:2.06 [[ 9.99372225e-01 -3.30785650e-02 -1.26871550e-02 2.89036846e+02] [ 3.30796714e-02 9.99452710e-01 -1.22689344e-04 1.04010604e+01] [ 1.26842698e-02 -2.97074596e-04 9.99919507e-01 2.05517148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.834391418 meters Centerline goodness [0,1] 0.9990543039677202 Centerline is valid? [True, True] Translation: X:289.07, Y:10.40, Z:2.05 [[ 9.99349463e-01 -3.37311025e-02 -1.27618139e-02 2.89068447e+02] [ 3.37322817e-02 9.99430897e-01 -1.22896381e-04 1.03987335e+01] [ 1.27586965e-02 -3.07668668e-04 9.99918557e-01 2.05490307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.864391418 meters Centerline goodness [0,1] 0.9988019421148875 Centerline is valid? [True, True] Translation: X:289.10, Y:10.40, Z:2.06 [[ 9.99347502e-01 -3.36389384e-02 -1.31526280e-02 2.89099309e+02] [ 3.36401901e-02 9.99434001e-01 -1.26117237e-04 1.03987266e+01] [ 1.31494261e-02 -3.16421961e-04 9.99913492e-01 2.05529936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.894391418 meters Centerline goodness [0,1] 0.9990314973892538 Centerline is valid? [True, True] Translation: X:289.13, Y:10.40, Z:2.06 [[ 9.99352866e-01 -3.32177725e-02 -1.37996060e-02 2.89130241e+02] [ 3.32191182e-02 9.99448084e-01 -1.31746257e-04 1.03987926e+01] [ 1.37963661e-02 -3.26749743e-04 9.99904772e-01 2.05538773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.924391418 meters Centerline goodness [0,1] 0.9991175172819532 Centerline is valid? [True, True] Translation: X:289.16, Y:10.40, Z:2.05 [[ 9.99412267e-01 -3.10105015e-02 -1.46105977e-02 2.89161121e+02] [ 3.10117788e-02 9.99519009e-01 -1.39188763e-04 1.04002264e+01] [ 1.46078864e-02 -3.13993666e-04 9.99893250e-01 2.05487952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.954391418 meters Centerline goodness [0,1] 0.9990333697570816 Centerline is valid? [True, True] Translation: X:289.19, Y:10.40, Z:2.05 [[ 9.99451613e-01 -2.94923122e-02 -1.50557847e-02 2.89191720e+02] [ 2.94934964e-02 9.99564962e-01 -1.43429864e-04 1.04019418e+01] [ 1.50534649e-02 -3.00696520e-04 9.99886645e-01 2.05465455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.984391418 meters Centerline goodness [0,1] 0.9988240235195296 Centerline is valid? [True, True] Translation: X:289.22, Y:10.40, Z:2.05 [[ 9.99491701e-01 -2.76811576e-02 -1.58143440e-02 2.89221067e+02] [ 2.76822346e-02 9.99616762e-01 -1.50832746e-04 1.04032751e+01] [ 1.58124586e-02 -2.87020304e-04 9.99874934e-01 2.05399930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.014391418 meters Centerline goodness [0,1] 0.9990749111704477 Centerline is valid? [True, True] Translation: X:289.25, Y:10.41, Z:2.05 [[ 9.99529492e-01 -2.58772684e-02 -1.64669767e-02 2.89250562e+02] [ 2.58781828e-02 9.99665091e-01 -1.57582131e-04 1.04056640e+01] [ 1.64655396e-02 -2.68627447e-04 9.99864398e-01 2.05416758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.044391418 meters Centerline goodness [0,1] 0.9992619459322677 Centerline is valid? [True, True] Translation: X:289.28, Y:10.41, Z:2.05 [[ 9.99589179e-01 -2.29155513e-02 -1.72148684e-02 2.89279312e+02] [ 2.29160574e-02 9.99737379e-01 -1.67885058e-04 1.04083468e+01] [ 1.72141946e-02 -2.26680826e-04 9.99851799e-01 2.05391459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.074391418 meters Centerline goodness [0,1] 0.9991985489517864 Centerline is valid? [True, True] Translation: X:289.31, Y:10.41, Z:2.05 [[ 9.99618138e-01 -2.15482216e-02 -1.72989140e-02 2.89306978e+02] [ 2.15484764e-02 9.99767790e-01 -1.71690556e-04 1.04095339e+01] [ 1.72985967e-02 -2.01140247e-04 9.99850348e-01 2.05407534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.104391418 meters Centerline goodness [0,1] 0.9991771631115893 Centerline is valid? [True, True] Translation: X:289.34, Y:10.41, Z:2.06 [[ 9.99663411e-01 -1.96778140e-02 -1.69070552e-02 2.89335585e+02] [ 1.96777310e-02 9.99806360e-01 -1.71283076e-04 1.04120771e+01] [ 1.69071518e-02 -1.61467061e-04 9.99857051e-01 2.05590843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.134391418 meters Centerline goodness [0,1] 0.999115286583953 Centerline is valid? [True, True] Translation: X:289.36, Y:10.41, Z:2.06 [[ 9.99670573e-01 -1.93793573e-02 -1.68281595e-02 2.89362497e+02] [ 1.93791764e-02 9.99812191e-01 -1.73835945e-04 1.04120312e+01] [ 1.68283678e-02 -1.52337192e-04 9.99858381e-01 2.05570630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.164391418 meters Centerline goodness [0,1] 0.9992185024817827 Centerline is valid? [True, True] Translation: X:289.39, Y:10.41, Z:2.06 [[ 9.99665365e-01 -1.97794920e-02 -1.66712187e-02 2.89390580e+02] [ 1.97793009e-02 9.99804355e-01 -1.76364121e-04 1.04128570e+01] [ 1.66714454e-02 -1.53439947e-04 9.99861010e-01 2.05700993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.194391418 meters Centerline goodness [0,1] 0.9992617746936365 Centerline is valid? [True, True] Translation: X:289.42, Y:10.41, Z:2.06 [[ 9.99660133e-01 -2.09382346e-02 -1.55308872e-02 2.89417259e+02] [ 2.09381563e-02 9.99780759e-01 -1.67657861e-04 1.04107283e+01] [ 1.55309926e-02 -1.57587264e-04 9.99879374e-01 2.05753458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.224391418 meters Centerline goodness [0,1] 0.9989249578414839 Centerline is valid? [True, True] Translation: X:289.44, Y:10.41, Z:2.06 [[ 9.99646924e-01 -2.19672085e-02 -1.49488681e-02 2.89444618e+02] [ 2.19672250e-02 9.99758678e-01 -1.63118341e-04 1.04086381e+01] [ 1.49488439e-02 -1.65324402e-04 9.99888246e-01 2.05722148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.254391418 meters Centerline goodness [0,1] 0.9993892936865603 Centerline is valid? [True, True] Translation: X:289.47, Y:10.41, Z:2.06 [[ 9.99611492e-01 -2.41833566e-02 -1.38575133e-02 2.89473496e+02] [ 2.41835494e-02 9.99707523e-01 -1.53681737e-04 1.04056425e+01] [ 1.38571769e-02 -1.81501827e-04 9.99903968e-01 2.05850116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.284391418 meters Centerline goodness [0,1] 0.9990112340640384 Centerline is valid? [True, True] Translation: X:289.50, Y:10.41, Z:2.06 [[ 9.99593883e-01 -2.50870484e-02 -1.35169569e-02 2.89503100e+02] [ 2.50872863e-02 9.99685253e-01 -1.51989898e-04 1.04055181e+01] [ 1.35165155e-02 -1.87175595e-04 9.99908630e-01 2.05923229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.314391418 meters Centerline goodness [0,1] 0.999160704169202 Centerline is valid? [True, True] Translation: X:289.53, Y:10.40, Z:2.06 [[ 9.99573738e-01 -2.57528474e-02 -1.37525804e-02 2.89533006e+02] [ 2.57531490e-02 9.99668321e-01 -1.55190490e-04 1.04045969e+01] [ 1.37520156e-02 -1.99047915e-04 9.99905417e-01 2.05947397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.344391418 meters Centerline goodness [0,1] 0.9991386554621848 Centerline is valid? [True, True] Translation: X:289.56, Y:10.40, Z:2.06 [[ 9.99551519e-01 -2.64861471e-02 -1.39730114e-02 2.89562179e+02] [ 2.64865242e-02 9.99649158e-01 -1.58098014e-04 1.04034651e+01] [ 1.39722965e-02 -2.12069395e-04 9.99902360e-01 2.05960242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.374391418 meters Centerline goodness [0,1] 0.9991385468756566 Centerline is valid? [True, True] Translation: X:289.59, Y:10.40, Z:2.06 [[ 9.99527977e-01 -2.73757814e-02 -1.39423740e-02 2.89591749e+02] [ 2.73762377e-02 9.99625188e-01 -1.58160069e-04 1.04013585e+01] [ 1.39414780e-02 -2.23604332e-04 9.99902788e-01 2.06008833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.404391418 meters Centerline goodness [0,1] 0.9989266547406083 Centerline is valid? [True, True] Translation: X:289.62, Y:10.40, Z:2.06 [[ 9.99518301e-01 -2.78317655e-02 -1.37316401e-02 2.89622157e+02] [ 2.78322474e-02 9.99612596e-01 -1.56039086e-04 1.04011581e+01] [ 1.37306633e-02 -2.26218483e-04 9.99905704e-01 2.06070293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.434391418 meters Centerline goodness [0,1] 0.9988442221615147 Centerline is valid? [True, True] Translation: X:289.65, Y:10.40, Z:2.06 [[ 9.99506607e-01 -2.81152183e-02 -1.40027564e-02 2.89652032e+02] [ 2.81157454e-02 9.99604662e-01 -1.59259186e-04 1.03989411e+01] [ 1.40016982e-02 -2.34517324e-04 9.99901944e-01 2.06042467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.464391418 meters Centerline goodness [0,1] 0.9991587802313354 Centerline is valid? [True, True] Translation: X:289.68, Y:10.40, Z:2.06 [[ 9.99474780e-01 -2.88299384e-02 -1.47986196e-02 2.89682691e+02] [ 2.88306032e-02 9.99584298e-01 -1.68458365e-04 1.03982686e+01] [ 1.47973245e-02 -2.58283243e-04 9.99890480e-01 2.06084552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.494391418 meters Centerline goodness [0,1] 0.9988458713671178 Centerline is valid? [True, True] Translation: X:289.71, Y:10.40, Z:2.06 [[ 9.99457506e-01 -2.90688070e-02 -1.54821654e-02 2.89712464e+02] [ 2.90695607e-02 9.99577375e-01 -1.76410167e-04 1.03970228e+01] [ 1.54807503e-02 -2.73745282e-04 9.99880129e-01 2.06034669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.524391418 meters Centerline goodness [0,1] 0.9989112911668028 Centerline is valid? [True, True] Translation: X:289.74, Y:10.39, Z:2.06 [[ 9.99417984e-01 -2.98543141e-02 -1.65049405e-02 2.89742439e+02] [ 2.98552690e-02 9.99554214e-01 -1.88593783e-04 1.03945707e+01] [ 1.65032132e-02 -3.04275420e-04 9.99863766e-01 2.05961267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.554391418 meters Centerline goodness [0,1] 0.9991180176396472 Centerline is valid? [True, True] Translation: X:289.77, Y:10.39, Z:2.06 [[ 9.99392880e-01 -3.02980246e-02 -1.72017667e-02 2.89771164e+02] [ 3.02991121e-02 9.99540857e-01 -1.97452686e-04 1.03931573e+01] [ 1.71998511e-02 -3.23865451e-04 9.99852019e-01 2.05918212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.584391418 meters Centerline goodness [0,1] 0.9991604223075793 Centerline is valid? [True, True] Translation: X:289.80, Y:10.39, Z:2.06 [[ 9.99374804e-01 -3.08676773e-02 -1.72391339e-02 2.89799994e+02] [ 3.08687971e-02 9.99523425e-01 -2.01197132e-04 1.03928369e+01] [ 1.72371286e-02 -3.31079981e-04 9.99851375e-01 2.05976334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.614391418 meters Centerline goodness [0,1] 0.9991172390600698 Centerline is valid? [True, True] Translation: X:289.83, Y:10.39, Z:2.06 [[ 9.99357488e-01 -3.14651653e-02 -1.71625723e-02 2.89829028e+02] [ 3.14662803e-02 9.99504793e-01 -2.05134621e-04 1.03919266e+01] [ 1.71605279e-02 -3.35039491e-04 9.99852691e-01 2.06007438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.644391418 meters Centerline goodness [0,1] 0.9989525724819842 Centerline is valid? [True, True] Translation: X:289.86, Y:10.39, Z:2.06 [[ 9.99352391e-01 -3.13606161e-02 -1.76440144e-02 2.89857879e+02] [ 3.13617314e-02 9.99508077e-01 -2.13547671e-04 1.03867801e+01] [ 1.76420319e-02 -3.39937465e-04 9.99844309e-01 2.05840568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.674391418 meters Centerline goodness [0,1] 0.9993085240130751 Centerline is valid? [True, True] Translation: X:289.89, Y:10.39, Z:2.06 [[ 9.99345055e-01 -3.15406443e-02 -1.77383682e-02 2.89886383e+02] [ 3.15417396e-02 9.99502412e-01 -2.18088831e-04 1.03898909e+01] [ 1.77364205e-02 -3.41552997e-04 9.99842639e-01 2.06046554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.704391418 meters Centerline goodness [0,1] 0.9988726278210401 Centerline is valid? [True, True] Translation: X:289.91, Y:10.39, Z:2.06 [[ 9.99329612e-01 -3.19466261e-02 -1.78812869e-02 2.89914765e+02] [ 3.19477141e-02 9.99489516e-01 -2.24874973e-04 1.03900460e+01] [ 1.78793428e-02 -3.46542023e-04 9.99840092e-01 2.06074433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.734391418 meters Centerline goodness [0,1] 0.9989521993335988 Centerline is valid? [True, True] Translation: X:289.94, Y:10.39, Z:2.06 [[ 9.99316863e-01 -3.23984879e-02 -1.77804647e-02 2.89943407e+02] [ 3.23995889e-02 9.99474970e-01 -2.26216429e-04 1.03874829e+01] [ 1.77784585e-02 -3.50017853e-04 9.99841889e-01 2.06130446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.764391418 meters Centerline goodness [0,1] 0.9989521993335988 Centerline is valid? [True, True] Translation: X:289.97, Y:10.39, Z:2.06 [[ 9.99307799e-01 -3.26768816e-02 -1.77804207e-02 2.89971664e+02] [ 3.26779658e-02 9.99465906e-01 -2.29635679e-04 1.03879493e+01] [ 1.77784281e-02 -3.51551254e-04 9.99841889e-01 2.06150265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.794391418 meters Centerline goodness [0,1] 0.9988697490424263 Centerline is valid? [True, True] Translation: X:290.00, Y:10.39, Z:2.06 [[ 9.99288801e-01 -3.32851833e-02 -1.77197370e-02 2.90000801e+02] [ 3.32862682e-02 9.99445831e-01 -2.33786538e-04 1.03870141e+01] [ 1.77176990e-02 -3.56203650e-04 9.99842966e-01 2.06207540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.824391418 meters Centerline goodness [0,1] 0.9990776261451062 Centerline is valid? [True, True] Translation: X:290.03, Y:10.38, Z:2.06 [[ 9.99254709e-01 -3.46329146e-02 -1.70466497e-02 2.90029777e+02] [ 3.46340343e-02 9.99400035e-01 -2.29619175e-04 1.03848997e+01] [ 1.70443747e-02 -3.60946211e-04 9.99854669e-01 2.06303936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.854391418 meters Centerline goodness [0,1] 0.9989296283081831 Centerline is valid? [True, True] Translation: X:290.06, Y:10.38, Z:2.06 [[ 9.99234489e-01 -3.51855798e-02 -1.71000473e-02 2.90058674e+02] [ 3.51867431e-02 9.99380728e-01 -2.32926142e-04 1.03827407e+01] [ 1.70976534e-02 -3.68947138e-04 9.99853756e-01 2.06295196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.884391418 meters Centerline goodness [0,1] 0.9990567817392945 Centerline is valid? [True, True] Translation: X:290.09, Y:10.38, Z:2.06 [[ 9.99183919e-01 -3.63590427e-02 -1.75930672e-02 2.90088047e+02] [ 3.63604409e-02 9.99338712e-01 -2.40493446e-04 1.03805171e+01] [ 1.75901772e-02 -3.99394497e-04 9.99845201e-01 2.06294588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.914391418 meters Centerline goodness [0,1] 0.9990561288698716 Centerline is valid? [True, True] Translation: X:290.12, Y:10.38, Z:2.06 [[ 9.99159726e-01 -3.66618954e-02 -1.83234018e-02 2.90117680e+02] [ 3.66634496e-02 9.99327638e-01 -2.51215257e-04 1.03800872e+01] [ 1.83202919e-02 -4.20794951e-04 9.99832081e-01 2.06295372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.944391418 meters Centerline goodness [0,1] 0.9989516501027383 Centerline is valid? [True, True] Translation: X:290.15, Y:10.38, Z:2.06 [[ 9.99129142e-01 -3.71187331e-02 -1.90567041e-02 2.90146304e+02] [ 3.71204283e-02 9.99310764e-01 -2.64891158e-04 1.03795923e+01] [ 1.90534020e-02 -4.42732543e-04 9.99818369e-01 2.06248011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.974391418 meters Centerline goodness [0,1] 0.99895121030331 Centerline is valid? [True, True] Translation: X:290.17, Y:10.38, Z:2.06 [[ 9.99124465e-01 -3.69557304e-02 -1.96106407e-02 2.90174588e+02] [ 3.69574406e-02 9.99316803e-01 -2.75324351e-04 1.03792817e+01] [ 1.96074176e-02 -4.49675794e-04 9.99807655e-01 2.06238334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.004391418 meters Centerline goodness [0,1] 0.9990569201106547 Centerline is valid? [True, True] Translation: X:290.20, Y:10.38, Z:2.06 [[ 9.99114401e-01 -3.64164637e-02 -2.10773767e-02 2.90203679e+02] [ 3.64182284e-02 9.99336591e-01 -3.00238488e-04 1.03797447e+01] [ 2.10743274e-02 -4.67628124e-04 9.99777802e-01 2.06271112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.034391418 meters Centerline goodness [0,1] 0.9991410914423379 Centerline is valid? [True, True] Translation: X:290.23, Y:10.38, Z:2.06 [[ 9.99145142e-01 -3.56106145e-02 -2.09969085e-02 2.90231889e+02] [ 3.56121188e-02 9.99365642e-01 -3.02380402e-04 1.03797333e+01] [ 2.09943569e-02 -4.45622492e-04 9.99779495e-01 2.06293150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.064391418 meters Centerline goodness [0,1] 0.9989303915605797 Centerline is valid? [True, True] Translation: X:290.26, Y:10.38, Z:2.06 [[ 9.99179000e-01 -3.47345955e-02 -2.08526582e-02 2.90260238e+02] [ 3.47357951e-02 9.99396484e-01 -3.04785317e-04 1.03815968e+01] [ 2.08506599e-02 -4.19798575e-04 9.99782513e-01 2.06402860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.094391418 meters Centerline goodness [0,1] 0.9990143857736024 Centerline is valid? [True, True] Translation: X:290.29, Y:10.38, Z:2.07 [[ 9.99261776e-01 -3.21754810e-02 -2.09914763e-02 2.90289412e+02] [ 3.21760483e-02 9.99482169e-01 -3.10812162e-04 1.03832515e+01] [ 2.09906068e-02 -3.64840042e-04 9.99779606e-01 2.06529154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.124391418 meters Centerline goodness [0,1] 0.9993726605466218 Centerline is valid? [True, True] Translation: X:290.32, Y:10.38, Z:2.07 [[ 9.99303580e-01 -3.07627946e-02 -2.11188625e-02 2.90317339e+02] [ 3.07630023e-02 9.99526657e-01 -3.15117404e-04 1.03834201e+01] [ 2.11185600e-02 -3.34781667e-04 9.99776922e-01 2.06514393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.154391418 meters Centerline goodness [0,1] 0.9994334158727494 Centerline is valid? [True, True] Translation: X:290.35, Y:10.39, Z:2.07 [[ 9.99324933e-01 -2.92945013e-02 -2.21700201e-02 2.90345314e+02] [ 2.92942489e-02 9.99570775e-01 -3.36221904e-04 1.03850558e+01] [ 2.21703536e-02 -3.13459155e-04 9.99754158e-01 2.06548464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.184391418 meters Centerline goodness [0,1] 0.999390756302521 Centerline is valid? [True, True] Translation: X:290.37, Y:10.39, Z:2.07 [[ 9.99321095e-01 -2.92715230e-02 -2.23724489e-02 2.90372878e+02] [ 2.92711001e-02 9.99571450e-01 -3.46445209e-04 1.03861114e+01] [ 2.23730022e-02 -3.08656186e-04 9.99749645e-01 2.06656553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.214391418 meters Centerline goodness [0,1] 0.9992240258378424 Centerline is valid? [True, True] Translation: X:290.40, Y:10.39, Z:2.07 [[ 9.99293197e-01 -2.98749780e-02 -2.28164959e-02 2.90401386e+02] [ 2.98745410e-02 9.99553591e-01 -3.60090254e-04 1.03856669e+01] [ 2.28170681e-02 -3.21796602e-04 9.99739605e-01 2.06669851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.244391418 meters Centerline goodness [0,1] 0.9991185914251537 Centerline is valid? [True, True] Translation: X:290.43, Y:10.38, Z:2.07 [[ 9.99185144e-01 -3.24381829e-02 -2.40169054e-02 2.90428764e+02] [ 3.24383399e-02 9.99473665e-01 -3.83152463e-04 1.03826521e+01] [ 2.40166933e-02 -3.96228294e-04 9.99711479e-01 2.06640223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.274391418 meters Centerline goodness [0,1] 0.9994118511983532 Centerline is valid? [True, True] Translation: X:290.46, Y:10.38, Z:2.07 [[ 9.99126208e-01 -3.43232426e-02 -2.38481789e-02 2.90457113e+02] [ 3.43238742e-02 9.99410689e-01 -3.82977434e-04 1.03812785e+01] [ 2.38472699e-02 -4.35919099e-04 9.99715518e-01 2.06693182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.304391418 meters Centerline goodness [0,1] 0.9991189057648737 Centerline is valid? [True, True] Translation: X:290.49, Y:10.38, Z:2.07 [[ 9.99032399e-01 -3.65740427e-02 -2.44255057e-02 2.90485998e+02] [ 3.65752416e-02 9.99330823e-01 -3.97814606e-04 1.03793443e+01] [ 2.44237104e-02 -4.95939093e-04 9.99701574e-01 2.06720993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.334391418 meters Centerline goodness [0,1] 0.9992657394004237 Centerline is valid? [True, True] Translation: X:290.51, Y:10.37, Z:2.07 [[ 9.98871777e-01 -4.10212836e-02 -2.39254628e-02 2.90513950e+02] [ 4.10236229e-02 9.99158099e-01 -3.93248749e-04 1.03747544e+01] [ 2.39214515e-02 -5.88704085e-04 9.99713668e-01 2.06841200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.364391418 meters Centerline goodness [0,1] 0.9993486300218524 Centerline is valid? [True, True] Translation: X:290.54, Y:10.37, Z:2.07 [[ 9.98773307e-01 -4.36049097e-02 -2.34625865e-02 2.90541768e+02] [ 4.36078180e-02 9.99048651e-01 -3.87921178e-04 1.03726208e+01] [ 2.34571807e-02 -6.35706886e-04 9.99724640e-01 2.06929858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.394391418 meters Centerline goodness [0,1] 0.9990966006975083 Centerline is valid? [True, True] Translation: X:290.57, Y:10.37, Z:2.07 [[ 9.98663420e-01 -4.61622264e-02 -2.32469846e-02 2.90570536e+02] [ 4.61656552e-02 9.98933722e-01 -3.89451380e-04 1.03705212e+01] [ 2.32401748e-02 -6.84281430e-04 9.99729676e-01 2.06982538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.424391418 meters Centerline goodness [0,1] 0.9991822184944433 Centerline is valid? [True, True] Translation: X:290.60, Y:10.37, Z:2.07 [[ 9.98465724e-01 -5.04468665e-02 -2.28322662e-02 2.90599902e+02] [ 5.04512288e-02 9.98726452e-01 -3.85303415e-04 1.03662029e+01] [ 2.28226255e-02 -7.67203631e-04 9.99739236e-01 2.07104512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.454391418 meters Centerline goodness [0,1] 0.9990554354442602 Centerline is valid? [True, True] Translation: X:290.63, Y:10.36, Z:2.07 [[ 9.98348694e-01 -5.28725493e-02 -2.24583916e-02 2.90627242e+02] [ 5.28773333e-02 9.98600942e-01 -3.81194481e-04 1.03638022e+01] [ 2.24471258e-02 -8.06974847e-04 9.99747706e-01 2.07110446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.484391418 meters Centerline goodness [0,1] 0.9992862241256245 Centerline is valid? [True, True] Translation: X:290.66, Y:10.36, Z:2.07 [[ 9.98231419e-01 -5.49734085e-02 -2.26264979e-02 2.90655317e+02] [ 5.49787507e-02 9.98487450e-01 -3.86367121e-04 1.03617239e+01] [ 2.26135141e-02 -8.58292789e-04 9.99743913e-01 2.07092374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.514391418 meters Centerline goodness [0,1] 0.9992439992439992 Centerline is valid? [True, True] Translation: X:290.69, Y:10.36, Z:2.07 [[ 9.98044559e-01 -5.79792656e-02 -2.33551482e-02 2.90685315e+02] [ 5.79857485e-02 9.98317331e-01 -4.00123439e-04 1.03591089e+01] [ 2.33390481e-02 -9.54924730e-04 9.99727151e-01 2.07001332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.544391418 meters Centerline goodness [0,1] 0.9992226727452257 Centerline is valid? [True, True] Translation: X:290.71, Y:10.36, Z:2.07 [[ 9.97958511e-01 -5.92856683e-02 -2.37491101e-02 2.90714432e+02] [ 5.92926296e-02 9.98240560e-01 -4.11568097e-04 1.03584511e+01] [ 2.37317251e-02 -9.97419303e-04 9.99717865e-01 2.06993096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.574391418 meters Centerline goodness [0,1] 0.9991170349191667 Centerline is valid? [True, True] Translation: X:290.74, Y:10.36, Z:2.07 [[ 9.97882084e-01 -6.05200225e-02 -2.38468698e-02 2.90743257e+02] [ 6.05272428e-02 9.98166457e-01 -4.19564250e-04 1.03585186e+01] [ 2.38285376e-02 -1.02470963e-03 9.99715535e-01 2.07003181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.604391418 meters Centerline goodness [0,1] 0.999390705101269 Centerline is valid? [True, True] Translation: X:290.77, Y:10.36, Z:2.07 [[ 9.97765209e-01 -6.23050557e-02 -2.41385288e-02 2.90772406e+02] [ 6.23129043e-02 9.98056571e-01 -4.27623693e-04 1.03648297e+01] [ 2.41182604e-02 -1.07747379e-03 9.99708532e-01 2.07283938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.634391418 meters Centerline goodness [0,1] 0.9991624264505727 Centerline is valid? [True, True] Translation: X:290.80, Y:10.36, Z:2.07 [[ 9.97716390e-01 -6.32157128e-02 -2.37860950e-02 2.90800546e+02] [ 6.32235556e-02 9.97999300e-01 -4.22916299e-04 1.03639191e+01] [ 2.37652411e-02 -1.08189098e-03 9.99716981e-01 2.07293533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.664391418 meters Centerline goodness [0,1] 0.9991618297257088 Centerline is valid? [True, True] Translation: X:290.83, Y:10.36, Z:2.07 [[ 9.97550341e-01 -6.57100580e-02 -2.39896865e-02 2.90829101e+02] [ 6.57187074e-02 9.97838097e-01 -4.28529520e-04 1.03631261e+01] [ 2.39659818e-02 -1.14909142e-03 9.99712114e-01 2.07350602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.694391418 meters Centerline goodness [0,1] 0.9993065770119773 Centerline is valid? [True, True] Translation: X:290.86, Y:10.36, Z:2.07 [[ 9.97434441e-01 -6.73000841e-02 -2.43974440e-02 2.90858138e+02] [ 6.73093699e-02 9.97732055e-01 -4.41336403e-04 1.03642675e+01] [ 2.43718139e-02 -1.20197245e-03 9.99702241e-01 2.07416186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.724391418 meters Centerline goodness [0,1] 0.9990769295319614 Centerline is valid? [True, True] Translation: X:290.89, Y:10.37, Z:2.07 [[ 9.97314783e-01 -6.89131677e-02 -2.47830255e-02 2.90886590e+02] [ 6.89230728e-02 9.97621874e-01 -4.55312489e-04 1.03651520e+01] [ 2.47554654e-02 -1.25403240e-03 9.99692750e-01 2.07445475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.754391418 meters Centerline goodness [0,1] 0.9988878630182978 Centerline is valid? [True, True] Translation: X:290.92, Y:10.37, Z:2.07 [[ 9.97075512e-01 -7.19991284e-02 -2.56232152e-02 2.90915620e+02] [ 7.20106515e-02 9.97403750e-01 -4.73926067e-04 1.03671717e+01] [ 2.55908132e-02 -1.37260434e-03 9.99671559e-01 2.07491001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.784391418 meters Centerline goodness [0,1] 0.9989952273298166 Centerline is valid? [True, True] Translation: X:290.94, Y:10.36, Z:2.07 [[ 9.96948281e-01 -7.35848294e-02 -2.60652457e-02 2.90943942e+02] [ 7.35972423e-02 9.97287928e-01 -4.84086502e-04 1.03648020e+01] [ 2.60301763e-02 -1.43572100e-03 9.99660127e-01 2.07378827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.814391418 meters Centerline goodness [0,1] 0.9988269549006054 Centerline is valid? [True, True] Translation: X:290.97, Y:10.37, Z:2.07 [[ 9.96827421e-01 -7.53023186e-02 -2.57808824e-02 2.90973002e+02] [ 7.53149910e-02 9.97159677e-01 -4.80491382e-04 1.03659717e+01] [ 2.57438385e-02 -1.46271994e-03 9.99667502e-01 2.07424152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.844391418 meters Centerline goodness [0,1] 0.9988263402774867 Centerline is valid? [True, True] Translation: X:291.00, Y:10.37, Z:2.07 [[ 9.96678740e-01 -7.72067230e-02 -2.58961527e-02 2.91001995e+02] [ 7.72200975e-02 9.97013953e-01 -4.84653452e-04 1.03668382e+01] [ 2.58562441e-02 -1.51665964e-03 9.99664521e-01 2.07474411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.874391418 meters Centerline goodness [0,1] 0.9988021938764788 Centerline is valid? [True, True] Translation: X:291.03, Y:10.37, Z:2.08 [[ 9.96377095e-01 -8.10259036e-02 -2.58357809e-02 2.91031715e+02] [ 8.10404791e-02 9.96710693e-01 -4.84112992e-04 1.03701780e+01] [ 2.57900247e-02 -1.61138496e-03 9.99666083e-01 2.07603512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.904391418 meters Centerline goodness [0,1] 0.9989917872671134 Centerline is valid? [True, True] Translation: X:291.06, Y:10.37, Z:2.08 [[ 9.96231394e-01 -8.27275912e-02 -2.60606015e-02 2.91061830e+02] [ 8.27429911e-02 9.96570800e-01 -4.88721707e-04 1.03710339e+01] [ 2.60116653e-02 -1.66945221e-03 9.99660245e-01 2.07621646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.934391418 meters Centerline goodness [0,1] 0.9985967704777263 Centerline is valid? [True, True] Translation: X:291.09, Y:10.37, Z:2.08 [[ 9.96026926e-01 -8.51647760e-02 -2.60254264e-02 2.91091544e+02] [ 8.51809486e-02 9.96365378e-01 -4.88596162e-04 1.03705649e+01] [ 2.59724450e-02 -1.73021557e-03 9.99661162e-01 2.07616322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.964391418 meters Centerline goodness [0,1] 0.9987016250628246 Centerline is valid? [True, True] Translation: X:291.12, Y:10.37, Z:2.08 [[ 9.95977160e-01 -8.58800650e-02 -2.55755827e-02 2.91122159e+02] [ 8.58959141e-02 9.96304000e-01 -4.80291604e-04 1.03747084e+01] [ 2.55223029e-02 -1.71847859e-03 9.99672776e-01 2.07743364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.994391418 meters Centerline goodness [0,1] 0.9988051566921706 Centerline is valid? [True, True] Translation: X:291.15, Y:10.38, Z:2.08 [[ 9.95946102e-01 -8.63382776e-02 -2.52401192e-02 2.91152298e+02] [ 8.63538598e-02 9.96264416e-01 -4.73991832e-04 1.03773275e+01] [ 2.51867562e-02 -1.70751139e-03 9.99681305e-01 2.07801664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.024391418 meters Centerline goodness [0,1] 0.9987649927783476 Centerline is valid? [True, True] Translation: X:291.18, Y:10.38, Z:2.08 [[ 9.96055549e-01 -8.54614331e-02 -2.38680969e-02 2.91181593e+02] [ 8.54751242e-02 9.96340204e-01 -4.47872413e-04 1.03812422e+01] [ 2.38190204e-02 -1.59402275e-03 9.99715016e-01 2.07922279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.054391418 meters Centerline goodness [0,1] 0.9985332020199904 Centerline is valid? [True, True] Translation: X:291.21, Y:10.38, Z:2.08 [[ 9.96181115e-01 -8.40804502e-02 -2.35300609e-02 2.91211499e+02] [ 8.40933760e-02 9.96457781e-01 -4.41384399e-04 1.03810150e+01] [ 2.34838240e-02 -1.53902345e-03 9.99723032e-01 2.07930031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.084391418 meters Centerline goodness [0,1] 0.9987018969054897 Centerline is valid? [True, True] Translation: X:291.24, Y:10.39, Z:2.08 [[ 9.96378347e-01 -8.19354389e-02 -2.27326342e-02 2.91242389e+02] [ 8.19469543e-02 9.96636601e-01 -4.26103131e-04 1.03896463e+01] [ 2.26910883e-02 -1.43831021e-03 9.99741489e-01 2.08122743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.114391418 meters Centerline goodness [0,1] 0.9987395752368549 Centerline is valid? [True, True] Translation: X:291.27, Y:10.40, Z:2.08 [[ 9.96856695e-01 -7.61237166e-02 -2.19524497e-02 2.91272609e+02] [ 7.61330533e-02 9.97097582e-01 -4.11337724e-04 1.03987868e+01] [ 2.19200471e-02 -1.26126226e-03 9.99758931e-01 2.08232898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.144391418 meters Centerline goodness [0,1] 0.9985940024762344 Centerline is valid? [True, True] Translation: X:291.30, Y:10.40, Z:2.08 [[ 9.97153525e-01 -7.21699850e-02 -2.18252154e-02 2.91302026e+02] [ 7.21782630e-02 9.97391664e-01 -4.09254144e-04 1.04017406e+01] [ 2.17978238e-02 -1.16721693e-03 9.99761718e-01 2.08215772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.174391418 meters Centerline goodness [0,1] 0.9986162071495964 Centerline is valid? [True, True] Translation: X:291.33, Y:10.40, Z:2.08 [[ 9.97444348e-01 -6.81608724e-02 -2.14211993e-02 2.91331636e+02] [ 6.81679213e-02 9.97673781e-01 -4.01818291e-04 1.04044045e+01] [ 2.13987572e-02 -1.05944724e-03 9.99770459e-01 2.08153020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.204391418 meters Centerline goodness [0,1] 0.9987827911857293 Centerline is valid? [True, True] Translation: X:291.36, Y:10.42, Z:2.08 [[ 9.97980285e-01 -5.97735110e-02 -2.15052889e-02 2.91361435e+02] [ 5.97786711e-02 9.98211575e-01 -4.03403485e-04 1.04197583e+01] [ 2.14909411e-02 -8.82968866e-04 9.99768653e-01 2.08325164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.234391418 meters Centerline goodness [0,1] 0.9989064372989002 Centerline is valid? [True, True] Translation: X:291.39, Y:10.43, Z:2.08 [[ 9.98205660e-01 -5.59336439e-02 -2.13749351e-02 2.91392526e+02] [ 5.59378686e-02 9.98434171e-01 -4.00672476e-04 1.04254723e+01] [ 2.13638767e-02 -7.95714778e-04 9.99771450e-01 2.08369868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.264391418 meters Centerline goodness [0,1] 0.9990523323154681 Centerline is valid? [True, True] Translation: X:291.42, Y:10.43, Z:2.08 [[ 9.98542857e-01 -4.93296744e-02 -2.18802636e-02 2.91422755e+02] [ 4.93325206e-02 9.98782326e-01 -4.10000287e-04 1.04339065e+01] [ 2.18738457e-02 -6.70005695e-04 9.99760514e-01 2.08345627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.294391418 meters Centerline goodness [0,1] 0.9987142465695676 Centerline is valid? [True, True] Translation: X:291.45, Y:10.44, Z:2.08 [[ 9.98661700e-01 -4.68633446e-02 -2.18777337e-02 2.91451890e+02] [ 4.68655923e-02 9.98901120e-01 -4.10250882e-04 1.04356793e+01] [ 2.18729184e-02 -6.15611103e-04 9.99760570e-01 2.08220859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.324391418 meters Centerline goodness [0,1] 0.9989687684148497 Centerline is valid? [True, True] Translation: X:291.48, Y:10.44, Z:2.08 [[ 9.98763768e-01 -4.46933501e-02 -2.17587026e-02 2.91482044e+02] [ 4.46950557e-02 9.99000593e-01 -4.08158471e-04 1.04388635e+01] [ 2.17551988e-02 -5.64852536e-04 9.99763168e-01 2.08241847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.354391418 meters Centerline goodness [0,1] 0.998905585722103 Centerline is valid? [True, True] Translation: X:291.51, Y:10.44, Z:2.08 [[ 9.98834764e-01 -4.30660457e-02 -2.17813930e-02 2.91511256e+02] [ 4.30673551e-02 9.99072087e-01 -4.09187915e-04 1.04436192e+01] [ 2.17788039e-02 -5.29355871e-04 9.99762674e-01 2.08324552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.384391418 meters Centerline goodness [0,1] 0.9991785150078989 Centerline is valid? [True, True] Translation: X:291.54, Y:10.45, Z:2.08 [[ 9.98902572e-01 -4.14176626e-02 -2.18684223e-02 2.91539792e+02] [ 4.14185576e-02 9.99141798e-01 -4.12197741e-04 1.04452722e+01] [ 2.18667270e-02 -4.94013124e-04 9.99760772e-01 2.08174640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.414391418 meters Centerline goodness [0,1] 0.9991580365412142 Centerline is valid? [True, True] Translation: X:291.57, Y:10.45, Z:2.08 [[ 9.98912134e-01 -4.12113443e-02 -2.18214099e-02 2.91569809e+02] [ 4.12121752e-02 9.99150333e-01 -4.11823196e-04 1.04480622e+01] [ 2.18198408e-02 -4.87932580e-04 9.99761800e-01 2.08249277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.444391418 meters Centerline goodness [0,1] 0.9992628940884106 Centerline is valid? [True, True] Translation: X:291.60, Y:10.45, Z:2.08 [[ 9.98907077e-01 -4.14328151e-02 -2.16326827e-02 2.91600154e+02] [ 4.14336835e-02 9.99141173e-01 -4.08261453e-04 1.04487291e+01] [ 2.16310193e-02 -4.88506472e-04 9.99765903e-01 2.08244349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.474391418 meters Centerline goodness [0,1] 0.9990724930963975 Centerline is valid? [True, True] Translation: X:291.63, Y:10.45, Z:2.08 [[ 9.98875329e-01 -4.21843770e-02 -2.16461277e-02 2.91630195e+02] [ 4.21854228e-02 9.99109715e-01 -4.08515194e-04 1.04498415e+01] [ 2.16440894e-02 -5.05095300e-04 9.99765612e-01 2.08320728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.504391418 meters Centerline goodness [0,1] 0.9989243683300291 Centerline is valid? [True, True] Translation: X:291.66, Y:10.45, Z:2.08 [[ 9.98799508e-01 -4.44192425e-02 -2.06512191e-02 2.91660973e+02] [ 4.44206716e-02 9.99012839e-01 -3.89738843e-04 1.04494362e+01] [ 2.06481449e-02 -5.28070056e-04 9.99786665e-01 2.08423786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.534391418 meters Centerline goodness [0,1] 0.9991157336252816 Centerline is valid? [True, True] Translation: X:291.69, Y:10.45, Z:2.08 [[ 9.98743035e-01 -4.57812837e-02 -2.04064964e-02 2.91691434e+02] [ 4.57829632e-02 9.98951336e-01 -3.85120330e-04 1.04487037e+01] [ 2.04027282e-02 -5.49633628e-04 9.99791692e-01 2.08442916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.564391418 meters Centerline goodness [0,1] 0.9989222088378875 Centerline is valid? [True, True] Translation: X:291.72, Y:10.45, Z:2.09 [[ 9.98629010e-01 -4.87088955e-02 -1.91714375e-02 2.91722398e+02] [ 4.87109214e-02 9.98812853e-01 -3.61563870e-04 1.04476187e+01] [ 1.91662896e-02 -5.72790217e-04 9.99816146e-01 2.08582039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.594391418 meters Centerline goodness [0,1] 0.9991329724242937 Centerline is valid? [True, True] Translation: X:291.75, Y:10.45, Z:2.09 [[ 9.98571603e-01 -5.00986096e-02 -1.85710031e-02 2.91752981e+02] [ 5.01007574e-02 9.98744107e-01 -3.49868283e-04 1.04461940e+01] [ 1.85652078e-02 -5.81052787e-04 9.99827483e-01 2.08638891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.624391418 meters Centerline goodness [0,1] 0.9989430069338745 Centerline is valid? [True, True] Translation: X:291.78, Y:10.45, Z:2.09 [[ 9.98434925e-01 -5.30736842e-02 -1.76319096e-02 2.91784516e+02] [ 5.30760935e-02 9.98590416e-01 -3.31608360e-04 1.04455683e+01] [ 1.76246556e-02 -6.04743515e-04 9.99844491e-01 2.08785626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.654391418 meters Centerline goodness [0,1] 0.9989430069338745 Centerline is valid? [True, True] Translation: X:291.82, Y:10.45, Z:2.09 [[ 9.98439271e-01 -5.29918613e-02 -1.76319313e-02 2.91816223e+02] [ 5.29942783e-02 9.98594761e-01 -3.30451895e-04 1.04460877e+01] [ 1.76246655e-02 -6.04455325e-04 9.99844491e-01 2.08807846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.684391418 meters Centerline goodness [0,1] 0.9986053293324599 Centerline is valid? [True, True] Translation: X:291.85, Y:10.44, Z:2.09 [[ 9.98360607e-01 -5.45250207e-02 -1.74103724e-02 2.91847247e+02] [ 5.45276411e-02 9.98512209e-01 -3.24513829e-04 1.04442777e+01] [ 1.74021635e-02 -6.25364713e-04 9.99848375e-01 2.08794656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.714391418 meters Centerline goodness [0,1] 0.9988568525339769 Centerline is valid? [True, True] Translation: X:291.88, Y:10.44, Z:2.09 [[ 9.98279646e-01 -5.59544975e-02 -1.75169273e-02 2.91879386e+02] [ 5.59573994e-02 9.98433104e-01 -3.24814413e-04 1.04442082e+01] [ 1.75076550e-02 -6.55946082e-04 9.99846514e-01 2.08822583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.744391418 meters Centerline goodness [0,1] 0.9990059221658206 Centerline is valid? [True, True] Translation: X:291.91, Y:10.44, Z:2.09 [[ 9.98076897e-01 -5.93404363e-02 -1.79226168e-02 2.91909398e+02] [ 5.93440297e-02 9.98237535e-01 -3.31750566e-04 1.04394814e+01] [ 1.79107150e-02 -7.32487727e-04 9.99839322e-01 2.08745901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.774391418 meters Centerline goodness [0,1] 0.998982792235314 Centerline is valid? [True, True] Translation: X:291.94, Y:10.44, Z:2.09 [[ 9.97993869e-01 -6.07108678e-02 -1.79562881e-02 2.91941358e+02] [ 6.07147122e-02 9.98155105e-01 -3.31477666e-04 1.04412767e+01] [ 1.79432849e-02 -7.59398185e-04 9.99838718e-01 2.08822061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.804391418 meters Centerline goodness [0,1] 0.9991321281910165 Centerline is valid? [True, True] Translation: X:291.97, Y:10.44, Z:2.09 [[ 9.97927426e-01 -6.17883709e-02 -1.79735924e-02 2.91972983e+02] [ 6.17924194e-02 9.98088968e-01 -3.30555374e-04 1.04392833e+01] [ 1.79596688e-02 -7.80761487e-04 9.99838407e-01 2.08784691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.834391418 meters Centerline goodness [0,1] 0.9988610718579293 Centerline is valid? [True, True] Translation: X:292.01, Y:10.44, Z:2.09 [[ 9.97872859e-01 -6.25137092e-02 -1.84876732e-02 2.92005042e+02] [ 6.25181420e-02 9.98043770e-01 -3.38652969e-04 1.04394268e+01] [ 1.84726775e-02 -8.17882371e-04 9.99829031e-01 2.08785184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.864391418 meters Centerline goodness [0,1] 0.9988797531229524 Centerline is valid? [True, True] Translation: X:292.04, Y:10.44, Z:2.09 [[ 9.97834867e-01 -6.30581241e-02 -1.86882756e-02 2.92035992e+02] [ 6.30627725e-02 9.98009504e-01 -3.41066084e-04 1.04389470e+01] [ 1.86725836e-02 -8.38206841e-04 9.99825301e-01 2.08757637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.894391418 meters Centerline goodness [0,1] 0.9989628093050822 Centerline is valid? [True, True] Translation: X:292.07, Y:10.44, Z:2.09 [[ 9.97835522e-01 -6.29310767e-02 -1.90775086e-02 2.92068012e+02] [ 6.29359238e-02 9.98017509e-01 -3.46801807e-04 1.04393172e+01] [ 1.90615122e-02 -8.54609462e-04 9.99817948e-01 2.08735523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.924391418 meters Centerline goodness [0,1] 0.9988354859199661 Centerline is valid? [True, True] Translation: X:292.10, Y:10.44, Z:2.09 [[ 9.97894358e-01 -6.17224197e-02 -1.99297186e-02 2.92098385e+02] [ 6.17274991e-02 9.98092974e-01 -3.60788083e-04 1.04403883e+01] [ 1.99139808e-02 -8.70183294e-04 9.99801318e-01 2.08681324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.954391418 meters Centerline goodness [0,1] 0.9990040051706965 Centerline is valid? [True, True] Translation: X:292.13, Y:10.45, Z:2.09 [[ 9.97973882e-01 -6.02802937e-02 -2.03572288e-02 2.92129651e+02] [ 6.02853153e-02 9.98181119e-01 -3.67478278e-04 1.04450336e+01] [ 2.03423531e-02 -8.60508231e-04 9.99792703e-01 2.08760952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.984391418 meters Centerline goodness [0,1] 0.9988768330931593 Centerline is valid? [True, True] Translation: X:292.16, Y:10.44, Z:2.09 [[ 9.98100426e-01 -5.81568850e-02 -2.03301633e-02 2.92159845e+02] [ 5.81614645e-02 9.98307122e-01 -3.66447998e-04 1.04443285e+01] [ 2.03170583e-02 -8.16680168e-04 9.99793254e-01 2.08649234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.014391418 meters Centerline goodness [0,1] 0.9990068674062335 Centerline is valid? [True, True] Translation: X:292.19, Y:10.45, Z:2.09 [[ 9.98412552e-01 -5.25929236e-02 -2.01583751e-02 2.92190639e+02] [ 5.25963012e-02 9.98615791e-01 -3.62958650e-04 1.04532179e+01] [ 2.01495607e-02 -6.97873493e-04 9.99796733e-01 2.08747635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.044391418 meters Centerline goodness [0,1] 0.9988561260803254 Centerline is valid? [True, True] Translation: X:292.22, Y:10.46, Z:2.09 [[ 9.98605395e-01 -4.90813420e-02 -1.94496126e-02 2.92221609e+02] [ 4.90838327e-02 9.98794601e-01 -3.49581892e-04 1.04569885e+01] [ 1.94433260e-02 -6.05567168e-04 9.99810777e-01 2.08775049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.074391418 meters Centerline goodness [0,1] 0.9987937273823885 Centerline is valid? [True, True] Translation: X:292.25, Y:10.46, Z:2.09 [[ 9.98776531e-01 -4.56015843e-02 -1.91294570e-02 2.92252504e+02] [ 4.56033704e-02 9.98959566e-01 -3.43071526e-04 1.04627919e+01] [ 1.91251987e-02 -5.29715924e-04 9.99816956e-01 2.08887346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.104391418 meters Centerline goodness [0,1] 0.9988359049251805 Centerline is valid? [True, True] Translation: X:292.28, Y:10.46, Z:2.09 [[ 9.98924215e-01 -4.20961828e-02 -1.94505566e-02 2.92282760e+02] [ 4.20973757e-02 9.99113452e-01 -3.48297072e-04 1.04643890e+01] [ 1.94479748e-02 -4.70895010e-04 9.99810759e-01 2.08805285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.134391418 meters Centerline goodness [0,1] 0.9988572395987642 Centerline is valid? [True, True] Translation: X:292.31, Y:10.47, Z:2.09 [[ 9.99168321e-01 -3.59092448e-02 -1.93181868e-02 2.92313522e+02] [ 3.59092729e-02 9.99354994e-01 -3.45538234e-04 1.04734414e+01] [ 1.93181344e-02 -3.48451184e-04 9.99813327e-01 2.08984439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.164391418 meters Centerline goodness [0,1] 0.9990461655856543 Centerline is valid? [True, True] Translation: X:292.34, Y:10.48, Z:2.09 [[ 9.99246478e-01 -3.33838428e-02 -1.97988760e-02 2.92344225e+02] [ 3.33833797e-02 9.99442557e-01 -3.53989877e-04 1.04760224e+01] [ 1.97996568e-02 -3.07230258e-04 9.99803920e-01 2.09015728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.194391418 meters Centerline goodness [0,1] 0.9990906399357103 Centerline is valid? [True, True] Translation: X:292.37, Y:10.48, Z:2.09 [[ 9.99357286e-01 -2.98324046e-02 -1.98756788e-02 2.92373565e+02] [ 2.98312391e-02 9.99554886e-01 -3.55189408e-04 1.04787922e+01] [ 1.98774281e-02 -2.37955005e-04 9.99802396e-01 2.08947047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.224391418 meters Centerline goodness [0,1] 0.9991313927375959 Centerline is valid? [True, True] Translation: X:292.40, Y:10.48, Z:2.09 [[ 9.99387768e-01 -2.87517489e-02 -1.99355511e-02 2.92401867e+02] [ 2.87503482e-02 9.99586560e-01 -3.56926987e-04 1.04800875e+01] [ 1.99375712e-02 -2.16445570e-04 9.99801203e-01 2.08947958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.254391418 meters Centerline goodness [0,1] 0.9993217896276201 Centerline is valid? [True, True] Translation: X:292.43, Y:10.48, Z:2.09 [[ 9.99399554e-01 -2.83420370e-02 -1.99313867e-02 2.92430308e+02] [ 2.83404761e-02 9.99598263e-01 -3.60825300e-04 1.04810995e+01] [ 1.99336061e-02 -2.04256345e-04 9.99801285e-01 2.08961065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.284391418 meters Centerline goodness [0,1] 0.9989825981898726 Centerline is valid? [True, True] Translation: X:292.46, Y:10.48, Z:2.09 [[ 9.99397427e-01 -2.86107755e-02 -1.96521268e-02 2.92458909e+02] [ 2.86092022e-02 9.99590608e-01 -3.61252390e-04 1.04818921e+01] [ 1.96544171e-02 -2.01196960e-04 9.99806813e-01 2.08999792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.314391418 meters Centerline goodness [0,1] 0.9990460644860407 Centerline is valid? [True, True] Translation: X:292.49, Y:10.48, Z:2.09 [[ 9.99374448e-01 -2.92268926e-02 -1.99123555e-02 2.92487478e+02] [ 2.92252864e-02 9.99572781e-01 -3.71721107e-04 1.04821590e+01] [ 1.99147128e-02 -2.10455717e-04 9.99801660e-01 2.09018797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.344391418 meters Centerline goodness [0,1] 0.999005438347758 Centerline is valid? [True, True] Translation: X:292.52, Y:10.48, Z:2.09 [[ 9.99314686e-01 -3.13905702e-02 -1.96160866e-02 2.92515816e+02] [ 3.13893746e-02 9.99507164e-01 -3.68918147e-04 1.04801861e+01] [ 1.96179997e-02 -2.47071370e-04 9.99807518e-01 2.08954317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.374391418 meters Centerline goodness [0,1] 0.9988115702128563 Centerline is valid? [True, True] Translation: X:292.55, Y:10.48, Z:2.09 [[ 9.99254294e-01 -3.33085208e-02 -1.95294351e-02 2.92545436e+02] [ 3.33076839e-02 9.99445077e-01 -3.68211400e-04 1.04793921e+01] [ 1.95308623e-02 -2.82543428e-04 9.99809215e-01 2.08972488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.404391418 meters Centerline goodness [0,1] 0.9989838043823436 Centerline is valid? [True, True] Translation: X:292.58, Y:10.48, Z:2.09 [[ 9.99180687e-01 -3.53593581e-02 -1.96893609e-02 2.92575070e+02] [ 3.53588899e-02 9.99374610e-01 -3.72018004e-04 1.04780877e+01] [ 1.96902017e-02 -3.24480741e-04 9.99806077e-01 2.08982030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.434391418 meters Centerline goodness [0,1] 0.9988585198807788 Centerline is valid? [True, True] Translation: X:292.61, Y:10.48, Z:2.09 [[ 9.99097471e-01 -3.77706565e-02 -1.94324515e-02 2.92605056e+02] [ 3.77706461e-02 9.99286367e-01 -3.67688776e-04 1.04763064e+01] [ 1.94324717e-02 -3.66619321e-04 9.99811104e-01 2.09017245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.464391418 meters Centerline goodness [0,1] 0.9989840839823908 Centerline is valid? [True, True] Translation: X:292.63, Y:10.47, Z:2.09 [[ 9.98875124e-01 -4.35425193e-02 -1.87759538e-02 2.92634910e+02] [ 4.35435215e-02 9.99051468e-01 -3.55634503e-04 1.04705985e+01] [ 1.87736294e-02 -4.62336689e-04 9.99823653e-01 2.09049185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.494391418 meters Centerline goodness [0,1] 0.9986285183778537 Centerline is valid? [True, True] Translation: X:292.67, Y:10.47, Z:2.09 [[ 9.98738809e-01 -4.67631252e-02 -1.82757198e-02 2.92666509e+02] [ 4.67646190e-02 9.98905877e-01 -3.45854412e-04 1.04687248e+01] [ 1.82718971e-02 -5.09238849e-04 9.99832925e-01 2.09163715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.524391418 meters Centerline goodness [0,1] 0.9989006342494715 Centerline is valid? [True, True] Translation: X:292.70, Y:10.47, Z:2.09 [[ 9.98598000e-01 -5.00413708e-02 -1.72596308e-02 2.92697558e+02] [ 5.00432000e-02 9.98747001e-01 -3.26167844e-04 1.04659132e+01] [ 1.72543263e-02 -5.38016598e-04 9.99850988e-01 2.09207017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.554391418 meters Centerline goodness [0,1] 0.9990297405610631 Centerline is valid? [True, True] Translation: X:292.73, Y:10.46, Z:2.09 [[ 9.98269345e-01 -5.66040466e-02 -1.59466884e-02 2.92729102e+02] [ 5.66064516e-02 9.98396524e-01 -3.00877534e-04 1.04614219e+01] [ 1.59381491e-02 -6.02328626e-04 9.99872798e-01 2.09342550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.584391418 meters Centerline goodness [0,1] 0.9988603507587109 Centerline is valid? [True, True] Translation: X:292.76, Y:10.46, Z:2.09 [[ 9.98093645e-01 -5.97519347e-02 -1.54525685e-02 2.92761514e+02] [ 5.97545838e-02 9.98213056e-01 -2.90632353e-04 1.04592093e+01] [ 1.54423215e-02 -6.33283494e-04 9.99880560e-01 2.09376725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.614391418 meters Centerline goodness [0,1] 0.9987793328422604 Centerline is valid? [True, True] Translation: X:292.79, Y:10.45, Z:2.09 [[ 9.97703026e-01 -6.62864027e-02 -1.39565208e-02 2.92791109e+02] [ 6.62892108e-02 9.97800417e-01 -2.61819823e-04 1.04524219e+01] [ 1.39431773e-02 -6.63948318e-04 9.99902569e-01 2.09379549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.644391418 meters Centerline goodness [0,1] 0.9987601655914431 Centerline is valid? [True, True] Translation: X:292.82, Y:10.45, Z:2.09 [[ 9.97503956e-01 -6.92638898e-02 -1.37248578e-02 2.92822446e+02] [ 6.92668926e-02 9.97598131e-01 -2.57029478e-04 1.04506369e+01] [ 1.37096954e-02 -6.94290331e-04 9.99905777e-01 2.09384543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.674391418 meters Centerline goodness [0,1] 0.9983811285846439 Centerline is valid? [True, True] Translation: X:292.85, Y:10.45, Z:2.09 [[ 9.97292417e-01 -7.23039217e-02 -1.34155879e-02 2.92853840e+02] [ 7.23070719e-02 9.97382386e-01 -2.50712063e-04 1.04518280e+01] [ 1.33985985e-02 -7.20008638e-04 9.99909976e-01 2.09425580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.704391418 meters Centerline goodness [0,1] 0.9985049169281307 Centerline is valid? [True, True] Translation: X:292.88, Y:10.45, Z:2.09 [[ 9.97096893e-01 -7.49784280e-02 -1.32673122e-02 2.92884199e+02] [ 7.49817504e-02 9.97184875e-01 -2.47535270e-04 1.04483873e+01] [ 1.32485228e-02 -7.47989640e-04 9.99911955e-01 2.09390666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.734391418 meters Centerline goodness [0,1] 0.998737745613666 Centerline is valid? [True, True] Translation: X:292.92, Y:10.45, Z:2.09 [[ 9.96804806e-01 -7.87577467e-02 -1.33190100e-02 2.92915038e+02] [ 7.87614346e-02 9.96893462e-01 -2.48231998e-04 1.04485790e+01] [ 1.32971842e-02 -8.01585489e-04 9.99911267e-01 2.09398609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.764391418 meters Centerline goodness [0,1] 0.9984402992939193 Centerline is valid? [True, True] Translation: X:292.95, Y:10.45, Z:2.09 [[ 9.96694188e-01 -8.02198766e-02 -1.28633679e-02 2.92947480e+02] [ 8.02234457e-02 9.96776877e-01 -2.39121281e-04 1.04512695e+01] [ 1.28410899e-02 -7.93612904e-04 9.99917235e-01 2.09432385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.794391418 meters Centerline goodness [0,1] 0.9986703530951225 Centerline is valid? [True, True] Translation: X:292.98, Y:10.45, Z:2.09 [[ 9.96645987e-01 -8.07999937e-02 -1.29668134e-02 2.92979086e+02] [ 8.08036817e-02 9.96730007e-01 -2.40088075e-04 1.04532018e+01] [ 1.29438111e-02 -8.08483443e-04 9.99915899e-01 2.09431678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.824391418 meters Centerline goodness [0,1] 0.9984025894865166 Centerline is valid? [True, True] Translation: X:293.01, Y:10.45, Z:2.09 [[ 9.96651212e-01 -8.07944191e-02 -1.25945794e-02 2.93010105e+02] [ 8.07979127e-02 9.96730477e-01 -2.32023330e-04 1.04507071e+01] [ 1.25721473e-02 -7.86369395e-04 9.99920658e-01 2.09400256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.854391418 meters Centerline goodness [0,1] 0.9985028361765388 Centerline is valid? [True, True] Translation: X:293.04, Y:10.46, Z:2.09 [[ 9.96684023e-01 -8.04471975e-02 -1.22149794e-02 2.93042638e+02] [ 8.04504739e-02 9.96758582e-01 -2.23701379e-04 1.04550403e+01] [ 1.21933817e-02 -7.59741288e-04 9.99925369e-01 2.09430816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.884391418 meters Centerline goodness [0,1] 0.998272047202613 Centerline is valid? [True, True] Translation: X:293.07, Y:10.46, Z:2.09 [[ 9.96814862e-01 -7.87578495e-02 -1.25431715e-02 2.93074001e+02] [ 7.87611812e-02 9.96893487e-01 -2.28905940e-04 1.04598882e+01] [ 1.25222341e-02 -7.59738157e-04 9.99921305e-01 2.09374528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.914391418 meters Centerline goodness [0,1] 0.9986438379386336 Centerline is valid? [True, True] Translation: X:293.11, Y:10.46, Z:2.09 [[ 9.96948376e-01 -7.71159518e-02 -1.21270287e-02 2.93105380e+02] [ 7.71189508e-02 9.97021875e-01 -2.20830885e-04 1.04632526e+01] [ 1.21079425e-02 -7.15066738e-04 9.99926440e-01 2.09365280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.944391418 meters Centerline goodness [0,1] 0.9988162178159219 Centerline is valid? [True, True] Translation: X:293.14, Y:10.47, Z:2.09 [[ 9.97036193e-01 -7.59165502e-02 -1.24702314e-02 2.93137613e+02] [ 7.59196371e-02 9.97113914e-01 -2.26345533e-04 1.04680706e+01] [ 1.24514246e-02 -7.21060751e-04 9.99922218e-01 2.09362145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.974391418 meters Centerline goodness [0,1] 0.9987121020184107 Centerline is valid? [True, True] Translation: X:293.17, Y:10.47, Z:2.09 [[ 9.97298599e-01 -7.23564478e-02 -1.26510749e-02 2.93166998e+02] [ 7.23593451e-02 9.97378600e-01 -2.29163260e-04 1.04724693e+01] [ 1.26344929e-02 -6.86879301e-04 9.99919946e-01 2.09280267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.004391418 meters Centerline goodness [0,1] 0.9984542085759661 Centerline is valid? [True, True] Translation: X:293.20, Y:10.48, Z:2.09 [[ 9.97469163e-01 -6.99977179e-02 -1.24735078e-02 2.93198688e+02] [ 7.00003528e-02 9.97546941e-01 -2.25763742e-04 1.04764706e+01] [ 1.24587124e-02 -6.47957572e-04 9.99922177e-01 2.09290143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.034391418 meters Centerline goodness [0,1] 0.9992783614560119 Centerline is valid? [True, True] Translation: X:293.23, Y:10.48, Z:2.09 [[ 9.97650025e-01 -6.74132896e-02 -1.22423620e-02 2.93230133e+02] [ 6.74156411e-02 9.97724953e-01 -2.20963005e-04 1.04836920e+01] [ 1.22294059e-02 -6.04882937e-04 9.99925035e-01 2.09353112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.064391418 meters Centerline goodness [0,1] 0.9989135066041755 Centerline is valid? [True, True] Translation: X:293.26, Y:10.49, Z:2.09 [[ 9.98045484e-01 -6.13776770e-02 -1.17470591e-02 2.93259881e+02] [ 6.13794273e-02 9.98114483e-01 -2.11804313e-04 1.04901868e+01] [ 1.17379099e-02 -5.09637425e-04 9.99930978e-01 2.09387900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.094391418 meters Centerline goodness [0,1] 0.9989982736204949 Centerline is valid? [True, True] Translation: X:293.29, Y:10.50, Z:2.09 [[ 9.98275213e-01 -5.77249838e-02 -1.06969896e-02 2.93291269e+02] [ 5.77262266e-02 9.98332432e-01 -1.92799994e-04 1.04966434e+01] [ 1.06902810e-02 -4.25029392e-04 9.99942767e-01 2.09447330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.124391418 meters Centerline goodness [0,1] 0.9992112387814706 Centerline is valid? [True, True] Translation: X:293.32, Y:10.50, Z:2.10 [[ 9.98501034e-01 -5.37746695e-02 -1.01965416e-02 2.93322547e+02] [ 5.37755970e-02 9.98553029e-01 -1.83391111e-04 1.05048703e+01] [ 1.01916493e-02 -3.65208900e-04 9.99947997e-01 2.09536297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.154391418 meters Centerline goodness [0,1] 0.999145043389048 Centerline is valid? [True, True] Translation: X:293.35, Y:10.52, Z:2.10 [[ 9.98901140e-01 -4.59315765e-02 -9.31682169e-03 2.93352980e+02] [ 4.59320127e-02 9.98944554e-01 -1.67263445e-04 1.05164144e+01] [ 9.31467096e-03 -2.60860726e-04 9.99956583e-01 2.09598510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.184391418 meters Centerline goodness [0,1] 0.999142091152815 Centerline is valid? [True, True] Translation: X:293.38, Y:10.52, Z:2.10 [[ 9.99085508e-01 -4.18824119e-02 -8.60299172e-03 2.93384007e+02] [ 4.18826355e-02 9.99122526e-01 -1.54252756e-04 1.05215953e+01] [ 8.60190330e-03 -2.06204274e-04 9.99962982e-01 2.09628550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.214391418 meters Centerline goodness [0,1] 0.9991865567804774 Centerline is valid? [True, True] Translation: X:293.42, Y:10.52, Z:2.10 [[ 9.99242853e-01 -3.80407765e-02 -8.16215704e-03 2.93415665e+02] [ 3.80408526e-02 9.99276174e-01 -1.45987523e-04 1.05245578e+01] [ 8.16180253e-03 -1.64618424e-04 9.99966678e-01 2.09651568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.244391418 meters Centerline goodness [0,1] 0.9994201529078258 Centerline is valid? [True, True] Translation: X:293.45, Y:10.54, Z:2.10 [[ 9.99498365e-01 -3.08580301e-02 -7.12743853e-03 2.93447241e+02] [ 3.08579090e-02 9.99523773e-01 -1.26986026e-04 1.05351260e+01] [ 7.12796279e-03 -9.30155242e-05 9.99974591e-01 2.09714020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.274391418 meters Centerline goodness [0,1] 0.9992903988818407 Centerline is valid? [True, True] Translation: X:293.48, Y:10.54, Z:2.10 [[ 9.99587723e-01 -2.78913552e-02 -6.81581858e-03 2.93479663e+02] [ 2.78911780e-02 9.99610958e-01 -1.21060591e-04 1.05403586e+01] [ 6.81654349e-03 -6.90905288e-05 9.99976765e-01 2.09745534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.304391418 meters Centerline goodness [0,1] 0.9993323138555644 Centerline is valid? [True, True] Translation: X:293.51, Y:10.54, Z:2.10 [[ 9.99658337e-01 -2.52886775e-02 -6.61006941e-03 2.93510773e+02] [ 2.52884575e-02 9.99680189e-01 -1.16874338e-04 1.05438094e+01] [ 6.61091104e-03 -5.03240532e-05 9.99978146e-01 2.09764589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.334391418 meters Centerline goodness [0,1] 0.9991813873330461 Centerline is valid? [True, True] Translation: X:293.54, Y:10.55, Z:2.10 [[ 9.99749696e-01 -2.13971123e-02 -6.53519233e-03 2.93542544e+02] [ 2.13968166e-02 9.99771055e-01 -1.15167136e-04 1.05492353e+01] [ 6.53616037e-03 -2.46940026e-05 9.99978639e-01 2.09710088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.364391418 meters Centerline goodness [0,1] 0.9994813726337627 Centerline is valid? [True, True] Translation: X:293.57, Y:10.55, Z:2.10 [[ 9.99787981e-01 -1.96606158e-02 -6.11983732e-03 2.93574494e+02] [ 1.96603268e-02 9.99806711e-01 -1.07386887e-04 1.05515184e+01] [ 6.12076572e-03 -1.29538828e-05 9.99981268e-01 2.09694870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.394391418 meters Centerline goodness [0,1] 0.9995256371555479 Centerline is valid? [True, True] Translation: X:293.61, Y:10.55, Z:2.10 [[ 9.99814204e-01 -1.82384200e-02 -6.23841531e-03 2.93605360e+02] [ 1.82380953e-02 9.99833666e-01 -1.08940260e-04 1.05535647e+01] [ 6.23936455e-03 -4.85679351e-06 9.99980535e-01 2.09702111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.424391418 meters Centerline goodness [0,1] 0.9993737042156186 Centerline is valid? [True, True] Translation: X:293.64, Y:10.56, Z:2.10 [[ 9.99841767e-01 -1.69347185e-02 -5.44576721e-03 2.93637385e+02] [ 1.69344531e-02 9.99856597e-01 -9.48571792e-05 1.05556789e+01] [ 5.44659266e-03 2.62108031e-06 9.99985167e-01 2.09720554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.454391418 meters Centerline goodness [0,1] 0.9992229153625316 Centerline is valid? [True, True] Translation: X:293.67, Y:10.56, Z:2.10 [[ 9.99878835e-01 -1.48779590e-02 -4.57841802e-03 2.93668220e+02] [ 1.48777512e-02 9.99889317e-01 -7.94246605e-05 1.05583894e+01] [ 4.57909294e-03 1.12984727e-05 9.99989516e-01 2.09724176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.484391418 meters Centerline goodness [0,1] 0.9991140115826779 Centerline is valid? [True, True] Translation: X:293.70, Y:10.56, Z:2.10 [[ 9.99885646e-01 -1.44426820e-02 -4.48375755e-03 2.93700597e+02] [ 1.44424794e-02 9.99895699e-01 -7.75799204e-05 1.05590061e+01] [ 4.48441035e-03 1.28144730e-05 9.99989945e-01 2.09728033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.514391418 meters Centerline goodness [0,1] 0.9993075841177107 Centerline is valid? [True, True] Translation: X:293.73, Y:10.56, Z:2.10 [[ 9.99872213e-01 -1.54909785e-02 -3.94815948e-03 2.93732277e+02] [ 1.54908307e-02 9.99880008e-01 -6.79984118e-05 1.05580737e+01] [ 3.94873910e-03 6.82945219e-06 9.99992204e-01 2.09721125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.544391418 meters Centerline goodness [0,1] 0.9990706520564525 Centerline is valid? [True, True] Translation: X:293.76, Y:10.56, Z:2.10 [[ 9.99851471e-01 -1.69306272e-02 -3.22337355e-03 2.93764376e+02] [ 1.69305363e-02 9.99856667e-01 -5.54829703e-05 1.05568746e+01] [ 3.22385090e-03 9.01286576e-07 9.99994803e-01 2.09701358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.574391418 meters Centerline goodness [0,1] 0.9990706520564525 Centerline is valid? [True, True] Translation: X:293.80, Y:10.56, Z:2.10 [[ 9.99852863e-01 -1.68482119e-02 -3.22337810e-03 2.93796071e+02] [ 1.68481214e-02 9.99858059e-01 -5.52167183e-05 1.05573408e+01] [ 3.22385087e-03 9.00728142e-07 9.99994803e-01 2.09723556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.604391418 meters Centerline goodness [0,1] 0.9991797616991884 Centerline is valid? [True, True] Translation: X:293.83, Y:10.56, Z:2.10 [[ 9.99815082e-01 -1.89423216e-02 -3.31507010e-03 2.93827655e+02] [ 1.89422387e-02 9.99820578e-01 -5.64198635e-05 1.05553878e+01] [ 3.31554402e-03 -6.38541853e-06 9.99994504e-01 2.09734786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.634391418 meters Centerline goodness [0,1] 0.9992435049496391 Centerline is valid? [True, True] Translation: X:293.86, Y:10.55, Z:2.10 [[ 9.99750597e-01 -2.20715978e-02 -3.40422157e-03 2.93860018e+02] [ 2.20715290e-02 9.99756392e-01 -5.77881724e-05 1.05526632e+01] [ 3.40466775e-03 -1.73626152e-05 9.99994204e-01 2.09697053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.664391418 meters Centerline goodness [0,1] 0.9991170833602515 Centerline is valid? [True, True] Translation: X:293.89, Y:10.55, Z:2.10 [[ 9.99548205e-01 -2.98315270e-02 -3.66963786e-03 2.93891793e+02] [ 2.98315008e-02 9.99554940e-01 -6.18838945e-05 1.05452573e+01] [ 3.66985074e-03 -4.76148692e-05 9.99993265e-01 2.09639689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.694391418 meters Centerline goodness [0,1] 0.9990576342335782 Centerline is valid? [True, True] Translation: X:293.92, Y:10.54, Z:2.10 [[ 9.99421629e-01 -3.37768703e-02 -3.94077114e-03 2.93923330e+02] [ 3.37768708e-02 9.99429397e-01 -6.64374819e-05 1.05402338e+01] [ 3.94076657e-03 -6.67078612e-05 9.99992233e-01 2.09638350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.724391418 meters Centerline goodness [0,1] 0.9988630513128539 Centerline is valid? [True, True] Translation: X:293.95, Y:10.53, Z:2.10 [[ 9.99081444e-01 -4.26893687e-02 -3.72628455e-03 2.93954475e+02] [ 4.26894344e-02 9.99088389e-01 -6.19343863e-05 1.05313744e+01] [ 3.72553157e-03 -9.71954839e-05 9.99993055e-01 2.09639714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.754391418 meters Centerline goodness [0,1] 0.9986322448281758 Centerline is valid? [True, True] Translation: X:293.99, Y:10.53, Z:2.10 [[ 9.98897701e-01 -4.67692343e-02 -4.00266211e-03 2.93986473e+02] [ 4.67693425e-02 9.98905713e-01 -6.66200856e-05 1.05273656e+01] [ 4.00139782e-03 -1.20655225e-04 9.99991987e-01 2.09645258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.784391418 meters Centerline goodness [0,1] 0.9985890200102616 Centerline is valid? [True, True] Translation: X:294.02, Y:10.52, Z:2.10 [[ 9.98715391e-01 -5.05032664e-02 -4.12165617e-03 2.94018957e+02] [ 5.05034143e-02 9.98723886e-01 -6.82541182e-05 1.05245373e+01] [ 4.11984353e-03 -1.39991271e-04 9.99991504e-01 2.09660632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.814391418 meters Centerline goodness [0,1] 0.9985913989969053 Centerline is valid? [True, True] Translation: X:294.05, Y:10.52, Z:2.10 [[ 9.98402764e-01 -5.62502041e-02 -5.27600946e-03 2.94049308e+02] [ 5.62505305e-02 9.98416682e-01 -8.66339885e-05 1.05162926e+01] [ 5.27252903e-03 -2.10282717e-04 9.99986078e-01 2.09644126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.844391418 meters Centerline goodness [0,1] 0.998721554589619 Centerline is valid? [True, True] Translation: X:294.08, Y:10.52, Z:2.10 [[ 9.98289240e-01 -5.81972437e-02 -5.62796698e-03 2.94081817e+02] [ 5.81976453e-02 9.98305076e-01 -9.25260451e-05 1.05159358e+01] [ 5.62381276e-03 -2.35166671e-04 9.99984159e-01 2.09634566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.874391418 meters Centerline goodness [0,1] 0.998702376140739 Centerline is valid? [True, True] Translation: X:294.11, Y:10.51, Z:2.10 [[ 9.98203712e-01 -5.96016980e-02 -6.08167791e-03 2.94113099e+02] [ 5.96021964e-02 9.98222204e-01 -9.94227841e-05 1.05118912e+01] [ 6.07679170e-03 -2.63237169e-04 9.99981501e-01 2.09645546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.904391418 meters Centerline goodness [0,1] 0.998935807934616 Centerline is valid? [True, True] Translation: X:294.15, Y:10.51, Z:2.10 [[ 9.98136646e-01 -6.06880998e-02 -6.33960071e-03 2.94145307e+02] [ 6.06886657e-02 9.98156739e-01 -1.03247788e-04 1.05114566e+01] [ 6.33418108e-03 -2.81686507e-04 9.99979899e-01 2.09681057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.934391418 meters Centerline goodness [0,1] 0.9987200546110032 Centerline is valid? [True, True] Translation: X:294.18, Y:10.51, Z:2.10 [[ 9.98085973e-01 -6.14027737e-02 -7.35454354e-03 2.94176374e+02] [ 6.14035598e-02 9.98113014e-01 -1.19078583e-04 1.05090397e+01] [ 7.34797737e-03 -3.32744491e-04 9.99972948e-01 2.09636369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.964391418 meters Centerline goodness [0,1] 0.998615224014146 Centerline is valid? [True, True] Translation: X:294.21, Y:10.51, Z:2.10 [[ 9.98106948e-01 -6.10317829e-02 -7.59218844e-03 2.94207811e+02] [ 6.10326183e-02 9.98135765e-01 -1.21815712e-04 1.05084868e+01] [ 7.58546944e-03 -3.41786030e-04 9.99971172e-01 2.09630277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.994391418 meters Centerline goodness [0,1] 0.9987001640776492 Centerline is valid? [True, True] Translation: X:294.24, Y:10.51, Z:2.10 [[ 9.98133978e-01 -6.05020938e-02 -8.24975358e-03 2.94239654e+02] [ 6.05030667e-02 9.98168003e-01 -1.31824202e-04 1.05095858e+01] [ 8.24261569e-03 -3.67557175e-04 9.99965962e-01 2.09636352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.024391418 meters Centerline goodness [0,1] 0.9986350452141273 Centerline is valid? [True, True] Translation: X:294.27, Y:10.51, Z:2.10 [[ 9.98242426e-01 -5.85434118e-02 -9.20472135e-03 2.94270787e+02] [ 5.85445485e-02 9.98284786e-01 -1.46137472e-04 1.05106658e+01] [ 9.19748867e-03 -3.93005631e-04 9.99957625e-01 2.09585889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.054391418 meters Centerline goodness [0,1] 0.9985293490771132 Centerline is valid? [True, True] Translation: X:294.30, Y:10.51, Z:2.10 [[ 9.98333674e-01 -5.67635920e-02 -1.03812354e-02 2.94303100e+02] [ 5.67649572e-02 9.98387556e-01 -1.63340503e-04 1.05125358e+01] [ 1.03737681e-02 -4.26222060e-04 9.99946100e-01 2.09528464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.084391418 meters Centerline goodness [0,1] 0.9989128812909002 Centerline is valid? [True, True] Translation: X:294.33, Y:10.52, Z:2.10 [[ 9.98416714e-01 -5.51227773e-02 -1.12047063e-02 2.94334862e+02] [ 5.51242748e-02 9.98479486e-01 -1.75376214e-04 1.05203493e+01] [ 1.11973366e-02 -4.42552765e-04 9.99937210e-01 2.09547626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.114391418 meters Centerline goodness [0,1] 0.9989160006801564 Centerline is valid? [True, True] Translation: X:294.37, Y:10.52, Z:2.09 [[ 9.98609736e-01 -5.11988235e-02 -1.25409247e-02 2.94365736e+02] [ 5.12004015e-02 9.98688380e-01 -1.95416063e-04 1.05187532e+01] [ 1.25344809e-02 -4.46955999e-04 9.99921340e-01 2.09439692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.144391418 meters Centerline goodness [0,1] 0.9988473360655737 Centerline is valid? [True, True] Translation: X:294.40, Y:10.52, Z:2.09 [[ 9.98686527e-01 -4.94715788e-02 -1.33335246e-02 2.94397939e+02] [ 4.94732195e-02 9.98775429e-01 -2.06967086e-04 1.05237008e+01] [ 1.33274358e-02 -4.52957151e-04 9.99911083e-01 2.09496145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.174391418 meters Centerline goodness [0,1] 0.998699554437504 Centerline is valid? [True, True] Translation: X:294.43, Y:10.53, Z:2.10 [[ 9.98769372e-01 -4.77303629e-02 -1.34741823e-02 2.94430658e+02] [ 4.77318961e-02 9.98860162e-01 -2.07955188e-04 1.05270540e+01] [ 1.34687497e-02 -4.35448999e-04 9.99909197e-01 2.09550134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.204391418 meters Centerline goodness [0,1] 0.998659260678031 Centerline is valid? [True, True] Translation: X:294.46, Y:10.53, Z:2.10 [[ 9.98922419e-01 -4.42893256e-02 -1.38729001e-02 2.94462416e+02] [ 4.42906366e-02 9.99018666e-01 -2.12869343e-04 1.05323708e+01] [ 1.38687140e-02 -4.01799619e-04 9.99903744e-01 2.09684409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.234391418 meters Centerline goodness [0,1] 0.9988495462098939 Centerline is valid? [True, True] Translation: X:294.49, Y:10.53, Z:2.10 [[ 9.98990610e-01 -4.25666456e-02 -1.43472154e-02 2.94493242e+02] [ 4.25678845e-02 9.99093553e-01 -2.19154486e-04 1.05314812e+01] [ 1.43435391e-02 -3.91797336e-04 9.99897049e-01 2.09654465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.264391418 meters Centerline goodness [0,1] 0.9988669160876537 Centerline is valid? [True, True] Translation: X:294.53, Y:10.54, Z:2.10 [[ 9.99023507e-01 -4.14772312e-02 -1.52207356e-02 2.94525637e+02] [ 4.14785161e-02 9.99139369e-01 -2.31393285e-04 1.05356514e+01] [ 1.52172337e-02 -4.00166195e-04 9.99884131e-01 2.09727876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.294391418 meters Centerline goodness [0,1] 0.9988664556420567 Centerline is valid? [True, True] Translation: X:294.56, Y:10.54, Z:2.10 [[ 9.99089626e-01 -3.93309372e-02 -1.65226134e-02 2.94556874e+02] [ 3.93321775e-02 9.99226159e-01 -2.50008347e-04 1.05380371e+01] [ 1.65196606e-02 -4.00089619e-04 9.99863461e-01 2.09741231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.324391418 meters Centerline goodness [0,1] 0.9987790772394294 Centerline is valid? [True, True] Translation: X:294.59, Y:10.54, Z:2.10 [[ 9.99114310e-01 -3.85954857e-02 -1.67625851e-02 2.94587986e+02] [ 3.85966725e-02 9.99254839e-01 -2.52828380e-04 1.05396455e+01] [ 1.67598523e-02 -3.94375554e-04 9.99859466e-01 2.09789478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.354391418 meters Centerline goodness [0,1] 0.998867666538478 Centerline is valid? [True, True] Translation: X:294.62, Y:10.54, Z:2.10 [[ 9.99143275e-01 -3.79658494e-02 -1.64714743e-02 2.94618288e+02] [ 3.79669173e-02 9.99278966e-01 -2.47978532e-04 1.05395921e+01] [ 1.64690126e-02 -3.77605022e-04 9.99864305e-01 2.09829805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.384391418 meters Centerline goodness [0,1] 0.9989728445785453 Centerline is valid? [True, True] Translation: X:294.65, Y:10.54, Z:2.10 [[ 9.99150237e-01 -3.77588725e-02 -1.65248644e-02 2.94650022e+02] [ 3.77599335e-02 9.99286809e-01 -2.47906089e-04 1.05401632e+01] [ 1.65224397e-02 -3.76282355e-04 9.99863424e-01 2.09900586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.414391418 meters Centerline goodness [0,1] 0.9989286249973216 Centerline is valid? [True, True] Translation: X:294.68, Y:10.54, Z:2.10 [[ 9.99136864e-01 -3.79630638e-02 -1.68621796e-02 2.94682546e+02] [ 3.79642203e-02 9.99279067e-01 -2.51624006e-04 1.05411082e+01] [ 1.68595756e-02 -3.88752682e-04 9.99857792e-01 2.10050660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.444391418 meters Centerline goodness [0,1] 0.998779939639119 Centerline is valid? [True, True] Translation: X:294.71, Y:10.54, Z:2.10 [[ 9.99112212e-01 -3.85712603e-02 -1.69424493e-02 2.94714016e+02] [ 3.85725349e-02 9.99255771e-01 -2.51667547e-04 1.05387320e+01] [ 1.69395474e-02 -4.02069098e-04 9.99856435e-01 2.10019162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.474391418 meters Centerline goodness [0,1] 0.9986945169712794 Centerline is valid? [True, True] Translation: X:294.75, Y:10.54, Z:2.10 [[ 9.99082392e-01 -3.93559401e-02 -1.68962554e-02 2.94746155e+02] [ 3.93573401e-02 9.99225169e-01 -2.49779487e-04 1.05397823e+01] [ 1.68929940e-02 -4.15441384e-04 9.99857217e-01 2.10111034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.504391418 meters Centerline goodness [0,1] 0.9986748738992904 Centerline is valid? [True, True] Translation: X:294.78, Y:10.54, Z:2.10 [[ 9.99007127e-01 -4.13413801e-02 -1.66027336e-02 2.94776579e+02] [ 4.13430181e-02 9.99144982e-01 -2.44704531e-04 1.05367262e+01] [ 1.65986543e-02 -4.41945544e-04 9.99862135e-01 2.10179123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.534391418 meters Centerline goodness [0,1] 0.998889861446169 Centerline is valid? [True, True] Translation: X:294.81, Y:10.54, Z:2.10 [[ 9.98958304e-01 -4.25867368e-02 -1.63913764e-02 2.94807447e+02] [ 4.25885120e-02 9.99092669e-01 -2.40904165e-04 1.05351114e+01] [ 1.63867633e-02 -4.57431116e-04 9.99865623e-01 2.10228285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.564391418 meters Centerline goodness [0,1] 0.998997995991984 Centerline is valid? [True, True] Translation: X:294.84, Y:10.53, Z:2.10 [[ 9.98875829e-01 -4.45716874e-02 -1.61382201e-02 2.94838275e+02] [ 4.45736793e-02 9.99006072e-01 -2.36425597e-04 1.05319364e+01] [ 1.61327178e-02 -4.83180033e-04 9.99869742e-01 2.10279339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.594391418 meters Centerline goodness [0,1] 0.9987811136771876 Centerline is valid? [True, True] Translation: X:294.87, Y:10.53, Z:2.10 [[ 9.98838674e-01 -4.51325740e-02 -1.68628074e-02 2.94870620e+02] [ 4.51348461e-02 9.98980873e-01 -2.46006670e-04 1.05308610e+01] [ 1.68567250e-02 -5.15379242e-04 9.99857782e-01 2.10269754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.624391418 meters Centerline goodness [0,1] 0.9986120304926224 Centerline is valid? [True, True] Translation: X:294.90, Y:10.53, Z:2.10 [[ 9.98821281e-01 -4.54160001e-02 -1.71299544e-02 2.94902819e+02] [ 4.54184089e-02 9.98968021e-01 -2.48595913e-04 1.05302039e+01] [ 1.71235669e-02 -5.29712386e-04 9.99853241e-01 2.10251734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.654391418 meters Centerline goodness [0,1] 0.9989748408867626 Centerline is valid? [True, True] Translation: X:294.93, Y:10.53, Z:2.10 [[ 9.98825419e-01 -4.48061351e-02 -1.84443248e-02 2.94934384e+02] [ 4.48088464e-02 9.98995544e-01 -2.66454506e-04 1.05298907e+01] [ 1.84377371e-02 -5.60327382e-04 9.99829853e-01 2.10205215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.684391418 meters Centerline goodness [0,1] 0.9985952066748968 Centerline is valid? [True, True] Translation: X:294.97, Y:10.53, Z:2.10 [[ 9.98855948e-01 -4.40043632e-02 -1.87192967e-02 2.94965401e+02] [ 4.40070313e-02 9.99031185e-01 -2.69571950e-04 1.05325246e+01] [ 1.87130235e-02 -5.54517132e-04 9.99824742e-01 2.10286827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.714391418 meters Centerline goodness [0,1] 0.998696553345157 Centerline is valid? [True, True] Translation: X:295.00, Y:10.54, Z:2.10 [[ 9.98877285e-01 -4.33276742e-02 -1.91541479e-02 2.94997139e+02] [ 4.33303582e-02 9.99060761e-01 -2.75062128e-04 1.05356238e+01] [ 1.91480754e-02 -5.55202776e-04 9.99816505e-01 2.10412421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.744391418 meters Centerline goodness [0,1] 0.9989134834572531 Centerline is valid? [True, True] Translation: X:295.03, Y:10.54, Z:2.10 [[ 9.98974503e-01 -4.09029206e-02 -1.94137448e-02 2.95028008e+02] [ 4.09052357e-02 9.99162992e-01 -2.78000857e-04 1.05358089e+01] [ 1.94088663e-02 -5.16408036e-04 9.99811497e-01 2.10448257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.774391418 meters Centerline goodness [0,1] 0.9986782638355931 Centerline is valid? [True, True] Translation: X:295.06, Y:10.54, Z:2.11 [[ 9.99020404e-01 -3.97151481e-02 -1.95176663e-02 2.95058931e+02] [ 3.97172770e-02 9.99210919e-01 -2.78698414e-04 1.05375399e+01] [ 1.95133338e-02 -4.96763156e-04 9.99809473e-01 2.10517816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.804391418 meters Centerline goodness [0,1] 0.9986990829601194 Centerline is valid? [True, True] Translation: X:295.09, Y:10.54, Z:2.11 [[ 9.99045737e-01 -3.88779817e-02 -1.99027363e-02 2.95089862e+02] [ 3.88800455e-02 9.99243845e-01 -2.83388446e-04 1.05379432e+01] [ 1.98987043e-02 -4.90701275e-04 9.99801881e-01 2.10546393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.834391418 meters Centerline goodness [0,1] 0.9987027073009932 Centerline is valid? [True, True] Translation: X:295.12, Y:10.53, Z:2.10 [[ 9.99082864e-01 -3.80147904e-02 -1.97054848e-02 2.95120057e+02] [ 3.80166562e-02 9.99277066e-01 -2.80047145e-04 1.05330319e+01] [ 1.97018850e-02 -4.69346340e-04 9.99805789e-01 2.10277947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.864391418 meters Centerline goodness [0,1] 0.9988737063561213 Centerline is valid? [True, True] Translation: X:295.15, Y:10.54, Z:2.11 [[ 9.99108975e-01 -3.71550497e-02 -2.00189503e-02 2.95150034e+02] [ 3.71568057e-02 9.99309407e-01 -2.84359951e-04 1.05376775e+01] [ 2.00156907e-02 -4.59733667e-04 9.99799560e-01 2.10590192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.894391418 meters Centerline goodness [0,1] 0.9988944403104072 Centerline is valid? [True, True] Translation: X:295.18, Y:10.54, Z:2.11 [[ 9.99102374e-01 -3.70057470e-02 -2.06160142e-02 2.95180104e+02] [ 3.70075777e-02 9.99314942e-01 -2.92840969e-04 1.05369980e+01] [ 2.06127279e-02 -4.70370641e-04 9.99787425e-01 2.10551425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.924391418 meters Centerline goodness [0,1] 0.9990435909970032 Centerline is valid? [True, True] Translation: X:295.21, Y:10.54, Z:2.11 [[ 9.99086769e-01 -3.72195663e-02 -2.09840967e-02 2.95210253e+02] [ 3.72215100e-02 9.99306995e-01 -2.98069411e-04 1.05365564e+01] [ 2.09806487e-02 -4.83262562e-04 9.99779765e-01 2.10547072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.954391418 meters Centerline goodness [0,1] 0.998875570170786 Centerline is valid? [True, True] Translation: X:295.24, Y:10.54, Z:2.11 [[ 9.99067402e-01 -3.75911300e-02 -2.12422651e-02 2.95240416e+02] [ 3.75932059e-02 9.99293080e-01 -3.01736574e-04 1.05359887e+01] [ 2.12385911e-02 -4.97109670e-04 9.99774312e-01 2.10533276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.984391418 meters Centerline goodness [0,1] 0.9986252987331599 Centerline is valid? [True, True] Translation: X:295.27, Y:10.53, Z:2.10 [[ 9.98991897e-01 -3.90405976e-02 -2.21590133e-02 2.95269590e+02] [ 3.90432286e-02 9.99237473e-01 -3.14052816e-04 1.05313805e+01] [ 2.21543773e-02 -5.51423206e-04 9.99754410e-01 2.10370929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.014391418 meters Centerline goodness [0,1] 0.998941731750164 Centerline is valid? [True, True] Translation: X:295.30, Y:10.53, Z:2.11 [[ 9.98937327e-01 -4.00419419e-02 -2.28223385e-02 2.95300174e+02] [ 4.00450017e-02 9.99197825e-01 -3.23117734e-04 1.05323138e+01] [ 2.28169692e-02 -5.91146216e-04 9.99739484e-01 2.10501380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.044391418 meters Centerline goodness [0,1] 0.9988576505680016 Centerline is valid? [True, True] Translation: X:295.33, Y:10.53, Z:2.11 [[ 9.98804621e-01 -4.30624809e-02 -2.31290122e-02 2.95330113e+02] [ 4.30664174e-02 9.99072158e-01 -3.28113665e-04 1.05297458e+01] [ 2.31216815e-02 -6.68362247e-04 9.99732435e-01 2.10515511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.074391418 meters Centerline goodness [0,1] 0.9987066406581291 Centerline is valid? [True, True] Translation: X:295.36, Y:10.53, Z:2.10 [[ 9.98721926e-01 -4.45912460e-02 -2.37935931e-02 2.95359925e+02] [ 4.45958352e-02 9.99005054e-01 -3.37974855e-04 1.05268039e+01] [ 2.37849904e-02 -7.23552257e-04 9.99716835e-01 2.10447959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.104391418 meters Centerline goodness [0,1] 0.9990239969446861 Centerline is valid? [True, True] Translation: X:295.39, Y:10.52, Z:2.10 [[ 9.98645655e-01 -4.63299296e-02 -2.36726101e-02 2.95390682e+02] [ 4.63349588e-02 9.98925902e-01 -3.36314846e-04 1.05249716e+01] [ 2.36627649e-02 -7.61010054e-04 9.99719708e-01 2.10469254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.134391418 meters Centerline goodness [0,1] 0.9986249206685001 Centerline is valid? [True, True] Translation: X:295.42, Y:10.52, Z:2.11 [[ 9.98496341e-01 -4.95648628e-02 -2.34175280e-02 2.95420689e+02] [ 4.95706649e-02 9.98770563e-01 -3.33013154e-04 1.05220980e+01] [ 2.34052434e-02 -8.28310017e-04 9.99725717e-01 2.10525170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.164391418 meters Centerline goodness [0,1] 0.9986210115410726 Centerline is valid? [True, True] Translation: X:295.45, Y:10.52, Z:2.11 [[ 9.98433309e-01 -5.09393107e-02 -2.31541540e-02 2.95451309e+02] [ 5.09453489e-02 9.98701388e-01 -3.29403853e-04 1.05213583e+01] [ 2.31408654e-02 -8.50708676e-04 9.99731852e-01 2.10573080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.194391418 meters Centerline goodness [0,1] 0.9987727465086754 Centerline is valid? [True, True] Translation: X:295.48, Y:10.52, Z:2.11 [[ 9.98371654e-01 -5.23190627e-02 -2.27322852e-02 2.95481601e+02] [ 5.23252468e-02 9.98630044e-01 -3.23093997e-04 1.05182828e+01] [ 2.27180470e-02 -8.66904547e-04 9.99741536e-01 2.10542392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.224391418 meters Centerline goodness [0,1] 0.998581410120686 Centerline is valid? [True, True] Translation: X:295.51, Y:10.52, Z:2.11 [[ 9.98248407e-01 -5.47806237e-02 -2.23428210e-02 2.95512519e+02] [ 5.47872327e-02 9.98498001e-01 -3.16679832e-04 1.05176792e+01] [ 2.23266100e-02 -9.07976194e-04 9.99750318e-01 2.10642759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.254391418 meters Centerline goodness [0,1] 0.9986446133971495 Centerline is valid? [True, True] Translation: X:295.54, Y:10.52, Z:2.11 [[ 9.98186756e-01 -5.60080988e-02 -2.20520596e-02 2.95543342e+02] [ 5.60148496e-02 9.98429887e-01 -3.11933810e-04 1.05168471e+01] [ 2.20349062e-02 -9.23874602e-04 9.99756775e-01 2.10666958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.284391418 meters Centerline goodness [0,1] 0.9985582529418001 Centerline is valid? [True, True] Translation: X:295.57, Y:10.52, Z:2.11 [[ 9.98128067e-01 -5.72181400e-02 -2.15973697e-02 2.95574745e+02] [ 5.72249128e-02 9.98361266e-01 -3.04806880e-04 1.05162848e+01] [ 2.15794178e-02 -9.31671295e-04 9.99766703e-01 2.10723811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.314391418 meters Centerline goodness [0,1] 0.9986059185096001 Centerline is valid? [True, True] Translation: X:295.60, Y:10.51, Z:2.11 [[ 9.97978210e-01 -6.03563194e-02 -1.99149840e-02 2.95604703e+02] [ 6.03627061e-02 9.98176470e-01 -2.80813699e-04 1.05132806e+01] [ 1.98956173e-02 -9.21876375e-04 9.99801638e-01 2.10854829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.344391418 meters Centerline goodness [0,1] 0.9987103866725862 Centerline is valid? [True, True] Translation: X:295.64, Y:10.52, Z:2.11 [[ 9.97908777e-01 -6.17238389e-02 -1.91896050e-02 2.95636413e+02] [ 6.17300350e-02 9.98092846e-01 -2.69854086e-04 1.05166566e+01] [ 1.91696639e-02 -9.15285228e-04 9.99815826e-01 2.11075963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.374391418 meters Centerline goodness [0,1] 0.9988131318483352 Centerline is valid? [True, True] Translation: X:295.67, Y:10.51, Z:2.11 [[ 9.97832375e-01 -6.31809743e-02 -1.84042342e-02 2.95667510e+02] [ 6.31869405e-02 9.98001675e-01 -2.57728672e-04 1.05119046e+01] [ 1.83837401e-02 -9.05737240e-04 9.99830595e-01 2.11047549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.404391418 meters Centerline goodness [0,1] 0.9987960205310183 Centerline is valid? [True, True] Translation: X:295.70, Y:10.51, Z:2.11 [[ 9.97742754e-01 -6.44555128e-02 -1.88383633e-02 2.95699103e+02] [ 6.44620219e-02 9.97920127e-01 -2.62137800e-04 1.05145176e+01] [ 1.88160781e-02 -9.52812897e-04 9.99822508e-01 2.11151261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.434391418 meters Centerline goodness [0,1] 0.9987275464975718 Centerline is valid? [True, True] Translation: X:295.73, Y:10.51, Z:2.11 [[ 9.97613450e-01 -6.65210796e-02 -1.85027146e-02 2.95731370e+02] [ 6.65277429e-02 9.97784543e-01 -2.55844983e-04 1.05135623e+01] [ 1.84787417e-02 -9.75709444e-04 9.99828777e-01 2.11136515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.464391418 meters Centerline goodness [0,1] 0.9987275464975718 Centerline is valid? [True, True] Translation: X:295.76, Y:10.51, Z:2.11 [[ 9.97618651e-01 -6.64430228e-02 -1.85027345e-02 2.95763105e+02] [ 6.64496995e-02 9.97789744e-01 -2.54398018e-04 1.05139189e+01] [ 1.84787417e-02 -9.75708941e-04 9.99828777e-01 2.11158746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.494391418 meters Centerline goodness [0,1] 0.9986600876260155 Centerline is valid? [True, True] Translation: X:295.80, Y:10.51, Z:2.11 [[ 9.97571785e-01 -6.71126362e-02 -1.86125623e-02 2.95795041e+02] [ 6.71195360e-02 9.97744909e-01 -2.54439839e-04 1.05148825e+01] [ 1.85876654e-02 -9.95444540e-04 9.99826739e-01 2.11152287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.524391418 meters Centerline goodness [0,1] 0.9986374571544144 Centerline is valid? [True, True] Translation: X:295.83, Y:10.51, Z:2.11 [[ 9.97519180e-01 -6.78182406e-02 -1.88725284e-02 2.95826049e+02] [ 6.78254841e-02 9.97697167e-01 -2.56734625e-04 1.05137891e+01] [ 1.88464794e-02 -1.02394066e-03 9.99821865e-01 2.11110929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.554391418 meters Centerline goodness [0,1] 0.998549797398166 Centerline is valid? [True, True] Translation: X:295.86, Y:10.52, Z:2.11 [[ 9.97514680e-01 -6.78230521e-02 -1.90917820e-02 2.95858695e+02] [ 6.78304917e-02 9.97696827e-01 -2.58365064e-04 1.05150251e+01] [ 1.90653335e-02 -1.03728202e-03 9.99817702e-01 2.11058326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.584391418 meters Centerline goodness [0,1] 0.9987445740062985 Centerline is valid? [True, True] Translation: X:295.89, Y:10.52, Z:2.11 [[ 9.97564534e-01 -6.70280615e-02 -1.92934926e-02 2.95891103e+02] [ 6.70355397e-02 9.97750555e-01 -2.59600475e-04 1.05167644e+01] [ 1.92674935e-02 -1.03438146e-03 9.99813830e-01 2.11032085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.614391418 meters Centerline goodness [0,1] 0.9985069851764957 Centerline is valid? [True, True] Translation: X:295.92, Y:10.52, Z:2.11 [[ 9.97647804e-01 -6.57115092e-02 -1.95155438e-02 2.95923363e+02] [ 6.57189391e-02 9.97838140e-01 -2.61060301e-04 1.05211301e+01] [ 1.94905086e-02 -1.02209460e-03 9.99809520e-01 2.11062238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.644391418 meters Centerline goodness [0,1] 0.9986557419024452 Centerline is valid? [True, True] Translation: X:295.95, Y:10.53, Z:2.11 [[ 9.97885625e-01 -6.20161872e-02 -1.94492026e-02 2.95954391e+02] [ 6.20228819e-02 9.98074694e-01 -2.59381434e-04 1.05274622e+01] [ 1.94278427e-02 -9.47462589e-04 9.99810813e-01 2.11111282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.674391418 meters Centerline goodness [0,1] 0.9989100002137254 Centerline is valid? [True, True] Translation: X:295.99, Y:10.53, Z:2.11 [[ 9.98066870e-01 -5.91025397e-02 -1.92201269e-02 2.95986080e+02] [ 5.91085553e-02 9.98251528e-01 -2.55452965e-04 1.05335074e+01] [ 1.92016190e-02 -8.81114792e-04 9.99815244e-01 2.11216140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.704391418 meters Centerline goodness [0,1] 0.998698944225232 Centerline is valid? [True, True] Translation: X:296.02, Y:10.54, Z:2.11 [[ 9.98251945e-01 -5.60433342e-02 -1.87669740e-02 2.96017483e+02] [ 5.60485466e-02 9.98428014e-01 -2.48533593e-04 1.05391724e+01] [ 1.87514013e-02 -8.03762476e-04 9.99823854e-01 2.11343153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.734391418 meters Centerline goodness [0,1] 0.9987177843313245 Centerline is valid? [True, True] Translation: X:296.05, Y:10.55, Z:2.12 [[ 9.98611568e-01 -4.95753237e-02 -1.78107717e-02 2.96048495e+02] [ 4.95789997e-02 9.98770177e-01 -2.35376924e-04 1.05483669e+01] [ 1.78005365e-02 -6.47990126e-04 9.99841348e-01 2.11559668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.764391418 meters Centerline goodness [0,1] 0.9986526946107784 Centerline is valid? [True, True] Translation: X:296.08, Y:10.55, Z:2.12 [[ 9.98794066e-01 -4.60847351e-02 -1.69295774e-02 2.96079023e+02] [ 4.60875611e-02 9.98937379e-01 -2.23392091e-04 1.05488257e+01] [ 1.69218826e-02 -5.57120238e-04 9.99856659e-01 2.11534814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.794391418 meters Centerline goodness [0,1] 0.9984770158090049 Centerline is valid? [True, True] Translation: X:296.11, Y:10.56, Z:2.12 [[ 9.98964063e-01 -4.26201471e-02 -1.59475557e-02 2.96110392e+02] [ 4.26222216e-02 9.99091238e-01 -2.09931733e-04 1.05576525e+01] [ 1.59420105e-02 -4.70005997e-04 9.99872808e-01 2.11767711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.824391418 meters Centerline goodness [0,1] 0.9987765352336389 Centerline is valid? [True, True] Translation: X:296.14, Y:10.57, Z:2.12 [[ 9.99263218e-01 -3.55732128e-02 -1.44072044e-02 2.96139992e+02] [ 3.55741774e-02 9.99367021e-01 -1.89394974e-04 1.05654906e+01] [ 1.44048223e-02 -3.23269013e-04 9.99896193e-01 2.11908320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.854391418 meters Centerline goodness [0,1] 0.9986689852085614 Centerline is valid? [True, True] Translation: X:296.17, Y:10.57, Z:2.12 [[ 9.99371348e-01 -3.25713461e-02 -1.40005625e-02 2.96170964e+02] [ 3.25719665e-02 9.99469376e-01 -1.83767843e-04 1.05698139e+01] [ 1.39991190e-02 -2.72373536e-04 9.99901970e-01 2.11939217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.884391418 meters Centerline goodness [0,1] 0.9989694041867955 Centerline is valid? [True, True] Translation: X:296.20, Y:10.57, Z:2.12 [[ 9.99464538e-01 -2.96121792e-02 -1.39196093e-02 2.96202406e+02] [ 2.96125153e-02 9.99561437e-01 -1.82009437e-04 1.05729170e+01] [ 1.39188944e-02 -2.30282665e-04 9.99903101e-01 2.11896828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.914391418 meters Centerline goodness [0,1] 0.9988588653245775 Centerline is valid? [True, True] Translation: X:296.23, Y:10.58, Z:2.12 [[ 9.99529794e-01 -2.71989219e-02 -1.41565857e-02 2.96234118e+02] [ 2.71990376e-02 9.99630021e-01 -1.84398727e-04 1.05761102e+01] [ 1.41563635e-02 -2.00733486e-04 9.99899774e-01 2.11864986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.944391418 meters Centerline goodness [0,1] 0.9989222512016899 Centerline is valid? [True, True] Translation: X:296.27, Y:10.58, Z:2.12 [[ 9.99618455e-01 -2.30305081e-02 -1.52492711e-02 2.96265157e+02] [ 2.30301669e-02 9.99734751e-01 -1.98005169e-04 1.05814005e+01] [ 1.52497864e-02 -1.53263637e-04 9.99883704e-01 2.11760006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.974391418 meters Centerline goodness [0,1] 0.9987314828750188 Centerline is valid? [True, True] Translation: X:296.30, Y:10.58, Z:2.12 [[ 9.99645467e-01 -2.14796641e-02 -1.57341514e-02 2.96295560e+02] [ 2.14791133e-02 9.99769276e-01 -2.04011815e-04 1.05830800e+01] [ 1.57349033e-02 -1.34016135e-04 9.99876190e-01 2.11698707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.004391418 meters Centerline goodness [0,1] 0.9990286442031645 Centerline is valid? [True, True] Translation: X:296.32, Y:10.58, Z:2.12 [[ 9.99664604e-01 -2.03220121e-02 -1.60528691e-02 2.96324965e+02] [ 2.03212904e-02 9.99793480e-01 -2.08094346e-04 1.05844992e+01] [ 1.60537827e-02 -1.18190461e-04 9.99871123e-01 2.11667574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.034391418 meters Centerline goodness [0,1] 0.9990742136198247 Centerline is valid? [True, True] Translation: X:296.35, Y:10.59, Z:2.12 [[ 9.99715301e-01 -1.78996748e-02 -1.57771572e-02 2.96354461e+02] [ 1.78986713e-02 9.99839785e-01 -2.04820743e-04 1.05872684e+01] [ 1.57782957e-02 -7.76277194e-05 9.99875512e-01 2.11747706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.064391418 meters Centerline goodness [0,1] 0.9989878324539679 Centerline is valid? [True, True] Translation: X:296.38, Y:10.59, Z:2.12 [[ 9.99744752e-01 -1.69405032e-02 -1.49482825e-02 2.96383020e+02] [ 1.69394577e-02 9.99856498e-01 -1.96562216e-04 1.05889429e+01] [ 1.49494673e-02 -5.67037560e-05 9.99888249e-01 2.11890031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.094391418 meters Centerline goodness [0,1] 0.9990519897442527 Centerline is valid? [True, True] Translation: X:296.41, Y:10.59, Z:2.12 [[ 9.99764864e-01 -1.62405667e-02 -1.43687739e-02 2.96411614e+02] [ 1.62394709e-02 9.99868112e-01 -1.92943046e-04 1.05898212e+01] [ 1.43700124e-02 -4.04436085e-05 9.99896745e-01 2.11944574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.124391418 meters Centerline goodness [0,1] 0.9990315707921751 Centerline is valid? [True, True] Translation: X:296.44, Y:10.59, Z:2.12 [[ 9.99801931e-01 -1.45796356e-02 -1.35474028e-02 2.96440241e+02] [ 1.45784781e-02 9.99893711e-01 -1.84190022e-04 1.05905563e+01] [ 1.35486483e-02 -1.33469762e-05 9.99908213e-01 2.11977431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.154391418 meters Centerline goodness [0,1] 0.9990317791595843 Centerline is valid? [True, True] Translation: X:296.47, Y:10.59, Z:2.12 [[ 9.99812821e-01 -1.43739429e-02 -1.29504304e-02 2.96468805e+02] [ 1.43728407e-02 9.99896690e-01 -1.78178885e-04 1.05907970e+01] [ 1.29516536e-02 -7.98893990e-06 9.99916124e-01 2.12053319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.184391418 meters Centerline goodness [0,1] 0.9989664972870553 Centerline is valid? [True, True] Translation: X:296.50, Y:10.59, Z:2.12 [[ 9.99812466e-01 -1.49083773e-02 -1.23601573e-02 2.96497040e+02] [ 1.49073714e-02 9.99888864e-01 -1.73517145e-04 1.05905072e+01] [ 1.23613705e-02 -1.07728512e-05 9.99923595e-01 2.12071483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.214391418 meters Centerline goodness [0,1] 0.9989886165565621 Centerline is valid? [True, True] Translation: X:296.53, Y:10.59, Z:2.12 [[ 9.99801204e-01 -1.56209200e-02 -1.23910982e-02 2.96526052e+02] [ 1.56199333e-02 9.99877986e-01 -1.76412283e-04 1.05893849e+01] [ 1.23923421e-02 -1.71709152e-05 9.99923212e-01 2.12036255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.244391418 meters Centerline goodness [0,1] 0.9989895515328718 Centerline is valid? [True, True] Translation: X:296.55, Y:10.59, Z:2.12 [[ 9.99755989e-01 -1.83082011e-02 -1.23601285e-02 2.96554789e+02] [ 1.83074138e-02 9.99832390e-01 -1.76848539e-04 1.05854048e+01] [ 1.23612946e-02 -4.94765995e-05 9.99923595e-01 2.11970685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.274391418 meters Centerline goodness [0,1] 0.9991187722993595 Centerline is valid? [True, True] Translation: X:296.59, Y:10.58, Z:2.12 [[ 9.99709252e-01 -2.06102010e-02 -1.25152204e-02 2.96585721e+02] [ 2.06095689e-02 9.99787584e-01 -1.79486067e-04 1.05829494e+01] [ 1.25162612e-02 -7.84994160e-05 9.99921665e-01 2.12000252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.304391418 meters Centerline goodness [0,1] 0.9988641477893744 Centerline is valid? [True, True] Translation: X:296.62, Y:10.58, Z:2.12 [[ 9.99586925e-01 -2.58205079e-02 -1.26206700e-02 2.96616022e+02] [ 2.58202817e-02 9.99666585e-01 -1.80886551e-04 1.05758555e+01] [ 1.26211326e-02 -1.45057422e-04 9.99920340e-01 2.11965936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.334391418 meters Centerline goodness [0,1] 0.9988243844049247 Centerline is valid? [True, True] Translation: X:296.65, Y:10.57, Z:2.12 [[ 9.99503651e-01 -2.88895909e-02 -1.25635821e-02 2.96646963e+02] [ 2.88896123e-02 9.99582592e-01 -1.79820392e-04 1.05719561e+01] [ 1.25635329e-02 -1.83225877e-04 9.99921059e-01 2.12000857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.364391418 meters Centerline goodness [0,1] 0.9987406348054387 Centerline is valid? [True, True] Translation: X:296.68, Y:10.56, Z:2.12 [[ 9.99302657e-01 -3.54193756e-02 -1.18180977e-02 2.96678648e+02] [ 3.54198546e-02 9.99372506e-01 -1.68833515e-04 1.05630710e+01] [ 1.18166619e-02 -2.49879521e-04 9.99930150e-01 2.12036276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.394391418 meters Centerline goodness [0,1] 0.9988921320067324 Centerline is valid? [True, True] Translation: X:296.71, Y:10.56, Z:2.12 [[ 9.99187320e-01 -3.85517656e-02 -1.17669066e-02 2.96711186e+02] [ 3.85524651e-02 9.99256563e-01 -1.67456976e-04 1.05587601e+01] [ 1.17646144e-02 -2.86322371e-04 9.99930754e-01 2.12061540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.424391418 meters Centerline goodness [0,1] 0.9987027073009932 Centerline is valid? [True, True] Translation: X:296.74, Y:10.56, Z:2.12 [[ 9.99056586e-01 -4.18785889e-02 -1.14944283e-02 2.96743539e+02] [ 4.18794867e-02 9.99122656e-01 -1.62688211e-04 1.05550749e+01] [ 1.14911569e-02 -3.18846027e-04 9.99933924e-01 2.12041853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.454391418 meters Centerline goodness [0,1] 0.9989360117464303 Centerline is valid? [True, True] Translation: X:296.78, Y:10.55, Z:2.12 [[ 9.98925584e-01 -4.48231224e-02 -1.17713448e-02 2.96775708e+02] [ 4.48242793e-02 9.98994873e-01 -1.65664220e-04 1.05516685e+01] [ 1.17669387e-02 -3.62155818e-04 9.99930702e-01 2.12032564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.484391418 meters Centerline goodness [0,1] 0.9988325691968076 Centerline is valid? [True, True] Translation: X:296.81, Y:10.55, Z:2.12 [[ 9.98785314e-01 -4.77755637e-02 -1.20578489e-02 2.96806940e+02] [ 4.77770029e-02 9.98858013e-01 -1.68831404e-04 1.05465839e+01] [ 1.20521450e-02 -4.07461554e-04 9.99927287e-01 2.11963711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.514391418 meters Centerline goodness [0,1] 0.9988095491167279 Centerline is valid? [True, True] Translation: X:296.84, Y:10.54, Z:2.12 [[ 9.98561469e-01 -5.22127087e-02 -1.21994296e-02 2.96838359e+02] [ 5.22145201e-02 9.98635877e-01 -1.70193504e-04 1.05419769e+01] [ 1.21916743e-02 -4.67038686e-04 9.99925570e-01 2.11934444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.544391418 meters Centerline goodness [0,1] 0.999171059343649 Centerline is valid? [True, True] Translation: X:296.87, Y:10.54, Z:2.12 [[ 9.98462226e-01 -5.40470531e-02 -1.23328529e-02 2.96870110e+02] [ 5.40490513e-02 9.98538267e-01 -1.71462290e-04 1.05406167e+01] [ 1.23240926e-02 -4.95380379e-04 9.99923933e-01 2.11942168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.574391418 meters Centerline goodness [0,1] 0.9991071048939155 Centerline is valid? [True, True] Translation: X:296.90, Y:10.54, Z:2.12 [[ 9.98349735e-01 -5.60492547e-02 -1.25015014e-02 2.96901525e+02] [ 5.60514740e-02 9.98427865e-01 -1.73061666e-04 1.05359548e+01] [ 1.24915473e-02 -5.27951513e-04 9.99921838e-01 2.11929311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.604391418 meters Centerline goodness [0,1] 0.9988535031847133 Centerline is valid? [True, True] Translation: X:296.93, Y:10.54, Z:2.12 [[ 9.98134553e-01 -5.99359111e-02 -1.16233177e-02 2.96932966e+02] [ 5.99380991e-02 9.98202083e-01 -1.60335566e-04 1.05359646e+01] [ 1.16120298e-02 -5.36643102e-04 9.99932434e-01 2.12038934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.634391418 meters Centerline goodness [0,1] 0.9986866076346227 Centerline is valid? [True, True] Translation: X:296.96, Y:10.53, Z:2.12 [[ 9.98021163e-01 -6.18503479e-02 -1.13266296e-02 2.96964884e+02] [ 6.18525556e-02 9.98085286e-01 -1.55622093e-04 1.05339249e+01] [ 1.13145676e-02 -5.45266844e-04 9.99935840e-01 2.12089559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.664391418 meters Centerline goodness [0,1] 0.9988345976183414 Centerline is valid? [True, True] Translation: X:297.00, Y:10.53, Z:2.12 [[ 9.97794752e-01 -6.55130177e-02 -1.06619189e-02 2.96995973e+02] [ 6.55151888e-02 9.97851561e-01 -1.45885812e-04 1.05323761e+01] [ 1.06485698e-02 -5.52953530e-04 9.99943149e-01 2.12183991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.694391418 meters Centerline goodness [0,1] 0.998749814591147 Centerline is valid? [True, True] Translation: X:297.03, Y:10.53, Z:2.12 [[ 9.97714060e-01 -6.67562269e-02 -1.05005478e-02 2.97026808e+02] [ 6.67584044e-02 9.97769159e-01 -1.43394343e-04 1.05286008e+01] [ 1.04866952e-02 -5.57933264e-04 9.99944857e-01 2.12178487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.724391418 meters Centerline goodness [0,1] 0.9985802678420072 Centerline is valid? [True, True] Translation: X:297.06, Y:10.53, Z:2.12 [[ 9.97651088e-01 -6.76912348e-02 -1.04977618e-02 2.97058479e+02] [ 6.76934702e-02 9.97706156e-01 -1.42650435e-04 1.05257610e+01] [ 1.04833377e-02 -5.68314563e-04 9.99944887e-01 2.12132886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.754391418 meters Centerline goodness [0,1] 0.9988569493247534 Centerline is valid? [True, True] Translation: X:297.09, Y:10.53, Z:2.12 [[ 9.97583921e-01 -6.84496897e-02 -1.18726455e-02 2.97090951e+02] [ 6.84526185e-02 9.97654356e-01 -1.59990590e-04 1.05287183e+01] [ 1.18557478e-02 -6.53109629e-04 9.99929505e-01 2.11998357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.784391418 meters Centerline goodness [0,1] 0.9988323461350657 Centerline is valid? [True, True] Translation: X:297.12, Y:10.53, Z:2.12 [[ 9.97562792e-01 -6.86786945e-02 -1.23172209e-02 2.97122788e+02] [ 6.86818767e-02 9.97638598e-01 -1.64968474e-04 1.05306509e+01] [ 1.22994648e-02 -6.81403432e-04 9.99924127e-01 2.11963566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.814391418 meters Centerline goodness [0,1] 0.9986007166027095 Centerline is valid? [True, True] Translation: X:297.15, Y:10.53, Z:2.12 [[ 9.97537572e-01 -6.90050642e-02 -1.25337325e-02 2.97153747e+02] [ 6.90083963e-02 9.97616065e-01 -1.66953391e-04 1.05254484e+01] [ 1.25153735e-02 -6.98390500e-04 9.99921436e-01 2.11851042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.844391418 meters Centerline goodness [0,1] 0.9990030544714068 Centerline is valid? [True, True] Translation: X:297.19, Y:10.53, Z:2.12 [[ 9.97484207e-01 -6.95540056e-02 -1.36929539e-02 2.97185796e+02] [ 6.95580482e-02 9.97577889e-01 -1.81379559e-04 1.05329584e+01] [ 1.36724037e-02 -7.71531901e-04 9.99906231e-01 2.11840902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.874391418 meters Centerline goodness [0,1] 0.9986013689631058 Centerline is valid? [True, True] Translation: X:297.22, Y:10.53, Z:2.12 [[ 9.97432679e-01 -7.00933625e-02 -1.46619266e-02 2.97218003e+02] [ 7.00980739e-02 9.97540086e-01 -1.92965208e-04 1.05336812e+01] [ 1.46393851e-02 -8.35303012e-04 9.99892490e-01 2.11776035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.904391418 meters Centerline goodness [0,1] 0.9988562956687493 Centerline is valid? [True, True] Translation: X:297.25, Y:10.53, Z:2.12 [[ 9.97381293e-01 -7.07260643e-02 -1.51122243e-02 2.97249183e+02] [ 7.07311666e-02 9.97495395e-01 -1.97260434e-04 1.05328996e+01] [ 1.50883256e-02 -8.72161385e-04 9.99885784e-01 2.11745409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.934391418 meters Centerline goodness [0,1] 0.9990007653712051 Centerline is valid? [True, True] Translation: X:297.28, Y:10.53, Z:2.12 [[ 9.97345517e-01 -7.11571739e-02 -1.54459312e-02 2.97281466e+02] [ 7.11625802e-02 9.97464710e-01 -2.00018973e-04 1.05335355e+01] [ 1.54210041e-02 -8.99684294e-04 9.99880684e-01 2.11723459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.964391418 meters Centerline goodness [0,1] 0.998703727315228 Centerline is valid? [True, True] Translation: X:297.31, Y:10.53, Z:2.12 [[ 9.97279006e-01 -7.20309762e-02 -1.56883013e-02 2.97313252e+02] [ 7.20366785e-02 9.97401963e-01 -2.02059519e-04 1.05342664e+01] [ 1.56620971e-02 -9.28623402e-04 9.99876911e-01 2.11713916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.994391418 meters Centerline goodness [0,1] 0.9988272671059084 Centerline is valid? [True, True] Translation: X:297.35, Y:10.53, Z:2.12 [[ 9.97281862e-01 -7.21827138e-02 -1.47832327e-02 2.97345164e+02] [ 7.21878086e-02 9.97391039e-01 -1.89383923e-04 1.05349574e+01] [ 1.47583341e-02 -8.78300022e-04 9.99890704e-01 2.11801730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.024391418 meters Centerline goodness [0,1] 0.9990406753645433 Centerline is valid? [True, True] Translation: X:297.38, Y:10.54, Z:2.12 [[ 9.97316319e-01 -7.20355028e-02 -1.30785011e-02 2.97377157e+02] [ 7.20394903e-02 9.97401767e-01 -1.66568868e-04 1.05372035e+01] [ 1.30565189e-02 -7.76046701e-04 9.99914459e-01 2.12016936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.054391418 meters Centerline goodness [0,1] 0.998660514957583 Centerline is valid? [True, True] Translation: X:297.41, Y:10.54, Z:2.12 [[ 9.97337563e-01 -7.19826062e-02 -1.16742864e-02 2.97409321e+02] [ 7.19857897e-02 9.97405647e-01 -1.47822594e-04 1.05383088e+01] [ 1.16546399e-02 -6.92953703e-04 9.99931842e-01 2.12134236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.084391418 meters Centerline goodness [0,1] 0.9986164619739895 Centerline is valid? [True, True] Translation: X:297.44, Y:10.54, Z:2.12 [[ 9.97381337e-01 -7.15227226e-02 -1.07223375e-02 2.97440876e+02] [ 7.15253893e-02 9.97438770e-01 -1.35046756e-04 1.05395938e+01] [ 1.07045340e-02 -6.32226249e-04 9.99942505e-01 2.12247231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.114391418 meters Centerline goodness [0,1] 0.9988313040521876 Centerline is valid? [True, True] Translation: X:297.47, Y:10.55, Z:2.12 [[ 9.97480659e-01 -7.02882834e-02 -9.58602551e-03 2.97473536e+02] [ 7.02903640e-02 9.97526566e-01 -1.20114608e-04 1.05462706e+01] [ 9.57075776e-03 -5.53993224e-04 9.99954046e-01 2.12422233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.144391418 meters Centerline goodness [0,1] 0.9988264663835962 Centerline is valid? [True, True] Translation: X:297.51, Y:10.55, Z:2.12 [[ 9.97536115e-01 -6.95966347e-02 -8.83224650e-03 2.97505907e+02] [ 6.95983808e-02 9.97575087e-01 -1.09885282e-04 1.05503324e+01] [ 8.81847671e-03 -5.05095518e-04 9.99960989e-01 2.12483451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.174391418 meters Centerline goodness [0,1] 0.998806275579809 Centerline is valid? [True, True] Translation: X:297.54, Y:10.55, Z:2.12 [[ 9.97579931e-01 -6.89579956e-02 -8.89251984e-03 2.97537027e+02] [ 6.89597480e-02 9.97619437e-01 -1.09767787e-04 1.05515146e+01] [ 8.87892000e-03 -5.03723785e-04 9.99960455e-01 2.12499816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.204391418 meters Centerline goodness [0,1] 0.9990611530747237 Centerline is valid? [True, True] Translation: X:297.57, Y:10.56, Z:2.12 [[ 9.97619690e-01 -6.82640850e-02 -9.74520940e-03 2.97568878e+02] [ 6.82661707e-02 9.97667137e-01 -1.18852709e-04 1.05558080e+01] [ 9.73058853e-03 -5.46698326e-04 9.99952507e-01 2.12429201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.234391418 meters Centerline goodness [0,1] 0.9988259403150749 Centerline is valid? [True, True] Translation: X:297.60, Y:10.56, Z:2.12 [[ 9.97637505e-01 -6.79316043e-02 -1.02326143e-02 2.97599767e+02] [ 6.79338975e-02 9.97689817e-01 -1.23705703e-04 1.05559568e+01] [ 1.02173786e-02 -5.71727921e-04 9.99947638e-01 2.12359915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.264391418 meters Centerline goodness [0,1] 0.9988453396625826 Centerline is valid? [True, True] Translation: X:297.63, Y:10.56, Z:2.12 [[ 9.97625196e-01 -6.80138622e-02 -1.08665806e-02 2.97632013e+02] [ 6.80164692e-02 9.97684190e-01 -1.29905313e-04 1.05579474e+01] [ 1.08502510e-02 -6.09509631e-04 9.99940949e-01 2.12331011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.294391418 meters Centerline goodness [0,1] 0.999100680913023 Centerline is valid? [True, True] Translation: X:297.66, Y:10.56, Z:2.12 [[ 9.97611472e-01 -6.81081654e-02 -1.15164191e-02 2.97663752e+02] [ 6.81111106e-02 9.97677732e-01 -1.36736429e-04 1.05593461e+01] [ 1.14989878e-02 -6.47986264e-04 9.99933674e-01 2.12306056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.324391418 meters Centerline goodness [0,1] 0.9990571495917886 Centerline is valid? [True, True] Translation: X:297.69, Y:10.56, Z:2.12 [[ 9.97638125e-01 -6.74323532e-02 -1.30785680e-02 2.97694865e+02] [ 6.74361066e-02 9.97723583e-01 -1.54305503e-04 1.05623949e+01] [ 1.30592009e-02 -7.28026651e-04 9.99914460e-01 2.12183072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.354391418 meters Centerline goodness [0,1] 0.999142477382841 Centerline is valid? [True, True] Translation: X:297.73, Y:10.56, Z:2.12 [[ 9.97690413e-01 -6.65433865e-02 -1.36314672e-02 2.97726100e+02] [ 6.65473923e-02 9.97783253e-01 -1.60019647e-04 1.05643497e+01] [ 1.36118979e-02 -7.47488526e-04 9.99907074e-01 2.12161393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.384391418 meters Centerline goodness [0,1] 0.999142477382841 Centerline is valid? [True, True] Translation: X:297.76, Y:10.56, Z:2.12 [[ 9.97698098e-01 -6.64280724e-02 -1.36314808e-02 2.97758688e+02] [ 6.64320834e-02 9.97790937e-01 -1.58849625e-04 1.05646077e+01] [ 1.36119201e-02 -7.47083704e-04 9.99907074e-01 2.12184224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.414391418 meters Centerline goodness [0,1] 0.9991408934707904 Centerline is valid? [True, True] Translation: X:297.79, Y:10.57, Z:2.12 [[ 9.97786756e-01 -6.50145162e-02 -1.39535518e-02 2.97790801e+02] [ 6.50186001e-02 9.97884039e-01 -1.61244606e-04 1.05670465e+01] [ 1.39345098e-02 -7.46352669e-04 9.99902631e-01 2.12191550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.444391418 meters Centerline goodness [0,1] 0.9990125152952793 Centerline is valid? [True, True] Translation: X:297.82, Y:10.58, Z:2.12 [[ 9.98088393e-01 -6.03466335e-02 -1.33357985e-02 2.97821238e+02] [ 6.03499564e-02 9.98177268e-01 -1.53476276e-04 1.05751514e+01] [ 1.33207527e-02 -6.51631969e-04 9.99911063e-01 2.12328134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.474391418 meters Centerline goodness [0,1] 0.9990764604810997 Centerline is valid? [True, True] Translation: X:297.85, Y:10.58, Z:2.12 [[ 9.98274848e-01 -5.72631535e-02 -1.29714371e-02 2.97852977e+02] [ 5.72660437e-02 9.98358943e-01 -1.48808963e-04 1.05817777e+01] [ 1.29586715e-02 -5.94270637e-04 9.99915856e-01 2.12484643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.504391418 meters Centerline goodness [0,1] 0.9993983282119604 Centerline is valid? [True, True] Translation: X:297.88, Y:10.59, Z:2.13 [[ 9.98470361e-01 -5.39351705e-02 -1.21629032e-02 2.97884943e+02] [ 5.39374735e-02 9.98544305e-01 -1.38846641e-04 1.05889599e+01] [ 1.21526864e-02 -5.17402013e-04 9.99926020e-01 2.12647068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.534391418 meters Centerline goodness [0,1] 0.9992270033496522 Centerline is valid? [True, True] Translation: X:297.92, Y:10.59, Z:2.13 [[ 9.98661577e-01 -5.04034207e-02 -1.15995244e-02 2.97915385e+02] [ 5.04052830e-02 9.98728837e-01 -1.31926978e-04 1.05896667e+01] [ 1.15914291e-02 -4.52926905e-04 9.99932715e-01 2.12722658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.564391418 meters Centerline goodness [0,1] 0.9993756324412771 Centerline is valid? [True, True] Translation: X:297.95, Y:10.60, Z:2.13 [[ 9.99001751e-01 -4.33902076e-02 -1.06203355e-02 2.97946206e+02] [ 4.33913750e-02 9.99058143e-01 -1.20589124e-04 1.06046449e+01] [ 1.06155650e-02 -3.40362213e-04 9.99943595e-01 2.12959342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.594391418 meters Centerline goodness [0,1] 0.9993743797730509 Centerline is valid? [True, True] Translation: X:297.98, Y:10.61, Z:2.13 [[ 9.99148485e-01 -3.99195544e-02 -1.04275642e-02 2.97976422e+02] [ 3.99204930e-02 9.99202852e-01 -1.18190692e-04 1.06082492e+01] [ 1.04239700e-02 -2.98183451e-04 9.99945624e-01 2.12972665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.624391418 meters Centerline goodness [0,1] 0.9995883703799991 Centerline is valid? [True, True] Translation: X:298.01, Y:10.62, Z:2.13 [[ 9.99414739e-01 -3.23910059e-02 -1.10000854e-02 2.98006349e+02] [ 3.23915963e-02 9.99475247e-01 -1.24530362e-04 1.06158461e+01] [ 1.09983467e-02 -2.31852846e-04 9.99939489e-01 2.12991793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.654391418 meters Centerline goodness [0,1] 0.9995226730310263 Centerline is valid? [True, True] Translation: X:298.04, Y:10.62, Z:2.13 [[ 9.99527233e-01 -2.84234257e-02 -1.17226223e-02 2.98039013e+02] [ 2.84238290e-02 9.99595953e-01 -1.32238952e-04 1.06215569e+01] [ 1.17216445e-02 -2.01025379e-04 9.99931279e-01 2.13009214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.684391418 meters Centerline goodness [0,1] 0.9995001521276133 Centerline is valid? [True, True] Translation: X:298.07, Y:10.63, Z:2.13 [[ 9.99624375e-01 -2.44876078e-02 -1.23071553e-02 2.98070943e+02] [ 2.44877684e-02 9.99700120e-01 -1.37670137e-04 1.06262708e+01] [ 1.23068358e-02 -1.63756343e-04 9.99924255e-01 2.12992410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.714391418 meters Centerline goodness [0,1] 0.9996294358706077 Centerline is valid? [True, True] Translation: X:298.10, Y:10.63, Z:2.13 [[ 9.99754748e-01 -1.67259641e-02 -1.45150005e-02 2.98100841e+02] [ 1.67253813e-02 9.99860108e-01 -1.61551556e-04 1.06333855e+01] [ 1.45156721e-02 -8.12569824e-05 9.99894639e-01 2.12872427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.744391418 meters Centerline goodness [0,1] 0.9995412443201678 Centerline is valid? [True, True] Translation: X:298.13, Y:10.64, Z:2.13 [[ 9.99787396e-01 -1.33639289e-02 -1.57025117e-02 2.98130277e+02] [ 1.33628291e-02 9.99910698e-01 -1.74960804e-04 1.06371824e+01] [ 1.57034476e-02 -3.49063741e-05 9.99876693e-01 2.12850407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.774391418 meters Centerline goodness [0,1] 0.999650708407012 Centerline is valid? [True, True] Translation: X:298.16, Y:10.64, Z:2.13 [[ 9.99818118e-01 -9.79940928e-03 -1.63616438e-02 2.98158407e+02] [ 9.79771830e-03 9.99951984e-01 -1.83508199e-04 1.06406994e+01] [ 1.63626564e-02 2.31680457e-05 9.99866123e-01 2.12843144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.804391418 meters Centerline goodness [0,1] 0.999671564012174 Centerline is valid? [True, True] Translation: X:298.19, Y:10.65, Z:2.13 [[ 9.99838547e-01 -4.63928946e-03 -1.73596412e-02 2.98186638e+02] [ 4.63657750e-03 9.99989232e-01 -1.96466538e-04 1.06451058e+01] [ 1.73603658e-02 1.15945496e-04 9.99849291e-01 2.12850371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.834391418 meters Centerline goodness [0,1] 0.9996501738198832 Centerline is valid? [True, True] Translation: X:298.21, Y:10.65, Z:2.13 [[ 9.99842133e-01 -2.89447050e-03 -1.75308757e-02 2.98213989e+02] [ 2.89140584e-03 9.99995800e-01 -2.00158943e-04 1.06467660e+01] [ 1.75313814e-02 1.49438469e-04 9.99846302e-01 2.12827490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.864391418 meters Centerline goodness [0,1] 0.9996727962829658 Centerline is valid? [True, True] Translation: X:298.24, Y:10.65, Z:2.13 [[ 9.99842954e-01 -2.10814943e-03 -1.75961082e-02 2.98242673e+02] [ 2.10487628e-03 9.99997764e-01 -2.04534181e-04 1.06471850e+01] [ 1.75965000e-02 1.67464429e-04 9.99845156e-01 2.12878446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.894391418 meters Centerline goodness [0,1] 0.9995432002088228 Centerline is valid? [True, True] Translation: X:298.27, Y:10.65, Z:2.13 [[ 9.99860476e-01 -1.50752168e-03 -1.66359929e-02 2.98270049e+02] [ 1.50444767e-03 9.99998849e-01 -1.97294406e-04 1.06469120e+01] [ 1.66362711e-02 1.72238898e-04 9.99861593e-01 2.12932882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.924391418 meters Centerline goodness [0,1] 0.9995196086994498 Centerline is valid? [True, True] Translation: X:298.30, Y:10.65, Z:2.13 [[ 9.99864405e-01 -1.99207195e-03 -1.63463395e-02 2.98299300e+02] [ 1.98913265e-03 9.99998002e-01 -1.96070043e-04 1.06459188e+01] [ 1.63466974e-02 1.63528419e-04 9.99866370e-01 2.13036636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.954391418 meters Centerline goodness [0,1] 0.9995851437804318 Centerline is valid? [True, True] Translation: X:298.33, Y:10.64, Z:2.13 [[ 9.99870025e-01 -2.91902422e-03 -1.58560087e-02 2.98328356e+02] [ 2.91635614e-03 9.99995729e-01 -1.91389049e-04 1.06441801e+01] [ 1.58564996e-02 1.45122405e-04 9.99874267e-01 2.13119513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.984391418 meters Centerline goodness [0,1] 0.9996080907487644 Centerline is valid? [True, True] Translation: X:298.36, Y:10.64, Z:2.13 [[ 9.99852567e-01 -6.62223065e-03 -1.58426627e-02 2.98356244e+02] [ 6.62001009e-03 9.99978069e-01 -1.92602576e-04 1.06386025e+01] [ 1.58435907e-02 8.76955932e-05 9.99874479e-01 2.13126424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.014391418 meters Centerline goodness [0,1] 0.9994786688678425 Centerline is valid? [True, True] Translation: X:298.39, Y:10.63, Z:2.13 [[ 9.99825008e-01 -9.50445327e-03 -1.61127086e-02 2.98385493e+02] [ 9.50250862e-03 9.99954831e-01 -1.97248213e-04 1.06348171e+01] [ 1.61138555e-02 4.41025434e-05 9.99870162e-01 2.13154375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.044391418 meters Centerline goodness [0,1] 0.9994796973572961 Centerline is valid? [True, True] Translation: X:298.41, Y:10.62, Z:2.13 [[ 9.99707894e-01 -1.72928886e-02 -1.68843925e-02 2.98414023e+02] [ 1.72918411e-02 9.99850463e-01 -2.08037272e-04 1.06243953e+01] [ 1.68854652e-02 -8.39857294e-05 9.99857427e-01 2.13160935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.074391418 meters Centerline goodness [0,1] 0.9994588978832085 Centerline is valid? [True, True] Translation: X:298.44, Y:10.62, Z:2.13 [[ 9.99593601e-01 -2.23948958e-02 -1.76380680e-02 2.98441855e+02] [ 2.23945086e-02 9.99749187e-01 -2.19489864e-04 1.06181742e+01] [ 1.76385596e-02 -1.75595203e-04 9.99844413e-01 2.13077192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.104391418 meters Centerline goodness [0,1] 0.9994810586403736 Centerline is valid? [True, True] Translation: X:298.47, Y:10.61, Z:2.13 [[ 9.99456597e-01 -2.75182032e-02 -1.81454950e-02 2.98471446e+02] [ 2.75186099e-02 9.99621265e-01 -2.27325263e-04 1.06120986e+01] [ 1.81448782e-02 -2.72137063e-04 9.99835331e-01 2.13053658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.134391418 meters Centerline goodness [0,1] 0.9992879490775703 Centerline is valid? [True, True] Translation: X:298.50, Y:10.61, Z:2.13 [[ 9.99274043e-01 -3.29856351e-02 -1.90613395e-02 2.98501508e+02] [ 3.29870724e-02 9.99455750e-01 -2.39095220e-04 1.06052646e+01] [ 1.90588521e-02 -3.89856139e-04 9.99818288e-01 2.12953134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.164391418 meters Centerline goodness [0,1] 0.9990745722586893 Centerline is valid? [True, True] Translation: X:298.53, Y:10.60, Z:2.13 [[ 9.99087673e-01 -3.80055287e-02 -1.94782269e-02 2.98531978e+02] [ 3.80079876e-02 9.99277406e-01 -2.44078140e-04 1.05986781e+01] [ 1.94734284e-02 -4.96472746e-04 9.99810252e-01 2.12858362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.194391418 meters Centerline goodness [0,1] 0.9991240813536147 Centerline is valid? [True, True] Translation: X:298.56, Y:10.59, Z:2.13 [[ 9.98688016e-01 -4.68425041e-02 -2.06888149e-02 2.98561288e+02] [ 4.68471705e-02 9.98902035e-01 -2.59317238e-04 1.05853841e+01] [ 2.06782464e-02 -7.10235422e-04 9.99785930e-01 2.12682709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.224391418 meters Centerline goodness [0,1] 0.9989261629655084 Centerline is valid? [True, True] Translation: X:298.59, Y:10.58, Z:2.13 [[ 9.98474340e-01 -5.07834341e-02 -2.16802812e-02 2.98592635e+02] [ 5.07894959e-02 9.98709344e-01 -2.71296234e-04 1.05807674e+01] [ 2.16660768e-02 -8.30248227e-04 9.99764918e-01 2.12685718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.254391418 meters Centerline goodness [0,1] 0.9988855311944105 Centerline is valid? [True, True] Translation: X:298.62, Y:10.57, Z:2.13 [[ 9.98120539e-01 -5.71266875e-02 -2.21795151e-02 2.98623538e+02] [ 5.71346050e-02 9.98366446e-01 -2.77067210e-04 1.05745891e+01] [ 2.21591116e-02 -9.90671364e-04 9.99753966e-01 2.12779450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.284391418 meters Centerline goodness [0,1] 0.998929794520548 Centerline is valid? [True, True] Translation: X:298.66, Y:10.57, Z:2.13 [[ 9.97973313e-01 -5.95857767e-02 -2.23338730e-02 2.98655378e+02] [ 5.95944419e-02 9.98222633e-01 -2.77976530e-04 1.05719187e+01] [ 2.23107409e-02 -1.05356154e-03 9.99750529e-01 2.12835051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.314391418 meters Centerline goodness [0,1] 0.9991010273972603 Centerline is valid? [True, True] Translation: X:298.69, Y:10.57, Z:2.13 [[ 9.97834108e-01 -6.17641265e-02 -2.26337259e-02 2.98687227e+02] [ 6.17736162e-02 9.98090147e-01 -2.80327507e-04 1.05698093e+01] [ 2.26078130e-02 -1.11844675e-03 9.99743785e-01 2.12922576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.344391418 meters Centerline goodness [0,1] 0.9987832991803278 Centerline is valid? [True, True] Translation: X:298.72, Y:10.56, Z:2.13 [[ 9.97605528e-01 -6.53783586e-02 -2.25583656e-02 2.98717108e+02] [ 6.53887161e-02 9.97859829e-01 -2.78968551e-04 1.05626202e+01] [ 2.25283253e-02 -1.19676199e-03 9.99745489e-01 2.12923235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.374391418 meters Centerline goodness [0,1] 0.9987410916229249 Centerline is valid? [True, True] Translation: X:298.75, Y:10.56, Z:2.13 [[ 9.97513795e-01 -6.67711401e-02 -2.25353881e-02 2.98748601e+02] [ 6.67818446e-02 9.97767562e-01 -2.78068729e-04 1.05614103e+01] [ 2.25036462e-02 -1.22757739e-03 9.99746007e-01 2.12987791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.404391418 meters Centerline goodness [0,1] 0.9986569455103607 Centerline is valid? [True, True] Translation: X:298.78, Y:10.56, Z:2.13 [[ 9.97424321e-01 -6.80424863e-02 -2.26923722e-02 2.98779885e+02] [ 6.80536890e-02 9.97681621e-01 -2.79105041e-04 1.05594540e+01] [ 2.26587536e-02 -1.26591348e-03 9.99742456e-01 2.13034502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.434391418 meters Centerline goodness [0,1] 0.998915309030584 Centerline is valid? [True, True] Translation: X:298.81, Y:10.56, Z:2.13 [[ 9.97282437e-01 -7.00559678e-02 -2.28013443e-02 2.98811362e+02] [ 7.00678236e-02 9.97542191e-01 -2.79533355e-04 1.05573000e+01] [ 2.27648859e-02 -1.31886687e-03 9.99739976e-01 2.13104809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.464391418 meters Centerline goodness [0,1] 0.9987625346703648 Centerline is valid? [True, True] Translation: X:298.84, Y:10.55, Z:2.13 [[ 9.97191704e-01 -7.10707811e-02 -2.36145900e-02 2.98842815e+02] [ 7.10838119e-02 9.97470305e-01 -2.88217416e-04 1.05524393e+01] [ 2.35753361e-02 -1.39120706e-03 9.99721095e-01 2.13005734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.494391418 meters Centerline goodness [0,1] 0.9988512349224583 Centerline is valid? [True, True] Translation: X:298.87, Y:10.55, Z:2.13 [[ 9.97136185e-01 -7.17988871e-02 -2.37560151e-02 2.98874313e+02] [ 7.18123058e-02 9.97418122e-01 -2.88872876e-04 1.05508942e+01] [ 2.37154207e-02 -1.41792862e-03 9.99717744e-01 2.13012563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.524391418 meters Centerline goodness [0,1] 0.9988060210651998 Centerline is valid? [True, True] Translation: X:298.91, Y:10.55, Z:2.13 [[ 9.96974976e-01 -7.35710844e-02 -2.50637695e-02 2.98905886e+02] [ 7.35866053e-02 9.97288784e-01 -3.03755621e-04 1.05526949e+01] [ 2.50181639e-02 -1.54152096e-03 9.99685808e-01 2.13102012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.554391418 meters Centerline goodness [0,1] 0.9987005794137696 Centerline is valid? [True, True] Translation: X:298.94, Y:10.55, Z:2.13 [[ 9.96920649e-01 -7.40369359e-02 -2.58409106e-02 2.98938318e+02] [ 7.40536384e-02 9.97254211e-01 -3.11327431e-04 1.05527299e+01] [ 2.57930066e-02 -1.60324470e-03 9.99666019e-01 2.13101191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.584391418 meters Centerline goodness [0,1] 0.9985310397683727 Centerline is valid? [True, True] Translation: X:298.97, Y:10.55, Z:2.13 [[ 9.96858301e-01 -7.45664065e-02 -2.67091683e-02 2.98968805e+02] [ 7.45844668e-02 9.97214648e-01 -3.20789159e-04 1.05472830e+01] [ 2.66586940e-02 -1.67230774e-03 9.99643195e-01 2.12910006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.614391418 meters Centerline goodness [0,1] 0.9987882395459087 Centerline is valid? [True, True] Translation: X:299.00, Y:10.55, Z:2.13 [[ 9.96832474e-01 -7.46927962e-02 -2.73130930e-02 2.98999678e+02] [ 7.47117563e-02 9.97205118e-01 -3.27085236e-04 1.05496422e+01] [ 2.72611870e-02 -1.71455996e-03 9.99626874e-01 2.12973233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.644391418 meters Centerline goodness [0,1] 0.9987440929796926 Centerline is valid? [True, True] Translation: X:299.03, Y:10.55, Z:2.13 [[ 9.96797102e-01 -7.42384146e-02 -2.97354066e-02 2.99031392e+02] [ 7.42607245e-02 9.97238797e-01 -3.54871212e-04 1.05522127e+01] [ 2.96796462e-02 -1.85443824e-03 9.99557742e-01 2.12913584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.674391418 meters Centerline goodness [0,1] 0.9987676879275911 Centerline is valid? [True, True] Translation: X:299.06, Y:10.55, Z:2.13 [[ 9.96832542e-01 -7.33323058e-02 -3.07775285e-02 2.99062057e+02] [ 7.33558017e-02 9.97305767e-01 -3.66539754e-04 1.05510985e+01] [ 3.07214858e-02 -1.89233152e-03 9.99526192e-01 2.12759731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.704391418 meters Centerline goodness [0,1] 0.9987431833674165 Centerline is valid? [True, True] Translation: X:299.09, Y:10.55, Z:2.13 [[ 9.96870989e-01 -7.23656448e-02 -3.18032285e-02 2.99092898e+02] [ 7.23902488e-02 9.97376312e-01 -3.78610260e-04 1.05546356e+01] [ 3.17471851e-02 -1.92481804e-03 9.99494078e-01 2.12776975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.734391418 meters Centerline goodness [0,1] 0.9987449745804173 Centerline is valid? [True, True] Translation: X:299.12, Y:10.56, Z:2.13 [[ 9.97136897e-01 -6.84982894e-02 -3.20311264e-02 2.99123197e+02] [ 6.85212591e-02 9.97649584e-01 -3.81323333e-04 1.05622962e+01] [ 3.19819599e-02 -1.81458155e-03 9.99486799e-01 2.12934545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.764391418 meters Centerline goodness [0,1] 0.9988247360998334 Centerline is valid? [True, True] Translation: X:299.15, Y:10.57, Z:2.13 [[ 9.97316597e-01 -6.58940118e-02 -3.18996151e-02 2.99153661e+02] [ 6.59154652e-02 9.97825139e-01 -3.79757721e-04 1.05677620e+01] [ 3.18552616e-02 -1.72393929e-03 9.99491006e-01 2.13094541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.794391418 meters Centerline goodness [0,1] 0.9989752348420153 Centerline is valid? [True, True] Translation: X:299.18, Y:10.57, Z:2.13 [[ 9.97771008e-01 -5.96539054e-02 -2.99069622e-02 2.99182650e+02] [ 5.96699483e-02 9.98218097e-01 -3.56554092e-04 1.05735867e+01] [ 2.98749407e-02 -1.42878755e-03 9.99552623e-01 2.13282625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.824391418 meters Centerline goodness [0,1] 0.9991657575563113 Centerline is valid? [True, True] Translation: X:299.21, Y:10.58, Z:2.13 [[ 9.98013063e-01 -5.59675268e-02 -2.89406494e-02 2.99211901e+02] [ 5.59809852e-02 9.98431775e-01 -3.45625015e-04 1.05765024e+01] [ 2.89146077e-02 -1.27518778e-03 9.99581072e-01 2.13358732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.854391418 meters Centerline goodness [0,1] 0.9989955118615089 Centerline is valid? [True, True] Translation: X:299.24, Y:10.58, Z:2.14 [[ 9.98237576e-01 -5.24502745e-02 -2.77616805e-02 2.99242390e+02] [ 5.24612965e-02 9.98622903e-01 -3.31679320e-04 1.05813338e+01] [ 2.77408466e-02 -1.12531899e-03 9.99614515e-01 2.13538130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.884391418 meters Centerline goodness [0,1] 0.9990586624449104 Centerline is valid? [True, True] Translation: X:299.27, Y:10.59, Z:2.14 [[ 9.98463612e-01 -4.85851851e-02 -2.66438480e-02 2.99272542e+02] [ 4.85939349e-02 9.98818566e-01 -3.19367152e-04 1.05871497e+01] [ 2.66278866e-02 -9.75852936e-04 9.99644939e-01 2.13736127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.914391418 meters Centerline goodness [0,1] 0.9989078995267565 Centerline is valid? [True, True] Translation: X:299.30, Y:10.60, Z:2.14 [[ 9.98839347e-01 -4.11595485e-02 -2.50170021e-02 2.99302812e+02] [ 4.11649239e-02 9.99152320e-01 -3.00301795e-04 1.05953700e+01] [ 2.50081560e-02 -7.29869738e-04 9.99686981e-01 2.13903579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.944391418 meters Centerline goodness [0,1] 0.9989733937890324 Centerline is valid? [True, True] Translation: X:299.33, Y:10.60, Z:2.14 [[ 9.98970133e-01 -3.80379468e-02 -2.47343577e-02 2.99331687e+02] [ 3.80422186e-02 9.99276088e-01 -2.97986040e-04 1.05976343e+01] [ 2.47277870e-02 -6.43270691e-04 9.99694015e-01 2.13873074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.974391418 meters Centerline goodness [0,1] 0.9989922596968203 Centerline is valid? [True, True] Translation: X:299.36, Y:10.60, Z:2.14 [[ 9.99102318e-01 -3.49935250e-02 -2.38748990e-02 2.99361839e+02] [ 3.49966189e-02 9.99387389e-01 -2.88354934e-04 1.06009364e+01] [ 2.38703636e-02 -5.47444660e-04 9.99714912e-01 2.13928164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.004391418 meters Centerline goodness [0,1] 0.9992266380236305 Centerline is valid? [True, True] Translation: X:299.39, Y:10.61, Z:2.14 [[ 9.99270002e-01 -2.99864299e-02 -2.36701644e-02 2.99391080e+02] [ 2.99880477e-02 9.99550216e-01 -2.86692176e-04 1.06073496e+01] [ 2.36681148e-02 -4.23339127e-04 9.99719781e-01 2.14106817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.034391418 meters Centerline goodness [0,1] 0.9991862780787597 Centerline is valid? [True, True] Translation: X:299.42, Y:10.61, Z:2.14 [[ 9.99348790e-01 -2.75285807e-02 -2.33275341e-02 2.99418992e+02] [ 2.75294377e-02 9.99620953e-01 -2.84462488e-04 1.06084039e+01] [ 2.33265227e-02 -3.57916655e-04 9.99727836e-01 2.13994705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.064391418 meters Centerline goodness [0,1] 0.999249635537261 Centerline is valid? [True, True] Translation: X:299.45, Y:10.61, Z:2.14 [[ 9.99383418e-01 -2.56070999e-02 -2.40220903e-02 2.99448217e+02] [ 2.56073304e-02 9.99672034e-01 -2.98071709e-04 1.06114417e+01] [ 2.40218446e-02 -3.17253679e-04 9.99711384e-01 2.14058507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.094391418 meters Centerline goodness [0,1] 0.9992277164003003 Centerline is valid? [True, True] Translation: X:299.48, Y:10.62, Z:2.14 [[ 9.99493833e-01 -2.00218670e-02 -2.47225096e-02 2.99477003e+02] [ 2.00202350e-02 9.99799526e-01 -3.13546759e-04 1.06157307e+01] [ 2.47238312e-02 -1.81562401e-04 9.99694303e-01 2.13936149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.124391418 meters Centerline goodness [0,1] 0.9993110575266965 Centerline is valid? [True, True] Translation: X:299.50, Y:10.62, Z:2.14 [[ 9.99543376e-01 -1.68637892e-02 -2.50729495e-02 2.99504328e+02] [ 1.68610234e-02 9.99857791e-01 -3.21731445e-04 1.06181850e+01] [ 2.50748095e-02 -1.01171053e-04 9.99685572e-01 2.13895579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.154391418 meters Centerline goodness [0,1] 0.9994616014127579 Centerline is valid? [True, True] Translation: X:299.53, Y:10.62, Z:2.14 [[ 9.99597528e-01 -1.37814053e-02 -2.47962701e-02 2.99533230e+02] [ 1.37776146e-02 9.99905032e-01 -3.23719757e-04 1.06212837e+01] [ 2.47983766e-02 -1.80439851e-05 9.99692473e-01 2.13937024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.184391418 meters Centerline goodness [0,1] 0.9995695499644879 Centerline is valid? [True, True] Translation: X:299.56, Y:10.63, Z:2.14 [[ 9.99705110e-01 -6.96131292e-03 -2.32644262e-02 2.99560681e+02] [ 6.95596772e-03 9.99975759e-01 -3.10675953e-04 1.06265737e+01] [ 2.32660249e-02 1.48757740e-04 9.99729298e-01 2.14091702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.214391418 meters Centerline goodness [0,1] 0.9994398603959757 Centerline is valid? [True, True] Translation: X:299.59, Y:10.63, Z:2.14 [[ 9.99738696e-01 -3.82691509e-03 -2.25365034e-02 2.99587899e+02] [ 3.82099398e-03 9.99992653e-01 -3.05789895e-04 1.06294169e+01] [ 2.25375081e-02 2.19598147e-04 9.99745974e-01 2.14120776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.244391418 meters Centerline goodness [0,1] 0.9995907289333104 Centerline is valid? [True, True] Translation: X:299.62, Y:10.63, Z:2.14 [[ 9.99773098e-01 -9.06464457e-04 -2.12821867e-02 2.99616944e+02] [ 9.00415503e-04 9.99999551e-01 -2.93806934e-04 1.06315121e+01] [ 2.12824434e-02 2.74577457e-04 9.99773465e-01 2.14254540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.274391418 meters Centerline goodness [0,1] 0.9995907289333104 Centerline is valid? [True, True] Translation: X:299.64, Y:10.63, Z:2.14 [[ 9.99772768e-01 -1.21835054e-03 -2.12820975e-02 2.99644323e+02] [ 1.21223679e-03 9.99999220e-01 -3.00170292e-04 1.06320368e+01] [ 2.12824467e-02 2.74303142e-04 9.99773465e-01 2.14273798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.304391418 meters Centerline goodness [0,1] 0.9996770790725711 Centerline is valid? [True, True] Translation: X:299.67, Y:10.63, Z:2.14 [[ 9.99795691e-01 1.33961863e-03 -2.01688241e-02 2.99672450e+02] [-1.34569706e-03 9.99999053e-01 -2.87808806e-04 1.06343109e+01] [ 2.01684194e-02 3.14891131e-04 9.99796547e-01 2.14342563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.334391418 meters Centerline goodness [0,1] 0.9996339756701474 Centerline is valid? [True, True] Translation: X:299.70, Y:10.64, Z:2.14 [[ 9.99816643e-01 4.85387520e-03 -1.85235232e-02 2.99700716e+02] [-4.85963709e-03 9.99988157e-01 -2.66057799e-04 1.06357501e+01] [ 1.85220124e-02 3.56026616e-04 9.99828389e-01 2.14455220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.364391418 meters Centerline goodness [0,1] 0.9995916963940344 Centerline is valid? [True, True] Translation: X:299.73, Y:10.64, Z:2.14 [[ 9.99816902e-01 5.09318258e-03 -1.84450881e-02 2.99728253e+02] [-5.09896896e-03 9.99986965e-01 -2.66692272e-04 1.06356191e+01] [ 1.84434893e-02 3.60694373e-04 9.99829839e-01 2.14426799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.394391418 meters Centerline goodness [0,1] 0.9995702159664769 Centerline is valid? [True, True] Translation: X:299.76, Y:10.63, Z:2.14 [[ 9.99821086e-01 4.23410847e-03 -1.84355290e-02 2.99756724e+02] [-4.23977178e-03 9.99990976e-01 -2.68121091e-04 1.06323308e+01] [ 1.84342274e-02 3.46235556e-04 9.99830015e-01 2.14484080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.424391418 meters Centerline goodness [0,1] 0.999464415784738 Centerline is valid? [True, True] Translation: X:299.79, Y:10.62, Z:2.14 [[ 9.99839942e-01 -6.19401407e-04 -1.78803191e-02 2.99786129e+02] [ 6.14828664e-04 9.99999777e-01 -2.61237678e-04 1.06242149e+01] [ 1.78804769e-02 2.50202532e-04 9.99840100e-01 2.14466993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.454391418 meters Centerline goodness [0,1] 0.999270433233912 Centerline is valid? [True, True] Translation: X:299.81, Y:10.62, Z:2.14 [[ 9.99839437e-01 -4.58280496e-03 -1.73233467e-02 2.99814830e+02] [ 4.57908582e-03 9.99989484e-01 -2.54349249e-04 1.06192935e+01] [ 1.73243302e-02 1.74983318e-04 9.99849907e-01 2.14470023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.484391418 meters Centerline goodness [0,1] 0.9994653664378434 Centerline is valid? [True, True] Translation: X:299.84, Y:10.61, Z:2.14 [[ 9.99814124e-01 -8.81171772e-03 -1.71484976e-02 2.99844118e+02] [ 8.80867130e-03 9.99961171e-01 -2.53175974e-04 1.06139386e+01] [ 1.71500627e-02 1.02073436e-04 9.99852922e-01 2.14464472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.514391418 meters Centerline goodness [0,1] 0.9993598087962271 Centerline is valid? [True, True] Translation: X:299.87, Y:10.61, Z:2.14 [[ 9.99767702e-01 -1.37763662e-02 -1.65757046e-02 2.99871617e+02] [ 1.37741769e-02 9.99905101e-01 -2.46244496e-04 1.06082750e+01] [ 1.65775239e-02 1.78706072e-05 9.99862583e-01 2.14431180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.544391418 meters Centerline goodness [0,1] 0.9990198794025525 Centerline is valid? [True, True] Translation: X:299.90, Y:10.60, Z:2.14 [[ 9.99573049e-01 -2.44853086e-02 -1.59433297e-02 2.99900765e+02] [ 2.44846224e-02 9.99700178e-01 -2.38267148e-04 1.05956874e+01] [ 1.59443836e-02 -1.52200986e-04 9.99872869e-01 2.14442427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.574391418 meters Centerline goodness [0,1] 0.9990215680435615 Centerline is valid? [True, True] Translation: X:299.93, Y:10.59, Z:2.14 [[ 9.99444271e-01 -2.96965387e-02 -1.51414710e-02 2.99930666e+02] [ 2.96965082e-02 9.99558936e-01 -2.26905262e-04 1.05884043e+01] [ 1.51415309e-02 -2.22869653e-04 9.99885336e-01 2.14366523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.604391418 meters Centerline goodness [0,1] 0.9990254030805737 Centerline is valid? [True, True] Translation: X:299.96, Y:10.58, Z:2.14 [[ 9.99291041e-01 -3.46571486e-02 -1.47070768e-02 2.99961397e+02] [ 3.46576557e-02 9.99399219e-01 -2.20458834e-04 1.05822164e+01] [ 1.47058815e-02 -2.89410267e-04 9.99891821e-01 2.14367878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.634391418 meters Centerline goodness [0,1] 0.9991319444444444 Centerline is valid? [True, True] Translation: X:299.99, Y:10.57, Z:2.14 [[ 9.98960269e-01 -4.34858587e-02 -1.36879852e-02 2.99992087e+02] [ 4.34871278e-02 9.99053966e-01 -2.05050393e-04 1.05697584e+01] [ 1.36839527e-02 -3.90413967e-04 9.99906294e-01 2.14338215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.664391418 meters Centerline goodness [0,1] 0.998877974426285 Centerline is valid? [True, True] Translation: X:300.02, Y:10.57, Z:2.14 [[ 9.98796490e-01 -4.71119301e-02 -1.36395547e-02 3.00023885e+02] [ 4.71135354e-02 9.98889520e-01 -2.03778059e-04 1.05662972e+01] [ 1.36340086e-02 -4.39074834e-04 9.99906956e-01 2.14351194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.694391418 meters Centerline goodness [0,1] 0.9990037095919448 Centerline is valid? [True, True] Translation: X:300.05, Y:10.56, Z:2.14 [[ 9.98614977e-01 -5.06984668e-02 -1.40638770e-02 3.00054294e+02] [ 5.07005370e-02 9.98713879e-01 -2.09529396e-04 1.05602668e+01] [ 1.40564120e-02 -5.03806923e-04 9.99901077e-01 2.14266038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.724391418 meters Centerline goodness [0,1] 0.9990079993245953 Centerline is valid? [True, True] Translation: X:300.09, Y:10.55, Z:2.14 [[ 9.98271789e-01 -5.67873354e-02 -1.51206747e-02 3.00085294e+02] [ 5.67904304e-02 9.98386096e-01 -2.24958332e-04 1.05523154e+01] [ 1.51090462e-02 -6.34140071e-04 9.99885651e-01 2.14100748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.754391418 meters Centerline goodness [0,1] 0.9990056487612923 Centerline is valid? [True, True] Translation: X:300.12, Y:10.55, Z:2.14 [[ 9.98102614e-01 -5.96653192e-02 -1.52059946e-02 3.00115889e+02] [ 5.96687918e-02 9.98218205e-01 -2.25620299e-04 1.05478983e+01] [ 1.51923623e-02 -6.82131115e-04 9.99884357e-01 2.14046898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.784391418 meters Centerline goodness [0,1] 0.9988357817196563 Centerline is valid? [True, True] Translation: X:300.15, Y:10.54, Z:2.14 [[ 9.97953563e-01 -6.21423943e-02 -1.50667964e-02 3.00146599e+02] [ 6.21460961e-02 9.98067038e-01 -2.22839397e-04 1.05412003e+01] [ 1.50515206e-02 -7.13959205e-04 9.99886465e-01 2.13972342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.814391418 meters Centerline goodness [0,1] 0.9986293859649122 Centerline is valid? [True, True] Translation: X:300.18, Y:10.54, Z:2.14 [[ 9.97717408e-01 -6.59348949e-02 -1.45795330e-02 3.00177892e+02] [ 6.59387731e-02 9.97823648e-01 -2.15063719e-04 1.05384706e+01] [ 1.45619830e-02 -7.46783705e-04 9.99893690e-01 2.13992432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.844391418 meters Centerline goodness [0,1] 0.9985487127713276 Centerline is valid? [True, True] Translation: X:300.21, Y:10.54, Z:2.14 [[ 9.97654631e-01 -6.69572404e-02 -1.42114122e-02 3.00210227e+02] [ 6.69610405e-02 9.97755569e-01 -2.08797657e-04 1.05363877e+01] [ 1.41934961e-02 -7.43302995e-04 9.99898991e-01 2.14006673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.874391418 meters Centerline goodness [0,1] 0.9985027098842236 Centerline is valid? [True, True] Translation: X:300.24, Y:10.54, Z:2.14 [[ 9.97607984e-01 -6.77280628e-02 -1.38282321e-02 3.00242113e+02] [ 6.77317493e-02 9.97703548e-01 -2.02099777e-04 1.05350793e+01] [ 1.38101641e-02 -7.34994000e-04 9.99904365e-01 2.14049091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.904391418 meters Centerline goodness [0,1] 0.9984251307141507 Centerline is valid? [True, True] Translation: X:300.27, Y:10.53, Z:2.14 [[ 9.97609741e-01 -6.77655989e-02 -1.35140277e-02 3.00273281e+02] [ 6.77691355e-02 9.97701010e-01 -1.96595324e-04 1.05341977e+01] [ 1.34962815e-02 -7.19708562e-04 9.99908662e-01 2.14118853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.934391418 meters Centerline goodness [0,1] 0.9985684511905013 Centerline is valid? [True, True] Translation: X:300.31, Y:10.54, Z:2.14 [[ 9.97640703e-01 -6.74115791e-02 -1.29887232e-02 3.00305133e+02] [ 6.74148271e-02 9.97725015e-01 -1.88102291e-04 1.05353437e+01] [ 1.29718544e-02 -6.87974030e-04 9.99915625e-01 2.14195060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.964391418 meters Centerline goodness [0,1] 0.9986354284754587 Centerline is valid? [True, True] Translation: X:300.34, Y:10.54, Z:2.14 [[ 9.97701552e-01 -6.65928222e-02 -1.25303277e-02 3.00336807e+02] [ 6.65957924e-02 9.97780020e-01 -1.80523063e-04 1.05355569e+01] [ 1.25145322e-02 -6.54358964e-04 9.99921476e-01 2.14224869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.994391418 meters Centerline goodness [0,1] 0.9987590181519888 Centerline is valid? [True, True] Translation: X:300.37, Y:10.54, Z:2.14 [[ 9.97743353e-01 -6.59956999e-02 -1.23600156e-02 3.00369247e+02] [ 6.59985557e-02 9.97819703e-01 -1.77133143e-04 1.05369494e+01] [ 1.23447571e-02 -6.39009761e-04 9.99923596e-01 2.14264103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.024391418 meters Centerline goodness [0,1] 0.9988860397662785 Centerline is valid? [True, True] Translation: X:300.40, Y:10.54, Z:2.14 [[ 9.97817564e-01 -6.48919611e-02 -1.22123574e-02 3.00401831e+02] [ 6.48946796e-02 9.97892104e-01 -1.73962658e-04 1.05428948e+01] [ 1.21979038e-02 -6.18934023e-04 9.99925411e-01 2.14313335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.054391418 meters Centerline goodness [0,1] 0.9986151618791833 Centerline is valid? [True, True] Translation: X:300.43, Y:10.54, Z:2.14 [[ 9.97827903e-01 -6.46988101e-02 -1.23911326e-02 3.00432720e+02] [ 6.47016118e-02 9.97904640e-01 -1.75061787e-04 1.05374370e+01] [ 1.23764950e-02 -6.27044717e-04 9.99923212e-01 2.14234131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.084391418 meters Centerline goodness [0,1] 0.9988651647612643 Centerline is valid? [True, True] Translation: X:300.46, Y:10.55, Z:2.14 [[ 9.97845177e-01 -6.44379173e-02 -1.23595195e-02 3.00464747e+02] [ 6.44407018e-02 9.97921523e-01 -1.73230979e-04 1.05452889e+01] [ 1.23449931e-02 -6.23598413e-04 9.99923603e-01 2.14323181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.114391418 meters Centerline goodness [0,1] 0.9990118992557709 Centerline is valid? [True, True] Translation: X:300.50, Y:10.55, Z:2.14 [[ 9.97821211e-01 -6.45761618e-02 -1.35185487e-02 3.00496091e+02] [ 6.45795249e-02 9.97912546e-01 -1.88061164e-04 1.05450187e+01] [ 1.35024736e-02 -6.85370036e-04 9.99908603e-01 2.14229470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.144391418 meters Centerline goodness [0,1] 0.998948541627237 Centerline is valid? [True, True] Translation: X:300.53, Y:10.55, Z:2.14 [[ 9.97829821e-01 -6.44691980e-02 -1.33929346e-02 3.00528685e+02] [ 6.44725074e-02 9.97919466e-01 -1.84955513e-04 1.05471089e+01] [ 1.33769941e-02 -6.78921947e-04 9.99910294e-01 2.14237761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.174391418 meters Centerline goodness [0,1] 0.9990529306534779 Centerline is valid? [True, True] Translation: X:300.56, Y:10.55, Z:2.14 [[ 9.97839253e-01 -6.42985465e-02 -1.35100852e-02 3.00560561e+02] [ 6.43019133e-02 9.97930473e-01 -1.85479293e-04 1.05478850e+01] [ 1.34940517e-02 -6.83645805e-04 9.99908717e-01 2.14246272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.204391418 meters Centerline goodness [0,1] 0.9989031618469068 Centerline is valid? [True, True] Translation: X:300.59, Y:10.55, Z:2.14 [[ 9.97861941e-01 -6.40857192e-02 -1.28284031e-02 3.00591290e+02] [ 6.40887486e-02 9.97944188e-01 -1.75235742e-04 1.05477892e+01] [ 1.28132604e-02 -6.47295223e-04 9.99917697e-01 2.14258744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.234391418 meters Centerline goodness [0,1] 0.9990083342124697 Centerline is valid? [True, True] Translation: X:300.62, Y:10.55, Z:2.14 [[ 9.97993552e-01 -6.21406587e-02 -1.21411690e-02 3.00622977e+02] [ 6.21432379e-02 9.98067228e-01 -1.65069490e-04 1.05509904e+01] [ 1.21279604e-02 -5.89753269e-04 9.99926280e-01 2.14332418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.264391418 meters Centerline goodness [0,1] 0.9988619599578503 Centerline is valid? [True, True] Translation: X:300.66, Y:10.55, Z:2.14 [[ 9.98082892e-01 -6.07040700e-02 -1.20647210e-02 3.00655036e+02] [ 6.07065232e-02 9.98155645e-01 -1.63117867e-04 1.05530934e+01] [ 1.20523713e-02 -5.69602116e-04 9.99927205e-01 2.14392852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.294391418 meters Centerline goodness [0,1] 0.9989517819706499 Centerline is valid? [True, True] Translation: X:300.69, Y:10.56, Z:2.14 [[ 9.98210936e-01 -5.86361428e-02 -1.16931814e-02 3.00685665e+02] [ 5.86383139e-02 9.98279281e-01 -1.57381446e-04 1.05550264e+01] [ 1.16822889e-02 -5.28568560e-04 9.99931620e-01 2.14463717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.324391418 meters Centerline goodness [0,1] 0.9989258408980812 Centerline is valid? [True, True] Translation: X:300.72, Y:10.56, Z:2.15 [[ 9.98493955e-01 -5.38275727e-02 -1.06025248e-02 3.00716258e+02] [ 5.38290903e-02 9.98550153e-01 -1.42385709e-04 1.05634061e+01] [ 1.05948170e-02 -4.28552994e-04 9.99943782e-01 2.14613164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.354391418 meters Centerline goodness [0,1] 0.9990469332429684 Centerline is valid? [True, True] Translation: X:300.75, Y:10.57, Z:2.15 [[ 9.98634400e-01 -5.12957503e-02 -9.90359735e-03 3.00747281e+02] [ 5.12969524e-02 9.98683436e-01 -1.32761946e-04 1.05668619e+01] [ 9.89736875e-03 -3.75443716e-04 9.99950949e-01 2.14690744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.384391418 meters Centerline goodness [0,1] 0.99884149552396 Centerline is valid? [True, True] Translation: X:300.78, Y:10.57, Z:2.15 [[ 9.98771176e-01 -4.86045068e-02 -9.68189806e-03 3.00778223e+02] [ 4.86055329e-02 9.98818044e-01 -1.29423945e-04 1.05698582e+01] [ 9.67674507e-03 -3.41328910e-04 9.99953121e-01 2.14717900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.414391418 meters Centerline goodness [0,1] 0.99904932924897 Centerline is valid? [True, True] Translation: X:300.81, Y:10.57, Z:2.15 [[ 9.98893648e-01 -4.61363955e-02 -9.10568669e-03 3.00810822e+02] [ 4.61372048e-02 9.98935105e-01 -1.21270787e-04 1.05738077e+01] [ 9.10158508e-03 -2.98974313e-04 9.99958535e-01 2.14810010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.444391418 meters Centerline goodness [0,1] 0.9987562451251133 Centerline is valid? [True, True] Translation: X:300.84, Y:10.58, Z:2.15 [[ 9.99086786e-01 -4.19366897e-02 -8.17975694e-03 3.00841371e+02] [ 4.19372074e-02 9.99120242e-01 -1.08297255e-04 1.05798255e+01] [ 8.17710236e-03 -2.34837807e-04 9.99966539e-01 2.14919977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.474391418 meters Centerline goodness [0,1] 0.9987128900892537 Centerline is valid? [True, True] Translation: X:300.87, Y:10.58, Z:2.15 [[ 9.99159020e-01 -4.02398724e-02 -7.87430647e-03 3.00874063e+02] [ 4.02403021e-02 9.99190026e-01 -1.03917115e-04 1.05826559e+01] [ 7.87211009e-03 -2.13034748e-04 9.99968992e-01 2.15006640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.504391418 meters Centerline goodness [0,1] 0.9989441229885543 Centerline is valid? [True, True] Translation: X:300.91, Y:10.58, Z:2.15 [[ 9.99216100e-01 -3.89328419e-02 -7.17065888e-03 3.00905274e+02] [ 3.89331690e-02 9.99241812e-01 -9.40240114e-05 1.05846361e+01] [ 7.16888280e-03 -1.85226168e-04 9.99974286e-01 2.15100686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.534391418 meters Centerline goodness [0,1] 0.9987342840266644 Centerline is valid? [True, True] Translation: X:300.94, Y:10.59, Z:2.15 [[ 9.99251591e-01 -3.80733574e-02 -6.83205235e-03 3.00936416e+02] [ 3.80736368e-02 9.99274932e-01 -8.92203583e-05 1.05855749e+01] [ 6.83049557e-03 -1.70967495e-04 9.99976657e-01 2.15151624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.564391418 meters Centerline goodness [0,1] 0.9987774288063068 Centerline is valid? [True, True] Translation: X:300.97, Y:10.59, Z:2.15 [[ 9.99260334e-01 -3.78149920e-02 -6.98657291e-03 3.00968823e+02] [ 3.78152805e-02 9.99284742e-01 -9.08444331e-05 1.05881903e+01] [ 6.98501099e-03 -1.73421976e-04 9.99975589e-01 2.15195452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.594391418 meters Centerline goodness [0,1] 0.998817617499261 Centerline is valid? [True, True] Translation: X:301.00, Y:10.59, Z:2.15 [[ 9.99250442e-01 -3.80717390e-02 -7.00694301e-03 3.01001049e+02] [ 3.80720392e-02 9.99274993e-01 -9.05938842e-05 1.05920470e+01] [ 7.00531199e-03 -1.76242630e-04 9.99975447e-01 2.15206801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.624391418 meters Centerline goodness [0,1] 0.9990292491453172 Centerline is valid? [True, True] Translation: X:301.03, Y:10.59, Z:2.15 [[ 9.99195110e-01 -3.94135705e-02 -7.46337696e-03 3.01032862e+02] [ 3.94139531e-02 9.99222964e-01 -9.58699603e-05 1.05933208e+01] [ 7.46135622e-03 -1.98368394e-04 9.99972144e-01 2.15205210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.654391418 meters Centerline goodness [0,1] 0.998755956648252 Centerline is valid? [True, True] Translation: X:301.06, Y:10.59, Z:2.15 [[ 9.99166912e-01 -4.01646695e-02 -7.23053935e-03 3.01064946e+02] [ 4.01650523e-02 9.99193054e-01 -9.23177449e-05 1.05936112e+01] [ 7.22841261e-03 -1.98174155e-04 9.99973855e-01 2.15226853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.684391418 meters Centerline goodness [0,1] 0.9988413979060901 Centerline is valid? [True, True] Translation: X:301.10, Y:10.59, Z:2.15 [[ 9.99134167e-01 -4.09736765e-02 -7.21627707e-03 3.01096978e+02] [ 4.09740831e-02 9.99160205e-01 -9.15553765e-05 1.05930759e+01] [ 7.21396824e-03 -2.04204232e-04 9.99973958e-01 2.15241016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.714391418 meters Centerline goodness [0,1] 0.9987121292093318 Centerline is valid? [True, True] Translation: X:301.13, Y:10.59, Z:2.15 [[ 9.99092673e-01 -4.19840378e-02 -7.15343250e-03 3.01129195e+02] [ 4.19844673e-02 9.99118259e-01 -9.01891805e-05 1.05926604e+01] [ 7.15091154e-03 -2.10225703e-04 9.99974410e-01 2.15256881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.744391418 meters Centerline goodness [0,1] 0.9987338032330224 Centerline is valid? [True, True] Translation: X:301.16, Y:10.59, Z:2.15 [[ 9.99004251e-01 -4.40875253e-02 -6.84080984e-03 3.01160807e+02] [ 4.40879709e-02 9.99027649e-01 -8.57195972e-05 1.05898978e+01] [ 6.83793733e-03 -2.15963183e-04 9.99976598e-01 2.15266528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.774391418 meters Centerline goodness [0,1] 0.9986901869652477 Centerline is valid? [True, True] Translation: X:301.19, Y:10.59, Z:2.15 [[ 9.98963772e-01 -4.50045480e-02 -6.78031601e-03 3.01191657e+02] [ 4.50050096e-02 9.98986758e-01 -8.45592298e-05 1.05888427e+01] [ 6.77725146e-03 -2.20676580e-04 9.99977010e-01 2.15270859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.804391418 meters Centerline goodness [0,1] 0.9988596287458028 Centerline is valid? [True, True] Translation: X:301.22, Y:10.59, Z:2.15 [[ 9.98918054e-01 -4.59795053e-02 -6.97178527e-03 3.01224120e+02] [ 4.59800200e-02 9.98942356e-01 -8.65269744e-05 1.05905884e+01] [ 6.96839007e-03 -2.34129470e-04 9.99975693e-01 2.15284038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.834391418 meters Centerline goodness [0,1] 0.9988163179031917 Centerline is valid? [True, True] Translation: X:301.26, Y:10.59, Z:2.15 [[ 9.98865896e-01 -4.70211590e-02 -7.47880217e-03 3.01255237e+02] [ 4.70217855e-02 9.98893860e-01 -9.21429368e-05 1.05891136e+01] [ 7.47486223e-03 -2.59628194e-04 9.99972029e-01 2.15276789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.864391418 meters Centerline goodness [0,1] 0.9989238008820612 Centerline is valid? [True, True] Translation: X:301.29, Y:10.59, Z:2.15 [[ 9.98752777e-01 -4.93383697e-02 -7.65607595e-03 3.01286585e+02] [ 4.93391025e-02 9.98782080e-01 -9.32456922e-05 1.05860696e+01] [ 7.65135205e-03 -2.84614522e-04 9.99970687e-01 2.15294093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.894391418 meters Centerline goodness [0,1] 0.9990081040013506 Centerline is valid? [True, True] Translation: X:301.32, Y:10.58, Z:2.15 [[ 9.98692240e-01 -5.05067041e-02 -7.92991005e-03 3.01318464e+02] [ 5.05075349e-02 9.98723675e-01 -9.55888125e-05 1.05848368e+01] [ 7.92461678e-03 -3.05056403e-04 9.99968553e-01 2.15293408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.924391418 meters Centerline goodness [0,1] 0.9988388295401764 Centerline is valid? [True, True] Translation: X:301.35, Y:10.58, Z:2.15 [[ 9.98644397e-01 -5.14409095e-02 -7.94989269e-03 3.01351079e+02] [ 5.14417790e-02 9.98675991e-01 -9.52091564e-05 1.05838190e+01] [ 7.94426461e-03 -3.13876532e-04 9.99968395e-01 2.15306407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.954391418 meters Centerline goodness [0,1] 0.9986280552155009 Centerline is valid? [True, True] Translation: X:301.38, Y:10.58, Z:2.15 [[ 9.98596646e-01 -5.22261770e-02 -8.78430746e-03 3.01382835e+02] [ 5.22272762e-02 9.98635219e-01 -1.04367753e-04 1.05831294e+01] [ 8.77776954e-03 -3.54559164e-04 9.99961412e-01 2.15247584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.984391418 meters Centerline goodness [0,1] 0.9988372584668724 Centerline is valid? [True, True] Translation: X:301.41, Y:10.58, Z:2.15 [[ 9.98603016e-01 -5.20240685e-02 -9.24726495e-03 3.01414864e+02] [ 5.20252886e-02 9.98645762e-01 -1.08727096e-04 1.05843783e+01] [ 9.24039837e-03 -3.72516421e-04 9.99957237e-01 2.15249372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.014391418 meters Centerline goodness [0,1] 0.9985635219062909 Centerline is valid? [True, True] Translation: X:301.45, Y:10.58, Z:2.15 [[ 9.98626381e-01 -5.15122677e-02 -9.58321394e-03 3.01446127e+02] [ 5.15135614e-02 9.98672289e-01 -1.11958041e-04 1.05832954e+01] [ 9.57625741e-03 -3.81861227e-04 9.99954074e-01 2.15209255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.044391418 meters Centerline goodness [0,1] 0.9987561664628747 Centerline is valid? [True, True] Translation: X:301.48, Y:10.58, Z:2.15 [[ 9.98689775e-01 -5.01396760e-02 -1.02345260e-02 3.01477440e+02] [ 5.01410887e-02 9.98742137e-01 -1.18675714e-04 1.05841982e+01] [ 1.02276028e-02 -3.94650055e-04 9.99947619e-01 2.15152043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.074391418 meters Centerline goodness [0,1] 0.9990281827016521 Centerline is valid? [True, True] Translation: X:301.51, Y:10.59, Z:2.15 [[ 9.98865410e-01 -4.62590357e-02 -1.13134538e-02 3.01508636e+02] [ 4.62605277e-02 9.98929400e-01 -1.29919206e-04 1.05930908e+01] [ 1.13073516e-02 -3.93594543e-04 9.99935992e-01 2.15141128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.104391418 meters Centerline goodness [0,1] 0.9989465478372627 Centerline is valid? [True, True] Translation: X:301.54, Y:10.60, Z:2.15 [[ 9.98984922e-01 -4.35090968e-02 -1.16654810e-02 3.01541090e+02] [ 4.35105035e-02 9.99052961e-01 -1.33294251e-04 1.05951981e+01] [ 1.16602328e-02 -3.74412005e-04 9.99931947e-01 2.15129862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.134391418 meters Centerline goodness [0,1] 0.9987561664628747 Centerline is valid? [True, True] Translation: X:301.57, Y:10.60, Z:2.15 [[ 9.99111240e-01 -4.04595923e-02 -1.18216441e-02 3.01571802e+02] [ 4.04608328e-02 9.99181116e-01 -1.34316974e-04 1.05978194e+01] [ 1.18173979e-02 -3.44115966e-04 9.99930113e-01 2.15116790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.164391418 meters Centerline goodness [0,1] 0.9988780219314958 Centerline is valid? [True, True] Translation: X:301.60, Y:10.61, Z:2.15 [[ 9.99355631e-01 -3.36673264e-02 -1.24432386e-02 3.01603453e+02] [ 3.36681821e-02 9.99433056e-01 -1.40763799e-04 1.06053881e+01] [ 1.24409232e-02 -2.78268128e-04 9.99922570e-01 2.15221761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.194391418 meters Centerline goodness [0,1] 0.9988780219314958 Centerline is valid? [True, True] Translation: X:301.64, Y:10.61, Z:2.15 [[ 9.99358276e-01 -3.35887078e-02 -1.24432481e-02 3.01635153e+02] [ 3.35895679e-02 9.99435701e-01 -1.39921868e-04 1.06056668e+01] [ 1.24409262e-02 -2.78131251e-04 9.99922570e-01 2.15243969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.224391418 meters Centerline goodness [0,1] 0.9989403861232967 Centerline is valid? [True, True] Translation: X:301.67, Y:10.61, Z:2.15 [[ 9.99466796e-01 -3.02539732e-02 -1.22808933e-02 3.01666522e+02] [ 3.02545686e-02 9.99542216e-01 -1.37346408e-04 1.06095083e+01] [ 1.22794266e-02 -2.34279955e-04 9.99924578e-01 2.15280352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.254391418 meters Centerline goodness [0,1] 0.9990444845525003 Centerline is valid? [True, True] Translation: X:301.70, Y:10.61, Z:2.15 [[ 9.99546237e-01 -2.73189564e-02 -1.26883428e-02 3.01697479e+02] [ 2.73193620e-02 9.99626747e-01 -1.41395310e-04 1.06136519e+01] [ 1.26874696e-02 -2.05306280e-04 9.99919490e-01 2.15338213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.284391418 meters Centerline goodness [0,1] 0.9988328417121151 Centerline is valid? [True, True] Translation: X:301.73, Y:10.62, Z:2.15 [[ 9.99658145e-01 -2.24871981e-02 -1.33386174e-02 3.01729070e+02] [ 2.24872234e-02 9.99747119e-01 -1.48099785e-04 1.06186678e+01] [ 1.33385747e-02 -1.51899314e-04 9.99911026e-01 2.15320236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.314391418 meters Centerline goodness [0,1] 0.9990850285130649 Centerline is valid? [True, True] Translation: X:301.76, Y:10.62, Z:2.15 [[ 9.99682312e-01 -2.13060843e-02 -1.34656925e-02 3.01759572e+02] [ 2.13060067e-02 9.99772990e-01 -1.49231872e-04 1.06201454e+01] [ 1.34658152e-02 -1.37715673e-04 9.99909322e-01 2.15320616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.344391418 meters Centerline goodness [0,1] 0.9989581783003423 Centerline is valid? [True, True] Translation: X:301.79, Y:10.62, Z:2.15 [[ 9.99686744e-01 -2.08972063e-02 -1.37739417e-02 3.01789475e+02] [ 2.08970845e-02 9.99781620e-01 -1.52779465e-04 1.06203449e+01] [ 1.37741264e-02 -1.35103618e-04 9.99905123e-01 2.15264220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.374391418 meters Centerline goodness [0,1] 0.9989146857908962 Centerline is valid? [True, True] Translation: X:301.82, Y:10.62, Z:2.15 [[ 9.99645761e-01 -2.28174098e-02 -1.37010211e-02 3.01818720e+02] [ 2.28174660e-02 9.99739636e-01 -1.52232813e-04 1.06194287e+01] [ 1.37009274e-02 -1.60443697e-04 9.99906125e-01 2.15309227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.404391418 meters Centerline goodness [0,1] 0.9990241004752206 Centerline is valid? [True, True] Translation: X:301.85, Y:10.62, Z:2.15 [[ 9.99604216e-01 -2.45948287e-02 -1.36567470e-02 3.01849259e+02] [ 2.45950486e-02 9.99697485e-01 -1.51873152e-04 1.06186046e+01] [ 1.36563509e-02 -1.84075314e-04 9.99906731e-01 2.15342301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.434391418 meters Centerline goodness [0,1] 0.9989823393474251 Centerline is valid? [True, True] Translation: X:301.88, Y:10.62, Z:2.15 [[ 9.99539941e-01 -2.68788140e-02 -1.40512044e-02 3.01879343e+02] [ 2.68792724e-02 9.99638675e-01 -1.56259810e-04 1.06185583e+01] [ 1.40503274e-02 -2.21498230e-04 9.99901265e-01 2.15399142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.464391418 meters Centerline goodness [0,1] 0.9988738738738738 Centerline is valid? [True, True] Translation: X:301.91, Y:10.61, Z:2.15 [[ 9.99357898e-01 -3.25570073e-02 -1.49610739e-02 3.01909362e+02] [ 3.25581733e-02 9.99469828e-01 -1.65687975e-04 1.06126896e+01] [ 1.49585363e-02 -3.21523652e-04 9.99888063e-01 2.15303570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.494391418 meters Centerline goodness [0,1] 0.9989414404877842 Centerline is valid? [True, True] Translation: X:301.94, Y:10.61, Z:2.15 [[ 9.99241422e-01 -3.57714500e-02 -1.53942816e-02 3.01940999e+02] [ 3.57730804e-02 9.99359924e-01 -1.69532126e-04 1.06112870e+01] [ 1.53904925e-02 -3.81297350e-04 9.99881487e-01 2.15328942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.524391418 meters Centerline goodness [0,1] 0.998895966029724 Centerline is valid? [True, True] Translation: X:301.97, Y:10.61, Z:2.15 [[ 9.99120495e-01 -3.89177105e-02 -1.56092622e-02 3.01971660e+02] [ 3.89197774e-02 9.99242324e-01 -1.71455088e-04 1.06051486e+01] [ 1.56041081e-02 -4.36204719e-04 9.99878153e-01 2.15218754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.554391418 meters Centerline goodness [0,1] 0.9988123011664899 Centerline is valid? [True, True] Translation: X:302.00, Y:10.60, Z:2.15 [[ 9.98857324e-01 -4.51142619e-02 -1.57718277e-02 3.02002263e+02] [ 4.51171484e-02 9.98981688e-01 -1.72929382e-04 1.06045938e+01] [ 1.57635687e-02 -5.38848114e-04 9.99875602e-01 2.15403395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.584391418 meters Centerline goodness [0,1] 0.998858302676646 Centerline is valid? [True, True] Translation: X:302.03, Y:10.60, Z:2.15 [[ 9.98751035e-01 -4.75420497e-02 -1.53663145e-02 3.02033300e+02] [ 4.75450863e-02 9.98869079e-01 -1.67851738e-04 1.06024524e+01] [ 1.53569164e-02 -5.62950651e-04 9.99881917e-01 2.15456707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.614391418 meters Centerline goodness [0,1] 0.998902027027027 Centerline is valid? [True, True] Translation: X:302.07, Y:10.60, Z:2.16 [[ 9.98646717e-01 -4.96415335e-02 -1.55065177e-02 3.02065369e+02] [ 4.96448957e-02 9.98766918e-01 -1.68272550e-04 1.06031493e+01] [ 1.54957502e-02 -6.01774625e-04 9.99879753e-01 2.15541402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.644391418 meters Centerline goodness [0,1] 0.9988354366054035 Centerline is valid? [True, True] Translation: X:302.10, Y:10.60, Z:2.16 [[ 9.98587301e-01 -5.09310436e-02 -1.51469869e-02 3.02097692e+02] [ 5.09344182e-02 9.98701987e-01 -1.63149079e-04 1.06030519e+01] [ 1.51356352e-02 -6.08584365e-04 9.99885265e-01 2.15602511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.674391418 meters Centerline goodness [0,1] 0.9988177173499979 Centerline is valid? [True, True] Translation: X:302.13, Y:10.60, Z:2.16 [[ 9.98530765e-01 -5.20505864e-02 -1.50680757e-02 3.02129401e+02] [ 5.20540693e-02 9.98644255e-01 -1.61230145e-04 1.06033582e+01] [ 1.50560394e-02 -6.23361397e-04 9.99886457e-01 2.15659973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.704391418 meters Centerline goodness [0,1] 0.9988393441239158 Centerline is valid? [True, True] Translation: X:302.16, Y:10.60, Z:2.16 [[ 9.98529039e-01 -5.20594738e-02 -1.51515459e-02 3.02160558e+02] [ 5.20630189e-02 9.98643788e-01 -1.60634524e-04 1.06024226e+01] [ 1.51393597e-02 -6.28436983e-04 9.99885196e-01 2.15636564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.734391418 meters Centerline goodness [0,1] 0.9988337079604733 Centerline is valid? [True, True] Translation: X:302.19, Y:10.60, Z:2.16 [[ 9.98554194e-01 -5.15304528e-02 -1.53014623e-02 3.02192975e+02] [ 5.15340308e-02 9.98671226e-01 -1.60633829e-04 1.06040624e+01] [ 1.52894076e-02 -6.28144444e-04 9.99882913e-01 2.15672182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.764391418 meters Centerline goodness [0,1] 0.9987692568857955 Centerline is valid? [True, True] Translation: X:302.23, Y:10.61, Z:2.16 [[ 9.98654480e-01 -4.94293156e-02 -1.56835260e-02 3.02225020e+02] [ 4.94328362e-02 9.98777437e-01 -1.63342734e-04 1.06076859e+01] [ 1.56724258e-02 -6.12158220e-04 9.99876993e-01 2.15721226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.794391418 meters Centerline goodness [0,1] 0.9987702745680059 Centerline is valid? [True, True] Translation: X:302.26, Y:10.61, Z:2.16 [[ 9.98719756e-01 -4.80725986e-02 -1.57440406e-02 3.02255948e+02] [ 4.80760066e-02 9.98843667e-01 -1.62167210e-04 1.06087604e+01] [ 1.57336311e-02 -5.94951004e-04 9.99876042e-01 2.15764297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.824391418 meters Centerline goodness [0,1] 0.9989179785292994 Centerline is valid? [True, True] Translation: X:302.29, Y:10.61, Z:2.16 [[ 9.98790419e-01 -4.64693120e-02 -1.60717845e-02 3.02287684e+02] [ 4.64726838e-02 9.98919548e-01 -1.63812416e-04 1.06106947e+01] [ 1.60620319e-02 -5.83284687e-04 9.99870827e-01 2.15791617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.854391418 meters Centerline goodness [0,1] 0.9987673736557997 Centerline is valid? [True, True] Translation: X:302.32, Y:10.61, Z:2.16 [[ 9.98867579e-01 -4.46155249e-02 -1.65231716e-02 3.02319582e+02] [ 4.46188547e-02 9.99004069e-01 -1.67256167e-04 1.06140947e+01] [ 1.65141779e-02 -5.70178230e-04 9.99863469e-01 2.15833124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.884391418 meters Centerline goodness [0,1] 0.9988512593601089 Centerline is valid? [True, True] Translation: X:302.35, Y:10.62, Z:2.16 [[ 9.99020288e-01 -4.07303364e-02 -1.73061676e-02 3.02350148e+02] [ 4.07334330e-02 9.99170034e-01 -1.73669932e-04 1.06188148e+01] [ 1.72988777e-02 -5.31439831e-04 9.99850222e-01 2.15807611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.914391418 meters Centerline goodness [0,1] 0.9990005316321106 Centerline is valid? [True, True] Translation: X:302.38, Y:10.62, Z:2.16 [[ 9.99091105e-01 -3.88483633e-02 -1.75433495e-02 3.02381172e+02] [ 3.88512759e-02 9.99244989e-01 -1.74896615e-04 1.06215411e+01] [ 1.75368986e-02 -5.06843861e-04 9.99846088e-01 2.15836565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.944391418 meters Centerline goodness [0,1] 0.9989591520275294 Centerline is valid? [True, True] Translation: X:302.41, Y:10.62, Z:2.16 [[ 9.99154464e-01 -3.70881842e-02 -1.77432593e-02 3.02411609e+02] [ 3.70908949e-02 9.99311880e-01 -1.76397149e-04 1.06234430e+01] [ 1.77375921e-02 -4.81865367e-04 9.99842560e-01 2.15805208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.974391418 meters Centerline goodness [0,1] 0.9988060719768037 Centerline is valid? [True, True] Translation: X:302.44, Y:10.63, Z:2.16 [[ 9.99216398e-01 -3.54045942e-02 -1.76947792e-02 3.02442971e+02] [ 3.54070360e-02 9.99372959e-01 -1.75363467e-04 1.06254510e+01] [ 1.76898925e-02 -4.51293632e-04 9.99843420e-01 2.15797272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.004391418 meters Centerline goodness [0,1] 0.9989968839373372 Centerline is valid? [True, True] Translation: X:302.47, Y:10.63, Z:2.16 [[ 9.99295356e-01 -3.24942946e-02 -1.87859824e-02 3.02474540e+02] [ 3.24965472e-02 9.99471831e-01 -1.85423126e-04 1.06305929e+01] [ 1.87820854e-02 -4.25187095e-04 9.99823511e-01 2.15792771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.034391418 meters Centerline goodness [0,1] 0.9991038088125467 Centerline is valid? [True, True] Translation: X:302.50, Y:10.63, Z:2.16 [[ 9.99324027e-01 -3.12058283e-02 -1.94341315e-02 3.02503631e+02] [ 3.12080023e-02 9.99512893e-01 -1.91480505e-04 1.06325775e+01] [ 1.94306403e-02 -4.15149351e-04 9.99811121e-01 2.15753700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.064391418 meters Centerline goodness [0,1] 0.9988918250788509 Centerline is valid? [True, True] Translation: X:302.53, Y:10.63, Z:2.16 [[ 9.99350370e-01 -3.01466675e-02 -1.97488304e-02 3.02534182e+02] [ 3.01487063e-02 9.99545406e-01 -1.94550776e-04 1.06347472e+01] [ 1.97457177e-02 -4.00977297e-04 9.99804954e-01 2.15728515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.094391418 meters Centerline goodness [0,1] 0.9990593466735078 Centerline is valid? [True, True] Translation: X:302.56, Y:10.64, Z:2.16 [[ 9.99401799e-01 -2.77291029e-02 -2.06674099e-02 3.02563894e+02] [ 2.77308081e-02 9.99615406e-01 -2.04136772e-04 1.06390940e+01] [ 2.06651219e-02 -3.69109322e-04 9.99786385e-01 2.15714490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.124391418 meters Centerline goodness [0,1] 0.998933856454433 Centerline is valid? [True, True] Translation: X:302.59, Y:10.64, Z:2.16 [[ 9.99415348e-01 -2.70375651e-02 -2.09268395e-02 3.02592924e+02] [ 2.70390747e-02 9.99634355e-01 -2.10863451e-04 1.06416107e+01] [ 2.09248889e-02 -3.55102207e-04 9.99780987e-01 2.15770014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.154391418 meters Centerline goodness [0,1] 0.999038831218762 Centerline is valid? [True, True] Translation: X:302.62, Y:10.64, Z:2.16 [[ 9.99449370e-01 -2.56357055e-02 -2.10657912e-02 3.02620437e+02] [ 2.56368532e-02 9.99671299e-01 -2.15618409e-04 1.06430172e+01] [ 2.10643944e-02 -3.24560914e-04 9.99778068e-01 2.15744222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.184391418 meters Centerline goodness [0,1] 0.9991644170201825 Centerline is valid? [True, True] Translation: X:302.65, Y:10.65, Z:2.16 [[ 9.99512445e-01 -2.31303960e-02 -2.09727835e-02 3.02648960e+02] [ 2.31308836e-02 9.99732421e-01 -2.19369549e-04 1.06482143e+01] [ 2.09722457e-02 -2.65856418e-04 9.99780023e-01 2.15965363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.214391418 meters Centerline goodness [0,1] 0.9990991377461285 Centerline is valid? [True, True] Translation: X:302.68, Y:10.65, Z:2.16 [[ 9.99546800e-01 -2.15435341e-02 -2.10254791e-02 3.02676733e+02] [ 2.15436008e-02 9.99767885e-01 -2.23362540e-04 1.06501123e+01] [ 2.10254108e-02 -2.29703216e-04 9.99778915e-01 2.15977408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.244391418 meters Centerline goodness [0,1] 0.9991207754331789 Centerline is valid? [True, True] Translation: X:302.71, Y:10.65, Z:2.16 [[ 9.99580833e-01 -2.03126547e-02 -2.06289915e-02 3.02705557e+02] [ 2.03123630e-02 9.99793658e-01 -2.23692060e-04 1.06523462e+01] [ 2.06292787e-02 -1.95425270e-04 9.99787175e-01 2.16022310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.274391418 meters Centerline goodness [0,1] 0.9991410410582374 Centerline is valid? [True, True] Translation: X:302.73, Y:10.66, Z:2.16 [[ 9.99650038e-01 -1.70576695e-02 -2.02197465e-02 3.02734257e+02] [ 1.70566080e-02 9.99854500e-01 -2.24967306e-04 1.06564136e+01] [ 2.02206420e-02 -1.19991714e-04 9.99795535e-01 2.16122597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.304391418 meters Centerline goodness [0,1] 0.9992728672555016 Centerline is valid? [True, True] Translation: X:302.76, Y:10.66, Z:2.16 [[ 9.99690746e-01 -1.50806583e-02 -1.97733848e-02 3.02761821e+02] [ 1.50791923e-02 9.99886278e-01 -2.23248182e-04 1.06580718e+01] [ 1.97745029e-02 -7.49875299e-05 9.99804463e-01 2.16011441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.334391418 meters Centerline goodness [0,1] 0.999337224467107 Centerline is valid? [True, True] Translation: X:302.79, Y:10.66, Z:2.16 [[ 9.99747638e-01 -1.14543027e-02 -1.93250946e-02 3.02790052e+02] [ 1.14521893e-02 9.99934397e-01 -2.20028064e-04 1.06617020e+01] [ 1.93263470e-02 -1.34210481e-06 9.99813229e-01 2.16028855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.364391418 meters Centerline goodness [0,1] 0.9991845668547885 Centerline is valid? [True, True] Translation: X:302.82, Y:10.66, Z:2.16 [[ 9.99768049e-01 -9.86272858e-03 -1.91461229e-02 3.02817530e+02] [ 9.86027613e-03 9.99951362e-01 -2.22490788e-04 1.06632303e+01] [ 1.91473860e-02 3.36531230e-05 9.99816671e-01 2.16197968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.394391418 meters Centerline goodness [0,1] 0.9991203226913834 Centerline is valid? [True, True] Translation: X:302.84, Y:10.66, Z:2.16 [[ 9.99781295e-01 -8.51833681e-03 -1.90997610e-02 3.02843920e+02] [ 8.51555170e-03 9.99963716e-01 -2.27145699e-04 1.06647424e+01] [ 1.91010028e-02 6.44510196e-05 9.99817557e-01 2.16178924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.424391418 meters Centerline goodness [0,1] 0.999269272926562 Centerline is valid? [True, True] Translation: X:302.87, Y:10.67, Z:2.16 [[ 9.99783319e-01 -7.58125548e-03 -1.93865851e-02 3.02872231e+02] [ 7.57810101e-03 9.99971258e-01 -2.36173247e-04 1.06660808e+01] [ 1.93878183e-02 8.92085727e-05 9.99812035e-01 2.16222948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.454391418 meters Centerline goodness [0,1] 0.999181898426231 Centerline is valid? [True, True] Translation: X:302.90, Y:10.67, Z:2.16 [[ 9.99788395e-01 -6.64221727e-03 -1.94691039e-02 3.02900134e+02] [ 6.63873973e-03 9.99977934e-01 -2.43245065e-04 1.06672607e+01] [ 1.94702900e-02 1.13943279e-04 9.99810429e-01 2.16235362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.484391418 meters Centerline goodness [0,1] 0.9994396310185784 Centerline is valid? [True, True] Translation: X:302.93, Y:10.67, Z:2.16 [[ 9.99782283e-01 -5.06498869e-03 -2.02418453e-02 3.02928014e+02] [ 5.06083483e-03 9.99987161e-01 -2.56432193e-04 1.06680186e+01] [ 2.02428842e-02 1.53935728e-04 9.99795080e-01 2.16193171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.514391418 meters Centerline goodness [0,1] 0.9993326300833136 Centerline is valid? [True, True] Translation: X:302.96, Y:10.67, Z:2.16 [[ 9.99773715e-01 -4.84153692e-03 -2.07141923e-02 3.02957068e+02] [ 4.83704645e-03 9.99988266e-01 -2.66880189e-04 1.06675546e+01] [ 2.07152414e-02 1.66624288e-04 9.99785402e-01 2.16256311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.544391418 meters Centerline goodness [0,1] 0.9992249397175336 Centerline is valid? [True, True] Translation: X:302.98, Y:10.67, Z:2.16 [[ 9.99769920e-01 -4.83417032e-03 -2.08982665e-02 3.02984022e+02] [ 4.82949521e-03 9.99988300e-01 -2.74172132e-04 1.06676654e+01] [ 2.08993474e-02 1.73180973e-04 9.99781570e-01 2.16215535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.574391418 meters Centerline goodness [0,1] 0.9990984609440402 Centerline is valid? [True, True] Translation: X:303.01, Y:10.67, Z:2.16 [[ 9.99773894e-01 -5.45611824e-03 -2.05521858e-02 3.03011522e+02] [ 5.45161188e-03 9.99985102e-01 -2.75285454e-04 1.06651463e+01] [ 2.05533816e-02 1.63180670e-04 9.99788744e-01 2.16248467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.604391418 meters Centerline goodness [0,1] 0.9991387848253886 Centerline is valid? [True, True] Translation: X:303.04, Y:10.66, Z:2.16 [[ 9.99767584e-01 -6.70833869e-03 -2.04884181e-02 3.03039846e+02] [ 6.70398988e-03 9.99977489e-01 -2.80934342e-04 1.06628534e+01] [ 2.04898415e-02 1.43514900e-04 9.99790051e-01 2.16366288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.634391418 meters Centerline goodness [0,1] 0.9993570510072868 Centerline is valid? [True, True] Translation: X:303.07, Y:10.66, Z:2.16 [[ 9.99760232e-01 -7.81402325e-03 -2.04553060e-02 3.03067961e+02] [ 7.80978515e-03 9.99969462e-01 -2.87065360e-04 1.06609233e+01] [ 2.04569245e-02 1.27244987e-04 9.99790727e-01 2.16374992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.664391418 meters Centerline goodness [0,1] 0.9990997749437359 Centerline is valid? [True, True] Translation: X:303.10, Y:10.66, Z:2.16 [[ 9.99744412e-01 -1.10348340e-02 -1.97317859e-02 3.03096186e+02] [ 1.10314498e-02 9.99939112e-01 -2.80351479e-04 1.06562319e+01] [ 1.97336781e-02 6.26096189e-05 9.99805270e-01 2.16254056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.694391418 meters Centerline goodness [0,1] 0.999036629487701 Centerline is valid? [True, True] Translation: X:303.12, Y:10.65, Z:2.16 [[ 9.99731821e-01 -1.28817567e-02 -1.92443753e-02 3.03123984e+02] [ 1.28787926e-02 9.99917026e-01 -2.77956830e-04 1.06534099e+01] [ 1.92463591e-02 3.00379709e-05 9.99814771e-01 2.16387916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.724391418 meters Centerline goodness [0,1] 0.9989981455033786 Centerline is valid? [True, True] Translation: X:303.15, Y:10.65, Z:2.16 [[ 9.99681321e-01 -1.62666434e-02 -1.93041982e-02 3.03151859e+02] [ 1.62641748e-02 9.99867689e-01 -2.84880957e-04 1.06478860e+01] [ 1.93062781e-02 -2.91766821e-05 9.99813616e-01 2.16379771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.754391418 meters Centerline goodness [0,1] 0.9988475820564258 Centerline is valid? [True, True] Translation: X:303.18, Y:10.64, Z:2.16 [[ 9.99626264e-01 -1.92946592e-02 -1.93661684e-02 3.03180049e+02] [ 1.92926238e-02 9.99813837e-01 -2.91940775e-04 1.06428754e+01] [ 1.93681960e-02 -8.17925353e-05 9.99812416e-01 2.16427166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.784391418 meters Centerline goodness [0,1] 0.9988475820564258 Centerline is valid? [True, True] Translation: X:303.21, Y:10.64, Z:2.16 [[ 9.99620055e-01 -1.96137914e-02 -1.93660738e-02 3.03207433e+02] [ 1.96116961e-02 9.99807628e-01 -2.98122291e-04 1.06434314e+01] [ 1.93681956e-02 -8.17925337e-05 9.99812416e-01 2.16446431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.814391418 meters Centerline goodness [0,1] 0.998786252714961 Centerline is valid? [True, True] Translation: X:303.24, Y:10.64, Z:2.16 [[ 9.99600159e-01 -2.10971775e-02 -1.88263469e-02 3.03235456e+02] [ 2.10953483e-02 9.99777425e-01 -2.95771453e-04 1.06407740e+01] [ 1.88283966e-02 -1.01495155e-04 9.99822725e-01 2.16467005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.844391418 meters Centerline goodness [0,1] 0.9991285495664003 Centerline is valid? [True, True] Translation: X:303.26, Y:10.64, Z:2.16 [[ 9.99577864e-01 -2.27954879e-02 -1.80127493e-02 3.03262519e+02] [ 2.27940229e-02 9.99740141e-01 -2.86659782e-04 1.06379366e+01] [ 1.80146030e-02 -1.24044246e-04 9.99837716e-01 2.16478119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.874391418 meters Centerline goodness [0,1] 0.9989608957502757 Centerline is valid? [True, True] Translation: X:303.29, Y:10.64, Z:2.17 [[ 9.99538046e-01 -2.47551476e-02 -1.76317274e-02 3.03290929e+02] [ 2.47539794e-02 9.99693533e-01 -2.84534319e-04 1.06351342e+01] [ 1.76333676e-02 -1.52052540e-04 9.99844509e-01 2.16544061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.904391418 meters Centerline goodness [0,1] 0.9988999598062237 Centerline is valid? [True, True] Translation: X:303.32, Y:10.63, Z:2.16 [[ 9.99457970e-01 -2.83258866e-02 -1.67753100e-02 3.03319616e+02] [ 2.83252907e-02 9.99598721e-01 -2.73172092e-04 1.06278673e+01] [ 1.67763163e-02 -2.02141508e-04 9.99859247e-01 2.16490462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.934391418 meters Centerline goodness [0,1] 0.9989393296563428 Centerline is valid? [True, True] Translation: X:303.35, Y:10.63, Z:2.17 [[ 9.99417798e-01 -2.98056355e-02 -1.66038777e-02 3.03350380e+02] [ 2.98052490e-02 9.99555688e-01 -2.70794494e-04 1.06261366e+01] [ 1.66045716e-02 -2.24245872e-04 9.99862109e-01 2.16607166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.964391418 meters Centerline goodness [0,1] 0.9989195830861791 Centerline is valid? [True, True] Translation: X:303.38, Y:10.62, Z:2.17 [[ 9.99366476e-01 -3.15419092e-02 -1.64849582e-02 3.03381309e+02] [ 3.15417643e-02 9.99502399e-01 -2.68855023e-04 1.06212660e+01] [ 1.64852355e-02 -2.51279970e-04 9.99864078e-01 2.16585283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.994391418 meters Centerline goodness [0,1] 0.9989417989417989 Centerline is valid? [True, True] Translation: X:303.41, Y:10.62, Z:2.17 [[ 9.99371776e-01 -3.14517791e-02 -1.63351998e-02 3.03412150e+02] [ 3.14516279e-02 9.99505240e-01 -2.66222920e-04 1.06198287e+01] [ 1.63354910e-02 -2.47712953e-04 9.99866536e-01 2.16578576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.024391418 meters Centerline goodness [0,1] 0.9988806285376363 Centerline is valid? [True, True] Translation: X:303.44, Y:10.62, Z:2.17 [[ 9.99399408e-01 -3.06662618e-02 -1.61370166e-02 3.03441597e+02] [ 3.06660112e-02 9.99529653e-01 -2.63036023e-04 1.06186658e+01] [ 1.61374929e-02 -2.31979886e-04 9.99869755e-01 2.16564863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.054391418 meters Centerline goodness [0,1] 0.9989228007181329 Centerline is valid? [True, True] Translation: X:303.47, Y:10.62, Z:2.17 [[ 9.99449714e-01 -2.90477116e-02 -1.60155813e-02 3.03471645e+02] [ 2.90472547e-02 9.99578005e-01 -2.61196616e-04 1.06189271e+01] [ 1.60164099e-02 -2.04155784e-04 9.99871708e-01 2.16615091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.084391418 meters Centerline goodness [0,1] 0.9989228007181329 Centerline is valid? [True, True] Translation: X:303.50, Y:10.62, Z:2.17 [[ 9.99449714e-01 -2.90477116e-02 -1.60155813e-02 3.03501644e+02] [ 2.90472547e-02 9.99578005e-01 -2.61196616e-04 1.06194164e+01] [ 1.60164099e-02 -2.04155784e-04 9.99871708e-01 2.16636121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.114391418 meters Centerline goodness [0,1] 0.9989429622426113 Centerline is valid? [True, True] Translation: X:303.53, Y:10.62, Z:2.17 [[ 9.99570516e-01 -2.41262825e-02 -1.66344911e-02 3.03530831e+02] [ 2.41251050e-02 9.99708910e-01 -2.71481993e-04 1.06202528e+01] [ 1.66361989e-02 -1.29943449e-04 9.99861600e-01 2.16637610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.144391418 meters Centerline goodness [0,1] 0.9988808176366247 Centerline is valid? [True, True] Translation: X:303.56, Y:10.62, Z:2.17 [[ 9.99635550e-01 -2.14197861e-02 -1.64304323e-02 3.03559945e+02] [ 2.14182255e-02 9.99770567e-01 -2.70967768e-04 1.06220327e+01] [ 1.64324667e-02 -8.10416898e-05 9.99864975e-01 2.16687655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.174391418 meters Centerline goodness [0,1] 0.9988832701222081 Centerline is valid? [True, True] Translation: X:303.59, Y:10.62, Z:2.17 [[ 9.99690632e-01 -1.87583498e-02 -1.63329143e-02 3.03588708e+02] [ 1.87563764e-02 9.99824046e-01 -2.74015855e-04 1.06234796e+01] [ 1.63351806e-02 -3.24152048e-05 9.99866572e-01 2.16745960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.204391418 meters Centerline goodness [0,1] 0.9991109041258283 Centerline is valid? [True, True] Translation: X:303.62, Y:10.62, Z:2.17 [[ 9.99790489e-01 -1.38918707e-02 -1.50331216e-02 3.03616264e+02] [ 1.38895813e-02 9.99903502e-01 -2.56695101e-04 1.06245239e+01] [ 1.50352369e-02 4.78375553e-05 9.99886963e-01 2.16825927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.234391418 meters Centerline goodness [0,1] 0.9991554945634963 Centerline is valid? [True, True] Translation: X:303.65, Y:10.62, Z:2.17 [[ 9.99811516e-01 -1.21476159e-02 -1.51448689e-02 3.03645371e+02] [ 1.21450219e-02 9.99926212e-01 -2.63245337e-04 1.06246663e+01] [ 1.51469492e-02 7.92609557e-05 9.99885275e-01 2.16824267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.264391418 meters Centerline goodness [0,1] 0.9990915620906747 Centerline is valid? [True, True] Translation: X:303.67, Y:10.62, Z:2.17 [[ 9.99819979e-01 -1.13571829e-02 -1.51994419e-02 3.03673415e+02] [ 1.13544077e-02 9.99935500e-01 -2.68872872e-04 1.06241862e+01] [ 1.52015151e-02 9.62438099e-05 9.99884446e-01 2.16789465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.294391418 meters Centerline goodness [0,1] 0.999048706240487 Centerline is valid? [True, True] Translation: X:303.70, Y:10.62, Z:2.17 [[ 9.99824752e-01 -1.05065998e-02 -1.54944342e-02 3.03700999e+02] [ 1.05035644e-02 9.99944798e-01 -2.77274263e-04 1.06215817e+01] [ 1.54964920e-02 1.14478884e-04 9.99879916e-01 2.16692245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.324391418 meters Centerline goodness [0,1] 0.9991352765006116 Centerline is valid? [True, True] Translation: X:303.73, Y:10.62, Z:2.17 [[ 9.99813120e-01 -1.11306749e-02 -1.58060979e-02 3.03728653e+02] [ 1.11275379e-02 9.99938046e-01 -2.86403912e-04 1.06202143e+01] [ 1.58083065e-02 1.10467435e-04 9.99875035e-01 2.16686567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.354391418 meters Centerline goodness [0,1] 0.9991760505355671 Centerline is valid? [True, True] Translation: X:303.76, Y:10.62, Z:2.17 [[ 9.99796781e-01 -1.21337197e-02 -1.60987627e-02 3.03755614e+02] [ 1.21305261e-02 9.99926379e-01 -2.96012861e-04 1.06191430e+01] [ 1.61011693e-02 1.00666244e-04 9.99870363e-01 2.16575474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.384391418 meters Centerline goodness [0,1] 0.9991350028481614 Centerline is valid? [True, True] Translation: X:303.78, Y:10.61, Z:2.17 [[ 9.99753333e-01 -1.55598707e-02 -1.58481304e-02 3.03784240e+02] [ 1.55571424e-02 9.99878937e-01 -2.95430928e-04 1.06121399e+01] [ 1.58508087e-02 4.88064334e-05 9.99874367e-01 2.16690531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.414391418 meters Centerline goodness [0,1] 0.9990529705158154 Centerline is valid? [True, True] Translation: X:303.81, Y:10.61, Z:2.17 [[ 9.99722285e-01 -1.76971398e-02 -1.55616075e-02 3.03812174e+02] [ 1.76947244e-02 9.99843393e-01 -2.92896550e-04 1.06091002e+01] [ 1.55643539e-02 1.74568517e-05 9.99878868e-01 2.16703774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.444391418 meters Centerline goodness [0,1] 0.9992209706284872 Centerline is valid? [True, True] Translation: X:303.84, Y:10.61, Z:2.17 [[ 9.99667824e-01 -2.06573970e-02 -1.54114661e-02 3.03840516e+02] [ 2.06553269e-02 9.99786613e-01 -2.93498147e-04 1.06057139e+01] [ 1.54142404e-02 -2.49282166e-05 9.99881193e-01 2.16831829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.474391418 meters Centerline goodness [0,1] 0.9991807583237055 Centerline is valid? [True, True] Translation: X:303.87, Y:10.60, Z:2.17 [[ 9.99549845e-01 -2.62100203e-02 -1.45993997e-02 3.03868889e+02] [ 2.62087121e-02 9.99656453e-01 -2.80953600e-04 1.05977145e+01] [ 1.46017479e-02 -1.01804337e-04 9.99893384e-01 2.16913310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.504391418 meters Centerline goodness [0,1] 0.9990748528174936 Centerline is valid? [True, True] Translation: X:303.90, Y:10.59, Z:2.17 [[ 9.99465057e-01 -2.93513289e-02 -1.44256467e-02 3.03897833e+02] [ 2.93503608e-02 9.99569146e-01 -2.78859512e-04 1.05935851e+01] [ 1.44276163e-02 -1.44687598e-04 9.99895906e-01 2.16936416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.534391418 meters Centerline goodness [0,1] 0.9990121484719828 Centerline is valid? [True, True] Translation: X:303.93, Y:10.59, Z:2.17 [[ 9.99370445e-01 -3.25736056e-02 -1.40596619e-02 3.03927356e+02] [ 3.25729957e-02 9.99469322e-01 -2.72427377e-04 1.05895705e+01] [ 1.40610747e-02 -1.85709439e-04 9.99901121e-01 2.16925863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.564391418 meters Centerline goodness [0,1] 0.9991798797156917 Centerline is valid? [True, True] Translation: X:303.96, Y:10.59, Z:2.17 [[ 9.99263856e-01 -3.56751685e-02 -1.41077120e-02 3.03958114e+02] [ 3.56748635e-02 9.99363412e-01 -2.73358492e-04 1.05853446e+01] [ 1.41084833e-02 -2.30133438e-04 9.99900444e-01 2.16945919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.594391418 meters Centerline goodness [0,1] 0.9990345869711216 Centerline is valid? [True, True] Translation: X:303.99, Y:10.58, Z:2.17 [[ 9.99023104e-01 -4.19433952e-02 -1.39136373e-02 3.03988435e+02] [ 4.19437096e-02 9.99119939e-01 -2.69340686e-04 1.05762616e+01] [ 1.39126895e-02 -3.14511996e-04 9.99903164e-01 2.16939431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.624391418 meters Centerline goodness [0,1] 0.998886952138942 Centerline is valid? [True, True] Translation: X:304.02, Y:10.58, Z:2.17 [[ 9.98886548e-01 -4.51416179e-02 -1.37075851e-02 3.04019308e+02] [ 4.51422306e-02 9.98980535e-01 -2.64870081e-04 1.05762788e+01] [ 1.37055673e-02 -3.54215805e-04 9.99906012e-01 2.17055444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.654391418 meters Centerline goodness [0,1] 0.9988868586310461 Centerline is valid? [True, True] Translation: X:304.05, Y:10.57, Z:2.17 [[ 9.98751343e-01 -4.80139165e-02 -1.37992262e-02 3.04050071e+02] [ 4.80148183e-02 9.98846588e-01 -2.66130760e-04 1.05723375e+01] [ 1.37960880e-02 -3.96768885e-04 9.99904751e-01 2.17041670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.684391418 meters Centerline goodness [0,1] 0.9992247249869042 Centerline is valid? [True, True] Translation: X:304.08, Y:10.57, Z:2.17 [[ 9.98533769e-01 -5.23135560e-02 -1.39141677e-02 3.04081271e+02] [ 5.23148937e-02 9.98630602e-01 -2.68065306e-04 1.05657319e+01] [ 1.39091371e-02 -4.60245945e-04 9.99903157e-01 2.17069278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.714391418 meters Centerline goodness [0,1] 0.9991610738255033 Centerline is valid? [True, True] Translation: X:304.11, Y:10.56, Z:2.17 [[ 9.98464317e-01 -5.36626916e-02 -1.37594553e-02 3.04112572e+02] [ 5.36641334e-02 9.98559007e-01 -2.64672932e-04 1.05640518e+01] [ 1.37538311e-02 -4.74122764e-04 9.99905299e-01 2.17091114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.744391418 meters Centerline goodness [0,1] 0.9989305037117813 Centerline is valid? [True, True] Translation: X:304.14, Y:10.56, Z:2.17 [[ 9.98425117e-01 -5.43165848e-02 -1.40354770e-02 3.04143683e+02] [ 5.43181652e-02 9.98523643e-01 -2.68871182e-04 1.05620623e+01] [ 1.40293598e-02 -4.93933617e-04 9.99901462e-01 2.17084008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.774391418 meters Centerline goodness [0,1] 0.9989725309289159 Centerline is valid? [True, True] Translation: X:304.17, Y:10.56, Z:2.17 [[ 9.98450290e-01 -5.38226120e-02 -1.41472643e-02 3.04174711e+02] [ 5.38241839e-02 9.98550392e-01 -2.69892527e-04 1.05634888e+01] [ 1.41412826e-02 -4.91990684e-04 9.99899886e-01 2.17158268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.804391418 meters Centerline goodness [0,1] 0.9988268566041688 Centerline is valid? [True, True] Translation: X:304.21, Y:10.56, Z:2.17 [[ 9.98499911e-01 -5.29024362e-02 -1.41159506e-02 3.04206178e+02] [ 5.29039195e-02 9.98599571e-01 -2.68572653e-04 1.05630153e+01] [ 1.41103903e-02 -4.78619343e-04 9.99900329e-01 2.17137181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.834391418 meters Centerline goodness [0,1] 0.9989507701347211 Centerline is valid? [True, True] Translation: X:304.24, Y:10.56, Z:2.17 [[ 9.98589427e-01 -5.12384175e-02 -1.39205071e-02 3.04237294e+02] [ 5.12397083e-02 9.98686348e-01 -2.64150064e-04 1.05639792e+01] [ 1.39157550e-02 -4.49505262e-04 9.99903070e-01 2.17171134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.864391418 meters Centerline goodness [0,1] 0.9991395773436025 Centerline is valid? [True, True] Translation: X:304.27, Y:10.57, Z:2.17 [[ 9.98794178e-01 -4.71881114e-02 -1.35452005e-02 3.04268583e+02] [ 4.71889688e-02 9.98885947e-01 -2.56482908e-04 1.05669715e+01] [ 1.35422134e-02 -3.83010410e-04 9.99908227e-01 2.17217486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.894391418 meters Centerline goodness [0,1] 0.9990153149944481 Centerline is valid? [True, True] Translation: X:304.30, Y:10.57, Z:2.17 [[ 9.98903588e-01 -4.48645663e-02 -1.33713179e-02 3.04299625e+02] [ 4.48652009e-02 9.98993018e-01 -2.52650860e-04 1.05686833e+01] [ 1.33691883e-02 -3.47533013e-04 9.99910568e-01 2.17235701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.924391418 meters Centerline goodness [0,1] 0.9993069993069993 Centerline is valid? [True, True] Translation: X:304.33, Y:10.57, Z:2.17 [[ 9.99022533e-01 -4.21732224e-02 -1.32437578e-02 3.04331028e+02] [ 4.21736156e-02 9.99110266e-01 -2.49712563e-04 1.05709026e+01] [ 1.32425055e-02 -3.09068672e-04 9.99912266e-01 2.17262426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.954391418 meters Centerline goodness [0,1] 0.9993285210676515 Centerline is valid? [True, True] Translation: X:304.36, Y:10.57, Z:2.17 [[ 9.99203233e-01 -3.73298922e-02 -1.41201234e-02 3.04361519e+02] [ 3.73298620e-02 9.99302962e-01 -2.65796061e-04 1.05744019e+01] [ 1.41202033e-02 -2.61517974e-04 9.99900271e-01 2.17204193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.984391418 meters Centerline goodness [0,1] 0.9993108345167488 Centerline is valid? [True, True] Translation: X:304.39, Y:10.58, Z:2.17 [[ 9.99272999e-01 -3.51867088e-02 -1.46754379e-02 3.04392445e+02] [ 3.51864494e-02 9.99380727e-01 -2.75954153e-04 1.05764504e+01] [ 1.46760597e-02 -2.40623019e-04 9.99892272e-01 2.17178492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.014391418 meters Centerline goodness [0,1] 0.9992438722144042 Centerline is valid? [True, True] Translation: X:304.42, Y:10.58, Z:2.17 [[ 9.99322142e-01 -3.35296059e-02 -1.51994316e-02 3.04421635e+02] [ 3.35291359e-02 9.99437700e-01 -2.85824155e-04 1.05779003e+01] [ 1.52004685e-02 -2.23993400e-04 9.99884441e-01 2.17123305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.044391418 meters Centerline goodness [0,1] 0.9991393967381037 Centerline is valid? [True, True] Translation: X:304.45, Y:10.58, Z:2.17 [[ 9.99407218e-01 -3.06732687e-02 -1.56321145e-02 3.04450995e+02] [ 3.06724214e-02 9.99529447e-01 -2.94011244e-04 1.05798302e+01] [ 1.56337770e-02 -1.85637842e-04 9.99877768e-01 2.17103111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.074391418 meters Centerline goodness [0,1] 0.9993941926049718 Centerline is valid? [True, True] Translation: X:304.48, Y:10.58, Z:2.17 [[ 9.99435996e-01 -2.96820206e-02 -1.57056309e-02 3.04480547e+02] [ 2.96810386e-02 9.99559377e-01 -2.95667170e-04 1.05818369e+01] [ 1.57074866e-02 -1.70659024e-04 9.99876615e-01 2.17254982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.104391418 meters Centerline goodness [0,1] 0.9993084805431571 Centerline is valid? [True, True] Translation: X:304.51, Y:10.58, Z:2.17 [[ 9.99459384e-01 -2.91713935e-02 -1.51647597e-02 3.04510456e+02] [ 2.91704100e-02 9.99574412e-01 -2.86088408e-04 1.05829405e+01] [ 1.51666513e-02 -1.56428513e-04 9.99884967e-01 2.17388156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.134391418 meters Centerline goodness [0,1] 0.9992895352724841 Centerline is valid? [True, True] Translation: X:304.54, Y:10.58, Z:2.17 [[ 9.99475208e-01 -2.87425651e-02 -1.49389871e-02 3.04539626e+02] [ 2.87415537e-02 9.99586836e-01 -2.82432847e-04 1.05821177e+01] [ 1.49409327e-02 -1.47085073e-04 9.99888367e-01 2.17398805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.164391418 meters Centerline goodness [0,1] 0.9993694432183619 Centerline is valid? [True, True] Translation: X:304.57, Y:10.58, Z:2.18 [[ 9.99486773e-01 -2.88801648e-02 -1.38609698e-02 3.04569166e+02] [ 2.88792999e-02 9.99582872e-01 -2.62593895e-04 1.05822997e+01] [ 1.38627717e-02 -1.37835978e-04 9.99903898e-01 2.17600718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.194391418 meters Centerline goodness [0,1] 0.9992226237498949 Centerline is valid? [True, True] Translation: X:304.60, Y:10.58, Z:2.17 [[ 9.99489779e-01 -2.86209093e-02 -1.41783151e-02 3.04597889e+02] [ 2.86199698e-02 9.99590329e-01 -2.69206392e-04 1.05805182e+01] [ 1.41802115e-02 -1.36713910e-04 9.99899446e-01 2.17479453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.224391418 meters Centerline goodness [0,1] 0.9991430124158689 Centerline is valid? [True, True] Translation: X:304.63, Y:10.58, Z:2.18 [[ 9.99467448e-01 -2.94862593e-02 -1.39778778e-02 3.04627620e+02] [ 2.94854223e-02 9.99565175e-01 -2.66001118e-04 1.05802173e+01] [ 1.39796432e-02 -1.46284171e-04 9.99902269e-01 2.17506812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.254391418 meters Centerline goodness [0,1] 0.9993293513570156 Centerline is valid? [True, True] Translation: X:304.66, Y:10.58, Z:2.18 [[ 9.99435852e-01 -3.04365417e-02 -1.41984021e-02 3.04656841e+02] [ 3.04357651e-02 9.99536688e-01 -2.70821087e-04 1.05795429e+01] [ 1.42000667e-02 -1.61470929e-04 9.99899161e-01 2.17508426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.284391418 meters Centerline goodness [0,1] 0.9992043717677603 Centerline is valid? [True, True] Translation: X:304.69, Y:10.58, Z:2.17 [[ 9.99362034e-01 -3.24931268e-02 -1.48230257e-02 3.04685381e+02] [ 3.24924943e-02 9.99471939e-01 -2.83563490e-04 1.05766633e+01] [ 1.48244121e-02 -1.98254492e-04 9.99890093e-01 2.17436904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.314391418 meters Centerline goodness [0,1] 0.9991189796945796 Centerline is valid? [True, True] Translation: X:304.72, Y:10.58, Z:2.18 [[ 9.99318156e-01 -3.35915142e-02 -1.53242894e-02 3.04715318e+02] [ 3.35909547e-02 9.99435621e-01 -2.93974874e-04 1.05769251e+01] [ 1.53255158e-02 -2.20983081e-04 9.99882533e-01 2.17518879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.344391418 meters Centerline goodness [0,1] 0.9992284755093104 Centerline is valid? [True, True] Translation: X:304.74, Y:10.57, Z:2.17 [[ 9.99283418e-01 -3.46228429e-02 -1.52941128e-02 3.04744514e+02] [ 3.46223662e-02 9.99400422e-01 -2.96019492e-04 1.05747861e+01] [ 1.52951918e-02 -2.33711005e-04 9.99882994e-01 2.17453602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.374391418 meters Centerline goodness [0,1] 0.9992242048099301 Centerline is valid? [True, True] Translation: X:304.77, Y:10.57, Z:2.18 [[ 9.99236311e-01 -3.57715828e-02 -1.57222044e-02 3.04774401e+02] [ 3.57711864e-02 9.99359959e-01 -3.06517647e-04 1.05735590e+01] [ 1.57231061e-02 -2.56118340e-04 9.99876352e-01 2.17557704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.404391418 meters Centerline goodness [0,1] 0.9994354535190064 Centerline is valid? [True, True] Translation: X:304.80, Y:10.57, Z:2.18 [[ 9.99255515e-01 -3.52343525e-02 -1.57148255e-02 3.04804086e+02] [ 3.52338851e-02 9.99379047e-01 -3.06690974e-04 1.05737799e+01] [ 1.57158733e-02 -2.47231707e-04 9.99876467e-01 2.17637962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.434391418 meters Centerline goodness [0,1] 0.9991842198841174 Centerline is valid? [True, True] Translation: X:304.83, Y:10.58, Z:2.18 [[ 9.99291847e-01 -3.43159394e-02 -1.54344045e-02 3.04834191e+02] [ 3.43153745e-02 9.99411009e-01 -3.01512190e-04 1.05752505e+01] [ 1.54356604e-02 -2.28338697e-04 9.99880837e-01 2.17727744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.464391418 meters Centerline goodness [0,1] 0.9994547780317486 Centerline is valid? [True, True] Translation: X:304.86, Y:10.58, Z:2.18 [[ 9.99406691e-01 -3.06008463e-02 -1.58067735e-02 3.04864028e+02] [ 3.05997840e-02 9.99531669e-01 -3.09114164e-04 1.05776828e+01] [ 1.58088299e-02 -1.74753093e-04 9.99875017e-01 2.17781844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.494391418 meters Centerline goodness [0,1] 0.9993098977393923 Centerline is valid? [True, True] Translation: X:304.89, Y:10.58, Z:2.18 [[ 9.99465250e-01 -2.83677697e-02 -1.62629801e-02 3.04892778e+02] [ 2.83663017e-02 9.99597544e-01 -3.20983406e-04 1.05801657e+01] [ 1.62655405e-02 -1.40508839e-04 9.99867697e-01 2.17774814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.524391418 meters Centerline goodness [0,1] 0.999353169469599 Centerline is valid? [True, True] Translation: X:304.92, Y:10.58, Z:2.18 [[ 9.99530362e-01 -2.57316304e-02 -1.66414852e-02 3.04921459e+02] [ 2.57296440e-02 9.99668882e-01 -3.33495540e-04 1.05827312e+01] [ 1.66445563e-02 -9.48405722e-05 9.99861465e-01 2.17730189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.554391418 meters Centerline goodness [0,1] 0.9995607337837555 Centerline is valid? [True, True] Translation: X:304.95, Y:10.59, Z:2.18 [[ 9.99578896e-01 -2.33157956e-02 -1.72743765e-02 3.04949372e+02] [ 2.33131963e-02 9.99728149e-01 -3.51859984e-04 1.05854875e+01] [ 1.72778843e-02 -5.10091158e-05 9.99850725e-01 2.17696976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.584391418 meters Centerline goodness [0,1] 0.9993731193580743 Centerline is valid? [True, True] Translation: X:304.98, Y:10.59, Z:2.18 [[ 9.99674238e-01 -1.79891623e-02 -1.81054726e-02 3.04977584e+02] [ 1.79853666e-02 9.99838181e-01 -3.72466492e-04 1.05899367e+01] [ 1.81092431e-02 4.67115940e-05 9.99836013e-01 2.17600459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.614391418 meters Centerline goodness [0,1] 0.9995404507760115 Centerline is valid? [True, True] Translation: X:305.01, Y:10.59, Z:2.18 [[ 9.99694420e-01 -1.60571732e-02 -1.87945230e-02 3.05006126e+02] [ 1.60526575e-02 9.99871071e-01 -3.91117993e-04 1.05918442e+01] [ 1.87983801e-02 8.92964341e-05 9.99823291e-01 2.17705035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.644391418 meters Centerline goodness [0,1] 0.9996448863636364 Centerline is valid? [True, True] Translation: X:305.04, Y:10.59, Z:2.18 [[ 9.99702871e-01 -1.46261658e-02 -1.94998804e-02 3.05035223e+02] [ 1.46209116e-02 9.99893024e-01 -4.11995653e-04 1.05937650e+01] [ 1.95038203e-02 1.26767211e-04 9.99809774e-01 2.17702193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.674391418 meters Centerline goodness [0,1] 0.9995620985903745 Centerline is valid? [True, True] Translation: X:305.06, Y:10.60, Z:2.18 [[ 9.99707981e-01 -1.26387420e-02 -2.05964800e-02 3.05063207e+02] [ 1.26323798e-02 9.99920112e-01 -4.38981866e-04 1.05954012e+01] [ 2.06003828e-02 1.78671118e-04 9.99787774e-01 2.17681502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.704391418 meters Centerline goodness [0,1] 0.9997071374780353 Centerline is valid? [True, True] Translation: X:305.09, Y:10.60, Z:2.18 [[ 9.99698023e-01 -1.30185531e-02 -2.08417867e-02 3.05091038e+02] [ 1.30120013e-02 9.99915239e-01 -4.49947230e-04 1.05951355e+01] [ 2.08458778e-02 1.78618001e-04 9.99782685e-01 2.17757953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.734391418 meters Centerline goodness [0,1] 0.9996436955063716 Centerline is valid? [True, True] Translation: X:305.12, Y:10.59, Z:2.18 [[ 9.99683372e-01 -1.37255906e-02 -2.10894494e-02 3.05117610e+02] [ 1.37189399e-02 9.99905785e-01 -4.60008522e-04 1.05948159e+01] [ 2.10937764e-02 1.70537981e-04 9.99777487e-01 2.17748939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.764391418 meters Centerline goodness [0,1] 0.9996645491330691 Centerline is valid? [True, True] Translation: X:305.15, Y:10.59, Z:2.18 [[ 9.99645296e-01 -1.64650351e-02 -2.09328446e-02 3.05146602e+02] [ 1.64589691e-02 9.99864435e-01 -4.62049970e-04 1.05906128e+01] [ 2.09376145e-02 1.17353038e-04 9.99780777e-01 2.17981965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.794391418 meters Centerline goodness [0,1] 0.9995594806066581 Centerline is valid? [True, True] Translation: X:305.17, Y:10.59, Z:2.18 [[ 9.99610803e-01 -1.88065093e-02 -2.06047935e-02 3.05174655e+02] [ 1.88010532e-02 9.99823139e-01 -4.58497203e-04 1.05884119e+01] [ 2.06097721e-02 7.09269386e-05 9.99787594e-01 2.18023377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.824391418 meters Centerline goodness [0,1] 0.9996243425995492 Centerline is valid? [True, True] Translation: X:305.20, Y:10.59, Z:2.18 [[ 9.99555045e-01 -2.16961624e-02 -2.04692114e-02 3.05202263e+02] [ 2.16912695e-02 9.99764610e-01 -4.61058649e-04 1.05858759e+01] [ 2.04743964e-02 1.68503184e-05 9.99790377e-01 2.18094931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.854391418 meters Centerline goodness [0,1] 0.9996654749210729 Centerline is valid? [True, True] Translation: X:305.23, Y:10.58, Z:2.18 [[ 9.99396858e-01 -2.82038888e-02 -2.02598258e-02 3.05231637e+02] [ 2.82002995e-02 9.99602185e-01 -4.62897139e-04 1.05785048e+01] [ 2.02648217e-02 -1.08715210e-04 9.99794642e-01 2.18155651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.884391418 meters Centerline goodness [0,1] 0.9996030336585672 Centerline is valid? [True, True] Translation: X:305.26, Y:10.57, Z:2.18 [[ 9.99290848e-01 -3.18055627e-02 -2.01545663e-02 3.05259244e+02] [ 3.18026708e-02 9.99494059e-01 -4.64063913e-04 1.05742458e+01] [ 2.01591291e-02 -1.77234218e-04 9.99796768e-01 2.18112772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.914391418 meters Centerline goodness [0,1] 0.999665376973753 Centerline is valid? [True, True] Translation: X:305.29, Y:10.57, Z:2.18 [[ 9.99153034e-01 -3.57530476e-02 -2.03699357e-02 3.05287728e+02] [ 3.57508164e-02 9.99360623e-01 -4.73797031e-04 1.05702176e+01] [ 2.03738513e-02 -2.54846091e-04 9.99792399e-01 2.18136276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.944391418 meters Centerline goodness [0,1] 0.9994136985154009 Centerline is valid? [True, True] Translation: X:305.32, Y:10.56, Z:2.18 [[ 9.98860823e-01 -4.30953771e-02 -2.04901247e-02 3.05317394e+02] [ 4.30946082e-02 9.99070881e-01 -4.79282614e-04 1.05623924e+01] [ 2.04917418e-02 -4.04277270e-04 9.99789940e-01 2.18148575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.974391418 meters Centerline goodness [0,1] 0.9994988933895687 Centerline is valid? [True, True] Translation: X:305.34, Y:10.56, Z:2.18 [[ 9.98697177e-01 -4.67666477e-02 -2.04163806e-02 3.05344730e+02] [ 4.67665943e-02 9.98905729e-01 -4.80329862e-04 1.05578169e+01] [ 2.04165029e-02 -4.75100510e-04 9.99791449e-01 2.18111991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.004391418 meters Centerline goodness [0,1] 0.99941499697052 Centerline is valid? [True, True] Translation: X:305.37, Y:10.55, Z:2.18 [[ 9.98512616e-01 -5.05519023e-02 -2.04220476e-02 3.05373671e+02] [ 5.05525335e-02 9.98721285e-01 -4.85670461e-04 1.05549690e+01] [ 2.04204852e-02 -5.47438161e-04 9.99791330e-01 2.18166809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.034391418 meters Centerline goodness [0,1] 0.99941499697052 Centerline is valid? [True, True] Translation: X:305.40, Y:10.56, Z:2.18 [[ 9.98495818e-01 -5.08826894e-02 -2.04218919e-02 3.05401098e+02] [ 5.08832571e-02 9.98704487e-01 -4.92157151e-04 1.05558275e+01] [ 2.04204774e-02 -5.47715520e-04 9.99791330e-01 2.18186076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.064391418 meters Centerline goodness [0,1] 0.9994354889293107 Centerline is valid? [True, True] Translation: X:305.43, Y:10.55, Z:2.18 [[ 9.98321213e-01 -5.42573743e-02 -2.02704745e-02 3.05429538e+02] [ 5.42585393e-02 9.98526799e-01 -4.92907486e-04 1.05528748e+01] [ 2.02673559e-02 -6.07766341e-04 9.99794411e-01 2.18236979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.094391418 meters Centerline goodness [0,1] 0.9994986526289403 Centerline is valid? [True, True] Translation: X:305.46, Y:10.55, Z:2.18 [[ 9.98017646e-01 -5.96979856e-02 -1.99230923e-02 3.05457695e+02] [ 5.97001504e-02 9.98216237e-01 -4.86620781e-04 1.05464142e+01] [ 1.99166045e-02 -7.03755483e-04 9.99801397e-01 2.18252893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.124391418 meters Centerline goodness [0,1] 0.9994772061898787 Centerline is valid? [True, True] Translation: X:305.49, Y:10.55, Z:2.18 [[ 9.97881489e-01 -6.20162046e-02 -1.96602451e-02 3.05486732e+02] [ 6.20186748e-02 9.98074871e-01 -4.84629031e-04 1.05480539e+01] [ 1.96524514e-02 -7.35700007e-04 9.99806601e-01 2.18398146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.154391418 meters Centerline goodness [0,1] 0.9995613027220122 Centerline is valid? [True, True] Translation: X:305.52, Y:10.55, Z:2.18 [[ 9.97789697e-01 -6.34212666e-02 -1.98359078e-02 3.05515104e+02] [ 6.34239879e-02 9.97986551e-01 -4.92510129e-04 1.05477862e+01] [ 1.98272049e-02 -7.66650846e-04 9.99803128e-01 2.18434878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.184391418 meters Centerline goodness [0,1] 0.9995400953256961 Centerline is valid? [True, True] Translation: X:305.54, Y:10.55, Z:2.18 [[ 9.97789843e-01 -6.35632960e-02 -1.93684185e-02 3.05543951e+02] [ 6.35658299e-02 9.97977530e-01 -4.85411245e-04 1.05489550e+01] [ 1.93601008e-02 -7.46831184e-04 9.99812297e-01 2.18460661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.214391418 meters Centerline goodness [0,1] 0.9996028677131451 Centerline is valid? [True, True] Translation: X:305.57, Y:10.55, Z:2.18 [[ 9.97840258e-01 -6.27809852e-02 -1.93227429e-02 3.05571712e+02] [ 6.27832941e-02 9.98027064e-01 -4.87717888e-04 1.05479594e+01] [ 1.93152398e-02 -7.26480906e-04 9.99813179e-01 2.18372784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.244391418 meters Centerline goodness [0,1] 0.999478242721486 Centerline is valid? [True, True] Translation: X:305.60, Y:10.55, Z:2.18 [[ 9.97927102e-01 -6.14311059e-02 -1.91759719e-02 3.05600263e+02] [ 6.14330469e-02 9.98111087e-01 -4.88392747e-04 1.05528828e+01] [ 1.91697526e-02 -6.90658019e-04 9.99816005e-01 2.18473433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.274391418 meters Centerline goodness [0,1] 0.9994541599311402 Centerline is valid? [True, True] Translation: X:305.63, Y:10.56, Z:2.19 [[ 9.98209477e-01 -5.66289207e-02 -1.92614925e-02 3.05629910e+02] [ 5.66299404e-02 9.98395116e-01 -4.92931655e-04 1.05620311e+01] [ 1.92584942e-02 -5.98728123e-04 9.99814359e-01 2.18625410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.304391418 meters Centerline goodness [0,1] 0.9995170907869321 Centerline is valid? [True, True] Translation: X:305.66, Y:10.57, Z:2.19 [[ 9.98351452e-01 -5.40779039e-02 -1.92342981e-02 3.05658517e+02] [ 5.40783797e-02 9.98536571e-01 -4.95769647e-04 1.05659354e+01] [ 1.92329602e-02 -5.45207328e-04 9.99814881e-01 2.18653266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.334391418 meters Centerline goodness [0,1] 0.9995597761147098 Centerline is valid? [True, True] Translation: X:305.69, Y:10.57, Z:2.19 [[ 9.98656086e-01 -4.80582338e-02 -1.94017458e-02 3.05688240e+02] [ 4.80575396e-02 9.98844443e-01 -5.02290014e-04 1.05731741e+01] [ 1.94034651e-02 -4.30785188e-04 9.99811642e-01 2.18706695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.364391418 meters Centerline goodness [0,1] 0.9995385615705686 Centerline is valid? [True, True] Translation: X:305.72, Y:10.58, Z:2.19 [[ 9.98809068e-01 -4.49548906e-02 -1.89605978e-02 3.05717693e+02] [ 4.49536568e-02 9.98988952e-01 -4.91491720e-04 1.05781101e+01] [ 1.89635227e-02 -3.61441819e-04 9.99820111e-01 2.18777966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.394391418 meters Centerline goodness [0,1] 0.9994562489543249 Centerline is valid? [True, True] Translation: X:305.75, Y:10.58, Z:2.19 [[ 9.99017263e-01 -4.00119511e-02 -1.90670435e-02 3.05745080e+02] [ 4.00097285e-02 9.99199166e-01 -4.98176592e-04 1.05823275e+01] [ 1.90717069e-02 -2.65180216e-04 9.99818083e-01 2.18545551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.424391418 meters Centerline goodness [0,1] 0.9995196123480513 Centerline is valid? [True, True] Translation: X:305.77, Y:10.59, Z:2.19 [[ 9.99096721e-01 -3.78174836e-02 -1.93798719e-02 3.05772485e+02] [ 3.78146972e-02 9.99284638e-01 -5.10349463e-04 1.05853996e+01] [ 1.93853084e-02 -2.22955511e-04 9.99812062e-01 2.18521553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.454391418 meters Centerline goodness [0,1] 0.9995196123480513 Centerline is valid? [True, True] Translation: X:305.80, Y:10.59, Z:2.19 [[ 9.99084174e-01 -3.81475982e-02 -1.93797357e-02 3.05799896e+02] [ 3.81447742e-02 9.99272090e-01 -5.15484340e-04 1.05863373e+01] [ 1.93852935e-02 -2.24223396e-04 9.99812062e-01 2.18540796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.484391418 meters Centerline goodness [0,1] 0.9994968236996038 Centerline is valid? [True, True] Translation: X:305.83, Y:10.59, Z:2.19 [[ 9.99180650e-01 -3.57427207e-02 -1.89864654e-02 3.05828678e+02] [ 3.57394675e-02 9.99361011e-01 -5.10737145e-04 1.05910975e+01] [ 1.89925884e-02 -1.68247489e-04 9.99819610e-01 2.18527041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.514391418 meters Centerline goodness [0,1] 0.9996433142401544 Centerline is valid? [True, True] Translation: X:305.86, Y:10.59, Z:2.19 [[ 9.99209061e-01 -3.51525329e-02 -1.85890285e-02 3.05856791e+02] [ 3.51492044e-02 9.99381948e-01 -5.05850222e-04 1.05935452e+01] [ 1.85953214e-02 -1.47939437e-04 9.99827081e-01 2.18592516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.544391418 meters Centerline goodness [0,1] 0.9995175263787208 Centerline is valid? [True, True] Translation: X:305.88, Y:10.60, Z:2.19 [[ 9.99219227e-01 -3.47015401e-02 -1.88875380e-02 3.05884719e+02] [ 3.46979007e-02 9.99397711e-01 -5.20461704e-04 1.05962930e+01] [ 1.88942231e-02 -1.35302577e-04 9.99821479e-01 2.18713712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.574391418 meters Centerline goodness [0,1] 0.9994572025052192 Centerline is valid? [True, True] Translation: X:305.91, Y:10.60, Z:2.19 [[ 9.99221158e-01 -3.53947463e-02 -1.74438817e-02 3.05912195e+02] [ 3.53916887e-02 9.99373401e-01 -4.84054032e-04 1.05974387e+01] [ 1.74500843e-02 -1.33691400e-04 9.99847727e-01 2.18707649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.604391418 meters Centerline goodness [0,1] 0.9994165937408843 Centerline is valid? [True, True] Translation: X:305.94, Y:10.60, Z:2.19 [[ 9.99186202e-01 -3.64112280e-02 -1.73538757e-02 3.05941235e+02] [ 3.64082919e-02 9.99336881e-01 -4.85196554e-04 1.05981967e+01] [ 1.73600346e-02 -1.47023272e-04 9.99849292e-01 2.18757692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.634391418 meters Centerline goodness [0,1] 0.9993952033368092 Centerline is valid? [True, True] Translation: X:305.97, Y:10.60, Z:2.19 [[ 9.99140886e-01 -3.78524041e-02 -1.68726436e-02 3.05970273e+02] [ 3.78497558e-02 9.99283328e-01 -4.76377806e-04 1.05985326e+01] [ 1.68785835e-02 -1.62656899e-04 9.99857533e-01 2.18831666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.664391418 meters Centerline goodness [0,1] 0.9996656357101061 Centerline is valid? [True, True] Translation: X:306.00, Y:10.60, Z:2.19 [[ 9.99011184e-01 -4.15109632e-02 -1.59215056e-02 3.05998803e+02] [ 4.15090000e-02 9.99138027e-01 -4.53894503e-04 1.05969564e+01] [ 1.59266233e-02 -2.07440090e-04 9.99873142e-01 2.18979434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.694391418 meters Centerline goodness [0,1] 0.9995604395604396 Centerline is valid? [True, True] Translation: X:306.03, Y:10.60, Z:2.19 [[ 9.98934966e-01 -4.35351449e-02 -1.52848060e-02 3.06028751e+02] [ 4.35335378e-02 9.99051870e-01 -4.38011691e-04 1.05971468e+01] [ 1.52893829e-02 -2.27856485e-04 9.99883085e-01 2.19105941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.724391418 meters Centerline goodness [0,1] 0.99941377216674 Centerline is valid? [True, True] Translation: X:306.06, Y:10.60, Z:2.19 [[ 9.98830161e-01 -4.58702418e-02 -1.53045805e-02 3.06058575e+02] [ 4.58688945e-02 9.98947372e-01 -4.39232942e-04 1.05964653e+01] [ 1.53086182e-02 -2.63285076e-04 9.99882782e-01 2.19147380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.754391418 meters Centerline goodness [0,1] 0.9994358899358586 Centerline is valid? [True, True] Translation: X:306.09, Y:10.59, Z:2.19 [[ 9.98553439e-01 -5.18816129e-02 -1.41183429e-02 3.06088051e+02] [ 5.18810607e-02 9.98653189e-01 -4.05615937e-04 1.05919802e+01] [ 1.41203721e-02 -3.27445414e-04 9.99900249e-01 2.19177224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.784391418 meters Centerline goodness [0,1] 0.999372699899632 Centerline is valid? [True, True] Translation: X:306.12, Y:10.59, Z:2.19 [[ 9.98384935e-01 -5.50995640e-02 -1.38404745e-02 3.06118692e+02] [ 5.50993402e-02 9.98480798e-01 -3.97777954e-04 1.05901822e+01] [ 1.38413654e-02 -3.65465494e-04 9.99904137e-01 2.19188332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.814391418 meters Centerline goodness [0,1] 0.99918410041841 Centerline is valid? [True, True] Translation: X:306.15, Y:10.59, Z:2.19 [[ 9.98225457e-01 -5.79623259e-02 -1.36494126e-02 3.06150395e+02] [ 5.79623793e-02 9.98318691e-01 -3.92012974e-04 1.05884632e+01] [ 1.36491857e-02 -3.99835100e-04 9.99906766e-01 2.19187644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.844391418 meters Centerline goodness [0,1] 0.9994572931451949 Centerline is valid? [True, True] Translation: X:306.18, Y:10.58, Z:2.19 [[ 9.97908152e-01 -6.32915925e-02 -1.31717266e-02 3.06180344e+02] [ 6.32921155e-02 9.97994973e-01 -3.77560068e-04 1.05845246e+01] [ 1.31692133e-02 -4.56896171e-04 9.99913178e-01 2.19206664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.874391418 meters Centerline goodness [0,1] 0.999123886605895 Centerline is valid? [True, True] Translation: X:306.21, Y:10.58, Z:2.19 [[ 9.97732425e-01 -6.60006625e-02 -1.31878906e-02 3.06211833e+02] [ 6.60014332e-02 9.97819457e-01 -3.77252382e-04 1.05840932e+01] [ 1.31840328e-02 -4.94022748e-04 9.99912965e-01 2.19238581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.904391418 meters Centerline goodness [0,1] 0.999306664425582 Centerline is valid? [True, True] Translation: X:306.24, Y:10.59, Z:2.19 [[ 9.97579570e-01 -6.83981577e-02 -1.25176989e-02 3.06243334e+02] [ 6.83990469e-02 9.97657979e-01 -3.57571672e-04 1.05860184e+01] [ 1.25128395e-02 -4.99492482e-04 9.99921587e-01 2.19342595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.934391418 meters Centerline goodness [0,1] 0.9993100275988961 Centerline is valid? [True, True] Translation: X:306.27, Y:10.59, Z:2.19 [[ 9.97426691e-01 -7.05727043e-02 -1.26289257e-02 3.06273306e+02] [ 7.05737872e-02 9.97506497e-01 -3.60445322e-04 1.05861538e+01] [ 1.26228731e-02 -5.31753332e-04 9.99920187e-01 2.19388209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.964391418 meters Centerline goodness [0,1] 0.999455303458823 Centerline is valid? [True, True] Translation: X:306.31, Y:10.59, Z:2.19 [[ 9.97287924e-01 -7.25276396e-02 -1.25114934e-02 3.06305368e+02] [ 7.25288617e-02 9.97366250e-01 -3.56634496e-04 1.05916106e+01] [ 1.25044071e-02 -5.51777098e-04 9.99921665e-01 2.19494367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.994391418 meters Centerline goodness [0,1] 0.9991844416562108 Centerline is valid? [True, True] Translation: X:306.34, Y:10.59, Z:2.19 [[ 9.97090630e-01 -7.51841416e-02 -1.25546881e-02 3.06335898e+02] [ 7.51855932e-02 9.97169494e-01 -3.56992236e-04 1.05867230e+01] [ 1.25459921e-02 -5.87978055e-04 9.99921123e-01 2.19455914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.024391418 meters Centerline goodness [0,1] 0.9990188505939085 Centerline is valid? [True, True] Translation: X:306.37, Y:10.59, Z:2.19 [[ 9.97041832e-01 -7.58811893e-02 -1.22323614e-02 3.06365798e+02] [ 7.58826299e-02 9.97116696e-01 -3.46982089e-04 1.05858921e+01] [ 1.22234212e-02 -5.82268097e-04 9.99925122e-01 2.19468427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.054391418 meters Centerline goodness [0,1] 0.9990984757951233 Centerline is valid? [True, True] Translation: X:306.40, Y:10.60, Z:2.20 [[ 9.97024472e-01 -7.62346533e-02 -1.14227469e-02 3.06397151e+02] [ 7.62359427e-02 9.97089754e-01 -3.23133982e-04 1.05974649e+01] [ 1.14141379e-02 -5.48651388e-04 9.99934706e-01 2.19586387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.084391418 meters Centerline goodness [0,1] 0.998970393561808 Centerline is valid? [True, True] Translation: X:306.43, Y:10.60, Z:2.20 [[ 9.97045854e-01 -7.59549014e-02 -1.14200943e-02 3.06429359e+02] [ 7.59561809e-02 9.97111105e-01 -3.22270473e-04 1.06024209e+01] [ 1.14115808e-02 -5.46108308e-04 9.99934737e-01 2.19622087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.114391418 meters Centerline goodness [0,1] 0.999119496855346 Centerline is valid? [True, True] Translation: X:306.46, Y:10.59, Z:2.20 [[ 9.97073950e-01 -7.55909360e-02 -1.13819183e-02 3.06460567e+02] [ 7.55921930e-02 9.97138766e-01 -3.20347563e-04 1.05948031e+01] [ 1.13735674e-02 -5.40973957e-04 9.99935173e-01 2.19556516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.144391418 meters Centerline goodness [0,1] 0.9990989858352192 Centerline is valid? [True, True] Translation: X:306.49, Y:10.61, Z:2.20 [[ 9.97149651e-01 -7.44949857e-02 -1.19612467e-02 3.06492076e+02] [ 7.44963055e-02 9.97221233e-01 -3.35794524e-04 1.06123743e+01] [ 1.19530242e-02 -5.56231298e-04 9.99928405e-01 2.19638609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.174391418 meters Centerline goodness [0,1] 0.9990143030913133 Centerline is valid? [True, True] Translation: X:306.52, Y:10.62, Z:2.20 [[ 9.97180508e-01 -7.40598679e-02 -1.20901187e-02 3.06523790e+02] [ 7.40611964e-02 9.97253641e-01 -3.38417513e-04 1.06165379e+01] [ 1.20819781e-02 -5.57945308e-04 9.99926855e-01 2.19666193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.204391418 meters Centerline goodness [0,1] 0.9989765654371527 Centerline is valid? [True, True] Translation: X:306.56, Y:10.62, Z:2.20 [[ 9.97216897e-01 -7.35110511e-02 -1.24332568e-02 3.06555013e+02] [ 7.35124249e-02 9.97294241e-01 -3.47104850e-04 1.06194638e+01] [ 1.24251315e-02 -5.67860038e-04 9.99922644e-01 2.19666304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.234391418 meters Centerline goodness [0,1] 0.9989913847446943 Centerline is valid? [True, True] Translation: X:306.59, Y:10.63, Z:2.20 [[ 9.97289240e-01 -7.26185371e-02 -1.18625455e-02 3.06585853e+02] [ 7.26197329e-02 9.97359647e-01 -3.30475975e-04 1.06250330e+01] [ 1.18552229e-02 -5.31874753e-04 9.99929583e-01 2.19788214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.264391418 meters Centerline goodness [0,1] 0.9991827839825661 Centerline is valid? [True, True] Translation: X:306.62, Y:10.63, Z:2.20 [[ 9.97303662e-01 -7.23455084e-02 -1.23098812e-02 3.06618224e+02] [ 7.23467859e-02 9.97379479e-01 -3.42079820e-04 1.06298614e+01] [ 1.23023708e-02 -5.49422883e-04 9.99924172e-01 2.19879475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.294391418 meters Centerline goodness [0,1] 0.9989496239653796 Centerline is valid? [True, True] Translation: X:306.65, Y:10.63, Z:2.20 [[ 9.97334919e-01 -7.19244741e-02 -1.22445794e-02 3.06649743e+02] [ 7.19257170e-02 9.97409934e-01 -3.39399297e-04 1.06328008e+01] [ 1.22372762e-02 -5.42205384e-04 9.99924975e-01 2.19929295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.324391418 meters Centerline goodness [0,1] 0.9987156001937127 Centerline is valid? [True, True] Translation: X:306.68, Y:10.64, Z:2.20 [[ 9.97382376e-01 -7.09274451e-02 -1.40603208e-02 3.06681131e+02] [ 7.09289977e-02 9.97481291e-01 -3.88843044e-04 1.06391275e+01] [ 1.40524866e-02 -6.09459260e-04 9.99901073e-01 2.19952822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.354391418 meters Centerline goodness [0,1] 0.9989269031687918 Centerline is valid? [True, True] Translation: X:306.71, Y:10.64, Z:2.20 [[ 9.97415235e-01 -7.02715563e-02 -1.49919216e-02 3.06713538e+02] [ 7.02732633e-02 9.97527693e-01 -4.13553644e-04 1.06439218e+01] [ 1.49839180e-02 -6.41046548e-04 9.99887529e-01 2.19955519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.384391418 meters Centerline goodness [0,1] 0.9984207201516109 Centerline is valid? [True, True] Translation: X:306.75, Y:10.65, Z:2.20 [[ 9.97465577e-01 -6.92451492e-02 -1.63564338e-02 3.06745620e+02] [ 6.92470649e-02 9.97599439e-01 -4.49884390e-04 1.06479827e+01] [ 1.63483215e-02 -6.83890843e-04 9.99866123e-01 2.19881538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.414391418 meters Centerline goodness [0,1] 0.998908503180034 Centerline is valid? [True, True] Translation: X:306.78, Y:10.66, Z:2.20 [[ 9.97469201e-01 -6.89666073e-02 -1.72858630e-02 3.06778053e+02] [ 6.89687296e-02 9.97618710e-01 -4.74039571e-04 1.06566998e+01] [ 1.72773933e-02 -7.19344143e-04 9.99850476e-01 2.20055321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.444391418 meters Centerline goodness [0,1] 0.9989039016884129 Centerline is valid? [True, True] Translation: X:306.81, Y:10.67, Z:2.20 [[ 9.97563384e-01 -6.72687892e-02 -1.84988059e-02 3.06810308e+02] [ 6.72709574e-02 9.97734615e-01 -5.05737833e-04 1.06655252e+01] [ 1.84909194e-02 -7.39926842e-04 9.99828755e-01 2.20097635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.474391418 meters Centerline goodness [0,1] 0.99879820363069 Centerline is valid? [True, True] Translation: X:306.84, Y:10.67, Z:2.20 [[ 9.97655239e-01 -6.57749958e-02 -1.89122468e-02 3.06841562e+02] [ 6.57770192e-02 9.97834214e-01 -5.15714497e-04 1.06680192e+01] [ 1.89052080e-02 -7.29485950e-04 9.99821014e-01 2.20059093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.504391418 meters Centerline goodness [0,1] 0.998715410857937 Centerline is valid? [True, True] Translation: X:306.87, Y:10.67, Z:2.20 [[ 9.97750060e-01 -6.41752467e-02 -1.93998716e-02 3.06873761e+02] [ 6.41771022e-02 9.97938385e-01 -5.27552996e-04 1.06749243e+01] [ 1.93937324e-02 -7.18661512e-04 9.99811666e-01 2.20193399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.534391418 meters Centerline goodness [0,1] 0.9988193624557261 Centerline is valid? [True, True] Translation: X:306.90, Y:10.68, Z:2.20 [[ 9.98016621e-01 -5.99427377e-02 -1.92273859e-02 3.06904532e+02] [ 5.99437962e-02 9.98201617e-01 -5.21794796e-04 1.06849226e+01] [ 1.92240855e-02 -6.31802624e-04 9.99815001e-01 2.20337179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.564391418 meters Centerline goodness [0,1] 0.9991151001833006 Centerline is valid? [True, True] Translation: X:306.94, Y:10.69, Z:2.20 [[ 9.98174058e-01 -5.73313814e-02 -1.90174077e-02 3.06936222e+02] [ 5.73319627e-02 9.98355037e-01 -5.15083526e-04 1.06913940e+01] [ 1.90156552e-02 -5.76162296e-04 9.99819020e-01 2.20465760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.594391418 meters Centerline goodness [0,1] 0.9994086838993074 Centerline is valid? [True, True] Translation: X:306.97, Y:10.70, Z:2.21 [[ 9.98348970e-01 -5.43742248e-02 -1.85142716e-02 3.06967615e+02] [ 5.43742840e-02 9.98520499e-01 -5.00571372e-04 1.06977352e+01] [ 1.85140979e-02 -5.06955347e-04 9.99828471e-01 2.20576281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.624391418 meters Centerline goodness [0,1] 0.9994706305848473 Centerline is valid? [True, True] Translation: X:307.00, Y:10.71, Z:2.21 [[ 9.98651002e-01 -4.85784223e-02 -1.83388479e-02 3.06998535e+02] [ 4.85775173e-02 9.98819293e-01 -4.95077073e-04 1.07088896e+01] [ 1.83412451e-02 -3.96446486e-04 9.99831707e-01 2.20678566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.654391418 meters Centerline goodness [0,1] 0.9990896966361115 Centerline is valid? [True, True] Translation: X:307.03, Y:10.71, Z:2.21 [[ 9.98777144e-01 -4.58989356e-02 -1.83712752e-02 3.07029283e+02] [ 4.58975880e-02 9.98946028e-01 -4.95202134e-04 1.07137789e+01] [ 1.83746416e-02 -3.48600645e-04 9.99831111e-01 2.20684958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.684391418 meters Centerline goodness [0,1] 0.9991939589343288 Centerline is valid? [True, True] Translation: X:307.06, Y:10.72, Z:2.21 [[ 9.99013912e-01 -4.04488112e-02 -1.83056812e-02 3.07059526e+02] [ 4.04465677e-02 9.99181581e-01 -4.92924870e-04 1.07234260e+01] [ 1.83106378e-02 -2.47963173e-04 9.99832315e-01 2.20725701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.714391418 meters Centerline goodness [0,1] 0.9990014235026664 Centerline is valid? [True, True] Translation: X:307.09, Y:10.73, Z:2.21 [[ 9.99089524e-01 -3.83301624e-02 -1.87328987e-02 3.07089679e+02] [ 3.83274477e-02 9.99265106e-01 -5.04052880e-04 1.07282168e+01] [ 1.87384524e-02 -2.14390243e-04 9.99824397e-01 2.20716621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.744391418 meters Centerline goodness [0,1] 0.9991483200613209 Centerline is valid? [True, True] Translation: X:307.12, Y:10.73, Z:2.21 [[ 9.99168244e-01 -3.60812729e-02 -1.89989775e-02 3.07120013e+02] [ 3.60780811e-02 9.99348844e-01 -5.10836724e-04 1.07328822e+01] [ 1.90050378e-02 -1.75034819e-04 9.99819373e-01 2.20703397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.774391418 meters Centerline goodness [0,1] 0.9989365096245879 Centerline is valid? [True, True] Translation: X:307.15, Y:10.74, Z:2.21 [[ 9.99228033e-01 -3.42626001e-02 -1.92201241e-02 3.07151176e+02] [ 3.42590094e-02 9.99412855e-01 -5.16145157e-04 1.07380125e+01] [ 1.92265236e-02 -1.42715704e-04 9.99815143e-01 2.20802709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.804391418 meters Centerline goodness [0,1] 0.9994884474379743 Centerline is valid? [True, True] Translation: X:307.18, Y:10.74, Z:2.21 [[ 9.99305955e-01 -3.18284151e-02 -1.93535407e-02 3.07181745e+02] [ 3.18243390e-02 9.99493343e-01 -5.18639109e-04 1.07449456e+01] [ 1.93602426e-02 -9.76344901e-05 9.99812568e-01 2.20807595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.834391418 meters Centerline goodness [0,1] 0.9992093172347473 Centerline is valid? [True, True] Translation: X:307.21, Y:10.75, Z:2.21 [[ 9.99323070e-01 -3.11249593e-02 -1.96121835e-02 3.07212457e+02] [ 3.11206471e-02 9.99515497e-01 -5.25109841e-04 1.07484249e+01] [ 1.96190253e-02 -8.55894627e-05 9.99807525e-01 2.20852592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.864391418 meters Centerline goodness [0,1] 0.9995726952248691 Centerline is valid? [True, True] Translation: X:307.24, Y:10.75, Z:2.21 [[ 9.99332971e-01 -3.05377200e-02 -2.00264767e-02 3.07243064e+02] [ 3.05331058e-02 9.99533612e-01 -5.36202408e-04 1.07511327e+01] [ 2.00335110e-02 -7.56257871e-05 9.99799306e-01 2.20847436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.894391418 meters Centerline goodness [0,1] 0.9995726952248691 Centerline is valid? [True, True] Translation: X:307.27, Y:10.75, Z:2.21 [[ 9.99332971e-01 -3.05377200e-02 -2.00264767e-02 3.07273055e+02] [ 3.05331058e-02 9.99533612e-01 -5.36202408e-04 1.07519357e+01] [ 2.00335110e-02 -7.56257871e-05 9.99799306e-01 2.20868465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.924391418 meters Centerline goodness [0,1] 0.999572494282111 Centerline is valid? [True, True] Translation: X:307.30, Y:10.76, Z:2.21 [[ 9.99343081e-01 -3.05203475e-02 -1.95426522e-02 3.07303576e+02] [ 3.05159502e-02 9.99534143e-01 -5.23248164e-04 1.07552485e+01] [ 1.95495178e-02 -7.34581698e-05 9.99808887e-01 2.20874266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.954391418 meters Centerline goodness [0,1] 0.9994877377217135 Centerline is valid? [True, True] Translation: X:307.33, Y:10.76, Z:2.21 [[ 9.99341260e-01 -3.07498928e-02 -1.92740644e-02 3.07333578e+02] [ 3.07456738e-02 9.99527107e-01 -5.15249869e-04 1.07568760e+01] [ 1.92807938e-02 -7.76836450e-05 9.99814105e-01 2.20887734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.984391418 meters Centerline goodness [0,1] 0.9995730236331419 Centerline is valid? [True, True] Translation: X:307.36, Y:10.76, Z:2.21 [[ 9.99325771e-01 -3.14922237e-02 -1.88743943e-02 3.07363660e+02] [ 3.14883188e-02 9.99503993e-01 -5.04114286e-04 1.07582669e+01] [ 1.88809081e-02 -9.05485461e-05 9.99821736e-01 2.20963563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.014391418 meters Centerline goodness [0,1] 0.9995939737151405 Centerline is valid? [True, True] Translation: X:307.39, Y:10.76, Z:2.21 [[ 9.99317194e-01 -3.19950367e-02 -1.84787127e-02 3.07393541e+02] [ 3.19913839e-02 9.99488023e-01 -4.93322618e-04 1.07592269e+01] [ 1.84850359e-02 -9.81738156e-05 9.99829132e-01 2.20975258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.044391418 meters Centerline goodness [0,1] 0.9993149951835599 Centerline is valid? [True, True] Translation: X:307.42, Y:10.76, Z:2.21 [[ 9.99284312e-01 -3.33822510e-02 -1.77901254e-02 3.07423970e+02] [ 3.33790912e-02 9.99442650e-01 -4.74600084e-04 1.07595660e+01] [ 1.77960533e-02 -1.19557800e-04 9.99841631e-01 2.21035058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.074391418 meters Centerline goodness [0,1] 0.9995714224488921 Centerline is valid? [True, True] Translation: X:307.46, Y:10.76, Z:2.21 [[ 9.99266621e-01 -3.41035450e-02 -1.74117389e-02 3.07455519e+02] [ 3.41006369e-02 9.99418296e-01 -4.63975751e-04 1.07599821e+01] [ 1.74174336e-02 -1.30115904e-04 9.99848297e-01 2.21063359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.104391418 meters Centerline goodness [0,1] 0.9994224104736235 Centerline is valid? [True, True] Translation: X:307.49, Y:10.76, Z:2.21 [[ 9.99237358e-01 -3.50525031e-02 -1.72053448e-02 3.07487356e+02] [ 3.50498154e-02 9.99385462e-01 -4.57822303e-04 1.07601500e+01] [ 1.72108193e-02 -1.45571012e-04 9.99851872e-01 2.21084569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.134391418 meters Centerline goodness [0,1] 0.9993579454253612 Centerline is valid? [True, True] Translation: X:307.52, Y:10.76, Z:2.21 [[ 9.99179434e-01 -3.67677874e-02 -1.69878893e-02 3.07518872e+02] [ 3.67654261e-02 9.99323821e-01 -4.51392326e-04 1.07592864e+01] [ 1.69929991e-02 -1.73545059e-04 9.99855594e-01 2.21102051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.164391418 meters Centerline goodness [0,1] 0.9994863123648895 Centerline is valid? [True, True] Translation: X:307.55, Y:10.76, Z:2.21 [[ 9.99150152e-01 -3.74774048e-02 -1.71585975e-02 3.07550486e+02] [ 3.74751150e-02 9.99297458e-01 -4.55081348e-04 1.07589898e+01] [ 1.71635981e-02 -1.88325816e-04 9.99852677e-01 2.21102149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.194391418 meters Centerline goodness [0,1] 0.9993586454592098 Centerline is valid? [True, True] Translation: X:307.58, Y:10.76, Z:2.21 [[ 9.99125001e-01 -3.83333243e-02 -1.67268721e-02 3.07582670e+02] [ 3.83312879e-02 9.99264988e-01 -4.42451082e-04 1.07604748e+01] [ 1.67315383e-02 -1.99098614e-04 9.99859998e-01 2.21236628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.224391418 meters Centerline goodness [0,1] 0.9996579149918755 Centerline is valid? [True, True] Translation: X:307.61, Y:10.76, Z:2.21 [[ 9.99083672e-01 -3.94167581e-02 -1.66773707e-02 3.07614136e+02] [ 3.94149039e-02 9.99222834e-01 -4.39986464e-04 1.07594332e+01] [ 1.66817525e-02 -2.17753671e-04 9.99860826e-01 2.21233142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.254391418 meters Centerline goodness [0,1] 0.9993576154686196 Centerline is valid? [True, True] Translation: X:307.65, Y:10.76, Z:2.21 [[ 9.99074573e-01 -3.96698933e-02 -1.66221884e-02 3.07645905e+02] [ 3.96681063e-02 9.99212815e-01 -4.37334269e-04 1.07597203e+01] [ 1.66264527e-02 -2.22441188e-04 9.99861746e-01 2.21264207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.284391418 meters Centerline goodness [0,1] 0.9994018499925231 Centerline is valid? [True, True] Translation: X:307.68, Y:10.76, Z:2.21 [[ 9.99079536e-01 -3.97186338e-02 -1.62021725e-02 3.07677299e+02] [ 3.97169601e-02 9.99210880e-01 -4.25185355e-04 1.07579147e+01] [ 1.62062749e-02 -2.18707053e-04 9.99868646e-01 2.21133299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.314391418 meters Centerline goodness [0,1] 0.9992521687107389 Centerline is valid? [True, True] Translation: X:307.71, Y:10.76, Z:2.21 [[ 9.99101213e-01 -3.91941616e-02 -1.61426416e-02 3.07709406e+02] [ 3.91924505e-02 9.99231591e-01 -4.22465466e-04 1.07609786e+01] [ 1.61467956e-02 -2.10583923e-04 9.99869610e-01 2.21312522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.344391418 meters Centerline goodness [0,1] 0.9993155080213904 Centerline is valid? [True, True] Translation: X:307.74, Y:10.76, Z:2.21 [[ 9.99197117e-01 -3.67345973e-02 -1.59903498e-02 3.07741791e+02] [ 3.67326240e-02 9.99325042e-01 -4.17186645e-04 1.07625484e+01] [ 1.59948822e-02 -1.70515814e-04 9.99872059e-01 2.21356037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.374391418 meters Centerline goodness [0,1] 0.9995505906522856 Centerline is valid? [True, True] Translation: X:307.77, Y:10.76, Z:2.21 [[ 9.99272454e-01 -3.47096234e-02 -1.58051887e-02 3.07773232e+02] [ 3.47074596e-02 9.99397430e-01 -4.11260094e-04 1.07635651e+01] [ 1.58099397e-02 -1.37597066e-04 9.99875006e-01 2.21290773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.404391418 meters Centerline goodness [0,1] 0.9996999056846437 Centerline is valid? [True, True] Translation: X:307.80, Y:10.77, Z:2.21 [[ 9.99435669e-01 -2.97884858e-02 -1.55238578e-02 3.07804570e+02] [ 2.97858165e-02 9.99556223e-01 -4.03176737e-04 1.07679655e+01] [ 1.55289787e-02 -5.94415698e-05 9.99879416e-01 2.21421973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.434391418 meters Centerline goodness [0,1] 0.9996995837088537 Centerline is valid? [True, True] Translation: X:307.83, Y:10.77, Z:2.21 [[ 9.99525405e-01 -2.66521377e-02 -1.54475923e-02 3.07834564e+02] [ 2.66491330e-02 9.99644769e-01 -4.00354826e-04 1.07701915e+01] [ 1.54527751e-02 -1.15001219e-05 9.99880599e-01 2.21388857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.464391418 meters Centerline goodness [0,1] 0.9995284737552779 Centerline is valid? [True, True] Translation: X:307.86, Y:10.77, Z:2.21 [[ 9.99602201e-01 -2.37636765e-02 -1.51897122e-02 3.07864567e+02] [ 2.37604472e-02 9.99717603e-01 -3.93059054e-04 1.07726948e+01] [ 1.51947632e-02 3.19883408e-05 9.99884552e-01 2.21409131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.494391418 meters Centerline goodness [0,1] 0.999593461143444 Centerline is valid? [True, True] Translation: X:307.90, Y:10.77, Z:2.21 [[ 9.99666319e-01 -2.07603644e-02 -1.53706602e-02 3.07895082e+02] [ 2.07567047e-02 9.99784477e-01 -3.97605186e-04 1.07748731e+01] [ 1.53756019e-02 7.84282576e-05 9.99881785e-01 2.21416134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.524391418 meters Centerline goodness [0,1] 0.9996358729410757 Centerline is valid? [True, True] Translation: X:307.93, Y:10.78, Z:2.22 [[ 9.99755259e-01 -1.56023834e-02 -1.56839699e-02 3.07925133e+02] [ 1.55979329e-02 9.99878262e-01 -4.06055041e-04 1.07766048e+01] [ 1.56883960e-02 1.61318152e-04 9.99876917e-01 2.21504268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.554391418 meters Centerline goodness [0,1] 0.9995717069619033 Centerline is valid? [True, True] Translation: X:307.95, Y:10.78, Z:2.22 [[ 9.99776538e-01 -1.42523467e-02 -1.56123135e-02 3.07953647e+02] [ 1.42477304e-02 9.99898413e-01 -4.06871891e-04 1.07774022e+01] [ 1.56165263e-02 1.84340937e-04 9.99878038e-01 2.21534265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.584391418 meters Centerline goodness [0,1] 0.9994869821726305 Centerline is valid? [True, True] Translation: X:307.98, Y:10.78, Z:2.22 [[ 9.99793029e-01 -1.33294855e-02 -1.53696058e-02 3.07982155e+02] [ 1.33248368e-02 9.99911138e-01 -4.04826416e-04 1.07773833e+01] [ 1.53736362e-02 1.99945139e-04 9.99881799e-01 2.21568334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.614391418 meters Centerline goodness [0,1] 0.9991228820811228 Centerline is valid? [True, True] Translation: X:308.01, Y:10.77, Z:2.22 [[ 9.99797756e-01 -1.34607173e-02 -1.49417271e-02 3.08009227e+02] [ 1.34562933e-02 9.99909381e-01 -3.96588026e-04 1.07746733e+01] [ 1.49457114e-02 1.95447557e-04 9.99888288e-01 2.21550901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.644391418 meters Centerline goodness [0,1] 0.9990398975890762 Centerline is valid? [True, True] Translation: X:308.04, Y:10.77, Z:2.22 [[ 9.99778397e-01 -1.47970485e-02 -1.49734612e-02 3.08038272e+02] [ 1.47927077e-02 9.99890502e-01 -4.00616374e-04 1.07725138e+01] [ 1.49777496e-02 1.79029561e-04 9.99887811e-01 2.21525582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.674391418 meters Centerline goodness [0,1] 0.9992956243329776 Centerline is valid? [True, True] Translation: X:308.07, Y:10.77, Z:2.22 [[ 9.99745381e-01 -1.67890233e-02 -1.50765081e-02 3.08067387e+02] [ 1.67847861e-02 9.99859042e-01 -4.07544782e-04 1.07695555e+01] [ 1.50812252e-02 1.54385050e-04 9.99886260e-01 2.21513764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.704391418 meters Centerline goodness [0,1] 0.9988929103683202 Centerline is valid? [True, True] Translation: X:308.10, Y:10.76, Z:2.21 [[ 9.99635585e-01 -2.23600044e-02 -1.51237168e-02 3.08095572e+02] [ 2.23563369e-02 9.99749981e-01 -4.11542454e-04 1.07608671e+01] [ 1.51291377e-02 7.32815736e-05 9.99885545e-01 2.21393768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.734391418 meters Centerline goodness [0,1] 0.9991717810953726 Centerline is valid? [True, True] Translation: X:308.13, Y:10.76, Z:2.21 [[ 9.99549043e-01 -2.58295147e-02 -1.53149403e-02 3.08125517e+02] [ 2.58261481e-02 9.99666362e-01 -4.17595607e-04 1.07561635e+01] [ 1.53206169e-02 2.18813742e-05 9.99882632e-01 2.21360611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.764391418 meters Centerline goodness [0,1] 0.9989605871621908 Centerline is valid? [True, True] Translation: X:308.16, Y:10.75, Z:2.21 [[ 9.99435711e-01 -2.99047081e-02 -1.52959934e-02 3.08155800e+02] [ 2.99018249e-02 9.99552753e-01 -4.17213895e-04 1.07512580e+01] [ 1.53016290e-02 -4.03996514e-05 9.99882922e-01 2.21389874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.794391418 meters Centerline goodness [0,1] 0.9988995640580691 Centerline is valid? [True, True] Translation: X:308.19, Y:10.74, Z:2.21 [[ 9.99146945e-01 -3.85075268e-02 -1.49182163e-02 3.08186922e+02] [ 3.85057452e-02 9.99258296e-01 -4.06753588e-04 1.07405309e+01] [ 1.49228144e-02 -1.68030429e-04 9.99888634e-01 2.21475101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.824391418 meters Centerline goodness [0,1] 0.9988981416735533 Centerline is valid? [True, True] Translation: X:308.22, Y:10.73, Z:2.21 [[ 9.98947573e-01 -4.33215858e-02 -1.50660719e-02 3.08218435e+02] [ 4.33203228e-02 9.99061150e-01 -4.10328850e-04 1.07349935e+01] [ 1.50697032e-02 -2.42770090e-04 9.99886416e-01 2.21491906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.854391418 meters Centerline goodness [0,1] 0.9987081471441581 Centerline is valid? [True, True] Translation: X:308.25, Y:10.73, Z:2.21 [[ 9.98720882e-01 -4.82387014e-02 -1.51534366e-02 3.08250040e+02] [ 4.82380007e-02 9.98835785e-01 -4.11952584e-04 1.07287829e+01] [ 1.51556668e-02 -3.19545838e-04 9.99885095e-01 2.21458988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.884391418 meters Centerline goodness [0,1] 0.9988031998656225 Centerline is valid? [True, True] Translation: X:308.28, Y:10.72, Z:2.21 [[ 9.98174248e-01 -5.84616242e-02 -1.51792386e-02 3.08280044e+02] [ 5.84621112e-02 9.98289543e-01 -4.12023739e-04 1.07156113e+01] [ 1.51773628e-02 -4.76138853e-04 9.99884704e-01 2.21430934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.914391418 meters Centerline goodness [0,1] 0.9986771097998867 Centerline is valid? [True, True] Translation: X:308.31, Y:10.71, Z:2.21 [[ 9.97844730e-01 -6.38921660e-02 -1.49561218e-02 3.08310632e+02] [ 6.38932528e-02 9.97956656e-01 -4.05632234e-04 1.07072054e+01] [ 1.49514780e-02 -5.50837286e-04 9.99888069e-01 2.21407609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.944391418 meters Centerline goodness [0,1] 0.9987355910058373 Centerline is valid? [True, True] Translation: X:308.34, Y:10.70, Z:2.21 [[ 9.97509121e-01 -6.89358550e-02 -1.49465881e-02 3.08341487e+02] [ 6.89375098e-02 9.97620898e-01 -4.05088596e-04 1.07040464e+01] [ 1.49389537e-02 -6.26300993e-04 9.99888211e-01 2.21475219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.974391418 meters Centerline goodness [0,1] 0.9984261552020817 Centerline is valid? [True, True] Translation: X:308.37, Y:10.69, Z:2.21 [[ 9.96846806e-01 -7.79780647e-02 -1.46924352e-02 3.08372241e+02] [ 7.79806463e-02 9.96954794e-01 -3.97977518e-04 1.06890392e+01] [ 1.46787273e-02 -7.49002979e-04 9.99891981e-01 2.21407848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.004391418 meters Centerline goodness [0,1] 0.9982357759435448 Centerline is valid? [True, True] Translation: X:308.40, Y:10.69, Z:2.22 [[ 9.96540490e-01 -8.17967825e-02 -1.47084699e-02 3.08402825e+02] [ 8.17997878e-02 9.96648702e-01 -3.98175666e-04 1.06931413e+01] [ 1.46917469e-02 -8.06351539e-04 9.99891745e-01 2.21523374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.034391418 meters Centerline goodness [0,1] 0.9982368868459165 Centerline is valid? [True, True] Translation: X:308.43, Y:10.69, Z:2.21 [[ 9.96289109e-01 -8.48617198e-02 -1.43701059e-02 3.08433267e+02] [ 8.48649101e-02 9.96392391e-01 -3.88734851e-04 1.06885498e+01] [ 1.43512529e-02 -8.32225448e-04 9.99896669e-01 2.21495973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.064391418 meters Centerline goodness [0,1] 0.9979845905149791 Centerline is valid? [True, True] Translation: X:308.46, Y:10.68, Z:2.21 [[ 9.95977708e-01 -8.84038903e-02 -1.45998878e-02 3.08464745e+02] [ 8.84075690e-02 9.96084307e-01 -3.94516211e-04 1.06840552e+01] [ 1.45775959e-02 -8.97811235e-04 9.99893338e-01 2.21440000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.094391418 meters Centerline goodness [0,1] 0.9982613431647744 Centerline is valid? [True, True] Translation: X:308.50, Y:10.68, Z:2.21 [[ 9.95919697e-01 -8.90441925e-02 -1.46659176e-02 3.08496924e+02] [ 8.90479864e-02 9.96027259e-01 -3.95427303e-04 1.06843703e+01] [ 1.46428642e-02 -9.12156593e-04 9.99892371e-01 2.21462406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.124391418 meters Centerline goodness [0,1] 0.9979484173505275 Centerline is valid? [True, True] Translation: X:308.53, Y:10.68, Z:2.21 [[ 9.95901004e-01 -8.92821588e-02 -1.44874487e-02 3.08527728e+02] [ 8.92859002e-02 9.96005962e-01 -3.89636100e-04 1.06832710e+01] [ 1.44643728e-02 -9.05485911e-04 9.99894975e-01 2.21444868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.154391418 meters Centerline goodness [0,1] 0.9979872525997987 Centerline is valid? [True, True] Translation: X:308.56, Y:10.68, Z:2.21 [[ 9.95933454e-01 -8.89806928e-02 -1.41064532e-02 3.08559094e+02] [ 8.89842211e-02 9.96032964e-01 -3.78582340e-04 1.06827987e+01] [ 1.40841789e-02 -8.78208937e-04 9.99900427e-01 2.21481551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.184391418 meters Centerline goodness [0,1] 0.9980253760188219 Centerline is valid? [True, True] Translation: X:308.59, Y:10.69, Z:2.21 [[ 9.96094829e-01 -8.71452345e-02 -1.41703762e-02 3.08590349e+02] [ 8.71486195e-02 9.96195249e-01 -3.79618808e-04 1.06861263e+01] [ 1.41495434e-02 -8.56792389e-04 9.99899523e-01 2.21449018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.214391418 meters Centerline goodness [0,1] 0.9980669832331807 Centerline is valid? [True, True] Translation: X:308.62, Y:10.69, Z:2.21 [[ 9.96215218e-01 -8.56131877e-02 -1.50207141e-02 3.08622888e+02] [ 8.56168355e-02 9.96328057e-01 -4.01209327e-04 1.06880356e+01] [ 1.49999077e-02 -8.86335167e-04 9.99887102e-01 2.21373403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.244391418 meters Centerline goodness [0,1] 0.9984283648708115 Centerline is valid? [True, True] Translation: X:308.65, Y:10.70, Z:2.21 [[ 9.96358386e-01 -8.38491701e-02 -1.54687601e-02 3.08653932e+02] [ 8.38528449e-02 9.96478063e-01 -4.12021728e-04 1.06965223e+01] [ 1.54488278e-02 -8.86578235e-04 9.99880267e-01 2.21417392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.274391418 meters Centerline goodness [0,1] 0.9982989625771767 Centerline is valid? [True, True] Translation: X:308.68, Y:10.70, Z:2.21 [[ 9.96667757e-01 -7.99025378e-02 -1.64001964e-02 3.08684692e+02] [ 7.99061443e-02 9.96802296e-01 -4.36312857e-04 1.07020820e+01] [ 1.63826160e-02 -8.75617505e-04 9.99865413e-01 2.21289430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.304391418 meters Centerline goodness [0,1] 0.9985906604964241 Centerline is valid? [True, True] Translation: X:308.72, Y:10.71, Z:2.21 [[ 9.96853698e-01 -7.75213806e-02 -1.65269349e-02 3.08715916e+02] [ 7.75247257e-02 9.96990333e-01 -4.39131641e-04 1.07075450e+01] [ 1.65112364e-02 -8.43496094e-04 9.99863324e-01 2.21345284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.334391418 meters Centerline goodness [0,1] 0.9985066778841097 Centerline is valid? [True, True] Translation: X:308.75, Y:10.71, Z:2.21 [[ 9.97033525e-01 -7.51818055e-02 -1.64877275e-02 3.08746066e+02] [ 7.51848234e-02 9.97169520e-01 -4.37615815e-04 1.07101863e+01] [ 1.64739601e-02 -8.03309243e-04 9.99863972e-01 2.21345009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.364391418 meters Centerline goodness [0,1] 0.9986093552465234 Centerline is valid? [True, True] Translation: X:308.78, Y:10.72, Z:2.21 [[ 9.97428878e-01 -6.97010759e-02 -1.66551443e-02 3.08776571e+02] [ 6.97033995e-02 9.97567662e-01 -4.41657974e-04 1.07201150e+01] [ 1.66454174e-02 -7.20397756e-04 9.99861196e-01 2.21450822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.394391418 meters Centerline goodness [0,1] 0.9987128086094113 Centerline is valid? [True, True] Translation: X:308.81, Y:10.73, Z:2.22 [[ 9.97670155e-01 -6.63090469e-02 -1.60428014e-02 3.08808033e+02] [ 6.63107765e-02 9.97798928e-01 -4.24687217e-04 1.07264080e+01] [ 1.60356507e-02 -6.40112860e-04 9.99871216e-01 2.21519055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.424391418 meters Centerline goodness [0,1] 0.9987540125021118 Centerline is valid? [True, True] Translation: X:308.84, Y:10.73, Z:2.22 [[ 9.97911657e-01 -6.26629702e-02 -1.56740690e-02 3.08839373e+02] [ 6.26641841e-02 9.98034583e-01 -4.14155340e-04 1.07317439e+01] [ 1.56692151e-02 -5.68912302e-04 9.99877068e-01 2.21565303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.454391418 meters Centerline goodness [0,1] 0.9987754671170695 Centerline is valid? [True, True] Translation: X:308.87, Y:10.74, Z:2.22 [[ 9.98377393e-01 -5.49186386e-02 -1.50507569e-02 3.08868706e+02] [ 5.49188826e-02 9.98490740e-01 -3.97411309e-04 1.07415166e+01] [ 1.50498667e-02 -4.29804284e-04 9.99886652e-01 2.21609136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.484391418 meters Centerline goodness [0,1] 0.9990262695539891 Centerline is valid? [True, True] Translation: X:308.90, Y:10.75, Z:2.22 [[ 9.98607504e-01 -5.06556056e-02 -1.47330230e-02 3.08900396e+02] [ 5.06553831e-02 9.98716116e-01 -3.88519252e-04 1.07476943e+01] [ 1.47337882e-02 -3.58328681e-04 9.99891388e-01 2.21673937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.514391418 meters Centerline goodness [0,1] 0.9989841484836299 Centerline is valid? [True, True] Translation: X:308.93, Y:10.76, Z:2.22 [[ 9.99032688e-01 -4.18131864e-02 -1.36141691e-02 3.08929726e+02] [ 4.18121793e-02 9.99125424e-01 -3.58724137e-04 1.07577862e+01] [ 1.36172619e-02 -2.10860941e-04 9.99907259e-01 2.21709785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.544391418 meters Centerline goodness [0,1] 0.9989211372482654 Centerline is valid? [True, True] Translation: X:308.96, Y:10.76, Z:2.22 [[ 9.99226493e-01 -3.70420627e-02 -1.32023340e-02 3.08961687e+02] [ 3.70407039e-02 9.99313697e-01 -3.47516550e-04 1.07639216e+01] [ 1.32061459e-02 -1.41776001e-04 9.99912785e-01 2.21778595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.574391418 meters Centerline goodness [0,1] 0.998665791312819 Centerline is valid? [True, True] Translation: X:308.99, Y:10.77, Z:2.22 [[ 9.99374422e-01 -3.29374783e-02 -1.28797167e-02 3.08993723e+02] [ 3.29358571e-02 9.99457410e-01 -3.38020842e-04 1.07692399e+01] [ 1.28838618e-02 -8.63951247e-05 9.99916996e-01 2.21800748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.604391418 meters Centerline goodness [0,1] 0.9988980949757369 Centerline is valid? [True, True] Translation: X:309.02, Y:10.77, Z:2.22 [[ 9.99499564e-01 -2.90454001e-02 -1.25294342e-02 3.09024974e+02] [ 2.90435695e-02 9.99578093e-01 -3.28075218e-04 1.07740608e+01] [ 1.25336771e-02 -3.59884564e-05 9.99921450e-01 2.21804035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.634391418 meters Centerline goodness [0,1] 0.9991091880885722 Centerline is valid? [True, True] Translation: X:309.06, Y:10.78, Z:2.22 [[ 9.99662127e-01 -2.28634422e-02 -1.23650651e-02 3.09055191e+02] [ 2.28611909e-02 9.99738597e-01 -3.23397383e-04 1.07811417e+01] [ 1.23692268e-02 4.06080008e-05 9.99923497e-01 2.21756663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.664391418 meters Centerline goodness [0,1] 0.9991516256972577 Centerline is valid? [True, True] Translation: X:309.09, Y:10.78, Z:2.22 [[ 9.99714207e-01 -2.06588521e-02 -1.20298197e-02 3.09086026e+02] [ 2.06565656e-02 9.99786581e-01 -3.14306295e-04 1.07844064e+01] [ 1.20337455e-02 6.57217086e-05 9.99927590e-01 2.21765360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.694391418 meters Centerline goodness [0,1] 0.9991519674355496 Centerline is valid? [True, True] Translation: X:309.12, Y:10.79, Z:2.22 [[ 9.99750243e-01 -1.90524655e-02 -1.16814398e-02 3.09116356e+02] [ 1.90502029e-02 9.99818482e-01 -3.04945294e-04 1.07864550e+01] [ 1.16851293e-02 8.23353338e-05 9.99931723e-01 2.21792192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.724391418 meters Centerline goodness [0,1] 0.9991726946819117 Centerline is valid? [True, True] Translation: X:309.15, Y:10.79, Z:2.22 [[ 9.99759960e-01 -1.85423425e-02 -1.16706107e-02 3.09146974e+02] [ 1.85400504e-02 9.99828072e-01 -3.04572032e-04 1.07884856e+01] [ 1.16742517e-02 8.81252129e-05 9.99931850e-01 2.21736271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.754391418 meters Centerline goodness [0,1] 0.9992368677661424 Centerline is valid? [True, True] Translation: X:309.18, Y:10.79, Z:2.22 [[ 9.99749809e-01 -1.93164965e-02 -1.12779408e-02 3.09177831e+02] [ 1.93144068e-02 9.99813416e-01 -2.94192909e-04 1.07882467e+01] [ 1.12815193e-02 7.62925688e-05 9.99936359e-01 2.21777519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.784391418 meters Centerline goodness [0,1] 0.9991076171252523 Centerline is valid? [True, True] Translation: X:309.21, Y:10.79, Z:2.22 [[ 9.99717099e-01 -2.09206675e-02 -1.13158395e-02 3.09208176e+02] [ 2.09186664e-02 9.99781137e-01 -2.95181523e-04 1.07875805e+01] [ 1.13195382e-02 5.83857443e-05 9.99935930e-01 2.21778021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.814391418 meters Centerline goodness [0,1] 0.9991320363274552 Centerline is valid? [True, True] Translation: X:309.24, Y:10.78, Z:2.22 [[ 9.99607356e-01 -2.58834246e-02 -1.07323290e-02 3.09239500e+02] [ 2.58819122e-02 9.99664968e-01 -2.79815449e-04 1.07830677e+01] [ 1.07359759e-02 1.93238484e-06 9.99942368e-01 2.21784485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.844391418 meters Centerline goodness [0,1] 0.9991320363274552 Centerline is valid? [True, True] Translation: X:309.27, Y:10.78, Z:2.22 [[ 9.99608361e-01 -2.58445770e-02 -1.07323399e-02 3.09270336e+02] [ 2.58430668e-02 9.99665973e-01 -2.79398538e-04 1.07838319e+01] [ 1.07359759e-02 1.93253943e-06 9.99942368e-01 2.21806098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.874391418 meters Centerline goodness [0,1] 0.9992376596150181 Centerline is valid? [True, True] Translation: X:309.30, Y:10.78, Z:2.22 [[ 9.99521259e-01 -2.92272749e-02 -1.01498487e-02 3.09302757e+02] [ 2.92261037e-02 9.99572791e-01 -2.63731969e-04 1.07810604e+01] [ 1.01532207e-02 -3.30348197e-05 9.99948454e-01 2.21820269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.904391418 meters Centerline goodness [0,1] 0.9990922716429883 Centerline is valid? [True, True] Translation: X:309.33, Y:10.78, Z:2.22 [[ 9.99424494e-01 -3.25217785e-02 -9.64436533e-03 3.09334857e+02] [ 3.25208813e-02 9.99471025e-01 -2.49875090e-04 1.07779877e+01] [ 9.64739008e-03 -6.39119746e-05 9.99953461e-01 2.21857552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.934391418 meters Centerline goodness [0,1] 0.999005101500815 Centerline is valid? [True, True] Translation: X:309.37, Y:10.77, Z:2.22 [[ 9.99204942e-01 -3.88745528e-02 -8.84611624e-03 3.09366364e+02] [ 3.88740522e-02 9.99244092e-01 -2.28589667e-04 1.07709976e+01] [ 8.84831571e-03 -1.15476460e-04 9.99960846e-01 2.21916758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.964391418 meters Centerline goodness [0,1] 0.9988997503279591 Centerline is valid? [True, True] Translation: X:309.40, Y:10.77, Z:2.22 [[ 9.99103236e-01 -4.14106376e-02 -8.82508363e-03 3.09398139e+02] [ 4.14102427e-02 9.99142202e-01 -2.27537981e-04 1.07686587e+01] [ 8.82693599e-03 -1.38114922e-04 9.99961032e-01 2.21937661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.994391418 meters Centerline goodness [0,1] 0.9989654153118533 Centerline is valid? [True, True] Translation: X:309.43, Y:10.77, Z:2.22 [[ 9.99014456e-01 -4.34949529e-02 -8.84900359e-03 3.09430665e+02] [ 4.34946425e-02 9.99053634e-01 -2.27610393e-04 1.07664471e+01] [ 8.85052910e-03 -1.57498174e-04 9.99960821e-01 2.21947225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.024391418 meters Centerline goodness [0,1] 0.9987364963042517 Centerline is valid? [True, True] Translation: X:309.46, Y:10.76, Z:2.22 [[ 9.98922573e-01 -4.55085573e-02 -9.09194075e-03 3.09463204e+02] [ 4.55083195e-02 9.98963933e-01 -2.33147808e-04 1.07643855e+01] [ 9.09313110e-03 -1.80862336e-04 9.99958640e-01 2.21898330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.054391418 meters Centerline goodness [0,1] 0.9989216619092928 Centerline is valid? [True, True] Translation: X:309.49, Y:10.76, Z:2.22 [[ 9.98916292e-01 -4.57077707e-02 -8.77727486e-03 3.09494710e+02] [ 4.57075623e-02 9.98954838e-01 -2.24445805e-04 1.07634228e+01] [ 8.77836011e-03 -1.76985266e-04 9.99961454e-01 2.21915245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.084391418 meters Centerline goodness [0,1] 0.9987766035984729 Centerline is valid? [True, True] Translation: X:309.53, Y:10.76, Z:2.22 [[ 9.98913693e-01 -4.57668272e-02 -8.76538567e-03 3.09527100e+02] [ 4.57666264e-02 9.98952134e-01 -2.23597200e-04 1.07629040e+01] [ 8.76643405e-03 -1.77807826e-04 9.99961558e-01 2.21918006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.114391418 meters Centerline goodness [0,1] 0.9987969607429295 Centerline is valid? [True, True] Translation: X:309.56, Y:10.76, Z:2.22 [[ 9.98932448e-01 -4.55406998e-02 -7.74650575e-03 3.09559152e+02] [ 4.55405403e-02 9.98962472e-01 -1.97067618e-04 1.07641561e+01] [ 7.74744313e-03 -1.55922820e-04 9.99969976e-01 2.21975044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.144391418 meters Centerline goodness [0,1] 0.9989018879080964 Centerline is valid? [True, True] Translation: X:309.59, Y:10.76, Z:2.22 [[ 9.98970182e-01 -4.47728132e-02 -7.34647702e-03 3.09590217e+02] [ 4.47726531e-02 9.98997185e-01 -1.86337604e-04 1.07632785e+01] [ 7.34745272e-03 -1.42775557e-04 9.99972997e-01 2.22005518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.174391418 meters Centerline goodness [0,1] 0.9989675516224189 Centerline is valid? [True, True] Translation: X:309.62, Y:10.76, Z:2.22 [[ 9.98973880e-01 -4.46696029e-02 -7.47082956e-03 3.09622846e+02] [ 4.46694379e-02 9.99001805e-01 -1.89030488e-04 1.07639370e+01] [ 7.47181613e-03 -1.44881237e-04 9.99972075e-01 2.21986674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.204391418 meters Centerline goodness [0,1] 0.9989680517237748 Centerline is valid? [True, True] Translation: X:309.65, Y:10.76, Z:2.22 [[ 9.98987955e-01 -4.42780261e-02 -7.90706257e-03 3.09654776e+02] [ 4.42778342e-02 9.99019236e-01 -1.99410788e-04 1.07639888e+01] [ 7.90813712e-03 -1.50898631e-04 9.99968719e-01 2.21956312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.234391418 meters Centerline goodness [0,1] 0.999093744731074 Centerline is valid? [True, True] Translation: X:309.69, Y:10.76, Z:2.22 [[ 9.98988080e-01 -4.41661667e-02 -8.49505128e-03 3.09686195e+02] [ 4.41659469e-02 9.99024186e-01 -2.13559962e-04 1.07640750e+01] [ 8.49619381e-03 -1.61848127e-04 9.99963894e-01 2.21895045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.264391418 meters Centerline goodness [0,1] 0.99898796095216 Centerline is valid? [True, True] Translation: X:309.72, Y:10.76, Z:2.22 [[ 9.98989825e-01 -4.40159022e-02 -9.05156555e-03 3.09718209e+02] [ 4.40156519e-02 9.99030816e-01 -2.26954246e-04 1.07644687e+01] [ 9.05278251e-03 -1.71685577e-04 9.99959008e-01 2.21912024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.294391418 meters Centerline goodness [0,1] 0.9986317517787227 Centerline is valid? [True, True] Translation: X:309.75, Y:10.76, Z:2.22 [[ 9.98936644e-01 -4.50198733e-02 -9.93946489e-03 3.09750826e+02] [ 4.50196293e-02 9.98986072e-01 -2.48394168e-04 1.07641782e+01] [ 9.94056965e-03 -1.99340989e-04 9.99950571e-01 2.21868787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.324391418 meters Centerline goodness [0,1] 0.9990125428073198 Centerline is valid? [True, True] Translation: X:309.78, Y:10.76, Z:2.22 [[ 9.98878379e-01 -4.61577459e-02 -1.05568494e-02 3.09782755e+02] [ 4.61575433e-02 9.98934138e-01 -2.62970509e-04 1.07635311e+01] [ 1.05577354e-02 -2.24602679e-04 9.99944240e-01 2.21858012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.354391418 meters Centerline goodness [0,1] 0.9990740935586372 Centerline is valid? [True, True] Translation: X:309.81, Y:10.76, Z:2.22 [[ 9.98788670e-01 -4.79723928e-02 -1.09472686e-02 3.09814831e+02] [ 4.79722933e-02 9.98848630e-01 -2.71828672e-04 1.07623319e+01] [ 1.09477045e-02 -2.53666182e-04 9.99940040e-01 2.21876861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.384391418 meters Centerline goodness [0,1] 0.9990534884210084 Centerline is valid? [True, True] Translation: X:309.85, Y:10.76, Z:2.22 [[ 9.98555265e-01 -5.25438029e-02 -1.12486173e-02 3.09847070e+02] [ 5.25439978e-02 9.98618571e-01 -2.78410738e-04 1.07606419e+01] [ 1.12477069e-02 -3.13038813e-04 9.99936694e-01 2.21912113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.414391418 meters Centerline goodness [0,1] 0.9990101929070845 Centerline is valid? [True, True] Translation: X:309.88, Y:10.76, Z:2.22 [[ 9.98397350e-01 -5.53959466e-02 -1.15767045e-02 3.09878332e+02] [ 5.53963545e-02 9.98464402e-01 -2.85668327e-04 1.07574340e+01] [ 1.15747523e-02 -3.56096729e-04 9.99932947e-01 2.21918250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.444391418 meters Centerline goodness [0,1] 0.9990757467546107 Centerline is valid? [True, True] Translation: X:309.91, Y:10.76, Z:2.22 [[ 9.98237722e-01 -5.80931470e-02 -1.21093499e-02 3.09909988e+02] [ 5.80938007e-02 9.98311085e-01 -2.98054419e-04 1.07575202e+01] [ 1.21062131e-02 -4.05948994e-04 9.99926635e-01 2.21938961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.474391418 meters Centerline goodness [0,1] 0.9988450958570438 Centerline is valid? [True, True] Translation: X:309.94, Y:10.75, Z:2.22 [[ 9.97859228e-01 -6.42221904e-02 -1.23478963e-02 3.09940004e+02] [ 6.42233440e-02 9.97935504e-01 -3.03488560e-04 1.07520207e+01] [ 1.23418948e-02 -4.90184330e-04 9.99923716e-01 2.21918191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.504391418 meters Centerline goodness [0,1] 0.9987587570740328 Centerline is valid? [True, True] Translation: X:309.97, Y:10.75, Z:2.22 [[ 9.97688845e-01 -6.67920894e-02 -1.24814377e-02 3.09971405e+02] [ 6.67934759e-02 9.97766775e-01 -3.06197001e-04 1.07468677e+01] [ 1.24740154e-02 -5.28189279e-04 9.99922057e-01 2.21915633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.534391418 meters Centerline goodness [0,1] 0.9987801543735672 Centerline is valid? [True, True] Translation: X:310.00, Y:10.75, Z:2.22 [[ 9.97509757e-01 -6.94099466e-02 -1.25117766e-02 3.10003014e+02] [ 6.94115587e-02 9.97588062e-01 -3.05877183e-04 1.07486615e+01] [ 1.25028299e-02 -5.63346440e-04 9.99921678e-01 2.22022431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.564391418 meters Centerline goodness [0,1] 0.9988431525145658 Centerline is valid? [True, True] Translation: X:310.04, Y:10.75, Z:2.22 [[ 9.97321664e-01 -7.19632504e-02 -1.30686422e-02 3.10035025e+02] [ 7.19652400e-02 9.97407090e-01 -3.18562740e-04 1.07495401e+01] [ 1.30576812e-02 -6.22778448e-04 9.99914551e-01 2.22085717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.594391418 meters Centerline goodness [0,1] 0.9986103215210662 Centerline is valid? [True, True] Translation: X:310.07, Y:10.75, Z:2.22 [[ 9.96955444e-01 -7.67720130e-02 -1.36345675e-02 3.10065959e+02] [ 7.67746371e-02 9.97048417e-01 -3.31628622e-04 1.07482718e+01] [ 1.36197837e-02 -7.16170009e-04 9.99906990e-01 2.22139709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.624391418 meters Centerline goodness [0,1] 0.9986963012805686 Centerline is valid? [True, True] Translation: X:310.10, Y:10.74, Z:2.22 [[ 9.96796780e-01 -7.87337955e-02 -1.40416678e-02 3.10096801e+02] [ 7.87367788e-02 9.96895382e-01 -3.41094649e-04 1.07429312e+01] [ 1.40249294e-02 -7.65593642e-04 9.99901353e-01 2.22144368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.654391418 meters Centerline goodness [0,1] 0.9985679989891758 Centerline is valid? [True, True] Translation: X:310.13, Y:10.74, Z:2.22 [[ 9.96649125e-01 -8.05806009e-02 -1.40459272e-02 3.10129248e+02] [ 8.05837806e-02 9.96747781e-01 -3.40360031e-04 1.07428299e+01] [ 1.40276731e-02 -7.92654386e-04 9.99901293e-01 2.22215033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.684391418 meters Centerline goodness [0,1] 0.9985037826902409 Centerline is valid? [True, True] Translation: X:310.16, Y:10.74, Z:2.22 [[ 9.96441364e-01 -8.31868202e-02 -1.35853183e-02 3.10160023e+02] [ 8.31900482e-02 9.96533646e-01 -3.28312748e-04 1.07427298e+01] [ 1.35655380e-02 -8.03018878e-04 9.99907661e-01 2.22406658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.714391418 meters Centerline goodness [0,1] 0.998545408550468 Centerline is valid? [True, True] Translation: X:310.19, Y:10.75, Z:2.23 [[ 9.96366174e-01 -8.41675297e-02 -1.30488979e-02 3.10191649e+02] [ 8.41706057e-02 9.96451309e-01 -3.14257538e-04 1.07471548e+01] [ 1.30290417e-02 -7.85218063e-04 9.99914810e-01 2.22576963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.744391418 meters Centerline goodness [0,1] 0.9985934121302459 Centerline is valid? [True, True] Translation: X:310.22, Y:10.75, Z:2.23 [[ 9.96253255e-01 -8.55524147e-02 -1.26584252e-02 3.10222707e+02] [ 8.55554354e-02 9.96333366e-01 -3.03691820e-04 1.07459843e+01] [ 1.26379929e-02 -7.80443112e-04 9.99919833e-01 2.22719953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.774391418 meters Centerline goodness [0,1] 0.9987986848760748 Centerline is valid? [True, True] Translation: X:310.25, Y:10.75, Z:2.23 [[ 9.96211471e-01 -8.60120791e-02 -1.28306995e-02 3.10254755e+02] [ 8.60152320e-02 9.96293775e-01 -3.06935350e-04 1.07471285e+01] [ 1.28095462e-02 -7.97863076e-04 9.99917636e-01 2.22777217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.804391418 meters Centerline goodness [0,1] 0.9986305987443644 Centerline is valid? [True, True] Translation: X:310.29, Y:10.75, Z:2.23 [[ 9.96158439e-01 -8.65730545e-02 -1.31708281e-02 3.10287233e+02] [ 8.65764394e-02 9.96245161e-01 -3.14021751e-04 1.07478552e+01] [ 1.31485595e-02 -8.27467980e-04 9.99913212e-01 2.22762024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.834391418 meters Centerline goodness [0,1] 0.9982090558563873 Centerline is valid? [True, True] Translation: X:310.32, Y:10.75, Z:2.23 [[ 9.96163026e-01 -8.63967718e-02 -1.39579260e-02 3.10319187e+02] [ 8.64005718e-02 9.96260423e-01 -3.31665484e-04 1.07482619e+01] [ 1.39343841e-02 -8.75579892e-04 9.99902528e-01 2.22653027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.864391418 meters Centerline goodness [0,1] 0.998500464644758 Centerline is valid? [True, True] Translation: X:310.35, Y:10.75, Z:2.23 [[ 9.96091655e-01 -8.70206560e-02 -1.51267874e-02 3.10349820e+02] [ 8.70252164e-02 9.96206045e-01 -3.57756447e-04 1.07497045e+01] [ 1.51005293e-02 -9.60053737e-04 9.99885520e-01 2.22649475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.894391418 meters Centerline goodness [0,1] 0.9985845269784933 Centerline is valid? [True, True] Translation: X:310.38, Y:10.75, Z:2.23 [[ 9.96099692e-01 -8.68163267e-02 -1.57584836e-02 3.10381572e+02] [ 8.68212768e-02 9.96223834e-01 -3.71030175e-04 1.07542510e+01] [ 1.57311884e-02 -9.98588624e-04 9.99875759e-01 2.22663096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.924391418 meters Centerline goodness [0,1] 0.9991968211024688 Centerline is valid? [True, True] Translation: X:310.41, Y:10.76, Z:2.23 [[ 9.96245074e-01 -8.49140671e-02 -1.68924181e-02 3.10412572e+02] [ 8.49194995e-02 9.96387736e-01 -3.96751124e-04 1.07602717e+01] [ 1.68650880e-02 -1.03923434e-03 9.99857234e-01 2.22655640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.954391418 meters Centerline goodness [0,1] 0.9988366682177757 Centerline is valid? [True, True] Translation: X:310.44, Y:10.76, Z:2.23 [[ 9.96341839e-01 -8.36518311e-02 -1.74731766e-02 3.10444359e+02] [ 8.36574694e-02 9.96494486e-01 -4.09287206e-04 1.07633084e+01] [ 1.74461617e-02 -1.05397177e-03 9.99847249e-01 2.22660609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.984391418 meters Centerline goodness [0,1] 0.9986874417816919 Centerline is valid? [True, True] Translation: X:310.48, Y:10.77, Z:2.23 [[ 9.96494403e-01 -8.18299473e-02 -1.74001027e-02 3.10475448e+02] [ 8.18352782e-02 9.96645786e-01 -4.06624257e-04 1.07670752e+01] [ 1.73750130e-02 -1.01874345e-03 9.99848524e-01 2.22703796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.014391418 meters Centerline goodness [0,1] 0.9986858002840368 Centerline is valid? [True, True] Translation: X:310.51, Y:10.77, Z:2.23 [[ 9.96952058e-01 -7.61325483e-02 -1.70419546e-02 3.10505623e+02] [ 7.61368366e-02 9.97097299e-01 -3.97975770e-04 1.07747688e+01] [ 1.70227858e-02 -9.00757749e-04 9.99854696e-01 2.22620517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.044391418 meters Centerline goodness [0,1] 0.9988995407698982 Centerline is valid? [True, True] Translation: X:310.54, Y:10.78, Z:2.23 [[ 9.97161916e-01 -7.33021579e-02 -1.71728806e-02 3.10536918e+02] [ 7.33061005e-02 9.97309408e-01 -4.00634249e-04 1.07793328e+01] [ 1.71560428e-02 -8.59379699e-04 9.99852455e-01 2.22705720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.074391418 meters Centerline goodness [0,1] 0.9984303743769223 Centerline is valid? [True, True] Translation: X:310.57, Y:10.79, Z:2.23 [[ 9.97712491e-01 -6.56361722e-02 -1.61764770e-02 3.10566887e+02] [ 6.56386686e-02 9.97843386e-01 -3.77135252e-04 1.07941342e+01] [ 1.61663443e-02 -6.85529861e-04 9.99869081e-01 2.22880699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.104391418 meters Centerline goodness [0,1] 0.9987903225806452 Centerline is valid? [True, True] Translation: X:310.60, Y:10.80, Z:2.23 [[ 9.97981072e-01 -6.14510421e-02 -1.60483543e-02 3.10597438e+02] [ 6.14529646e-02 9.98109910e-01 -3.73785282e-04 1.07951388e+01] [ 1.60409910e-02 -6.13188314e-04 9.99871147e-01 2.22908245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.134391418 meters Centerline goodness [0,1] 0.9988541357212579 Centerline is valid? [True, True] Translation: X:310.63, Y:10.80, Z:2.23 [[ 9.98265281e-01 -5.68788200e-02 -1.52062044e-02 3.10628822e+02] [ 5.68800273e-02 9.98380958e-01 -3.53430020e-04 1.08041061e+01] [ 1.52016876e-02 -5.12112402e-04 9.99884317e-01 2.23033174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.164391418 meters Centerline goodness [0,1] 0.9986803737522082 Centerline is valid? [True, True] Translation: X:310.66, Y:10.81, Z:2.23 [[ 9.98512421e-01 -5.23191863e-02 -1.53508450e-02 3.10660198e+02] [ 5.23198898e-02 9.98630313e-01 -3.56045706e-04 1.08127679e+01] [ 1.53484472e-02 -4.47638460e-04 9.99882105e-01 2.23144345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.194391418 meters Centerline goodness [0,1] 0.9991473760497932 Centerline is valid? [True, True] Translation: X:310.69, Y:10.82, Z:2.23 [[ 9.98901722e-01 -4.43362704e-02 -1.51540069e-02 3.10691175e+02] [ 4.43360447e-02 9.99016612e-01 -3.51012575e-04 1.08238005e+01] [ 1.51546672e-02 -3.21241661e-04 9.99885110e-01 2.23265163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.224391418 meters Centerline goodness [0,1] 0.9992948416599 Centerline is valid? [True, True] Translation: X:310.72, Y:10.83, Z:2.23 [[ 9.99071960e-01 -4.04551037e-02 -1.47852329e-02 3.10722840e+02] [ 4.04544754e-02 9.99181324e-01 -3.41695209e-04 1.08283202e+01] [ 1.47869519e-02 -2.56750738e-04 9.99890634e-01 2.23264351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.254391418 meters Centerline goodness [0,1] 0.9991002763436945 Centerline is valid? [True, True] Translation: X:310.75, Y:10.83, Z:2.23 [[ 9.99217567e-01 -3.69409374e-02 -1.41287413e-02 3.10754900e+02] [ 3.69400280e-02 9.99317431e-01 -3.25425896e-04 1.08340219e+01] [ 1.41311190e-02 -1.96744827e-04 9.99900131e-01 2.23333391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.284391418 meters Centerline goodness [0,1] 0.9991843218065125 Centerline is valid? [True, True] Translation: X:310.79, Y:10.84, Z:2.23 [[ 9.99405970e-01 -3.17408984e-02 -1.34246793e-02 3.10786705e+02] [ 3.17396222e-02 9.99496124e-01 -3.08164333e-04 1.08421109e+01] [ 1.34276964e-02 -1.18112976e-04 9.99909837e-01 2.23494270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.314391418 meters Centerline goodness [0,1] 0.9993551853842021 Centerline is valid? [True, True] Translation: X:310.82, Y:10.84, Z:2.24 [[ 9.99440345e-01 -3.03589312e-02 -1.40474816e-02 3.10817491e+02] [ 3.03574115e-02 9.99539056e-01 -3.21449080e-04 1.08441660e+01] [ 1.40507654e-02 -1.05176001e-04 9.99901278e-01 2.23528226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.344391418 meters Centerline goodness [0,1] 0.9990759246126405 Centerline is valid? [True, True] Translation: X:310.85, Y:10.85, Z:2.24 [[ 9.99555300e-01 -2.72135050e-02 -1.21912784e-02 3.10848723e+02] [ 2.72121334e-02 9.99629643e-01 -2.78400351e-04 1.08511966e+01] [ 1.21943396e-02 -5.34741490e-05 9.99925645e-01 2.23606068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.374391418 meters Centerline goodness [0,1] 0.9988605826077609 Centerline is valid? [True, True] Translation: X:310.88, Y:10.85, Z:2.24 [[ 9.99578301e-01 -2.64654928e-02 -1.19498264e-02 3.10880992e+02] [ 2.64641298e-02 9.99649727e-01 -2.72201203e-04 1.08533193e+01] [ 1.19528446e-02 -4.41553413e-05 9.99928561e-01 2.23574414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.404391418 meters Centerline goodness [0,1] 0.9989911565209926 Centerline is valid? [True, True] Translation: X:310.91, Y:10.85, Z:2.24 [[ 9.99564877e-01 -2.66127855e-02 -1.27207413e-02 3.10912567e+02] [ 2.66112707e-02 9.99645816e-01 -2.88358792e-04 1.08548372e+01] [ 1.27239099e-02 -5.02817706e-05 9.99919047e-01 2.23606412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.434391418 meters Centerline goodness [0,1] 0.9994417486151072 Centerline is valid? [True, True] Translation: X:310.94, Y:10.86, Z:2.24 [[ 9.99554441e-01 -2.68595246e-02 -1.30186365e-02 3.10943289e+02] [ 2.68579765e-02 9.99639216e-01 -2.93769207e-04 1.08561079e+01] [ 1.30218301e-02 -5.60159182e-05 9.99915211e-01 2.23612156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.464391418 meters Centerline goodness [0,1] 0.9994192799070848 Centerline is valid? [True, True] Translation: X:310.97, Y:10.86, Z:2.24 [[ 9.99548902e-01 -2.69552848e-02 -1.32440613e-02 3.10974037e+02] [ 2.69537013e-02 9.99636639e-01 -2.98076945e-04 1.08579753e+01] [ 1.32472837e-02 -5.90339894e-05 9.99912249e-01 2.23688807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.494391418 meters Centerline goodness [0,1] 0.9992477001117702 Centerline is valid? [True, True] Translation: X:311.01, Y:10.86, Z:2.24 [[ 9.99567984e-01 -2.66729803e-02 -1.23449545e-02 3.11005432e+02] [ 2.66715903e-02 9.99644211e-01 -2.77248980e-04 1.08594039e+01] [ 1.23479574e-02 -5.21303646e-05 9.99923760e-01 2.23693398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.524391418 meters Centerline goodness [0,1] 0.9990117515629364 Centerline is valid? [True, True] Translation: X:311.04, Y:10.86, Z:2.24 [[ 9.99556902e-01 -2.73723281e-02 -1.16942716e-02 3.11036943e+02] [ 2.73711387e-02 9.99625306e-01 -2.61773867e-04 1.08592487e+01] [ 1.16970552e-02 -5.84276540e-05 9.99931585e-01 2.23719398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.554391418 meters Centerline goodness [0,1] 0.9991194536317168 Centerline is valid? [True, True] Translation: X:311.07, Y:10.86, Z:2.24 [[ 9.99507174e-01 -2.91072811e-02 -1.17548216e-02 3.11069164e+02] [ 2.91062142e-02 9.99576290e-01 -2.61860805e-04 1.08595946e+01] [ 1.17574630e-02 -8.04066024e-05 9.99930875e-01 2.23911104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.584391418 meters Centerline goodness [0,1] 0.9992049507929004 Centerline is valid? [True, True] Translation: X:311.10, Y:10.86, Z:2.24 [[ 9.99471084e-01 -3.03919433e-02 -1.15707135e-02 3.11100868e+02] [ 3.03910053e-02 9.99538054e-01 -2.56925379e-04 1.08591694e+01] [ 1.15731769e-02 -9.48561275e-05 9.99933024e-01 2.23960954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.614391418 meters Centerline goodness [0,1] 0.9990127060439561 Centerline is valid? [True, True] Translation: X:311.13, Y:10.86, Z:2.24 [[ 9.99378169e-01 -3.35932234e-02 -1.07130987e-02 3.11132774e+02] [ 3.35926107e-02 9.99435581e-01 -2.37185005e-04 1.08553071e+01] [ 1.07150199e-02 -1.22843439e-04 9.99942585e-01 2.23850942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.644391418 meters Centerline goodness [0,1] 0.9990781038955471 Centerline is valid? [True, True] Translation: X:311.16, Y:10.85, Z:2.24 [[ 9.99274258e-01 -3.65744535e-02 -1.06426645e-02 3.11164826e+02] [ 3.65740270e-02 9.99330919e-01 -2.34767188e-04 1.08529243e+01] [ 1.06441302e-02 -1.54648292e-04 9.99943338e-01 2.23946013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.674391418 meters Centerline goodness [0,1] 0.9989969481614274 Centerline is valid? [True, True] Translation: X:311.20, Y:10.85, Z:2.24 [[ 9.99175426e-01 -3.91774339e-02 -1.06581765e-02 3.11196686e+02] [ 3.91771633e-02 9.99232253e-01 -2.34248212e-04 1.08500045e+01] [ 1.06591710e-02 -1.83502066e-04 9.99943173e-01 2.23914341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.704391418 meters Centerline goodness [0,1] 0.9989969481614274 Centerline is valid? [True, True] Translation: X:311.23, Y:10.85, Z:2.24 [[ 9.99178573e-01 -3.90970936e-02 -1.06581953e-02 3.11228381e+02] [ 3.90968277e-02 9.99235399e-01 -2.33391078e-04 1.08506227e+01] [ 1.06591710e-02 -1.83502262e-04 9.99943173e-01 2.23936543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.734391418 meters Centerline goodness [0,1] 0.9989512659717912 Centerline is valid? [True, True] Translation: X:311.26, Y:10.84, Z:2.24 [[ 9.98946610e-01 -4.46691826e-02 -1.05040215e-02 3.11259154e+02] [ 4.46692394e-02 9.99001805e-01 -2.29319377e-04 1.08439292e+01] [ 1.05037799e-02 -2.40128837e-04 9.99944805e-01 2.23837337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.764391418 meters Centerline goodness [0,1] 0.9988263411719517 Centerline is valid? [True, True] Translation: X:311.29, Y:10.84, Z:2.24 [[ 9.98828491e-01 -4.72653534e-02 -1.03745823e-02 3.11291568e+02] [ 4.72655545e-02 9.98882334e-01 -2.25945075e-04 1.08420152e+01] [ 1.03736664e-02 -2.64680007e-04 9.99946157e-01 2.23866130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.794391418 meters Centerline goodness [0,1] 0.9988677149205264 Centerline is valid? [True, True] Translation: X:311.32, Y:10.84, Z:2.24 [[ 9.98696198e-01 -4.98871953e-02 -1.08246186e-02 3.11323327e+02] [ 4.98875769e-02 9.98754812e-01 -2.34928275e-04 1.08395022e+01] [ 1.08228598e-02 -3.05392019e-04 9.99941385e-01 2.23840550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.824391418 meters Centerline goodness [0,1] 0.998633296318442 Centerline is valid? [True, True] Translation: X:311.35, Y:10.83, Z:2.24 [[ 9.98463536e-01 -5.41253132e-02 -1.18750931e-02 3.11354415e+02] [ 5.41260785e-02 9.98534076e-01 -2.57168475e-04 1.08348311e+01] [ 1.18716044e-02 -3.85978877e-04 9.99929456e-01 2.23786501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.854391418 meters Centerline goodness [0,1] 0.9987643010844324 Centerline is valid? [True, True] Translation: X:311.39, Y:10.83, Z:2.24 [[ 9.98389892e-01 -5.53471405e-02 -1.24224526e-02 3.11386603e+02] [ 5.53480796e-02 9.98467084e-01 -2.68446715e-04 1.08334472e+01] [ 1.24182678e-02 -4.19544410e-04 9.99922802e-01 2.23774383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.884391418 meters Centerline goodness [0,1] 0.9984643276101098 Centerline is valid? [True, True] Translation: X:311.42, Y:10.84, Z:2.24 [[ 9.98335454e-01 -5.62655650e-02 -1.26691374e-02 3.11418235e+02] [ 5.62666272e-02 9.98415741e-01 -2.72858323e-04 1.08350265e+01] [ 1.26644188e-02 -4.40445496e-04 9.99919706e-01 2.23792915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.914391418 meters Centerline goodness [0,1] 0.9988485895221646 Centerline is valid? [True, True] Translation: X:311.45, Y:10.83, Z:2.24 [[ 9.98327956e-01 -5.63725435e-02 -1.27838870e-02 3.11449957e+02] [ 5.63736440e-02 9.98409704e-01 -2.74534973e-04 1.08301909e+01] [ 1.27790331e-02 -4.46598359e-04 9.99918245e-01 2.23745406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.944391418 meters Centerline goodness [0,1] 0.9987634053258854 Centerline is valid? [True, True] Translation: X:311.48, Y:10.83, Z:2.24 [[ 9.98332427e-01 -5.62536999e-02 -1.29570714e-02 3.11483136e+02] [ 5.62548356e-02 9.98416404e-01 -2.77090422e-04 1.08340037e+01] [ 1.29521400e-02 -4.52269567e-04 9.99916015e-01 2.23816462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.974391418 meters Centerline goodness [0,1] 0.9989321259237111 Centerline is valid? [True, True] Translation: X:311.52, Y:10.84, Z:2.24 [[ 9.98342489e-01 -5.59849923e-02 -1.33399766e-02 3.11516356e+02] [ 5.59861943e-02 9.98431503e-01 -2.83617083e-04 1.08352262e+01] [ 1.33349312e-02 -4.63707537e-04 9.99910978e-01 2.23831226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.004391418 meters Centerline goodness [0,1] 0.9989766767577709 Centerline is valid? [True, True] Translation: X:311.55, Y:10.83, Z:2.24 [[ 9.98389717e-01 -5.51252647e-02 -1.33857430e-02 3.11547713e+02] [ 5.51264146e-02 9.98479343e-01 -2.83333873e-04 1.08347646e+01] [ 1.33810068e-02 -4.55030395e-04 9.99910367e-01 2.23768891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.034391418 meters Centerline goodness [0,1] 0.9988435592675875 Centerline is valid? [True, True] Translation: X:311.58, Y:10.84, Z:2.24 [[ 9.98440034e-01 -5.42693715e-02 -1.31275647e-02 3.11580406e+02] [ 5.42704170e-02 9.98526237e-01 -2.76840408e-04 1.08358988e+01] [ 1.31232418e-02 -4.36029867e-04 9.99913791e-01 2.23778690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.064391418 meters Centerline goodness [0,1] 0.9989296570621227 Centerline is valid? [True, True] Translation: X:311.61, Y:10.84, Z:2.24 [[ 9.98503859e-01 -5.31140718e-02 -1.29976356e-02 3.11612742e+02] [ 5.31150142e-02 9.98588364e-01 -2.72932882e-04 1.08372493e+01] [ 1.29937843e-02 -4.17845065e-04 9.99915490e-01 2.23807442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.094391418 meters Centerline goodness [0,1] 0.9988673277483331 Centerline is valid? [True, True] Translation: X:311.64, Y:10.84, Z:2.24 [[ 9.98629875e-01 -5.07441127e-02 -1.27830930e-02 3.11644199e+02] [ 5.07448416e-02 9.98711615e-01 -2.67537045e-04 1.08393570e+01] [ 1.27801994e-02 -3.81505541e-04 9.99918257e-01 2.23831651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.124391418 meters Centerline goodness [0,1] 0.9991211523621709 Centerline is valid? [True, True] Translation: X:311.68, Y:10.84, Z:2.24 [[ 9.98737353e-01 -4.86322547e-02 -1.25937598e-02 3.11676017e+02] [ 4.86328049e-02 9.98816691e-01 -2.62732006e-04 1.08413518e+01] [ 1.25916347e-02 -3.50069594e-04 9.99920661e-01 2.23882524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.154391418 meters Centerline goodness [0,1] 0.9990146094854547 Centerline is valid? [True, True] Translation: X:311.71, Y:10.84, Z:2.24 [[ 9.98835175e-01 -4.66431417e-02 -1.23576096e-02 3.11708602e+02] [ 4.66435324e-02 9.98911565e-01 -2.56750941e-04 1.08441497e+01] [ 1.23561348e-02 -3.19950691e-04 9.99923609e-01 2.23934508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.184391418 meters Centerline goodness [0,1] 0.9987548036668885 Centerline is valid? [True, True] Translation: X:311.74, Y:10.85, Z:2.24 [[ 9.99024170e-01 -4.24709588e-02 -1.21212851e-02 3.11740044e+02] [ 4.24710383e-02 9.99097667e-01 -2.50968518e-04 1.08493901e+01] [ 1.21210066e-02 -2.64079950e-04 9.99926503e-01 2.24045299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.214391418 meters Centerline goodness [0,1] 0.9990995047276002 Centerline is valid? [True, True] Translation: X:311.77, Y:10.85, Z:2.24 [[ 9.99115250e-01 -4.03437184e-02 -1.18786130e-02 3.11771117e+02] [ 4.03436511e-02 9.99185833e-01 -2.45384994e-04 1.08512583e+01] [ 1.18788416e-02 -2.34058730e-04 9.99929417e-01 2.24074564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.244391418 meters Centerline goodness [0,1] 0.998971964618449 Centerline is valid? [True, True] Translation: X:311.80, Y:10.85, Z:2.24 [[ 9.99197047e-01 -3.82127260e-02 -1.20435825e-02 3.11802024e+02] [ 3.82125107e-02 9.99269605e-01 -2.48081703e-04 1.08530930e+01] [ 1.20442658e-02 -2.12333020e-04 9.99927443e-01 2.24050728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.274391418 meters Centerline goodness [0,1] 0.9991828659900224 Centerline is valid? [True, True] Translation: X:311.83, Y:10.86, Z:2.24 [[ 9.99275219e-01 -3.60518456e-02 -1.22188814e-02 3.11833921e+02] [ 3.60514723e-02 9.99349903e-01 -2.50877259e-04 1.08551036e+01] [ 1.22199825e-02 -1.89813236e-04 9.99925315e-01 2.24051912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.304391418 meters Centerline goodness [0,1] 0.9991637720313907 Centerline is valid? [True, True] Translation: X:311.87, Y:10.86, Z:2.24 [[ 9.99408321e-01 -3.17354421e-02 -1.32615543e-02 3.11865750e+02] [ 3.17346368e-02 9.99496293e-01 -2.71207731e-04 1.08597645e+01] [ 1.32634813e-02 -1.49803348e-04 9.99912025e-01 2.23967412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.334391418 meters Centerline goodness [0,1] 0.9994411126158079 Centerline is valid? [True, True] Translation: X:311.90, Y:10.86, Z:2.24 [[ 9.99469396e-01 -2.95782853e-02 -1.36400967e-02 3.11897485e+02] [ 2.95772437e-02 9.99562459e-01 -2.78122835e-04 1.08623648e+01] [ 1.36423550e-02 -1.25461204e-04 9.99906931e-01 2.23943870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.364391418 meters Centerline goodness [0,1] 0.9990362787510173 Centerline is valid? [True, True] Translation: X:311.93, Y:10.87, Z:2.24 [[ 9.99584823e-01 -2.50436525e-02 -1.42476713e-02 3.11928254e+02] [ 2.50420636e-02 9.99686356e-01 -2.89944748e-04 1.08669927e+01] [ 1.42504639e-02 -6.69667203e-05 9.99898455e-01 2.23932960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.394391418 meters Centerline goodness [0,1] 0.9990335051546392 Centerline is valid? [True, True] Translation: X:311.96, Y:10.87, Z:2.24 [[ 9.99638664e-01 -2.28451300e-02 -1.41647952e-02 3.11959485e+02] [ 2.28433466e-02 9.99739015e-01 -2.87705880e-04 1.08693501e+01] [ 1.41676711e-02 -3.59694052e-05 9.99899633e-01 2.23987902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.424391418 meters Centerline goodness [0,1] 0.9992049849591749 Centerline is valid? [True, True] Translation: X:311.99, Y:10.87, Z:2.24 [[ 9.99720289e-01 -1.92642449e-02 -1.37198120e-02 3.11990740e+02] [ 1.92622419e-02 9.99814427e-01 -2.78136561e-04 1.08726074e+01] [ 1.37226241e-02 1.37844262e-05 9.99905840e-01 2.24061145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.454391418 meters Centerline goodness [0,1] 0.999183778675144 Centerline is valid? [True, True] Translation: X:312.02, Y:10.87, Z:2.24 [[ 9.99751110e-01 -1.78581305e-02 -1.33718243e-02 3.12020925e+02] [ 1.78561056e-02 9.99840530e-01 -2.70814188e-04 1.08740618e+01] [ 1.33745282e-02 3.19780779e-05 9.99910556e-01 2.24109258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.484391418 meters Centerline goodness [0,1] 0.998989029898903 Centerline is valid? [True, True] Translation: X:312.05, Y:10.88, Z:2.24 [[ 9.99765570e-01 -1.72235608e-02 -1.31207638e-02 3.12050719e+02] [ 1.72215534e-02 9.99851663e-01 -2.65973187e-04 1.08750500e+01] [ 1.31233985e-02 3.99509005e-05 9.99913884e-01 2.24189003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.514391418 meters Centerline goodness [0,1] 0.9989260937734917 Centerline is valid? [True, True] Translation: X:312.08, Y:10.88, Z:2.24 [[ 9.99782826e-01 -1.64470300e-02 -1.27982672e-02 3.12080582e+02] [ 1.64450515e-02 9.99864737e-01 -2.59822338e-04 1.08761334e+01] [ 1.28008094e-02 4.92977490e-05 9.99918065e-01 2.24189731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.544391418 meters Centerline goodness [0,1] 0.998949647381621 Centerline is valid? [True, True] Translation: X:312.11, Y:10.88, Z:2.24 [[ 9.99792703e-01 -1.65869169e-02 -1.18078581e-02 3.12110456e+02] [ 1.65852388e-02 9.99862427e-01 -2.40028965e-04 1.08759027e+01] [ 1.18102150e-02 4.41430621e-05 9.99930256e-01 2.24301811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.574391418 meters Centerline goodness [0,1] 0.9991215666109612 Centerline is valid? [True, True] Translation: X:312.14, Y:10.87, Z:2.24 [[ 9.99779225e-01 -1.75522576e-02 -1.15507479e-02 3.12140959e+02] [ 1.75507132e-02 9.99845947e-01 -2.35067875e-04 1.08749804e+01] [ 1.15530944e-02 3.22921156e-05 9.99933260e-01 2.24300502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.604391418 meters Centerline goodness [0,1] 0.9988234287425662 Centerline is valid? [True, True] Translation: X:312.17, Y:10.87, Z:2.24 [[ 9.99693185e-01 -2.17091484e-02 -1.19267743e-02 3.12170781e+02] [ 2.17077965e-02 9.99764329e-01 -2.42814190e-04 1.08696956e+01] [ 1.19292348e-02 -1.61642986e-05 9.99928844e-01 2.24220412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.634391418 meters Centerline goodness [0,1] 0.9988658977596131 Centerline is valid? [True, True] Translation: X:312.20, Y:10.87, Z:2.24 [[ 9.99629446e-01 -2.45886540e-02 -1.16776817e-02 3.12202031e+02] [ 2.45875549e-02 9.99697652e-01 -2.37697467e-04 1.08664571e+01] [ 1.16799956e-02 -4.95162513e-05 9.99931785e-01 2.24206136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.664391418 meters Centerline goodness [0,1] 0.9987816607887143 Centerline is valid? [True, True] Translation: X:312.23, Y:10.86, Z:2.24 [[ 9.99538274e-01 -2.80517163e-02 -1.16764375e-02 3.12234355e+02] [ 2.80508612e-02 9.99606469e-01 -2.37032734e-04 1.08633453e+01] [ 1.16784916e-02 -9.06108371e-05 9.99931800e-01 2.24222273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.694391418 meters Centerline goodness [0,1] 0.9987246795757434 Centerline is valid? [True, True] Translation: X:312.27, Y:10.85, Z:2.24 [[ 9.99244778e-01 -3.67608097e-02 -1.25903527e-02 3.12265280e+02] [ 3.67605169e-02 9.99324071e-01 -2.54755127e-04 1.08539951e+01] [ 1.25912076e-02 -2.08265145e-04 9.99920706e-01 2.24141273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.724391418 meters Centerline goodness [0,1] 0.9986373991356001 Centerline is valid? [True, True] Translation: X:312.30, Y:10.85, Z:2.24 [[ 9.99044394e-01 -4.16783780e-02 -1.31609920e-02 3.12297747e+02] [ 4.16784948e-02 9.99131039e-01 -2.65523271e-04 1.08488091e+01] [ 1.31606222e-02 -2.83260802e-04 9.99913355e-01 2.24037236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.754391418 meters Centerline goodness [0,1] 0.9990216096647949 Centerline is valid? [True, True] Translation: X:312.33, Y:10.84, Z:2.24 [[ 9.98795789e-01 -4.71806509e-02 -1.34520533e-02 3.12329186e+02] [ 4.71812825e-02 9.98886307e-01 -2.70579817e-04 1.08432492e+01] [ 1.34498380e-02 -3.64431147e-04 9.99909480e-01 2.24085128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.784391418 meters Centerline goodness [0,1] 0.9988097262370346 Centerline is valid? [True, True] Translation: X:312.36, Y:10.84, Z:2.24 [[ 9.98529139e-01 -5.24718912e-02 -1.36476474e-02 3.12360218e+02] [ 5.24730405e-02 9.98622303e-01 -2.74106628e-04 1.08379126e+01] [ 1.36432280e-02 -4.42430100e-04 9.99906829e-01 2.24098074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.814391418 meters Centerline goodness [0,1] 0.9985759829968119 Centerline is valid? [True, True] Translation: X:312.39, Y:10.83, Z:2.24 [[ 9.97947732e-01 -6.25465460e-02 -1.37205656e-02 3.12390530e+02] [ 6.25486639e-02 9.98041877e-01 -2.75130486e-04 1.08254747e+01] [ 1.37109076e-02 -5.83637205e-04 9.99905831e-01 2.24005023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.844391418 meters Centerline goodness [0,1] 0.9987260876027092 Centerline is valid? [True, True] Translation: X:312.42, Y:10.82, Z:2.24 [[ 9.97657625e-01 -6.70401001e-02 -1.35973259e-02 3.12421361e+02] [ 6.70426024e-02 9.97750077e-01 -2.72218397e-04 1.08218970e+01] [ 1.35849825e-02 -6.40019353e-04 9.99907515e-01 2.24026091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.874391418 meters Centerline goodness [0,1] 0.9988337326915329 Centerline is valid? [True, True] Translation: X:312.45, Y:10.82, Z:2.24 [[ 9.97414438e-01 -7.05834184e-02 -1.35062597e-02 3.12452340e+02] [ 7.05862149e-02 9.97505646e-01 -2.70134723e-04 1.08178234e+01] [ 1.34916373e-02 -6.83919475e-04 9.99908750e-01 2.24033316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.904391418 meters Centerline goodness [0,1] 0.9985141158989599 Centerline is valid? [True, True] Translation: X:312.48, Y:10.81, Z:2.24 [[ 9.97031562e-01 -7.58123007e-02 -1.34372681e-02 3.12482783e+02] [ 7.58155442e-02 9.97121824e-01 -2.68590823e-04 1.08147674e+01] [ 1.34189557e-02 -7.50960264e-04 9.99909680e-01 2.24036838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.934391418 meters Centerline goodness [0,1] 0.9983041146418502 Centerline is valid? [True, True] Translation: X:312.51, Y:10.81, Z:2.24 [[ 9.96948614e-01 -7.69304391e-02 -1.32350947e-02 3.12514040e+02] [ 7.69336892e-02 9.97036177e-01 -2.64149491e-04 1.08116005e+01] [ 1.32161893e-02 -7.54881190e-04 9.99912377e-01 2.24040794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.964391418 meters Centerline goodness [0,1] 0.9986218594296619 Centerline is valid? [True, True] Translation: X:312.55, Y:10.81, Z:2.24 [[ 9.96907477e-01 -7.74835626e-02 -1.31064611e-02 3.12546342e+02] [ 7.74868092e-02 9.96993343e-01 -2.60684588e-04 1.08139937e+01] [ 1.30872533e-02 -7.55699440e-04 9.99914073e-01 2.24092708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.994391418 meters Centerline goodness [0,1] 0.9984744146625701 Centerline is valid? [True, True] Translation: X:312.58, Y:10.81, Z:2.24 [[ 9.96972300e-01 -7.66821247e-02 -1.28874201e-02 3.12578057e+02] [ 7.66852099e-02 9.97055321e-01 -2.55313599e-04 1.08127367e+01] [ 1.28690488e-02 -7.33733933e-04 9.99916921e-01 2.24100390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.024391418 meters Centerline goodness [0,1] 0.9983461611856752 Centerline is valid? [True, True] Translation: X:312.61, Y:10.81, Z:2.24 [[ 9.97074196e-01 -7.53542194e-02 -1.28369951e-02 3.12609155e+02] [ 7.53571822e-02 9.97156573e-01 -2.53426006e-04 1.08124599e+01] [ 1.28195907e-02 -7.14675247e-04 9.99917570e-01 2.24117003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.054391418 meters Centerline goodness [0,1] 0.9985175772977551 Centerline is valid? [True, True] Translation: X:312.64, Y:10.82, Z:2.24 [[ 9.97368721e-01 -7.12645424e-02 -1.33040923e-02 3.12639740e+02] [ 7.12673691e-02 9.97457214e-01 -2.62105862e-04 1.08199680e+01] [ 1.32889417e-02 -6.86731471e-04 9.99911462e-01 2.24122618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.084391418 meters Centerline goodness [0,1] 0.9987264391237901 Centerline is valid? [True, True] Translation: X:312.67, Y:10.82, Z:2.24 [[ 9.97549406e-01 -6.86320403e-02 -1.35950490e-02 3.12671353e+02] [ 6.86347552e-02 9.97641819e-01 -2.67315141e-04 1.08245272e+01] [ 1.35813358e-02 -6.66432804e-04 9.99907547e-01 2.24146562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.114391418 meters Centerline goodness [0,1] 0.9987465476949224 Centerline is valid? [True, True] Translation: X:312.70, Y:10.83, Z:2.24 [[ 9.97749286e-01 -6.56786722e-02 -1.35156915e-02 3.12703224e+02] [ 6.56810975e-02 9.97840630e-01 -2.64841304e-04 1.08281759e+01] [ 1.35039006e-02 -6.23480231e-04 9.99908624e-01 2.24170521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.144391418 meters Centerline goodness [0,1] 0.9989385866219458 Centerline is valid? [True, True] Translation: X:312.73, Y:10.83, Z:2.24 [[ 9.97939741e-01 -6.27415829e-02 -1.34077485e-02 3.12734204e+02] [ 6.27437155e-02 9.98029638e-01 -2.61938383e-04 1.08320358e+01] [ 1.33977648e-02 -5.79853233e-04 9.99910078e-01 2.24210318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.174391418 meters Centerline goodness [0,1] 0.9988723644177784 Centerline is valid? [True, True] Translation: X:312.77, Y:10.84, Z:2.24 [[ 9.98284340e-01 -5.72721911e-02 -1.21767639e-02 3.12765245e+02] [ 5.72735480e-02 9.98358495e-01 -2.37542610e-04 1.08412769e+01] [ 1.21703802e-02 -4.60271402e-04 9.99925832e-01 2.24267748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.204391418 meters Centerline goodness [0,1] 0.998894252238076 Centerline is valid? [True, True] Translation: X:312.80, Y:10.85, Z:2.24 [[ 9.98431663e-01 -5.47248094e-02 -1.18072231e-02 3.12796201e+02] [ 5.47259111e-02 9.98501388e-01 -2.30007677e-04 1.08463274e+01] [ 1.18021158e-02 -4.16514096e-04 9.99930266e-01 2.24326754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.234391418 meters Centerline goodness [0,1] 0.9987453482190324 Centerline is valid? [True, True] Translation: X:312.83, Y:10.85, Z:2.24 [[ 9.98563788e-01 -5.23503009e-02 -1.13933383e-02 3.12827555e+02] [ 5.23511783e-02 9.98628712e-01 -2.21411940e-04 1.08465107e+01] [ 1.13893057e-02 -3.75360738e-04 9.99935069e-01 2.24261950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.264391418 meters Centerline goodness [0,1] 0.9987210095497954 Centerline is valid? [True, True] Translation: X:312.86, Y:10.85, Z:2.24 [[ 9.98701382e-01 -4.96839179e-02 -1.12720092e-02 3.12859576e+02] [ 4.96846155e-02 9.98764933e-01 -2.18304064e-04 1.08535252e+01] [ 1.12689337e-02 -3.42024873e-04 9.99936445e-01 2.24297066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.294391418 meters Centerline goodness [0,1] 0.9991241187780389 Centerline is valid? [True, True] Translation: X:312.89, Y:10.86, Z:2.24 [[ 9.98915627e-01 -4.51512933e-02 -1.13547628e-02 3.12891271e+02] [ 4.51517178e-02 9.98980117e-01 -2.19093597e-04 1.08600595e+01] [ 1.13530746e-02 -2.93831028e-04 9.99935509e-01 2.24209963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.324391418 meters Centerline goodness [0,1] 0.9989551124853396 Centerline is valid? [True, True] Translation: X:312.92, Y:10.86, Z:2.24 [[ 9.99008207e-01 -4.30245014e-02 -1.14671025e-02 3.12923115e+02] [ 4.30248032e-02 9.99073980e-01 -2.20485060e-04 1.08647182e+01] [ 1.14659700e-02 -2.73103443e-04 9.99934226e-01 2.24192195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.354391418 meters Centerline goodness [0,1] 0.9989723167833515 Centerline is valid? [True, True] Translation: X:312.95, Y:10.87, Z:2.24 [[ 9.99187484e-01 -3.86462044e-02 -1.14386832e-02 3.12954484e+02] [ 3.86462264e-02 9.99252932e-01 -2.19195104e-04 1.08711074e+01] [ 1.14386088e-02 -2.23044938e-04 9.99934552e-01 2.24176980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.384391418 meters Centerline goodness [0,1] 0.9990371860156618 Centerline is valid? [True, True] Translation: X:312.99, Y:10.87, Z:2.24 [[ 9.99269442e-01 -3.65138851e-02 -1.12835380e-02 3.12985950e+02] [ 3.65137767e-02 9.99333126e-01 -2.15687543e-04 1.08728241e+01] [ 1.12838889e-02 -1.96474615e-04 9.99936316e-01 2.24197134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.414391418 meters Centerline goodness [0,1] 0.9991222248388961 Centerline is valid? [True, True] Translation: X:313.02, Y:10.88, Z:2.24 [[ 9.99358706e-01 -3.41447376e-02 -1.07848371e-02 3.13018598e+02] [ 3.41445089e-02 9.99416885e-01 -2.05380972e-04 1.08773949e+01] [ 1.07855610e-02 -1.62993704e-04 9.99941821e-01 2.24270938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.444391418 meters Centerline goodness [0,1] 0.9989271997768575 Centerline is valid? [True, True] Translation: X:313.05, Y:10.88, Z:2.24 [[ 9.99512748e-01 -2.97921910e-02 -9.31081010e-03 3.13050931e+02] [ 2.97918390e-02 9.99556109e-01 -1.76529770e-04 1.08831448e+01] [ 9.31193633e-03 -1.00942400e-04 9.99956638e-01 2.24413459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.474391418 meters Centerline goodness [0,1] 0.9990340652971859 Centerline is valid? [True, True] Translation: X:313.08, Y:10.89, Z:2.24 [[ 9.99586883e-01 -2.74738439e-02 -8.44101572e-03 3.13082113e+02] [ 2.74734769e-02 9.99622520e-01 -1.59449879e-04 1.08858020e+01] [ 8.44221011e-03 -7.25200431e-05 9.99964361e-01 2.24499382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.504391418 meters Centerline goodness [0,1] 0.9992277164003003 Centerline is valid? [True, True] Translation: X:313.11, Y:10.89, Z:2.25 [[ 9.99699755e-01 -2.33777999e-02 -7.34015890e-03 3.13112841e+02] [ 2.33774148e-02 9.99726701e-01 -1.38275564e-04 1.08897527e+01] [ 7.34138542e-03 -3.33598913e-05 9.99973051e-01 2.24513137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.534391418 meters Centerline goodness [0,1] 0.9990345212298054 Centerline is valid? [True, True] Translation: X:313.14, Y:10.89, Z:2.25 [[ 9.99736340e-01 -2.18853847e-02 -6.94842341e-03 3.13144690e+02] [ 2.18850061e-02 9.99760486e-01 -1.30513379e-04 1.08916596e+01] [ 6.94961550e-03 -2.15873209e-05 9.99975851e-01 2.24548063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.564391418 meters Centerline goodness [0,1] 0.9993125818994222 Centerline is valid? [True, True] Translation: X:313.18, Y:10.89, Z:2.25 [[ 9.99768696e-01 -2.04400894e-02 -6.69004672e-03 3.13177198e+02] [ 2.04397095e-02 9.99791079e-01 -1.25155213e-04 1.08930521e+01] [ 6.69120721e-03 -1.16163470e-05 9.99977614e-01 2.24541530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.594391418 meters Centerline goodness [0,1] 0.9991409857188875 Centerline is valid? [True, True] Translation: X:313.21, Y:10.89, Z:2.25 [[ 9.99784911e-01 -1.97648218e-02 -6.28363443e-03 3.13209422e+02] [ 1.97644762e-02 9.99804657e-01 -1.17089131e-04 1.08941025e+01] [ 6.28472122e-03 -7.12879712e-06 9.99980251e-01 2.24527898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.624391418 meters Centerline goodness [0,1] 0.9990126424692524 Centerline is valid? [True, True] Translation: X:313.24, Y:10.89, Z:2.24 [[ 9.99773317e-01 -2.04314230e-02 -5.98927825e-03 3.13241557e+02] [ 2.04311238e-02 9.99791257e-01 -1.11156542e-04 1.08930631e+01] [ 5.99029912e-03 -1.12363406e-05 9.99982058e-01 2.24474530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.654391418 meters Centerline goodness [0,1] 0.9990126424692524 Centerline is valid? [True, True] Translation: X:313.27, Y:10.89, Z:2.24 [[ 9.99774928e-01 -2.03524559e-02 -5.98928699e-03 3.13273248e+02] [ 2.03521580e-02 9.99792867e-01 -1.10683743e-04 1.08935711e+01] [ 5.99029909e-03 -1.12360845e-05 9.99982058e-01 2.24496728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.684391418 meters Centerline goodness [0,1] 0.9988833293963536 Centerline is valid? [True, True] Translation: X:313.30, Y:10.89, Z:2.24 [[ 9.99746355e-01 -2.15511572e-02 -6.54006088e-03 3.13304172e+02] [ 2.15508314e-02 9.99767747e-01 -1.20285119e-04 1.08917501e+01] [ 6.54113421e-03 -2.06891407e-05 9.99978606e-01 2.24465350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.714391418 meters Centerline goodness [0,1] 0.9991405981436919 Centerline is valid? [True, True] Translation: X:313.34, Y:10.89, Z:2.24 [[ 9.99711080e-01 -2.31392193e-02 -6.50636494e-03 3.13335943e+02] [ 2.31389328e-02 9.99732252e-01 -1.19320593e-04 1.08897199e+01] [ 6.50738386e-03 -3.12642220e-05 9.99978826e-01 2.24453121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.744391418 meters Centerline goodness [0,1] 0.9991418518836351 Centerline is valid? [True, True] Translation: X:313.37, Y:10.89, Z:2.24 [[ 9.99668321e-01 -2.49879444e-02 -6.23303403e-03 3.13367621e+02] [ 2.49877226e-02 9.99687752e-01 -1.13477724e-04 1.08866598e+01] [ 6.23392335e-03 -4.23092393e-05 9.99980568e-01 2.24429531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.774391418 meters Centerline goodness [0,1] 0.9988207800004288 Centerline is valid? [True, True] Translation: X:313.40, Y:10.88, Z:2.24 [[ 9.99547021e-01 -2.93103269e-02 -6.83067474e-03 3.13400102e+02] [ 2.93101644e-02 9.99570357e-01 -1.23914904e-04 1.08815827e+01] [ 6.83137198e-03 -7.63494263e-05 9.99976663e-01 2.24390186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.804391418 meters Centerline goodness [0,1] 0.9988034188034188 Centerline is valid? [True, True] Translation: X:313.43, Y:10.88, Z:2.24 [[ 9.99476135e-01 -3.15712026e-02 -7.12147484e-03 3.13431187e+02] [ 3.15710875e-02 9.99501501e-01 -1.28614412e-04 1.08780790e+01] [ 7.12198531e-03 -9.62856697e-05 9.99974634e-01 2.24386871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.834391418 meters Centerline goodness [0,1] 0.9989107917049314 Centerline is valid? [True, True] Translation: X:313.46, Y:10.87, Z:2.24 [[ 9.99345321e-01 -3.54540821e-02 -7.20682521e-03 3.13463471e+02] [ 3.54540682e-02 9.99371298e-01 -1.29727432e-04 1.08745303e+01] [ 7.20689364e-03 -1.25868770e-04 9.99974022e-01 2.24334729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.864391418 meters Centerline goodness [0,1] 0.9990622735603768 Centerline is valid? [True, True] Translation: X:313.49, Y:10.87, Z:2.24 [[ 9.99275157e-01 -3.73588572e-02 -7.31278102e-03 3.13494382e+02] [ 3.73588981e-02 9.99301904e-01 -1.31056937e-04 1.08709736e+01] [ 7.31257213e-03 -1.42235500e-04 9.99973253e-01 2.24335112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.894391418 meters Centerline goodness [0,1] 0.9987831433329064 Centerline is valid? [True, True] Translation: X:313.53, Y:10.87, Z:2.24 [[ 9.99202242e-01 -3.92669771e-02 -7.27905328e-03 3.13526101e+02] [ 3.92670714e-02 9.99228743e-01 -1.30026819e-04 1.08703837e+01] [ 7.27854502e-03 -1.55904016e-04 9.99973499e-01 2.24341692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.924391418 meters Centerline goodness [0,1] 0.9989768512597519 Centerline is valid? [True, True] Translation: X:313.56, Y:10.86, Z:2.24 [[ 9.99060137e-01 -4.28102865e-02 -6.79133905e-03 3.13556940e+02] [ 4.28104530e-02 9.99083205e-01 -1.20927609e-04 1.08638846e+01] [ 6.79028973e-03 -1.69926348e-04 9.99976931e-01 2.24371367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.954391418 meters Centerline goodness [0,1] 0.9986380370709285 Centerline is valid? [True, True] Translation: X:313.59, Y:10.86, Z:2.24 [[ 9.98991032e-01 -4.44128338e-02 -6.66474055e-03 3.13589014e+02] [ 4.44130314e-02 9.99013247e-01 -1.18423785e-04 1.08618424e+01] [ 6.66342364e-03 -1.77697032e-04 9.99977783e-01 2.24373611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.984391418 meters Centerline goodness [0,1] 0.998850648106762 Centerline is valid? [True, True] Translation: X:313.62, Y:10.86, Z:2.24 [[ 9.98913540e-01 -4.60876499e-02 -6.90423460e-03 3.13620729e+02] [ 4.60879057e-02 9.98937380e-01 -1.22131087e-04 1.08599456e+01] [ 6.90252676e-03 -1.96203317e-04 9.99976158e-01 2.24391119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.014391418 meters Centerline goodness [0,1] 0.9985958044338539 Centerline is valid? [True, True] Translation: X:313.65, Y:10.86, Z:2.24 [[ 9.98724995e-01 -4.99497998e-02 -7.30759115e-03 3.13651964e+02] [ 4.99501929e-02 9.98751702e-01 -1.28827002e-04 1.08557207e+01] [ 7.30490398e-03 -2.36352840e-04 9.99973291e-01 2.24378861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.044391418 meters Centerline goodness [0,1] 0.9985988451086957 Centerline is valid? [True, True] Translation: X:313.68, Y:10.86, Z:2.24 [[ 9.98628690e-01 -5.18065976e-02 -7.53760926e-03 3.13684283e+02] [ 5.18070720e-02 9.98657103e-01 -1.32435056e-04 1.08559937e+01] [ 7.53434804e-03 -2.58248019e-04 9.99971583e-01 2.24375258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.074391418 meters Centerline goodness [0,1] 0.9986599736248777 Centerline is valid? [True, True] Translation: X:313.71, Y:10.85, Z:2.24 [[ 9.98525544e-01 -5.37049872e-02 -7.90647234e-03 3.13714994e+02] [ 5.37055741e-02 9.98556805e-01 -1.38224820e-04 1.08511815e+01] [ 7.90248512e-03 -2.86600623e-04 9.99968734e-01 2.24360079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.104391418 meters Centerline goodness [0,1] 0.9988071655270837 Centerline is valid? [True, True] Translation: X:313.75, Y:10.85, Z:2.24 [[ 9.98272323e-01 -5.81665872e-02 -8.30761619e-03 3.13745702e+02] [ 5.81673978e-02 9.98306833e-01 -1.44223488e-04 1.08493281e+01] [ 8.30193900e-03 -3.39258099e-04 9.99965481e-01 2.24302823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.134391418 meters Centerline goodness [0,1] 0.9985721288067685 Centerline is valid? [True, True] Translation: X:313.78, Y:10.85, Z:2.24 [[ 9.98125970e-01 -6.05090121e-02 -9.12182796e-03 3.13777414e+02] [ 6.05100894e-02 9.98167573e-01 -1.58084522e-04 1.08508224e+01] [ 9.11467842e-03 -3.94174358e-04 9.99958383e-01 2.24300993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.164391418 meters Centerline goodness [0,1] 0.9987255464219715 Centerline is valid? [True, True] Translation: X:313.81, Y:10.85, Z:2.24 [[ 9.97987216e-01 -6.27151051e-02 -9.39848052e-03 3.13808725e+02] [ 6.27163535e-02 9.98031379e-01 -1.62134005e-04 1.08483559e+01] [ 9.39014673e-03 -4.27630762e-04 9.99955820e-01 2.24278164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.194391418 meters Centerline goodness [0,1] 0.9986145451445136 Centerline is valid? [True, True] Translation: X:313.84, Y:10.85, Z:2.24 [[ 9.97817156e-01 -6.52923660e-02 -9.89090893e-03 3.13840501e+02] [ 6.52938879e-02 9.97866063e-01 -1.69313893e-04 1.08463056e+01] [ 9.88085726e-03 -4.76871592e-04 9.99951069e-01 2.24253578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.224391418 meters Centerline goodness [0,1] 0.9986159906313212 Centerline is valid? [True, True] Translation: X:313.87, Y:10.84, Z:2.24 [[ 9.97467270e-01 -7.03083982e-02 -1.07598634e-02 3.13871322e+02] [ 7.03105007e-02 9.97525137e-01 -1.83221681e-04 1.08424750e+01] [ 1.07461162e-02 -5.73773749e-04 9.99942094e-01 2.24131909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.254391418 meters Centerline goodness [0,1] 0.9987469203975873 Centerline is valid? [True, True] Translation: X:313.90, Y:10.84, Z:2.24 [[ 9.97324274e-01 -7.22731069e-02 -1.09950048e-02 3.13903350e+02] [ 7.22754252e-02 9.97384694e-01 -1.86871651e-04 1.08409788e+01] [ 1.09797553e-02 -6.08297015e-04 9.99939536e-01 2.24093279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.284391418 meters Centerline goodness [0,1] 0.9984926010063481 Centerline is valid? [True, True] Translation: X:313.94, Y:10.84, Z:2.24 [[ 9.97173354e-01 -7.42545418e-02 -1.14701486e-02 3.13935803e+02] [ 7.42572059e-02 9.97239104e-01 -1.94034382e-04 1.08400942e+01] [ 1.14528887e-02 -6.58255274e-04 9.99934197e-01 2.24047798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.314391418 meters Centerline goodness [0,1] 0.9987429423671035 Centerline is valid? [True, True] Translation: X:313.97, Y:10.84, Z:2.24 [[ 9.97053215e-01 -7.57723602e-02 -1.19764966e-02 3.13967692e+02] [ 7.57753880e-02 9.97124892e-01 -2.01422822e-04 1.08394098e+01] [ 1.19573251e-02 -7.06694401e-04 9.99928259e-01 2.24019945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.344391418 meters Centerline goodness [0,1] 0.9987016580465274 Centerline is valid? [True, True] Translation: X:314.00, Y:10.84, Z:2.24 [[ 9.96816463e-01 -7.86666772e-02 -1.29804867e-02 3.13998316e+02] [ 7.86704920e-02 9.96900650e-01 -2.17259736e-04 1.08398960e+01] [ 1.29573467e-02 -8.04613195e-04 9.99915726e-01 2.23980408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.374391418 meters Centerline goodness [0,1] 0.9983638952043006 Centerline is valid? [True, True] Translation: X:314.03, Y:10.84, Z:2.24 [[ 9.96734776e-01 -7.97166678e-02 -1.28467835e-02 3.14030153e+02] [ 7.97204988e-02 9.96817233e-01 -2.14433583e-04 1.08424504e+01] [ 1.28229891e-02 -8.10418581e-04 9.99917454e-01 2.24024252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.404391418 meters Centerline goodness [0,1] 0.9980194224380271 Centerline is valid? [True, True] Translation: X:314.06, Y:10.84, Z:2.24 [[ 9.96625423e-01 -8.09496555e-02 -1.35985024e-02 3.14061138e+02] [ 8.09540753e-02 9.96717807e-01 -2.26018568e-04 1.08391067e+01] [ 1.35721656e-02 -8.75598334e-04 9.99907511e-01 2.24022900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.434391418 meters Centerline goodness [0,1] 0.99867405205415 Centerline is valid? [True, True] Translation: X:314.09, Y:10.84, Z:2.24 [[ 9.96430371e-01 -8.34345555e-02 -1.28526780e-02 3.14091923e+02] [ 8.34387159e-02 9.96512888e-01 -2.13123982e-04 1.08439265e+01] [ 1.28256412e-02 -8.60047744e-04 9.99917378e-01 2.24207203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.464391418 meters Centerline goodness [0,1] 0.9977601911303569 Centerline is valid? [True, True] Translation: X:314.12, Y:10.84, Z:2.24 [[ 9.96341250e-01 -8.45020114e-02 -1.27876020e-02 3.14122664e+02] [ 8.45062289e-02 9.96422929e-01 -2.11134778e-04 1.08425250e+01] [ 1.27597012e-02 -8.70269736e-04 9.99918213e-01 2.24224579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.494391418 meters Centerline goodness [0,1] 0.9931939301842776 Centerline is valid? [True, True] Translation: X:314.15, Y:10.84, Z:2.24 [[ 9.96234234e-01 -8.57552762e-02 -1.27821482e-02 3.14153911e+02] [ 8.57596089e-02 9.96315836e-01 -2.09778097e-04 1.08397667e+01] [ 1.27530462e-02 -8.87203905e-04 9.99918283e-01 2.24232381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.524391418 meters Centerline goodness [0,1] 0.9982505547021676 Centerline is valid? [True, True] Translation: X:314.18, Y:10.85, Z:2.24 [[ 9.96052814e-01 -8.78113850e-02 -1.29596210e-02 3.14184889e+02] [ 8.78160215e-02 9.96136688e-01 -2.11960576e-04 1.08486301e+01] [ 1.29281665e-02 -9.26938428e-04 9.99915998e-01 2.24293272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.554391418 meters Centerline goodness [0,1] 0.9966237873413394 Centerline is valid? [True, True] Translation: X:314.22, Y:10.85, Z:2.24 [[ 9.95984846e-01 -8.84750745e-02 -1.36509545e-02 3.14215934e+02] [ 8.84802918e-02 9.96077903e-01 -2.22471150e-04 1.08474742e+01] [ 1.36170973e-02 -9.86262547e-04 9.99906797e-01 2.24280349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.584391418 meters Centerline goodness [0,1] 0.9982395878059253 Centerline is valid? [True, True] Translation: X:314.25, Y:10.85, Z:2.24 [[ 9.95920714e-01 -8.91581588e-02 -1.38835682e-02 3.14247973e+02] [ 8.91636348e-02 9.96016965e-01 -2.25297116e-04 1.08548222e+01] [ 1.38483566e-02 -1.01353134e-03 9.99903593e-01 2.24375718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.614391418 meters Centerline goodness [0,1] 0.9940645824851615 Centerline is valid? [True, True] Translation: X:314.28, Y:10.85, Z:2.24 [[ 9.95971521e-01 -8.86121626e-02 -1.37336756e-02 3.14278931e+02] [ 8.86174914e-02 9.96065706e-01 -2.21250316e-04 1.08519468e+01] [ 1.36992488e-02 -9.96684869e-04 9.99905664e-01 2.24399807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.644391418 meters Centerline goodness [0,1] 0.9988199450738071 Centerline is valid? [True, True] Translation: X:314.31, Y:10.86, Z:2.25 [[ 9.96078276e-01 -8.74386582e-02 -1.35111001e-02 3.14311454e+02] [ 8.74437316e-02 9.96169437e-01 -2.15933905e-04 1.08592145e+01] [ 1.34782259e-02 -9.66373938e-04 9.99908698e-01 2.24513835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.674391418 meters Centerline goodness [0,1] 0.9986712102702587 Centerline is valid? [True, True] Translation: X:314.34, Y:10.87, Z:2.25 [[ 9.96399282e-01 -8.38185112e-02 -1.27643525e-02 3.14342187e+02] [ 8.38227539e-02 9.96480659e-01 -2.03187736e-04 1.08657663e+01] [ 1.27364613e-02 -8.67487067e-04 9.99918512e-01 2.24609955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.704391418 meters Centerline goodness [0,1] 0.9989075018208303 Centerline is valid? [True, True] Translation: X:314.37, Y:10.87, Z:2.25 [[ 9.96616472e-01 -8.12602772e-02 -1.23440203e-02 3.14374030e+02] [ 8.12640576e-02 9.96692588e-01 -1.95852256e-04 1.08702334e+01] [ 1.23191085e-02 -8.07935592e-04 9.99923790e-01 2.24695503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.734391418 meters Centerline goodness [0,1] 0.9990996784565916 Centerline is valid? [True, True] Translation: X:314.40, Y:10.87, Z:2.25 [[ 9.96848913e-01 -7.83344224e-02 -1.24885020e-02 3.14404074e+02] [ 7.83380707e-02 9.96926832e-01 -1.97536792e-04 1.08738430e+01] [ 1.24655967e-02 -7.81410815e-04 9.99921996e-01 2.24746456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.764391418 meters Centerline goodness [0,1] 0.9990336504391522 Centerline is valid? [True, True] Translation: X:314.44, Y:10.88, Z:2.25 [[ 9.97066351e-01 -7.54725641e-02 -1.27507955e-02 3.14435312e+02] [ 7.54761370e-02 9.97147588e-01 -2.01456941e-04 1.08806759e+01] [ 1.27296295e-02 -7.61514853e-04 9.99918685e-01 2.24782244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.794391418 meters Centerline goodness [0,1] 0.9990759047537179 Centerline is valid? [True, True] Translation: X:314.47, Y:10.88, Z:2.25 [[ 9.97314459e-01 -7.20994053e-02 -1.28664843e-02 3.14465451e+02] [ 7.21027671e-02 9.97397188e-01 -2.03003175e-04 1.08839604e+01] [ 1.28476317e-02 -7.25251123e-04 9.99917203e-01 2.24762487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.824391418 meters Centerline goodness [0,1] 0.9990752688172043 Centerline is valid? [True, True] Translation: X:314.50, Y:10.90, Z:2.25 [[ 9.97787810e-01 -6.48869676e-02 -1.44626112e-02 3.14495760e+02] [ 6.48904596e-02 9.97892367e-01 -2.28187001e-04 1.08988767e+01] [ 1.44469356e-02 -7.10803276e-04 9.99895385e-01 2.24777098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.854391418 meters Centerline goodness [0,1] 0.9995058970117511 Centerline is valid? [True, True] Translation: X:314.53, Y:10.90, Z:2.25 [[ 9.98039941e-01 -6.08275174e-02 -1.47068107e-02 3.14525819e+02] [ 6.08306884e-02 9.98148072e-01 -2.32040545e-04 1.09029109e+01] [ 1.46936892e-02 -6.63039688e-04 9.99891822e-01 2.24781442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.884391418 meters Centerline goodness [0,1] 0.9994390143914385 Centerline is valid? [True, True] Translation: X:314.56, Y:10.91, Z:2.25 [[ 9.98452618e-01 -5.33577506e-02 -1.56627178e-02 3.14555858e+02] [ 5.33604300e-02 9.98575287e-01 -2.47091362e-04 1.09122933e+01] [ 1.56535871e-02 -5.89060338e-04 9.99877302e-01 2.24715174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.914391418 meters Centerline goodness [0,1] 0.9995681931040439 Centerline is valid? [True, True] Translation: X:314.59, Y:10.92, Z:2.25 [[ 9.98643577e-01 -4.97254547e-02 -1.54397135e-02 3.14587730e+02] [ 4.97276354e-02 9.98762786e-01 -2.42880097e-04 1.09167300e+01] [ 1.54326886e-02 -5.25229793e-04 9.99880771e-01 2.24739363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.944391418 meters Centerline goodness [0,1] 0.9992644354542111 Centerline is valid? [True, True] Translation: X:314.62, Y:10.92, Z:2.25 [[ 9.98794089e-01 -4.66069863e-02 -1.54323186e-02 3.14619625e+02] [ 4.66088094e-02 9.98913190e-01 -2.41699397e-04 1.09220712e+01] [ 1.54268115e-02 -4.77874066e-04 9.99880885e-01 2.24813312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.974391418 meters Centerline goodness [0,1] 0.9996316918343913 Centerline is valid? [True, True] Translation: X:314.65, Y:10.93, Z:2.25 [[ 9.99058181e-01 -4.06502498e-02 -1.51759164e-02 3.14651521e+02] [ 4.06513399e-02 9.99173365e-01 -2.36773357e-04 1.09301449e+01] [ 1.51729963e-02 -3.80370975e-04 9.99884811e-01 2.24920265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.004391418 meters Centerline goodness [0,1] 0.999500542888165 Centerline is valid? [True, True] Translation: X:314.68, Y:10.93, Z:2.25 [[ 9.99160638e-01 -3.79815445e-02 -1.53434629e-02 3.14683663e+02] [ 3.79823611e-02 9.99278381e-01 -2.38291842e-04 1.09336742e+01] [ 1.53414414e-02 -3.44689118e-04 9.99882254e-01 2.24953472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.034391418 meters Centerline goodness [0,1] 0.9995658780117213 Centerline is valid? [True, True] Translation: X:314.72, Y:10.94, Z:2.25 [[ 9.99262323e-01 -3.52318298e-02 -1.52815929e-02 3.14715487e+02] [ 3.52323370e-02 9.99379121e-01 -2.36109595e-04 1.09371664e+01] [ 1.52804234e-02 -3.02470808e-04 9.99883202e-01 2.24993806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.064391418 meters Centerline goodness [0,1] 0.9994585111221815 Centerline is valid? [True, True] Translation: X:314.75, Y:10.94, Z:2.25 [[ 9.99435300e-01 -2.99728135e-02 -1.51891978e-02 3.14746855e+02] [ 2.99727209e-02 9.99550690e-01 -2.33795736e-04 1.09427172e+01] [ 1.51893807e-02 -2.21597874e-04 9.99884610e-01 2.25021932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.094391418 meters Centerline goodness [0,1] 0.9994129030855204 Centerline is valid? [True, True] Translation: X:314.78, Y:10.95, Z:2.25 [[ 9.99513699e-01 -2.72632171e-02 -1.51354455e-02 3.14778272e+02] [ 2.72628236e-02 9.99628273e-01 -2.32364133e-04 1.09458154e+01] [ 1.51361542e-02 -1.80383846e-04 9.99885426e-01 2.25043866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.124391418 meters Centerline goodness [0,1] 0.9994566398608998 Centerline is valid? [True, True] Translation: X:314.81, Y:10.95, Z:2.25 [[ 9.99600250e-01 -2.37873603e-02 -1.52807629e-02 3.14809533e+02] [ 2.37865624e-02 9.99717032e-01 -2.33983774e-04 1.09487513e+01] [ 1.52820048e-02 -1.29586581e-04 9.99883215e-01 2.25015541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.154391418 meters Centerline goodness [0,1] 0.9996081504702194 Centerline is valid? [True, True] Translation: X:314.84, Y:10.95, Z:2.25 [[ 9.99720134e-01 -1.86897559e-02 -1.45033615e-02 3.14840103e+02] [ 1.86885067e-02 9.99825330e-01 -2.21667200e-04 1.09539029e+01] [ 1.45049711e-02 -4.94410065e-05 9.99894796e-01 2.25147886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.184391418 meters Centerline goodness [0,1] 0.9994335265153166 Centerline is valid? [True, True] Translation: X:314.87, Y:10.96, Z:2.25 [[ 9.99764624e-01 -1.66106191e-02 -1.39565050e-02 3.14870039e+02] [ 1.66092597e-02 9.99862034e-01 -2.13309960e-04 1.09563107e+01] [ 1.39581227e-02 -1.85474652e-05 9.99902580e-01 2.25199345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.214391418 meters Centerline goodness [0,1] 0.9996951816934834 Centerline is valid? [True, True] Translation: X:314.90, Y:10.96, Z:2.25 [[ 9.99793494e-01 -1.48493513e-02 -1.38732409e-02 3.14899305e+02] [ 1.48478371e-02 9.99889742e-01 -2.12140250e-04 1.09581251e+01] [ 1.38748614e-02 6.10882049e-06 9.99903739e-01 2.25226909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.244391418 meters Centerline goodness [0,1] 0.9993684944035538 Centerline is valid? [True, True] Translation: X:314.93, Y:10.96, Z:2.25 [[ 9.99809133e-01 -1.39967811e-02 -1.36303854e-02 3.14928536e+02] [ 1.39952372e-02 9.99902040e-01 -2.08655464e-04 1.09590136e+01] [ 1.36319707e-02 1.78551618e-05 9.99907080e-01 2.25254940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.274391418 meters Centerline goodness [0,1] 0.9995856142723168 Centerline is valid? [True, True] Translation: X:314.96, Y:10.96, Z:2.25 [[ 9.99801524e-01 -1.46113845e-02 -1.35432806e-02 3.14957539e+02] [ 1.46099077e-02 9.99893248e-01 -2.07977152e-04 1.09576875e+01] [ 1.35448737e-02 1.00697940e-05 9.99908264e-01 2.25168465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.304391418 meters Centerline goodness [0,1] 0.9996502885119776 Centerline is valid? [True, True] Translation: X:314.99, Y:10.96, Z:2.25 [[ 9.99775269e-01 -1.62140389e-02 -1.36570978e-02 3.14987042e+02] [ 1.62126775e-02 9.99868544e-01 -2.10401448e-04 1.09557715e+01] [ 1.36587140e-02 -1.10639582e-05 9.99906715e-01 2.25182882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.334391418 meters Centerline goodness [0,1] 0.9995204673263873 Centerline is valid? [True, True] Translation: X:315.02, Y:10.95, Z:2.25 [[ 9.99731595e-01 -1.87752172e-02 -1.35730830e-02 3.15016403e+02] [ 1.87741030e-02 9.99823729e-01 -2.09513065e-04 1.09532211e+01] [ 1.35746241e-02 -4.53656269e-05 9.99907860e-01 2.25135444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.364391418 meters Centerline goodness [0,1] 0.9995441521229487 Centerline is valid? [True, True] Translation: X:315.05, Y:10.94, Z:2.25 [[ 9.99550347e-01 -2.64184700e-02 -1.41833934e-02 3.15045804e+02] [ 2.64180186e-02 9.99650959e-01 -2.19218143e-04 1.09448343e+01] [ 1.41842343e-02 -1.55577580e-04 9.99899387e-01 2.25045422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.394391418 meters Centerline goodness [0,1] 0.9994796747967479 Centerline is valid? [True, True] Translation: X:315.08, Y:10.94, Z:2.25 [[ 9.99417514e-01 -3.12362177e-02 -1.37452160e-02 3.15077598e+02] [ 3.12362510e-02 9.99512007e-01 -2.12317548e-04 1.09403577e+01] [ 1.37451404e-02 -2.17155141e-04 9.99905508e-01 2.25056051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.424391418 meters Centerline goodness [0,1] 0.9993296572602444 Centerline is valid? [True, True] Translation: X:315.11, Y:10.93, Z:2.25 [[ 9.99078337e-01 -4.09802637e-02 -1.27708587e-02 3.15108410e+02] [ 4.09810944e-02 9.99159903e-01 -1.96746989e-04 1.09305044e+01] [ 1.27681927e-02 -3.26798111e-04 9.99918430e-01 2.25127728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.454391418 meters Centerline goodness [0,1] 0.9993091537132988 Centerline is valid? [True, True] Translation: X:315.14, Y:10.93, Z:2.25 [[ 9.98909047e-01 -4.51450778e-02 -1.19431358e-02 3.15140632e+02] [ 4.51461100e-02 9.98980378e-01 -1.83299264e-04 1.09258096e+01] [ 1.19392334e-02 -3.56086830e-04 9.99928661e-01 2.25231318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.484391418 meters Centerline goodness [0,1] 0.9989649595687331 Centerline is valid? [True, True] Translation: X:315.17, Y:10.92, Z:2.25 [[ 9.98740877e-01 -4.90327560e-02 -1.06042269e-02 3.15172448e+02] [ 4.90337960e-02 9.98797107e-01 -1.62044096e-04 1.09210091e+01] [ 1.05994166e-02 -3.58125435e-04 9.99943760e-01 2.25304392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.514391418 meters Centerline goodness [0,1] 0.9989649595687331 Centerline is valid? [True, True] Translation: X:315.21, Y:10.92, Z:2.25 [[ 9.98746692e-01 -4.89141690e-02 -1.06042397e-02 3.15205010e+02] [ 4.89152113e-02 9.98802922e-01 -1.61202193e-04 1.09213869e+01] [ 1.05994306e-02 -3.57708468e-04 9.99943760e-01 2.25327203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.544391418 meters Centerline goodness [0,1] 0.9992670992218318 Centerline is valid? [True, True] Translation: X:315.24, Y:10.91, Z:2.25 [[ 9.98479949e-01 -5.42545967e-02 -9.70725822e-03 3.15236637e+02] [ 5.42557305e-02 9.98527062e-01 -1.46698189e-04 1.09147892e+01] [ 9.70091909e-03 -3.80199186e-04 9.99952873e-01 2.25456094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.574391418 meters Centerline goodness [0,1] 0.9992253399896712 Centerline is valid? [True, True] Translation: X:315.27, Y:10.91, Z:2.26 [[ 9.98398590e-01 -5.57605904e-02 -9.54000254e-03 3.15267793e+02] [ 5.57617581e-02 9.98444092e-01 -1.43749131e-04 1.09117744e+01] [ 9.53317471e-03 -3.88448385e-04 9.99954483e-01 2.25510110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.604391418 meters Centerline goodness [0,1] 0.9992246058413027 Centerline is valid? [True, True] Translation: X:315.30, Y:10.91, Z:2.26 [[ 9.98338476e-01 -5.67950075e-02 -9.72700673e-03 3.15300044e+02] [ 5.67962767e-02 9.98385778e-01 -1.45930368e-04 1.09108720e+01] [ 9.71959330e-03 -4.06769864e-04 9.99952681e-01 2.25541770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.634391418 meters Centerline goodness [0,1] 0.999008022082291 Centerline is valid? [True, True] Translation: X:315.33, Y:10.91, Z:2.25 [[ 9.98262627e-01 -5.79317176e-02 -1.07537997e-02 3.15330770e+02] [ 5.79333428e-02 9.98320441e-01 -1.60578269e-04 1.09074208e+01] [ 1.07450406e-02 -4.62704281e-04 9.99942163e-01 2.25484884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.664391418 meters Centerline goodness [0,1] 0.9991599715682684 Centerline is valid? [True, True] Translation: X:315.36, Y:10.91, Z:2.25 [[ 9.98252161e-01 -5.80233313e-02 -1.12212267e-02 3.15363023e+02] [ 5.80251136e-02 9.98315110e-01 -1.66942663e-04 1.09073315e+01] [ 1.12120067e-02 -4.84462078e-04 9.99937026e-01 2.25433619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.694391418 meters Centerline goodness [0,1] 0.9991157885656365 Centerline is valid? [True, True] Translation: X:315.39, Y:10.91, Z:2.25 [[ 9.98262272e-01 -5.76806287e-02 -1.20573885e-02 3.15394428e+02] [ 5.76826722e-02 9.98334953e-01 -1.78501558e-04 1.09054111e+01] [ 1.20476085e-02 -5.17311018e-04 9.99927291e-01 2.25353321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.724391418 meters Centerline goodness [0,1] 0.9991814226013528 Centerline is valid? [True, True] Translation: X:315.43, Y:10.91, Z:2.25 [[ 9.98278272e-01 -5.71776629e-02 -1.30845854e-02 3.15426260e+02] [ 5.71800382e-02 9.98363865e-01 -1.92804661e-04 1.09055391e+01] [ 1.30742014e-02 -5.55704390e-04 9.99914375e-01 2.25307602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.754391418 meters Centerline goodness [0,1] 0.9992236359715333 Centerline is valid? [True, True] Translation: X:315.46, Y:10.91, Z:2.25 [[ 9.98338282e-01 -5.56121599e-02 -1.50984234e-02 3.15459004e+02] [ 5.56151649e-02 9.98452255e-01 -2.21101593e-04 1.09063649e+01] [ 1.50873508e-02 -6.18967124e-04 9.99885988e-01 2.25117504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.784391418 meters Centerline goodness [0,1] 0.9991812285880503 Centerline is valid? [True, True] Translation: X:315.49, Y:10.91, Z:2.25 [[ 9.98368481e-01 -5.47654285e-02 -1.61593107e-02 3.15490774e+02] [ 5.47687832e-02 9.98499036e-01 -2.35200481e-04 1.09115525e+01] [ 1.61479370e-02 -6.50209035e-04 9.99869402e-01 2.25117728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.814391418 meters Centerline goodness [0,1] 0.9992882715783117 Centerline is valid? [True, True] Translation: X:315.52, Y:10.91, Z:2.25 [[ 9.98365024e-01 -5.42918531e-02 -1.78794069e-02 3.15522069e+02] [ 5.42959070e-02 9.98524856e-01 -2.58972750e-04 1.09123271e+01] [ 1.78670923e-02 -7.12229278e-04 9.99840117e-01 2.25074947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.844391418 meters Centerline goodness [0,1] 0.9992039244373682 Centerline is valid? [True, True] Translation: X:315.55, Y:10.91, Z:2.25 [[ 9.98343979e-01 -5.41476149e-02 -1.94250997e-02 3.15553607e+02] [ 5.41523959e-02 9.98532643e-01 -2.80179647e-04 1.09130286e+01] [ 1.94117672e-02 -7.72200027e-04 9.99811276e-01 2.24924108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.874391418 meters Centerline goodness [0,1] 0.9991364048534047 Centerline is valid? [True, True] Translation: X:315.59, Y:10.91, Z:2.25 [[ 9.98327607e-01 -5.42578149e-02 -1.99519071e-02 3.15586281e+02] [ 5.42629095e-02 9.98526642e-01 -2.86345416e-04 1.09133773e+01] [ 1.99380473e-02 -7.96781996e-04 9.99800900e-01 2.24904645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.904391418 meters Centerline goodness [0,1] 0.9991603694374476 Centerline is valid? [True, True] Translation: X:315.62, Y:10.91, Z:2.25 [[ 9.98321220e-01 -5.43483779e-02 -2.00248967e-02 3.15618275e+02] [ 5.43535592e-02 9.98521712e-01 -2.85832686e-04 1.09139501e+01] [ 2.00108286e-02 -8.03071572e-04 9.99799441e-01 2.24929593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.934391418 meters Centerline goodness [0,1] 0.9992665933259993 Centerline is valid? [True, True] Translation: X:315.65, Y:10.92, Z:2.25 [[ 9.98341957e-01 -5.43156938e-02 -1.90563056e-02 3.15649727e+02] [ 5.43204031e-02 9.98523520e-01 -2.70791817e-04 1.09152025e+01] [ 1.90428776e-02 -7.64803369e-04 9.99818375e-01 2.25076143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.964391418 meters Centerline goodness [0,1] 0.9992227308057691 Centerline is valid? [True, True] Translation: X:315.68, Y:10.92, Z:2.25 [[ 9.98372459e-01 -5.41525392e-02 -1.78867229e-02 3.15681769e+02] [ 5.41566837e-02 9.98532418e-01 -2.52945209e-04 1.09186661e+01] [ 1.78741703e-02 -7.16152063e-04 9.99839988e-01 2.25242721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.994391418 meters Centerline goodness [0,1] 0.9993304391023564 Centerline is valid? [True, True] Translation: X:315.71, Y:10.92, Z:2.25 [[ 9.98415889e-01 -5.35794661e-02 -1.71742362e-02 3.15713127e+02] [ 5.35832214e-02 9.98563358e-01 -2.41757214e-04 1.09192528e+01] [ 1.71625162e-02 -6.78876659e-04 9.99852483e-01 2.25325990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.024391418 meters Centerline goodness [0,1] 0.9992229656809842 Centerline is valid? [True, True] Translation: X:315.75, Y:10.92, Z:2.26 [[ 9.98493672e-01 -5.26110234e-02 -1.55713274e-02 3.15745367e+02] [ 5.26140086e-02 9.98614900e-01 -2.18173542e-04 1.09231716e+01] [ 1.55612379e-02 -6.01425054e-04 9.99878736e-01 2.25576345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.054391418 meters Centerline goodness [0,1] 0.9992019326172297 Centerline is valid? [True, True] Translation: X:315.78, Y:10.93, Z:2.26 [[ 9.98518198e-01 -5.23730682e-02 -1.47807176e-02 3.15777357e+02] [ 5.23757485e-02 9.98627427e-01 -2.05967356e-04 1.09283770e+01] [ 1.47712171e-02 -5.68488993e-04 9.99890738e-01 2.25776176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.084391418 meters Centerline goodness [0,1] 0.9992652778978304 Centerline is valid? [True, True] Translation: X:315.81, Y:10.93, Z:2.26 [[ 9.98529562e-01 -5.23089158e-02 -1.42299174e-02 3.15810470e+02] [ 5.23114135e-02 9.98630801e-01 -1.96886802e-04 1.09294755e+01] [ 1.42207327e-02 -5.47789799e-04 9.99898730e-01 2.25868772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.114391418 meters Centerline goodness [0,1] 0.9993109685198742 Centerline is valid? [True, True] Translation: X:315.84, Y:10.93, Z:2.26 [[ 9.98516561e-01 -5.26267313e-02 -1.39680060e-02 3.15841955e+02] [ 5.26291939e-02 9.98614105e-01 -1.91470596e-04 1.09303485e+01] [ 1.39587243e-02 -5.43938335e-04 9.99902424e-01 2.26006626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.144391418 meters Centerline goodness [0,1] 0.9995673711306755 Centerline is valid? [True, True] Translation: X:315.87, Y:10.93, Z:2.26 [[ 9.98506183e-01 -5.29054336e-02 -1.36534596e-02 3.15873665e+02] [ 5.29078326e-02 9.98599383e-01 -1.85686934e-04 1.09314202e+01] [ 1.36441602e-02 -5.36965405e-04 9.99906770e-01 2.26093638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.174391418 meters Centerline goodness [0,1] 0.9994379593601384 Centerline is valid? [True, True] Translation: X:315.91, Y:10.93, Z:2.26 [[ 9.98466750e-01 -5.35409113e-02 -1.40541978e-02 3.15906299e+02] [ 5.35435318e-02 9.98565498e-01 -1.90020343e-04 1.09327590e+01] [ 1.40442109e-02 -5.62782392e-04 9.99901217e-01 2.26131779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.204391418 meters Centerline goodness [0,1] 0.9993080781871648 Centerline is valid? [True, True] Translation: X:315.94, Y:10.93, Z:2.26 [[ 9.98451509e-01 -5.35518998e-02 -1.50591493e-02 3.15937264e+02] [ 5.35549258e-02 9.98564885e-01 -2.02547022e-04 1.09327663e+01] [ 1.50483844e-02 -6.04258241e-04 9.99886584e-01 2.26033411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.234391418 meters Centerline goodness [0,1] 0.9992637824260534 Centerline is valid? [True, True] Translation: X:315.97, Y:10.93, Z:2.26 [[ 9.98483827e-01 -5.28906154e-02 -1.52521949e-02 3.15969560e+02] [ 5.28936585e-02 9.98600130e-01 -2.04090946e-04 1.09348508e+01] [ 1.52416383e-02 -6.02962881e-04 9.99883658e-01 2.26043713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.264391418 meters Centerline goodness [0,1] 0.9993061127133162 Centerline is valid? [True, True] Translation: X:316.00, Y:10.94, Z:2.26 [[ 9.98549218e-01 -5.15063956e-02 -1.57018959e-02 3.16000733e+02] [ 5.15094784e-02 9.98672484e-01 -2.08295200e-04 1.09358306e+01] [ 1.56917799e-02 -6.00803459e-04 9.99876696e-01 2.26000739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.294391418 meters Centerline goodness [0,1] 0.9994562616903736 Centerline is valid? [True, True] Translation: X:316.03, Y:10.95, Z:2.26 [[ 9.98777641e-01 -4.66915487e-02 -1.62210814e-02 3.16031869e+02] [ 4.66942275e-02 9.98909207e-01 -2.13761833e-04 1.09474654e+01] [ 1.62133684e-02 -5.43930326e-04 9.99868407e-01 2.26153339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.324391418 meters Centerline goodness [0,1] 0.9994996301614236 Centerline is valid? [True, True] Translation: X:316.06, Y:10.95, Z:2.26 [[ 9.98938447e-01 -4.32159863e-02 -1.59486142e-02 3.16062681e+02] [ 4.32181435e-02 9.99065638e-01 -2.09530252e-04 1.09477676e+01] [ 1.59427674e-02 -4.79961671e-04 9.99872791e-01 2.26073396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.354391418 meters Centerline goodness [0,1] 0.9993902837358186 Centerline is valid? [True, True] Translation: X:316.09, Y:10.96, Z:2.26 [[ 9.99106603e-01 -3.91029886e-02 -1.60297376e-02 3.16094213e+02] [ 3.91046530e-02 9.99235099e-01 -2.09713275e-04 1.09568807e+01] [ 1.60256769e-02 -4.17311409e-04 9.99871494e-01 2.26230125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.384391418 meters Centerline goodness [0,1] 0.9994318430138542 Centerline is valid? [True, True] Translation: X:316.12, Y:10.97, Z:2.26 [[ 9.99443041e-01 -2.94908346e-02 -1.56172230e-02 3.16124052e+02] [ 2.94912482e-02 9.99565018e-01 -2.03863216e-04 1.09661909e+01] [ 1.56164419e-02 -2.56821728e-04 9.99878023e-01 2.26237848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.414391418 meters Centerline goodness [0,1] 0.9996287317914783 Centerline is valid? [True, True] Translation: X:316.16, Y:10.97, Z:2.26 [[ 9.99576134e-01 -2.45100430e-02 -1.57101840e-02 3.16155498e+02] [ 2.45098517e-02 9.99699567e-01 -2.04745554e-04 1.09719503e+01] [ 1.57104825e-02 -1.80395510e-04 9.99876566e-01 2.26276667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.444391418 meters Centerline goodness [0,1] 0.9997154613902994 Centerline is valid? [True, True] Translation: X:316.19, Y:10.98, Z:2.26 [[ 9.99683121e-01 -1.97477716e-02 -1.56103216e-02 3.16185576e+02] [ 1.97470062e-02 9.99804988e-01 -2.03179079e-04 1.09778270e+01] [ 1.56112897e-02 -1.05142421e-04 9.99878131e-01 2.26337638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.474391418 meters Centerline goodness [0,1] 0.9998683344305465 Centerline is valid? [True, True] Translation: X:316.22, Y:10.99, Z:2.26 [[ 9.99809421e-01 -1.10756145e-02 -1.60764833e-02 3.16216394e+02] [ 1.10736816e-02 9.99938663e-01 -2.09246495e-04 1.09869630e+01] [ 1.60778148e-02 3.11807587e-05 9.99870743e-01 2.26333707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.504391418 meters Centerline goodness [0,1] 0.9996696981040671 Centerline is valid? [True, True] Translation: X:316.24, Y:10.99, Z:2.26 [[ 9.99835475e-01 -7.80314838e-03 -1.63747982e-02 3.16244879e+02] [ 7.80066218e-03 9.99969551e-01 -2.15697797e-04 1.09910127e+01] [ 1.63759827e-02 8.79280401e-05 9.99865901e-01 2.26336976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.534391418 meters Centerline goodness [0,1] 0.9996690056931021 Centerline is valid? [True, True] Translation: X:316.27, Y:10.99, Z:2.26 [[ 9.99847833e-01 -4.89634594e-03 -1.67432770e-02 3.16273078e+02] [ 4.89329031e-03 9.99988003e-01 -2.23461586e-04 1.09945124e+01] [ 1.67441703e-02 1.41497867e-04 9.99859797e-01 2.26323879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.564391418 meters Centerline goodness [0,1] 0.9998241217077782 Centerline is valid? [True, True] Translation: X:316.30, Y:11.00, Z:2.26 [[ 9.99858522e-01 -1.22000737e-03 -1.67763939e-02 3.16301857e+02] [ 1.21636622e-03 9.99999234e-01 -2.27242011e-04 1.09988530e+01] [ 1.67766583e-02 2.06803622e-04 9.99859241e-01 2.26342360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.594391418 meters Centerline goodness [0,1] 0.9997359154929577 Centerline is valid? [True, True] Translation: X:316.33, Y:11.00, Z:2.26 [[ 9.99852911e-01 -8.20147140e-04 -1.71313484e-02 3.16330270e+02] [ 8.16210271e-04 9.99999639e-01 -2.36795567e-04 1.09996994e+01] [ 1.71315365e-02 2.22777955e-04 9.99853220e-01 2.26389888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.624391418 meters Centerline goodness [0,1] 0.9995384818249747 Centerline is valid? [True, True] Translation: X:316.36, Y:11.00, Z:2.26 [[ 9.99845919e-01 -1.38331075e-03 -1.74992728e-02 3.16357627e+02] [ 1.37921512e-03 9.99999019e-01 -2.46111998e-04 1.10005115e+01] [ 1.74995961e-02 2.21938815e-04 9.99846846e-01 2.26329015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.654391418 meters Centerline goodness [0,1] 0.9996706843179872 Centerline is valid? [True, True] Translation: X:316.39, Y:11.00, Z:2.26 [[ 9.99849686e-01 -2.44714014e-03 -1.71644000e-02 3.16386156e+02] [ 2.44331778e-03 9.99996985e-01 -2.43657992e-04 1.10000748e+01] [ 1.71649445e-02 2.01683284e-04 9.99852651e-01 2.26347018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.684391418 meters Centerline goodness [0,1] 0.9997138895613706 Centerline is valid? [True, True] Translation: X:316.42, Y:11.00, Z:2.26 [[ 9.99826928e-01 -6.67777347e-03 -1.73643814e-02 3.16415002e+02] [ 6.67447604e-03 9.99977695e-01 -2.47843527e-04 1.09962634e+01] [ 1.73656491e-02 1.31902484e-04 9.99849197e-01 2.26377193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.714391418 meters Centerline goodness [0,1] 0.9997135743715161 Centerline is valid? [True, True] Translation: X:316.44, Y:10.99, Z:2.26 [[ 9.99797813e-01 -9.81787014e-03 -1.75482735e-02 3.16444124e+02] [ 9.81496222e-03 9.99951800e-01 -2.51828986e-04 1.09938750e+01] [ 1.75499001e-02 7.95424287e-05 9.99845985e-01 2.26369414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.744391418 meters Centerline goodness [0,1] 0.9997797696390425 Centerline is valid? [True, True] Translation: X:316.47, Y:10.99, Z:2.26 [[ 9.99690841e-01 -1.76768431e-02 -1.74857722e-02 3.16473499e+02] [ 1.76751341e-02 9.99843751e-01 -2.52287574e-04 1.09867643e+01] [ 1.74874997e-02 -5.68537915e-05 9.99847080e-01 2.26439551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.774391418 meters Centerline goodness [0,1] 0.999604204230617 Centerline is valid? [True, True] Translation: X:316.50, Y:10.98, Z:2.26 [[ 9.99609731e-01 -2.21004606e-02 -1.70866851e-02 3.16502340e+02] [ 2.20994188e-02 9.99755747e-01 -2.49808408e-04 1.09827432e+01] [ 1.70880325e-02 -1.27894896e-04 9.99853981e-01 2.26460791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.804391418 meters Centerline goodness [0,1] 0.9994083229241996 Centerline is valid? [True, True] Translation: X:316.53, Y:10.98, Z:2.26 [[ 9.99504238e-01 -2.66380568e-02 -1.67836907e-02 3.16531374e+02] [ 2.66376534e-02 9.99645124e-01 -2.47630037e-04 1.09781740e+01] [ 1.67843310e-02 -1.99570864e-04 9.99859113e-01 2.26458745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.834391418 meters Centerline goodness [0,1] 0.9994973556536562 Centerline is valid? [True, True] Translation: X:316.56, Y:10.97, Z:2.27 [[ 9.99235794e-01 -3.55174379e-02 -1.63199132e-02 3.16562284e+02] [ 3.55182388e-02 9.99368999e-01 -2.40863734e-04 1.09702873e+01] [ 1.63181702e-02 -3.38974908e-04 9.99866792e-01 2.26602245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.864391418 meters Centerline goodness [0,1] 0.9995863090053998 Centerline is valid? [True, True] Translation: X:316.59, Y:10.96, Z:2.27 [[ 9.99084738e-01 -3.97030069e-02 -1.59172258e-02 3.16593880e+02] [ 3.97043101e-02 9.99211446e-01 -2.34250317e-04 1.09639798e+01] [ 1.59139746e-02 -3.97946553e-04 9.99873285e-01 2.26578935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.894391418 meters Centerline goodness [0,1] 0.9994336992507405 Centerline is valid? [True, True] Translation: X:316.63, Y:10.96, Z:2.27 [[ 9.98918926e-01 -4.38061688e-02 -1.55562852e-02 3.16625875e+02] [ 4.38079278e-02 9.99039946e-01 -2.27839160e-04 1.09626431e+01] [ 1.55513311e-02 -4.53895770e-04 9.99878968e-01 2.26707701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.924391418 meters Centerline goodness [0,1] 0.9995226730310263 Centerline is valid? [True, True] Translation: X:316.66, Y:10.95, Z:2.27 [[ 9.98562980e-01 -5.12697984e-02 -1.56007567e-02 3.16655883e+02] [ 5.12724858e-02 9.98684675e-01 -2.27925774e-04 1.09544887e+01] [ 1.55919224e-02 -5.72291339e-04 9.99878275e-01 2.26687198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.954391418 meters Centerline goodness [0,1] 0.9994139480367259 Centerline is valid? [True, True] Translation: X:316.69, Y:10.95, Z:2.27 [[ 9.98392781e-01 -5.44325865e-02 -1.57780781e-02 3.16688255e+02] [ 5.44357407e-02 9.98517249e-01 -2.29814101e-04 1.09514120e+01] [ 1.57671925e-02 -6.29446628e-04 9.99875492e-01 2.26699212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.984391418 meters Centerline goodness [0,1] 0.9994573710713666 Centerline is valid? [True, True] Translation: X:316.72, Y:10.95, Z:2.27 [[ 9.98224138e-01 -5.74280155e-02 -1.58301104e-02 3.16718942e+02] [ 5.74315809e-02 9.98349418e-01 -2.29658287e-04 1.09477459e+01] [ 1.58171703e-02 -6.79897818e-04 9.99874670e-01 2.26683234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.014391418 meters Centerline goodness [0,1] 0.9994565808064341 Centerline is valid? [True, True] Translation: X:316.75, Y:10.95, Z:2.27 [[ 9.98064691e-01 -6.00645477e-02 -1.60972657e-02 3.16751421e+02] [ 6.00685929e-02 9.98194225e-01 -2.32527359e-04 1.09453954e+01] [ 1.60821643e-02 -7.34862753e-04 9.99870404e-01 2.26671132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.044391418 meters Centerline goodness [0,1] 0.999523386555168 Centerline is valid? [True, True] Translation: X:316.78, Y:10.94, Z:2.27 [[ 9.97843758e-01 -6.38155259e-02 -1.53431813e-02 3.16782833e+02] [ 6.38196564e-02 9.97961423e-01 -2.20768704e-04 1.09418486e+01] [ 1.53259915e-02 -7.58903887e-04 9.99882262e-01 2.26721399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.074391418 meters Centerline goodness [0,1] 0.9993713827412047 Centerline is valid? [True, True] Translation: X:316.81, Y:10.94, Z:2.27 [[ 9.97789006e-01 -6.47562114e-02 -1.49577055e-02 3.16814807e+02] [ 6.47602560e-02 9.97900828e-01 -2.14306499e-04 1.09415466e+01] [ 1.49401844e-02 -7.54832171e-04 9.99888104e-01 2.26771399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.104391418 meters Centerline goodness [0,1] 0.9995443499392467 Centerline is valid? [True, True] Translation: X:316.85, Y:10.94, Z:2.27 [[ 9.97761958e-01 -6.52780134e-02 -1.44864340e-02 3.16845506e+02] [ 6.52818743e-02 9.97866842e-01 -2.06705318e-04 1.09399316e+01] [ 1.44690254e-02 -7.39458857e-04 9.99895045e-01 2.26804574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.134391418 meters Centerline goodness [0,1] 0.9993267601963254 Centerline is valid? [True, True] Translation: X:316.88, Y:10.94, Z:2.27 [[ 9.97786855e-01 -6.50335644e-02 -1.38574237e-02 3.16877765e+02] [ 6.50370850e-02 9.97882828e-01 -1.96911617e-04 1.09420820e+01] [ 1.38408910e-02 -7.04770621e-04 9.99903962e-01 2.26888859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.164391418 meters Centerline goodness [0,1] 0.9993938344302044 Centerline is valid? [True, True] Translation: X:316.91, Y:10.94, Z:2.27 [[ 9.97846632e-01 -6.41194334e-02 -1.38129428e-02 3.16909851e+02] [ 6.41228595e-02 9.97941993e-01 -1.95165339e-04 1.09449963e+01] [ 1.37970295e-02 -6.90980313e-04 9.99904578e-01 2.26931431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.194391418 meters Centerline goodness [0,1] 0.9995215727209464 Centerline is valid? [True, True] Translation: X:316.94, Y:10.95, Z:2.27 [[ 9.97907592e-01 -6.31295712e-02 -1.39676119e-02 3.16941274e+02] [ 6.31329916e-02 9.98005104e-01 -1.96352028e-04 1.09458273e+01] [ 1.39521436e-02 -6.85875949e-04 9.99902429e-01 2.26922755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.224391418 meters Centerline goodness [0,1] 0.9995867498966875 Centerline is valid? [True, True] Translation: X:316.97, Y:10.95, Z:2.27 [[ 9.98078575e-01 -6.01529830e-02 -1.48585588e-02 3.16972908e+02] [ 6.01565384e-02 9.98188934e-01 -2.07954001e-04 1.09502902e+01] [ 1.48441581e-02 -6.86285032e-04 9.99889584e-01 2.26816575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.254391418 meters Centerline goodness [0,1] 0.9996300406955235 Centerline is valid? [True, True] Translation: X:317.00, Y:10.95, Z:2.27 [[ 9.98191226e-01 -5.81676255e-02 -1.51921956e-02 3.17004979e+02] [ 5.81711293e-02 9.98306604e-01 -2.11541022e-04 1.09530679e+01] [ 1.51787740e-02 -6.72588781e-04 9.99884570e-01 2.26767913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.284391418 meters Centerline goodness [0,1] 0.9995640612058067 Centerline is valid? [True, True] Translation: X:317.04, Y:10.96, Z:2.27 [[ 9.98304378e-01 -5.61107395e-02 -1.54904217e-02 3.17035915e+02] [ 5.61141517e-02 9.98424337e-01 -2.14620955e-04 1.09556056e+01] [ 1.54780565e-02 -6.54974831e-04 9.99879993e-01 2.26723437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.314391418 meters Centerline goodness [0,1] 0.9996947829688897 Centerline is valid? [True, True] Translation: X:317.07, Y:10.96, Z:2.27 [[ 9.98592734e-01 -5.09590268e-02 -1.46876893e-02 3.17067082e+02] [ 5.09615459e-02 9.98700596e-01 -2.02954743e-04 1.09634519e+01] [ 1.46789464e-02 -5.45838217e-04 9.99892109e-01 2.26803878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.344391418 meters Centerline goodness [0,1] 0.99960647135986 Centerline is valid? [True, True] Translation: X:317.10, Y:10.97, Z:2.27 [[ 9.98747515e-01 -4.80834421e-02 -1.38341727e-02 3.17098541e+02] [ 4.80854069e-02 9.98843210e-01 -1.90758537e-04 1.09691597e+01] [ 1.38273418e-02 -4.74702209e-04 9.99904285e-01 2.26911049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.374391418 meters Centerline goodness [0,1] 0.9997377221165825 Centerline is valid? [True, True] Translation: X:317.13, Y:10.97, Z:2.27 [[ 9.98909004e-01 -4.47931793e-02 -1.32050124e-02 3.17129709e+02] [ 4.47946890e-02 9.98996198e-01 -1.81568190e-04 1.09740612e+01] [ 1.31998902e-02 -4.10144324e-04 9.99912794e-01 2.27051211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.404391418 meters Centerline goodness [0,1] 0.9995385223926515 Centerline is valid? [True, True] Translation: X:317.16, Y:10.98, Z:2.27 [[ 9.99241863e-01 -3.73906408e-02 -1.08461472e-02 3.17160417e+02] [ 3.73912267e-02 9.99300692e-01 -1.48827561e-04 1.09847486e+01] [ 1.08441272e-02 -2.56836021e-04 9.99941168e-01 2.27324813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.434391418 meters Centerline goodness [0,1] 0.9996694142019659 Centerline is valid? [True, True] Translation: X:317.19, Y:10.99, Z:2.27 [[ 9.99402320e-01 -3.31853864e-02 -9.68156932e-03 3.17191153e+02] [ 3.31856582e-02 9.99449196e-01 -1.32615757e-04 1.09895900e+01] [ 9.68063757e-03 -1.88752755e-04 9.99953124e-01 2.27456706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.464391418 meters Centerline goodness [0,1] 0.9996694142019659 Centerline is valid? [True, True] Translation: X:317.22, Y:10.99, Z:2.27 [[ 9.99406239e-01 -3.30671503e-02 -9.68157744e-03 3.17223707e+02] [ 3.30674223e-02 9.99453115e-01 -1.32019909e-04 1.09899173e+01] [ 9.68064825e-03 -1.88203289e-04 9.99953124e-01 2.27479515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.494391418 meters Centerline goodness [0,1] 0.9996469627766378 Centerline is valid? [True, True] Translation: X:317.26, Y:11.00, Z:2.28 [[ 9.99553242e-01 -2.86621034e-02 -8.47345484e-03 3.17255554e+02] [ 2.86621607e-02 9.99589149e-01 -1.14700089e-04 1.09965347e+01] [ 8.47326106e-03 -1.28218679e-04 9.99964093e-01 2.27620780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.524391418 meters Centerline goodness [0,1] 0.9996242097351784 Centerline is valid? [True, True] Translation: X:317.29, Y:11.00, Z:2.28 [[ 9.99676122e-01 -2.42407004e-02 -7.74858231e-03 3.17286940e+02] [ 2.42406204e-02 9.99706148e-01 -1.04252233e-04 1.10015869e+01] [ 7.74883252e-03 -8.36119741e-05 9.99969974e-01 2.27716275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.554391418 meters Centerline goodness [0,1] 0.9996897988123726 Centerline is valid? [True, True] Translation: X:317.32, Y:11.01, Z:2.28 [[ 9.99851619e-01 -1.63188397e-02 -5.51678551e-03 3.17317640e+02] [ 1.63186822e-02 9.99866839e-01 -7.35621634e-05 1.10109502e+01] [ 5.51725134e-03 -1.64754213e-05 9.99984780e-01 2.27928415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.584391418 meters Centerline goodness [0,1] 0.9996450045483792 Centerline is valid? [True, True] Translation: X:317.35, Y:11.01, Z:2.28 [[ 9.99904821e-01 -1.31102329e-02 -4.29785590e-03 3.17349828e+02] [ 1.31101082e-02 9.99914057e-01 -5.71952941e-05 1.10148972e+01] [ 4.29823638e-03 8.44494424e-07 9.99990763e-01 2.28050963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.614391418 meters Centerline goodness [0,1] 0.999733989492585 Centerline is valid? [True, True] Translation: X:317.38, Y:11.02, Z:2.28 [[ 9.99940758e-01 -1.04299219e-02 -3.11417797e-03 3.17382063e+02] [ 1.04298437e-02 9.99945607e-01 -4.13607528e-05 1.10179205e+01] [ 3.11443997e-03 8.87791308e-06 9.99995150e-01 2.28155383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.644391418 meters Centerline goodness [0,1] 0.9997105450659066 Centerline is valid? [True, True] Translation: X:317.41, Y:11.02, Z:2.28 [[ 9.99972085e-01 -7.26106023e-03 -1.76247485e-03 3.17414558e+02] [ 7.26103007e-03 9.99973638e-01 -2.35105762e-05 1.10215451e+01] [ 1.76259910e-03 1.07125371e-05 9.99998447e-01 2.28214353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.674391418 meters Centerline goodness [0,1] 0.9997544313970621 Centerline is valid? [True, True] Translation: X:317.45, Y:11.02, Z:2.28 [[ 9.99976396e-01 -6.64417112e-03 -1.74975272e-03 3.17446495e+02] [ 6.64414068e-03 9.99977927e-01 -2.32098163e-05 1.10222347e+01] [ 1.74986831e-03 1.15836652e-05 9.99998469e-01 2.28221627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.704391418 meters Centerline goodness [0,1] 0.9997771538084415 Centerline is valid? [True, True] Translation: X:317.48, Y:11.02, Z:2.28 [[ 9.99969328e-01 -7.62669428e-03 -1.78250690e-03 3.17477431e+02] [ 7.62666473e-03 9.99970916e-01 -2.33764699e-05 1.10217024e+01] [ 1.78263335e-03 9.78117032e-06 9.99998411e-01 2.28171392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.734391418 meters Centerline goodness [0,1] 0.9997546723761096 Centerline is valid? [True, True] Translation: X:317.51, Y:11.02, Z:2.28 [[ 9.99957919e-01 -8.96258118e-03 -1.95770635e-03 3.17509528e+02] [ 8.96254820e-03 9.99959835e-01 -2.56210021e-05 1.10204172e+01] [ 1.95785734e-03 8.07388642e-06 9.99998083e-01 2.28112289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.764391418 meters Centerline goodness [0,1] 0.9997112458630417 Centerline is valid? [True, True] Translation: X:317.54, Y:11.02, Z:2.28 [[ 9.99941437e-01 -1.06646251e-02 -1.84079268e-03 3.17540635e+02] [ 1.06645992e-02 9.99943131e-01 -2.38641681e-05 1.10192119e+01] [ 1.84094249e-03 4.23145443e-06 9.99998305e-01 2.28113726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.794391418 meters Centerline goodness [0,1] 0.9996001954599973 Centerline is valid? [True, True] Translation: X:317.57, Y:11.02, Z:2.28 [[ 9.99896207e-01 -1.43570296e-02 -1.20451541e-03 3.17572249e+02] [ 1.43570208e-02 9.99896933e-01 -1.59193849e-05 1.10152115e+01] [ 1.20461982e-03 -1.37552026e-06 9.99999274e-01 2.28121676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.824391418 meters Centerline goodness [0,1] 0.9995567965252847 Centerline is valid? [True, True] Translation: X:317.60, Y:11.01, Z:2.28 [[ 9.99867535e-01 -1.62440671e-02 -1.02117929e-03 3.17604935e+02] [ 1.62440619e-02 9.99868056e-01 -1.33794326e-05 1.10131717e+01] [ 1.02126189e-03 -3.21043928e-06 9.99999479e-01 2.28137115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.854391418 meters Centerline goodness [0,1] 0.9996231267180988 Centerline is valid? [True, True] Translation: X:317.64, Y:11.01, Z:2.28 [[ 9.99844449e-01 -1.76212686e-02 -7.54670971e-04 3.17636178e+02] [ 1.76212661e-02 9.99844733e-01 -9.84528121e-06 1.10108286e+01] [ 7.54727283e-04 -3.45450827e-06 9.99999715e-01 2.28169294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.884391418 meters Centerline goodness [0,1] 0.999602719166593 Centerline is valid? [True, True] Translation: X:317.67, Y:11.01, Z:2.28 [[ 9.99788596e-01 -2.05562384e-02 -4.52940706e-04 3.17668353e+02] [ 2.05562377e-02 9.99788698e-01 -6.17938823e-06 1.10066579e+01] [ 4.52972024e-04 -3.13267493e-06 9.99999897e-01 2.28104772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.914391418 meters Centerline goodness [0,1] 0.9996916503314759 Centerline is valid? [True, True] Translation: X:317.70, Y:11.00, Z:2.28 [[ 9.99764890e-01 -2.16595469e-02 -1.01458599e-03 3.17700433e+02] [ 2.16595448e-02 9.99765404e-01 -1.30637329e-05 1.10046101e+01] [ 1.01463092e-03 -8.91480917e-06 9.99999485e-01 2.28082367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.944391418 meters Centerline goodness [0,1] 0.99973525129065 Centerline is valid? [True, True] Translation: X:317.73, Y:11.00, Z:2.28 [[ 9.99739616e-01 -2.27819858e-02 -1.29694266e-03 3.17733138e+02] [ 2.27819836e-02 9.99740457e-01 -1.64417027e-05 1.10026876e+01] [ 1.29698063e-03 -1.31095049e-05 9.99999159e-01 2.28021514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.974391418 meters Centerline goodness [0,1] 0.9996924699059837 Centerline is valid? [True, True] Translation: X:317.77, Y:11.00, Z:2.28 [[ 9.99680663e-01 -2.51662923e-02 -2.28672952e-03 3.17765425e+02] [ 2.51662932e-02 9.99683278e-01 -2.83867562e-05 1.09985773e+01] [ 2.28671965e-03 -2.91708143e-05 9.99997385e-01 2.27856510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.004391418 meters Centerline goodness [0,1] 0.9997801859626756 Centerline is valid? [True, True] Translation: X:317.80, Y:11.00, Z:2.28 [[ 9.99655237e-01 -2.60797538e-02 -3.04197898e-03 3.17797978e+02] [ 2.60797609e-02 9.99659864e-01 -3.73379879e-05 1.09965348e+01] [ 3.04191806e-03 -4.20089692e-05 9.99995372e-01 2.27783107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.034391418 meters Centerline goodness [0,1] 0.9995169930622639 Centerline is valid? [True, True] Translation: X:317.83, Y:10.99, Z:2.28 [[ 9.99579756e-01 -2.87074993e-02 -4.02370064e-03 3.17829073e+02] [ 2.87075353e-02 9.99587853e-01 -4.88211443e-05 1.09907755e+01] [ 4.02344382e-03 -6.67099007e-05 9.99991904e-01 2.27614195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.064391418 meters Centerline goodness [0,1] 0.9995841995841996 Centerline is valid? [True, True] Translation: X:317.86, Y:10.99, Z:2.28 [[ 9.99544329e-01 -2.98100681e-02 -4.74286997e-03 3.17861042e+02] [ 2.98101320e-02 9.99555578e-01 -5.72338352e-05 1.09887293e+01] [ 4.74246828e-03 -8.41778246e-05 9.99988751e-01 2.27529840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.094391418 meters Centerline goodness [0,1] 0.9996716071545855 Centerline is valid? [True, True] Translation: X:317.89, Y:10.99, Z:2.27 [[ 9.99512152e-01 -3.08032331e-02 -5.15925248e-03 3.17892215e+02] [ 3.08033238e-02 9.99525463e-01 -6.18940849e-05 1.09857933e+01] [ 5.15871076e-03 -9.70582346e-05 9.99986689e-01 2.27473669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.124391418 meters Centerline goodness [0,1] 0.9994761312291272 Centerline is valid? [True, True] Translation: X:317.92, Y:10.98, Z:2.27 [[ 9.99489021e-01 -3.13879490e-02 -6.04102391e-03 3.17923671e+02] [ 3.13880903e-02 9.99507270e-01 -7.14411016e-05 1.09827781e+01] [ 6.04028971e-03 -1.18211608e-04 9.99981750e-01 2.27387456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.154391418 meters Centerline goodness [0,1] 0.999628642579405 Centerline is valid? [True, True] Translation: X:317.96, Y:10.98, Z:2.27 [[ 9.99422915e-01 -3.31547331e-02 -7.38918457e-03 3.17955933e+02] [ 3.31549967e-02 9.99450218e-01 -8.68538084e-05 1.09785482e+01] [ 7.38800174e-03 -1.58184704e-04 9.99972696e-01 2.27181674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.184391418 meters Centerline goodness [0,1] 0.9995420146991473 Centerline is valid? [True, True] Translation: X:317.99, Y:10.98, Z:2.27 [[ 9.99390507e-01 -3.39007473e-02 -8.32786678e-03 3.17986849e+02] [ 3.39011138e-02 9.99425187e-01 -9.71868254e-05 1.09756463e+01] [ 8.32637453e-03 -1.85196369e-04 9.99965318e-01 2.27046465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.214391418 meters Centerline goodness [0,1] 0.9995205091321215 Centerline is valid? [True, True] Translation: X:318.02, Y:10.97, Z:2.27 [[ 9.99347691e-01 -3.48233197e-02 -9.56709166e-03 3.18018684e+02] [ 3.48238521e-02 9.99393460e-01 -1.10977383e-04 1.09729813e+01] [ 9.56515343e-03 -2.22257994e-04 9.99954228e-01 2.26895171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.244391418 meters Centerline goodness [0,1] 0.9992831541218637 Centerline is valid? [True, True] Translation: X:318.05, Y:10.97, Z:2.27 [[ 9.99265982e-01 -3.64714869e-02 -1.17187091e-02 3.18051360e+02] [ 3.64724113e-02 9.99334651e-01 -1.34891100e-04 1.09684859e+01] [ 1.17158318e-02 -2.92617493e-04 9.99931324e-01 2.26583691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.274391418 meters Centerline goodness [0,1] 0.9995217287332333 Centerline is valid? [True, True] Translation: X:318.08, Y:10.97, Z:2.26 [[ 9.99220435e-01 -3.72358782e-02 -1.31152965e-02 3.18083955e+02] [ 3.72371167e-02 9.99306447e-01 -1.49842618e-04 1.09658592e+01] [ 1.31117799e-02 -3.38650021e-04 9.99913980e-01 2.26461532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.304391418 meters Centerline goodness [0,1] 0.9994568877495601 Centerline is valid? [True, True] Translation: X:318.12, Y:10.96, Z:2.26 [[ 9.99180346e-01 -3.78736306e-02 -1.42907312e-02 3.18116486e+02] [ 3.78751835e-02 9.99282465e-01 -1.62062061e-04 1.09635430e+01] [ 1.42866150e-02 -3.79334841e-04 9.99897869e-01 2.26337999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.334391418 meters Centerline goodness [0,1] 0.9993297442217466 Centerline is valid? [True, True] Translation: X:318.15, Y:10.96, Z:2.26 [[ 9.99136132e-01 -3.82697591e-02 -1.61992607e-02 3.18147424e+02] [ 3.82718261e-02 9.99267349e-01 -1.82501946e-04 1.09601291e+01] [ 1.61943766e-02 -4.37630999e-04 9.99868767e-01 2.26131481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.364391418 meters Centerline goodness [0,1] 0.999480012999675 Centerline is valid? [True, True] Translation: X:318.18, Y:10.96, Z:2.26 [[ 9.99060678e-01 -3.89758706e-02 -1.89378726e-02 3.18180038e+02] [ 3.89788499e-02 9.99240013e-01 -2.11917558e-04 1.09553703e+01] [ 1.89317398e-02 -5.26457996e-04 9.99820640e-01 2.25828594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.394391418 meters Centerline goodness [0,1] 0.9993072993332756 Centerline is valid? [True, True] Translation: X:318.21, Y:10.95, Z:2.26 [[ 9.99044782e-01 -3.86451049e-02 -2.03980036e-02 3.18211589e+02] [ 3.86485209e-02 9.99252841e-01 -2.26874743e-04 1.09530595e+01] [ 2.03915306e-02 -5.61694639e-04 9.99791913e-01 2.25656864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.424391418 meters Centerline goodness [0,1] 0.999200656757691 Centerline is valid? [True, True] Translation: X:318.24, Y:10.95, Z:2.26 [[ 9.99025627e-01 -3.75657557e-02 -2.31648420e-02 3.18242253e+02] [ 3.75698827e-02 9.99293970e-01 -2.57181309e-04 1.09521438e+01] [ 2.31581481e-02 -6.13369677e-04 9.99731626e-01 2.25547858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.454391418 meters Centerline goodness [0,1] 0.9992429977289932 Centerline is valid? [True, True] Translation: X:318.27, Y:10.95, Z:2.25 [[ 9.99043591e-01 -3.69273015e-02 -2.34153287e-02 3.18271528e+02] [ 3.69313354e-02 9.99317772e-01 -2.60289187e-04 1.09499927e+01] [ 2.34089659e-02 -6.04719113e-04 9.99725790e-01 2.25417099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.484391418 meters Centerline goodness [0,1] 0.9991369452175977 Centerline is valid? [True, True] Translation: X:318.30, Y:10.95, Z:2.25 [[ 9.99074917e-01 -3.55316549e-02 -2.42242067e-02 3.18301586e+02] [ 3.55355426e-02 9.99368377e-01 -2.70099676e-04 1.09499022e+01] [ 2.42185033e-02 -5.90970521e-04 9.99706514e-01 2.25382193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.514391418 meters Centerline goodness [0,1] 0.9991347609777201 Centerline is valid? [True, True] Translation: X:318.33, Y:10.95, Z:2.25 [[ 9.99190908e-01 -3.16657560e-02 -2.47953667e-02 3.18331264e+02] [ 3.16686151e-02 9.99498385e-01 -2.77461429e-04 1.09514477e+01] [ 2.47917150e-02 -5.07997988e-04 9.99692509e-01 2.25457430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.544391418 meters Centerline goodness [0,1] 0.9988992964130012 Centerline is valid? [True, True] Translation: X:318.36, Y:10.95, Z:2.26 [[ 9.99258484e-01 -2.95405516e-02 -2.46948827e-02 3.18359723e+02] [ 2.95426085e-02 9.99563482e-01 -2.81614871e-04 1.09528649e+01] [ 2.46924220e-02 -4.48145202e-04 9.99694995e-01 2.25524208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.574391418 meters Centerline goodness [0,1] 0.999221503795169 Centerline is valid? [True, True] Translation: X:318.39, Y:10.95, Z:2.26 [[ 9.99397592e-01 -2.43621553e-02 -2.47171647e-02 3.18388398e+02] [ 2.43624598e-02 9.99703150e-01 -2.88855771e-04 1.09548833e+01] [ 2.47168646e-02 -3.13489169e-04 9.99694442e-01 2.25662326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.604391418 meters Centerline goodness [0,1] 0.9992005531308068 Centerline is valid? [True, True] Translation: X:318.42, Y:10.96, Z:2.26 [[ 9.99453928e-01 -2.21932054e-02 -2.44807685e-02 3.18417589e+02] [ 2.21926929e-02 9.99753669e-01 -2.92653195e-04 1.09560144e+01] [ 2.44812331e-02 -2.50800794e-04 9.99700258e-01 2.25739887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.634391418 meters Centerline goodness [0,1] 0.9991573215790497 Centerline is valid? [True, True] Translation: X:318.45, Y:10.96, Z:2.26 [[ 9.99500869e-01 -2.05993786e-02 -2.39515838e-02 3.18446088e+02] [ 2.05982712e-02 9.99787790e-01 -2.92977212e-04 1.09569240e+01] [ 2.39525362e-02 -2.00530241e-04 9.99713077e-01 2.25837393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.664391418 meters Centerline goodness [0,1] 0.9991794606033124 Centerline is valid? [True, True] Translation: X:318.47, Y:10.96, Z:2.26 [[ 9.99540872e-01 -1.91367447e-02 -2.34910517e-02 3.18474261e+02] [ 1.91351903e-02 9.99816863e-01 -2.90974530e-04 1.09569473e+01] [ 2.34923179e-02 -1.58664809e-04 9.99724005e-01 2.25880596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.694391418 meters Centerline goodness [0,1] 0.9991795846107345 Centerline is valid? [True, True] Translation: X:318.50, Y:10.96, Z:2.26 [[ 9.99599255e-01 -1.74655208e-02 -2.22774739e-02 3.18502709e+02] [ 1.74635974e-02 9.99847460e-01 -2.80897073e-04 1.09563670e+01] [ 2.22789817e-02 -1.08260330e-04 9.99751787e-01 2.26072157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.724391418 meters Centerline goodness [0,1] 0.9991169122081502 Centerline is valid? [True, True] Translation: X:318.53, Y:10.96, Z:2.26 [[ 9.99599026e-01 -1.73910105e-02 -2.23459016e-02 3.18530340e+02] [ 1.73889036e-02 9.99848760e-01 -2.88607397e-04 1.09558227e+01] [ 2.23475412e-02 -1.00079056e-04 9.99750258e-01 2.26118032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.754391418 meters Centerline goodness [0,1] 0.9991597181824058 Centerline is valid? [True, True] Translation: X:318.56, Y:10.96, Z:2.26 [[ 9.99600094e-01 -1.73121844e-02 -2.23593414e-02 3.18557749e+02] [ 1.73098960e-02 9.99850129e-01 -2.95898748e-04 1.09552594e+01] [ 2.23611130e-02 -9.12574572e-05 9.99749955e-01 2.26188433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.784391418 meters Centerline goodness [0,1] 0.9991605862981856 Centerline is valid? [True, True] Translation: X:318.59, Y:10.95, Z:2.26 [[ 9.99590490e-01 -1.72617919e-02 -2.28228673e-02 3.18585557e+02] [ 1.72592886e-02 9.99851000e-01 -3.06675302e-04 1.09544378e+01] [ 2.28247605e-02 -8.73567378e-05 9.99739477e-01 2.26139656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.814391418 meters Centerline goodness [0,1] 0.9990521735384085 Centerline is valid? [True, True] Translation: X:318.61, Y:10.95, Z:2.26 [[ 9.99583462e-01 -1.75179194e-02 -2.29352309e-02 3.18612090e+02] [ 1.75153849e-02 9.99846545e-01 -3.11403490e-04 1.09518607e+01] [ 2.29371666e-02 -9.04456181e-05 9.99736904e-01 2.26158165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.844391418 meters Centerline goodness [0,1] 0.9990762422393606 Centerline is valid? [True, True] Translation: X:318.64, Y:10.95, Z:2.26 [[ 9.99578776e-01 -1.79600109e-02 -2.27971241e-02 3.18640293e+02] [ 1.79574884e-02 9.99838702e-01 -3.15378950e-04 1.09507860e+01] [ 2.27991112e-02 -9.41329874e-05 9.99740062e-01 2.26232098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.874391418 meters Centerline goodness [0,1] 0.9990754676413675 Centerline is valid? [True, True] Translation: X:318.67, Y:10.95, Z:2.26 [[ 9.99562880e-01 -1.88289313e-02 -2.27929719e-02 3.18668276e+02] [ 1.88265514e-02 9.99822714e-01 -3.19011649e-04 1.09477471e+01] [ 2.27949376e-02 -1.10240854e-04 9.99740156e-01 2.26311229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.904391418 meters Centerline goodness [0,1] 0.9992505192830682 Centerline is valid? [True, True] Translation: X:318.70, Y:10.95, Z:2.26 [[ 9.99535964e-01 -1.98285249e-02 -2.31232877e-02 3.18697450e+02] [ 1.98262279e-02 9.99803387e-01 -3.28610895e-04 1.09459855e+01] [ 2.31252573e-02 -1.29989165e-04 9.99732567e-01 2.26338783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.934391418 meters Centerline goodness [0,1] 0.9991862432276163 Centerline is valid? [True, True] Translation: X:318.73, Y:10.94, Z:2.26 [[ 9.99515627e-01 -2.09752379e-02 -2.29902289e-02 3.18725814e+02] [ 2.09731098e-02 9.99779984e-01 -3.33705369e-04 1.09446340e+01] [ 2.29921703e-02 -1.48632866e-04 9.99735634e-01 2.26471397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.964391418 meters Centerline goodness [0,1] 0.9988881761813128 Centerline is valid? [True, True] Translation: X:318.75, Y:10.94, Z:2.27 [[ 9.99460923e-01 -2.37181007e-02 -2.27005352e-02 3.18754554e+02] [ 2.37165821e-02 9.99718666e-01 -3.36156032e-04 1.09400681e+01] [ 2.27021217e-02 -2.02404289e-04 9.99742253e-01 2.26531278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.994391418 meters Centerline goodness [0,1] 0.9990808037622916 Centerline is valid? [True, True] Translation: X:318.78, Y:10.94, Z:2.26 [[ 9.99425165e-01 -2.52871694e-02 -2.25809410e-02 3.18782064e+02] [ 2.52859674e-02 9.99680201e-01 -3.38802488e-04 1.09368371e+01] [ 2.25822870e-02 -2.32373206e-04 9.99744961e-01 2.26438540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.024391418 meters Centerline goodness [0,1] 0.9989552016034458 Centerline is valid? [True, True] Translation: X:318.81, Y:10.94, Z:2.27 [[ 9.99391436e-01 -2.71695617e-02 -2.18763033e-02 3.18809963e+02] [ 2.71687558e-02 9.99630805e-01 -3.34101381e-04 1.09359484e+01] [ 2.18773041e-02 -2.60453883e-04 9.99760629e-01 2.26707349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.054391418 meters Centerline goodness [0,1] 0.9990239348158207 Centerline is valid? [True, True] Translation: X:318.84, Y:10.93, Z:2.27 [[ 9.99343686e-01 -2.95417288e-02 -2.09638401e-02 3.18838934e+02] [ 2.95413817e-02 9.99563505e-01 -3.26309824e-04 1.09319858e+01] [ 2.09643292e-02 -2.93205139e-04 9.99780181e-01 2.26894797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.084391418 meters Centerline goodness [0,1] 0.9992335043754125 Centerline is valid? [True, True] Translation: X:318.87, Y:10.93, Z:2.27 [[ 9.99297998e-01 -3.11022810e-02 -2.08844306e-02 3.18867872e+02] [ 3.11021534e-02 9.99516156e-01 -3.31000880e-04 1.09307168e+01] [ 2.08846207e-02 -3.18782247e-04 9.99781842e-01 2.26945413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.114391418 meters Centerline goodness [0,1] 0.9990450320444803 Centerline is valid? [True, True] Translation: X:318.90, Y:10.93, Z:2.27 [[ 9.99273053e-01 -3.21501769e-02 -2.04873557e-02 3.18896147e+02] [ 3.21501557e-02 9.99482995e-01 -3.30493454e-04 1.09297651e+01] [ 2.04873890e-02 -3.28418472e-04 9.99790057e-01 2.27012938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.144391418 meters Centerline goodness [0,1] 0.9990216720900061 Centerline is valid? [True, True] Translation: X:318.93, Y:10.93, Z:2.27 [[ 9.99239169e-01 -3.33013296e-02 -2.03003503e-02 3.18925451e+02] [ 3.33014951e-02 9.99445297e-01 -3.29991464e-04 1.09286806e+01] [ 2.03000788e-02 -3.46291622e-04 9.99793872e-01 2.27078906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.174391418 meters Centerline goodness [0,1] 0.9989587096499989 Centerline is valid? [True, True] Translation: X:318.95, Y:10.92, Z:2.27 [[ 9.99177629e-01 -3.55404933e-02 -1.95176579e-02 3.18954194e+02] [ 3.55410477e-02 9.99368167e-01 -3.18577834e-04 1.09243128e+01] [ 1.95166485e-02 -3.75362166e-04 9.99809462e-01 2.27053359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.204391418 meters Centerline goodness [0,1] 0.9987903225806452 Centerline is valid? [True, True] Translation: X:318.98, Y:10.93, Z:2.27 [[ 9.99135462e-01 -3.68850378e-02 -1.91786990e-02 3.18984688e+02] [ 3.68858097e-02 9.99319438e-01 -3.13615375e-04 1.09250738e+01] [ 1.91772144e-02 -3.94077600e-04 9.99816023e-01 2.27244742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.234391418 meters Centerline goodness [0,1] 0.9988129557402069 Centerline is valid? [True, True] Translation: X:319.01, Y:10.92, Z:2.27 [[ 9.99042349e-01 -3.96702143e-02 -1.84569237e-02 3.19014784e+02] [ 3.96714084e-02 9.99212734e-01 -3.01580241e-04 1.09208498e+01] [ 1.84543569e-02 -4.30920725e-04 9.99829611e-01 2.27268354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.264391418 meters Centerline goodness [0,1] 0.999129825752913 Centerline is valid? [True, True] Translation: X:319.05, Y:10.92, Z:2.27 [[ 9.99006829e-01 -4.07168272e-02 -1.80968222e-02 3.19045615e+02] [ 4.07181533e-02 9.99170628e-01 -2.95329632e-04 1.09210325e+01] [ 1.80938381e-02 -4.41832862e-04 9.99836195e-01 2.27397721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.294391418 meters Centerline goodness [0,1] 0.9991947787760638 Centerline is valid? [True, True] Translation: X:319.08, Y:10.92, Z:2.27 [[ 9.98968760e-01 -4.16456543e-02 -1.80847056e-02 3.19076037e+02] [ 4.16471451e-02 9.99132338e-01 -2.94336062e-04 1.09193268e+01] [ 1.80812720e-02 -4.59143829e-04 9.99836415e-01 2.27419284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.324391418 meters Centerline goodness [0,1] 0.9991947787760638 Centerline is valid? [True, True] Translation: X:319.11, Y:10.92, Z:2.27 [[ 9.98970426e-01 -4.16056618e-02 -1.80847195e-02 3.19106890e+02] [ 4.16071616e-02 9.99134004e-01 -2.93480080e-04 1.09197896e+01] [ 1.80812687e-02 -4.59275927e-04 9.99836415e-01 2.27440901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.354391418 meters Centerline goodness [0,1] 0.9988776180089367 Centerline is valid? [True, True] Translation: X:319.14, Y:10.92, Z:2.27 [[ 9.98925933e-01 -4.28204486e-02 -1.77027902e-02 3.19136835e+02] [ 4.28220849e-02 9.99082673e-01 -2.86795149e-04 1.09179088e+01] [ 1.76988316e-02 -4.71583272e-04 9.99843252e-01 2.27497339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.384391418 meters Centerline goodness [0,1] 0.9990468928707587 Centerline is valid? [True, True] Translation: X:319.17, Y:10.92, Z:2.28 [[ 9.98924354e-01 -4.28567788e-02 -1.77040158e-02 3.19168152e+02] [ 4.28584311e-02 9.99081114e-01 -2.86248089e-04 1.09192006e+01] [ 1.77000155e-02 -4.72826154e-04 9.99843231e-01 2.27572475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.414391418 meters Centerline goodness [0,1] 0.9989861439675566 Centerline is valid? [True, True] Translation: X:319.20, Y:10.92, Z:2.28 [[ 9.98960789e-01 -4.19863215e-02 -1.77338970e-02 3.19198968e+02] [ 4.19878549e-02 9.99118080e-01 -2.86025342e-04 1.09191094e+01] [ 1.77302663e-02 -4.58880191e-04 9.99842701e-01 2.27584439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.444391418 meters Centerline goodness [0,1] 0.998901006002198 Centerline is valid? [True, True] Translation: X:319.23, Y:10.92, Z:2.28 [[ 9.99015891e-01 -4.07485840e-02 -1.75157874e-02 3.19230520e+02] [ 4.07499018e-02 9.99169338e-01 -2.81815898e-04 1.09213795e+01] [ 1.75127213e-02 -4.32228057e-04 9.99846547e-01 2.27686426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.474391418 meters Centerline goodness [0,1] 0.999028326397837 Centerline is valid? [True, True] Translation: X:319.26, Y:10.92, Z:2.28 [[ 9.99201009e-01 -3.62157618e-02 -1.69045146e-02 3.19260782e+02] [ 3.62163486e-02 9.99343936e-01 -2.71517808e-04 1.09244720e+01] [ 1.69032574e-02 -3.40918927e-04 9.99857072e-01 2.27784257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.504391418 meters Centerline goodness [0,1] 0.9990054593931186 Centerline is valid? [True, True] Translation: X:319.29, Y:10.93, Z:2.28 [[ 9.99287547e-01 -3.39224365e-02 -1.65428591e-02 3.19291362e+02] [ 3.39226865e-02 9.99424425e-01 -2.65574100e-04 1.09266049e+01] [ 1.65423463e-02 -2.95793331e-04 9.99863122e-01 2.27870342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.534391418 meters Centerline goodness [0,1] 0.9989403187521194 Centerline is valid? [True, True] Translation: X:319.32, Y:10.93, Z:2.28 [[ 9.99374183e-01 -3.16885126e-02 -1.57187846e-02 3.19322085e+02] [ 3.16884620e-02 9.99497763e-01 -2.52344656e-04 1.09297350e+01] [ 1.57188865e-02 -2.45917376e-04 9.99876420e-01 2.28014980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.564391418 meters Centerline goodness [0,1] 0.9992396882721916 Centerline is valid? [True, True] Translation: X:319.35, Y:10.93, Z:2.28 [[ 9.99518420e-01 -2.73844188e-02 -1.45952792e-02 3.19351986e+02] [ 2.73839186e-02 9.99624963e-01 -2.34156073e-04 1.09322178e+01] [ 1.45962176e-02 -1.65632628e-04 9.99893456e-01 2.28072092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.594391418 meters Centerline goodness [0,1] 0.9990888479223614 Centerline is valid? [True, True] Translation: X:319.38, Y:10.94, Z:2.28 [[ 9.99564750e-01 -2.58695077e-02 -1.41802399e-02 3.19382425e+02] [ 2.58688851e-02 9.99665319e-01 -2.27360936e-04 1.09351460e+01] [ 1.41813758e-02 -1.39565019e-04 9.99899429e-01 2.28176507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.624391418 meters Centerline goodness [0,1] 0.9990464081373173 Centerline is valid? [True, True] Translation: X:319.41, Y:10.94, Z:2.28 [[ 9.99591248e-01 -2.48370712e-02 -1.41582585e-02 3.19412988e+02] [ 2.48363489e-02 9.99691505e-01 -2.26865382e-04 1.09362872e+01] [ 1.41595254e-02 -1.24866797e-04 9.99899741e-01 2.28186203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.654391418 meters Centerline goodness [0,1] 0.9990457205869878 Centerline is valid? [True, True] Translation: X:319.44, Y:10.93, Z:2.28 [[ 9.99588958e-01 -2.45786804e-02 -1.47581377e-02 3.19442927e+02] [ 2.45778674e-02 9.99697891e-01 -2.36484780e-04 1.09349940e+01] [ 1.47594916e-02 -1.26335977e-04 9.99891065e-01 2.28026974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.684391418 meters Centerline goodness [0,1] 0.9992147041344767 Centerline is valid? [True, True] Translation: X:319.47, Y:10.93, Z:2.28 [[ 9.99557609e-01 -2.53971514e-02 -1.54781004e-02 3.19472411e+02] [ 2.53963481e-02 9.99677430e-01 -2.48482744e-04 1.09336677e+01] [ 1.54794184e-02 -1.44714409e-04 9.99880176e-01 2.27934881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.714391418 meters Centerline goodness [0,1] 0.9991514817250376 Centerline is valid? [True, True] Translation: X:319.50, Y:10.93, Z:2.28 [[ 9.99514933e-01 -2.70170713e-02 -1.54911649e-02 3.19501821e+02] [ 2.70164522e-02 9.99634958e-01 -2.49271084e-04 1.09320264e+01] [ 1.54922445e-02 -1.69366144e-04 9.99879974e-01 2.27888994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.744391418 meters Centerline goodness [0,1] 0.9992164337145277 Centerline is valid? [True, True] Translation: X:319.53, Y:10.93, Z:2.28 [[ 9.99455025e-01 -2.88400488e-02 -1.60594306e-02 3.19532323e+02] [ 2.88396144e-02 9.99584018e-01 -2.58686735e-04 1.09321011e+01] [ 1.60602107e-02 -2.04602027e-04 9.99871006e-01 2.28000217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.774391418 meters Centerline goodness [0,1] 0.9990094001601821 Centerline is valid? [True, True] Translation: X:319.56, Y:10.93, Z:2.28 [[ 9.99325777e-01 -3.33219439e-02 -1.54155801e-02 3.19562318e+02] [ 3.33220896e-02 9.99444634e-01 -2.47473097e-04 1.09252394e+01] [ 1.54152651e-02 -2.66373098e-04 9.99881142e-01 2.27947713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.804391418 meters Centerline goodness [0,1] 0.9989207719654647 Centerline is valid? [True, True] Translation: X:319.59, Y:10.93, Z:2.28 [[ 9.99265543e-01 -3.54904940e-02 -1.44498799e-02 3.19593604e+02] [ 3.54908624e-02 9.99369974e-01 -2.31011379e-04 1.09266201e+01] [ 1.44489748e-02 -2.81996987e-04 9.99895568e-01 2.28207481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.834391418 meters Centerline goodness [0,1] 0.9990940884001179 Centerline is valid? [True, True] Translation: X:319.63, Y:10.92, Z:2.28 [[ 9.99126415e-01 -3.97178551e-02 -1.29961441e-02 3.19625325e+02] [ 3.97185169e-02 9.99210887e-01 -2.07275228e-04 1.09220158e+01] [ 1.29941212e-02 -3.09093412e-04 9.99915525e-01 2.28366750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.864391418 meters Centerline goodness [0,1] 0.9992185685019747 Centerline is valid? [True, True] Translation: X:319.66, Y:10.92, Z:2.28 [[ 9.99049242e-01 -4.18117414e-02 -1.23446797e-02 3.19657640e+02] [ 4.18125069e-02 9.99125455e-01 -1.96182773e-04 1.09202865e+01] [ 1.23420864e-02 -3.20165753e-04 9.99923782e-01 2.28432947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.894391418 meters Centerline goodness [0,1] 0.9989015863627723 Centerline is valid? [True, True] Translation: X:319.69, Y:10.92, Z:2.28 [[ 9.98960047e-01 -4.40046303e-02 -1.19338662e-02 3.19688430e+02] [ 4.40055170e-02 9.99031270e-01 -1.88406391e-04 1.09174000e+01] [ 1.19305963e-02 -3.36945496e-04 9.99928771e-01 2.28434147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.924391418 meters Centerline goodness [0,1] 0.99890320811626 Centerline is valid? [True, True] Translation: X:319.72, Y:10.91, Z:2.28 [[ 9.98774187e-01 -4.82333871e-02 -1.11204610e-02 3.19719901e+02] [ 4.82344309e-02 9.98836027e-01 -1.74477027e-04 1.09133319e+01] [ 1.11159327e-02 -3.62125958e-04 9.99938151e-01 2.28480479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.954391418 meters Centerline goodness [0,1] 0.9989252976504056 Centerline is valid? [True, True] Translation: X:319.75, Y:10.91, Z:2.29 [[ 9.98669746e-01 -5.04012698e-02 -1.08834896e-02 3.19751657e+02] [ 5.04024037e-02 9.98728977e-01 -1.70249368e-04 1.09109352e+01] [ 1.08782372e-02 -3.78531144e-04 9.99940759e-01 2.28502208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.984391418 meters Centerline goodness [0,1] 0.9988811011653437 Centerline is valid? [True, True] Translation: X:319.78, Y:10.91, Z:2.29 [[ 9.98564640e-01 -5.24188607e-02 -1.09965325e-02 3.19783378e+02] [ 5.24201504e-02 9.98625104e-01 -1.71108654e-04 1.09106409e+01] [ 1.09903828e-02 -4.05576839e-04 9.99939522e-01 2.28545029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.014391418 meters Centerline goodness [0,1] 0.9989242321970976 Centerline is valid? [True, True] Translation: X:319.82, Y:10.91, Z:2.29 [[ 9.98437329e-01 -5.47403481e-02 -1.12424982e-02 3.19815949e+02] [ 5.47418568e-02 9.98500525e-01 -1.73716450e-04 1.09091609e+01] [ 1.12351496e-02 -4.41990236e-04 9.99936786e-01 2.28535189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.044391418 meters Centerline goodness [0,1] 0.9991770068371739 Centerline is valid? [True, True] Translation: X:319.85, Y:10.90, Z:2.28 [[ 9.98173429e-01 -5.92629964e-02 -1.17346466e-02 3.19846836e+02] [ 5.92649603e-02 9.98242271e-01 -1.80613647e-04 1.09041346e+01] [ 1.17247240e-02 -5.15169624e-04 9.99931130e-01 2.28490941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.074391418 meters Centerline goodness [0,1] 0.9988182412898052 Centerline is valid? [True, True] Translation: X:319.88, Y:10.90, Z:2.28 [[ 9.98032732e-01 -6.14815068e-02 -1.22755799e-02 3.19878200e+02] [ 6.14838292e-02 9.98108062e-01 -1.88462287e-04 1.08972724e+01] [ 1.22639422e-02 -5.66658129e-04 9.99924634e-01 2.28438778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.104391418 meters Centerline goodness [0,1] 0.9991389087243248 Centerline is valid? [True, True] Translation: X:319.91, Y:10.90, Z:2.29 [[ 9.97770327e-01 -6.54476006e-02 -1.30761629e-02 3.19909686e+02] [ 6.54505849e-02 9.97855792e-01 -2.00041808e-04 1.08992032e+01] [ 1.30612171e-02 -6.56246728e-04 9.99914483e-01 2.28511335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.134391418 meters Centerline goodness [0,1] 0.9990547012856063 Centerline is valid? [True, True] Translation: X:319.94, Y:10.90, Z:2.28 [[ 9.97665928e-01 -6.68877686e-02 -1.37376294e-02 3.19941215e+02] [ 6.68912086e-02 9.97760253e-01 -2.09443460e-04 1.08959323e+01] [ 1.37208698e-02 -7.09972029e-04 9.99905612e-01 2.28462456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.164391418 meters Centerline goodness [0,1] 0.9990528509187346 Centerline is valid? [True, True] Translation: X:319.97, Y:10.90, Z:2.28 [[ 9.97591935e-01 -6.79322866e-02 -1.39833833e-02 3.19973505e+02] [ 6.79359672e-02 9.97689661e-01 -2.12180209e-04 1.08971517e+01] [ 1.39654908e-02 -7.38305405e-04 9.99902205e-01 2.28490046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.194391418 meters Centerline goodness [0,1] 0.9990114420326435 Centerline is valid? [True, True] Translation: X:320.00, Y:10.90, Z:2.28 [[ 9.97488995e-01 -6.94146462e-02 -1.40467695e-02 3.20004838e+02] [ 6.94185209e-02 9.97587602e-01 -2.12137210e-04 1.08953269e+01] [ 1.40276086e-02 -7.63501431e-04 9.99901317e-01 2.28461553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.224391418 meters Centerline goodness [0,1] 0.9989926547743967 Centerline is valid? [True, True] Translation: X:320.04, Y:10.90, Z:2.28 [[ 9.97467058e-01 -6.97293978e-02 -1.40456182e-02 3.20037309e+02] [ 6.97333169e-02 9.97565647e-01 -2.11124490e-04 1.08950115e+01] [ 1.40261478e-02 -7.68857822e-04 9.99901333e-01 2.28477036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.254391418 meters Centerline goodness [0,1] 0.9990543635866939 Centerline is valid? [True, True] Translation: X:320.07, Y:10.90, Z:2.29 [[ 9.97464741e-01 -6.98269270e-02 -1.37219020e-02 3.20069537e+02] [ 6.98306917e-02 9.97558837e-01 -2.05163934e-04 1.08951354e+01] [ 1.37027305e-02 -7.53566114e-04 9.99905829e-01 2.28510672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.284391418 meters Centerline goodness [0,1] 0.9989685296284602 Centerline is valid? [True, True] Translation: X:320.10, Y:10.90, Z:2.28 [[ 9.97414895e-01 -7.03021407e-02 -1.48706586e-02 3.20101141e+02] [ 7.03066374e-02 9.97525402e-01 -2.20825964e-04 1.08950499e+01] [ 1.48493842e-02 -8.25250896e-04 9.99889401e-01 2.28459857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.314391418 meters Centerline goodness [0,1] 0.9990315993347508 Centerline is valid? [True, True] Translation: X:320.13, Y:10.90, Z:2.28 [[ 9.97398210e-01 -7.03752016e-02 -1.56250582e-02 3.20133180e+02] [ 7.03801991e-02 9.97520213e-01 -2.30489346e-04 1.08978203e+01] [ 1.56025321e-02 -8.69805046e-04 9.99877895e-01 2.28487029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.344391418 meters Centerline goodness [0,1] 0.9986981627296588 Centerline is valid? [True, True] Translation: X:320.16, Y:10.90, Z:2.28 [[ 9.97367815e-01 -7.05043791e-02 -1.69284968e-02 3.20164518e+02] [ 7.05102845e-02 9.97511022e-01 -2.48507453e-04 1.08958880e+01] [ 1.69038830e-02 -9.45779792e-04 9.99856672e-01 2.28373274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.374391418 meters Centerline goodness [0,1] 0.9991773366802371 Centerline is valid? [True, True] Translation: X:320.20, Y:10.90, Z:2.28 [[ 9.97319085e-01 -7.09481250e-02 -1.79166351e-02 3.20196808e+02] [ 7.09548353e-02 9.97479495e-01 -2.61685027e-04 1.09024388e+01] [ 1.78900422e-02 -1.01028842e-03 9.99839450e-01 2.28431888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.404391418 meters Centerline goodness [0,1] 0.9988026216284346 Centerline is valid? [True, True] Translation: X:320.23, Y:10.90, Z:2.28 [[ 9.97309969e-01 -7.11011302e-02 -1.78172439e-02 3.20228468e+02] [ 7.11078122e-02 9.97468602e-01 -2.59010058e-04 1.09044883e+01] [ 1.77905572e-02 -1.00863192e-03 9.99841227e-01 2.28478819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.434391418 meters Centerline goodness [0,1] 0.9987373471663966 Centerline is valid? [True, True] Translation: X:320.26, Y:10.90, Z:2.29 [[ 9.97300978e-01 -7.12881839e-02 -1.75713958e-02 3.20259739e+02] [ 7.12947303e-02 9.97455261e-01 -2.54375969e-04 1.09026567e+01] [ 1.75448151e-02 -9.99058519e-04 9.99845579e-01 2.28503424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.464391418 meters Centerline goodness [0,1] 0.9988626550685566 Centerline is valid? [True, True] Translation: X:320.29, Y:10.91, Z:2.29 [[ 9.97355202e-01 -7.07401610e-02 -1.66862209e-02 3.20291562e+02] [ 7.07460074e-02 9.97494333e-01 -2.40387001e-04 1.09085087e+01] [ 1.66614158e-02 -9.40732280e-04 9.99860746e-01 2.28707702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.494391418 meters Centerline goodness [0,1] 0.9988001263024945 Centerline is valid? [True, True] Translation: X:320.32, Y:10.91, Z:2.29 [[ 9.97425249e-01 -6.98790829e-02 -1.61178695e-02 3.20324241e+02] [ 6.98844489e-02 9.97555066e-01 -2.30753471e-04 1.09111685e+01] [ 1.60945873e-02 -8.96229092e-04 9.99870072e-01 2.28791866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.524391418 meters Centerline goodness [0,1] 0.9987295134036336 Centerline is valid? [True, True] Translation: X:320.36, Y:10.92, Z:2.29 [[ 9.97512623e-01 -6.87761318e-02 -1.54405620e-02 3.20356824e+02] [ 6.87809480e-02 9.97631762e-01 -2.19533516e-04 1.09165758e+01] [ 1.54190937e-02 -8.43029039e-04 9.99880763e-01 2.28926838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.554391418 meters Centerline goodness [0,1] 0.9987934720487691 Centerline is valid? [True, True] Translation: X:320.39, Y:10.92, Z:2.29 [[ 9.97700217e-01 -6.62195247e-02 -1.44655545e-02 3.20388315e+02] [ 6.62234999e-02 9.97804794e-01 -2.04549229e-04 1.09229850e+01] [ 1.44473448e-02 -7.53880837e-04 9.99895347e-01 2.29079924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.584391418 meters Centerline goodness [0,1] 0.9988127795798087 Centerline is valid? [True, True] Translation: X:320.42, Y:10.93, Z:2.29 [[ 9.97801498e-01 -6.47431573e-02 -1.41596263e-02 3.20419936e+02] [ 6.47468320e-02 9.97901703e-01 -1.99228595e-04 1.09253955e+01] [ 1.41428138e-02 -7.18000351e-04 9.99899728e-01 2.29135513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.614391418 meters Centerline goodness [0,1] 0.9987725647048865 Centerline is valid? [True, True] Translation: X:320.45, Y:10.93, Z:2.29 [[ 9.97891676e-01 -6.33423929e-02 -1.41401752e-02 3.20452041e+02] [ 6.33459333e-02 9.97991610e-01 -1.97817574e-04 1.09283602e+01] [ 1.41243064e-02 -6.98322082e-04 9.99900003e-01 2.29161309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.644391418 meters Centerline goodness [0,1] 0.9989826844414301 Centerline is valid? [True, True] Translation: X:320.48, Y:10.93, Z:2.29 [[ 9.98016022e-01 -6.13245073e-02 -1.42592287e-02 3.20483536e+02] [ 6.13279143e-02 9.98117652e-01 -1.98622709e-04 1.09336783e+01] [ 1.42445683e-02 -6.76260109e-04 9.99898312e-01 2.29201106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.674391418 meters Centerline goodness [0,1] 0.9988988649839065 Centerline is valid? [True, True] Translation: X:320.51, Y:10.93, Z:2.29 [[ 9.98055747e-01 -6.06523166e-02 -1.43534655e-02 3.20514944e+02] [ 6.06557098e-02 9.98158727e-01 -1.99212927e-04 1.09343258e+01] [ 1.43391196e-02 -6.71794035e-04 9.99896964e-01 2.29215715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.704391418 meters Centerline goodness [0,1] 0.9989178637357041 Centerline is valid? [True, True] Translation: X:320.55, Y:10.94, Z:2.29 [[ 9.98100721e-01 -5.99187843e-02 -1.43069847e-02 3.20546637e+02] [ 5.99220944e-02 9.98203037e-01 -1.97587545e-04 1.09371555e+01] [ 1.42931148e-02 -6.60092217e-04 9.99897630e-01 2.29306697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.734391418 meters Centerline goodness [0,1] 0.9987060919735279 Centerline is valid? [True, True] Translation: X:320.58, Y:10.94, Z:2.29 [[ 9.98094827e-01 -5.98635509e-02 -1.49355556e-02 3.20579229e+02] [ 5.98671699e-02 9.98206331e-01 -2.05075063e-04 1.09413421e+01] [ 1.49210427e-02 -6.89465083e-04 9.99888437e-01 2.29335567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.764391418 meters Centerline goodness [0,1] 0.9989587539046728 Centerline is valid? [True, True] Translation: X:320.61, Y:10.94, Z:2.29 [[ 9.98111680e-01 -5.95695339e-02 -1.49847947e-02 3.20611375e+02] [ 5.95731616e-02 9.98223921e-01 -2.04565254e-04 1.09422540e+01] [ 1.49703663e-02 -6.88512624e-04 9.99887701e-01 2.29345020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.794391418 meters Centerline goodness [0,1] 0.9990845805036936 Centerline is valid? [True, True] Translation: X:320.64, Y:10.95, Z:2.29 [[ 9.98105814e-01 -5.95557037e-02 -1.54240773e-02 3.20643902e+02] [ 5.95595650e-02 9.98224731e-01 -2.09301066e-04 1.09472069e+01] [ 1.54091605e-02 -7.09746726e-04 9.99881020e-01 2.29384836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.824391418 meters Centerline goodness [0,1] 0.9991062879029684 Centerline is valid? [True, True] Translation: X:320.68, Y:10.94, Z:2.29 [[ 9.98103347e-01 -5.94939780e-02 -1.58169579e-02 3.20675517e+02] [ 5.94980487e-02 9.98228399e-01 -2.13501570e-04 1.09441834e+01] [ 1.58016387e-02 -7.27981502e-04 9.99874881e-01 2.29302907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.854391418 meters Centerline goodness [0,1] 0.9988914943508846 Centerline is valid? [True, True] Translation: X:320.71, Y:10.95, Z:2.29 [[ 9.98148799e-01 -5.85888336e-02 -1.63193984e-02 3.20707887e+02] [ 5.85930653e-02 9.98281926e-01 -2.19118034e-04 1.09482873e+01] [ 1.63041983e-02 -7.37491170e-04 9.99866806e-01 2.29281446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.884391418 meters Centerline goodness [0,1] 0.9989541981474367 Centerline is valid? [True, True] Translation: X:320.74, Y:10.96, Z:2.29 [[ 9.98206697e-01 -5.75311857e-02 -1.65394243e-02 3.20739575e+02] [ 5.75354094e-02 9.98343442e-01 -2.20738590e-04 1.09550632e+01] [ 1.65247252e-02 -7.31259813e-04 9.99863190e-01 2.29378352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.914391418 meters Centerline goodness [0,1] 0.9991460108029634 Centerline is valid? [True, True] Translation: X:320.77, Y:10.96, Z:2.29 [[ 9.98417649e-01 -5.36862039e-02 -1.67328844e-02 3.20770484e+02] [ 5.36900044e-02 9.98557627e-01 -2.22342090e-04 1.09584178e+01] [ 1.67206861e-02 -6.76398371e-04 9.99859971e-01 2.29356791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.944391418 meters Centerline goodness [0,1] 0.9989946309011958 Centerline is valid? [True, True] Translation: X:320.80, Y:10.97, Z:2.29 [[ 9.98546148e-01 -5.11779839e-02 -1.69235063e-02 3.20801874e+02] [ 5.11815235e-02 9.98689342e-01 -2.24180366e-04 1.09650709e+01] [ 1.69127985e-02 -6.42316396e-04 9.99856762e-01 2.29459310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.974391418 meters Centerline goodness [0,1] 0.9991224878539477 Centerline is valid? [True, True] Translation: X:320.83, Y:10.97, Z:2.30 [[ 9.98691568e-01 -4.83256656e-02 -1.67267099e-02 3.20832437e+02] [ 4.83287318e-02 9.98831460e-01 -2.21094799e-04 1.09687201e+01] [ 1.67178486e-02 -5.87575164e-04 9.99860074e-01 2.29514346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.004391418 meters Centerline goodness [0,1] 0.9990591857680465 Centerline is valid? [True, True] Translation: X:320.86, Y:10.98, Z:2.30 [[ 9.98972125e-01 -4.23313985e-02 -1.62094567e-02 3.20862587e+02] [ 4.23334917e-02 9.99103513e-01 -2.14121183e-04 1.09779137e+01] [ 1.62039892e-02 -4.72301809e-04 9.99868595e-01 2.29592863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.034391418 meters Centerline goodness [0,1] 0.9991862606535612 Centerline is valid? [True, True] Translation: X:320.89, Y:10.98, Z:2.30 [[ 9.99095126e-01 -3.94524170e-02 -1.58882576e-02 3.20894069e+02] [ 3.94540727e-02 9.99221363e-01 -2.09346225e-04 1.09804670e+01] [ 1.58841456e-02 -4.17699677e-04 9.99873752e-01 2.29616305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.064391418 meters Centerline goodness [0,1] 0.999228345444023 Centerline is valid? [True, True] Translation: X:320.93, Y:10.99, Z:2.30 [[ 9.99215316e-01 -3.65450795e-02 -1.52711923e-02 3.20925738e+02] [ 3.65462835e-02 9.99331941e-01 -2.00312902e-04 1.09862780e+01] [ 1.52683107e-02 -3.57949605e-04 9.99883368e-01 2.29747425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.094391418 meters Centerline goodness [0,1] 0.9994841150423456 Centerline is valid? [True, True] Translation: X:320.96, Y:10.99, Z:2.30 [[ 9.99414007e-01 -3.12433380e-02 -1.39819866e-02 3.20956352e+02] [ 3.12438379e-02 9.99511775e-01 -1.82735866e-04 1.09921389e+01] [ 1.39808695e-02 -2.54222139e-04 9.99902231e-01 2.29844720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.124391418 meters Centerline goodness [0,1] 0.9993112799431806 Centerline is valid? [True, True] Translation: X:320.99, Y:10.99, Z:2.30 [[ 9.99498991e-01 -2.88625453e-02 -1.29892771e-02 3.20987125e+02] [ 2.88627837e-02 9.99583369e-01 -1.69149249e-04 1.09944765e+01] [ 1.29887475e-02 -2.05842193e-04 9.99915621e-01 2.29860296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.154391418 meters Centerline goodness [0,1] 0.9998924916143459 Centerline is valid? [True, True] Translation: X:321.02, Y:11.00, Z:2.30 [[ 9.99579043e-01 -2.61841588e-02 -1.24950774e-02 3.21018050e+02] [ 2.61841777e-02 9.99657123e-01 -1.62103716e-04 1.09978257e+01] [ 1.24950377e-02 -1.65137851e-04 9.99921920e-01 2.29934494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.184391418 meters Centerline goodness [0,1] 0.9995898985538528 Centerline is valid? [True, True] Translation: X:321.05, Y:11.00, Z:2.30 [[ 9.99686162e-01 -2.19804733e-02 -1.20181302e-02 3.21048136e+02] [ 2.19801914e-02 9.99758394e-01 -1.55558145e-04 1.10035647e+01] [ 1.20186457e-02 -1.08651476e-04 9.99927768e-01 2.29934560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.214391418 meters Centerline goodness [0,1] 0.9995463187003111 Centerline is valid? [True, True] Translation: X:321.08, Y:11.01, Z:2.30 [[ 9.99727064e-01 -2.00462325e-02 -1.19977465e-02 3.21079348e+02] [ 2.00458162e-02 9.99799050e-01 -1.54966142e-04 1.10066461e+01] [ 1.19984421e-02 -8.55807757e-05 9.99928012e-01 2.29964478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.244391418 meters Centerline goodness [0,1] 0.9997187608168917 Centerline is valid? [True, True] Translation: X:321.11, Y:11.01, Z:2.30 [[ 9.99766858e-01 -1.82116091e-02 -1.16003011e-02 3.21110959e+02] [ 1.82111015e-02 9.99834153e-01 -1.49392407e-04 1.10089667e+01] [ 1.16010979e-02 -6.18966831e-05 9.99932703e-01 2.29981591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.274391418 meters Centerline goodness [0,1] 0.9997187608168917 Centerline is valid? [True, True] Translation: X:321.14, Y:11.01, Z:2.30 [[ 9.99766858e-01 -1.82116072e-02 -1.16003046e-02 3.21140957e+02] [ 1.82111027e-02 9.99834153e-01 -1.49121938e-04 1.10093522e+01] [ 1.16010964e-02 -6.21671668e-05 9.99932703e-01 2.30002610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.304391418 meters Centerline goodness [0,1] 0.9995904554566422 Centerline is valid? [True, True] Translation: X:321.17, Y:11.01, Z:2.30 [[ 9.99803500e-01 -1.62139321e-02 -1.14048049e-02 3.21171177e+02] [ 1.62133146e-02 9.99868545e-01 -1.46608790e-04 1.10126613e+01] [ 1.14056828e-02 -3.83297087e-05 9.99934952e-01 2.29986461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.334391418 meters Centerline goodness [0,1] 0.9996761658031088 Centerline is valid? [True, True] Translation: X:321.20, Y:11.01, Z:2.30 [[ 9.99802745e-01 -1.59438380e-02 -1.18433339e-02 3.21200503e+02] [ 1.59431520e-02 9.99872888e-01 -1.52340399e-04 1.10133740e+01] [ 1.18442574e-02 -3.65097245e-05 9.99929854e-01 2.29935375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.364391418 meters Centerline goodness [0,1] 0.9998270345066159 Centerline is valid? [True, True] Translation: X:321.23, Y:11.01, Z:2.30 [[ 9.99781995e-01 -1.67378616e-02 -1.24822598e-02 3.21231008e+02] [ 1.67371596e-02 9.99859911e-01 -1.60702975e-04 1.10135159e+01] [ 1.24832010e-02 -4.82496344e-05 9.99922081e-01 2.29852164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.394391418 meters Centerline goodness [0,1] 0.9998704467428152 Centerline is valid? [True, True] Translation: X:321.26, Y:11.01, Z:2.30 [[ 9.99759089e-01 -1.77842000e-02 -1.28641102e-02 3.21261967e+02] [ 1.77835411e-02 9.99841847e-01 -1.65619111e-04 1.10136225e+01] [ 1.28650211e-02 -6.31902208e-05 9.99917240e-01 2.29845380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.424391418 meters Centerline goodness [0,1] 0.9998056701142228 Centerline is valid? [True, True] Translation: X:321.29, Y:11.01, Z:2.30 [[ 9.99731460e-01 -1.92105404e-02 -1.29600526e-02 3.21291630e+02] [ 1.92099899e-02 9.99815457e-01 -1.66971068e-04 1.10120762e+01] [ 1.29608685e-02 -8.20362493e-05 9.99916001e-01 2.29753406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.454391418 meters Centerline goodness [0,1] 0.9996320107366279 Centerline is valid? [True, True] Translation: X:321.32, Y:11.01, Z:2.30 [[ 9.99687245e-01 -2.11338772e-02 -1.33705737e-02 3.21322372e+02] [ 2.11334614e-02 9.99776649e-01 -1.72401852e-04 1.10118206e+01] [ 1.33712308e-02 -1.10218570e-04 9.99910595e-01 2.29798280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.484391418 meters Centerline goodness [0,1] 0.9997193376368229 Centerline is valid? [True, True] Translation: X:321.35, Y:11.01, Z:2.30 [[ 9.99600523e-01 -2.45321314e-02 -1.40345357e-02 3.21352531e+02] [ 2.45320137e-02 9.99699029e-01 -1.80563086e-04 1.10081988e+01] [ 1.40347413e-02 -1.63804467e-04 9.99901495e-01 2.29701307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.514391418 meters Centerline goodness [0,1] 0.9996109033527161 Centerline is valid? [True, True] Translation: X:321.38, Y:11.01, Z:2.30 [[ 9.99551741e-01 -2.62862643e-02 -1.43300313e-02 3.21383374e+02] [ 2.62863298e-02 9.99654438e-01 -1.83816758e-04 1.10067146e+01] [ 1.43299113e-02 -1.92949569e-04 9.99897303e-01 2.29674389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.544391418 meters Centerline goodness [0,1] 0.9997627674258109 Centerline is valid? [True, True] Translation: X:321.42, Y:11.01, Z:2.30 [[ 9.99505065e-01 -2.79205981e-02 -1.44936217e-02 3.21415054e+02] [ 2.79208430e-02 9.99610120e-01 -1.85488505e-04 1.10055594e+01] [ 1.44931499e-02 -2.19277436e-04 9.99894945e-01 2.29653106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.574391418 meters Centerline goodness [0,1] 0.9998055735580039 Centerline is valid? [True, True] Translation: X:321.45, Y:11.00, Z:2.30 [[ 9.99444606e-01 -2.97877343e-02 -1.49388670e-02 3.21445822e+02] [ 2.97882095e-02 9.99556215e-01 -1.90753922e-04 1.10037660e+01] [ 1.49379195e-02 -2.54354121e-04 9.99888391e-01 2.29616700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.604391418 meters Centerline goodness [0,1] 0.9994172619946906 Centerline is valid? [True, True] Translation: X:321.48, Y:11.00, Z:2.30 [[ 9.99328452e-01 -3.31963543e-02 -1.55128209e-02 3.21476045e+02] [ 3.31972819e-02 9.99448799e-01 -1.97782552e-04 1.10011241e+01] [ 1.55108359e-02 -3.17333758e-04 9.99879649e-01 2.29541123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.634391418 meters Centerline goodness [0,1] 0.9996974215997753 Centerline is valid? [True, True] Translation: X:321.51, Y:11.00, Z:2.30 [[ 9.99264226e-01 -3.49528465e-02 -1.57894260e-02 3.21507171e+02] [ 3.49540339e-02 9.99388901e-01 -2.00846330e-04 1.09999502e+01] [ 1.57867973e-02 -3.51205581e-04 9.99875319e-01 2.29554185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.664391418 meters Centerline goodness [0,1] 0.9994173500215796 Centerline is valid? [True, True] Translation: X:321.54, Y:11.00, Z:2.30 [[ 9.99114790e-01 -3.88565203e-02 -1.61185639e-02 3.21538277e+02] [ 3.88582753e-02 9.99244711e-01 -2.04414550e-04 1.09982343e+01] [ 1.61143326e-02 -4.22105993e-04 9.99870067e-01 2.29592659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.694391418 meters Centerline goodness [0,1] 0.9993533228427928 Centerline is valid? [True, True] Translation: X:321.57, Y:10.99, Z:2.30 [[ 9.99027909e-01 -4.10625950e-02 -1.60343199e-02 3.21569008e+02] [ 4.10646255e-02 9.99156472e-01 -2.02729898e-04 1.09948822e+01] [ 1.60291191e-02 -4.55910517e-04 9.99871421e-01 2.29563212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.724391418 meters Centerline goodness [0,1] 0.9992445173545156 Centerline is valid? [True, True] Translation: X:321.60, Y:10.99, Z:2.30 [[ 9.98926272e-01 -4.33433794e-02 -1.63601619e-02 3.21601064e+02] [ 4.33458151e-02 9.99060107e-01 -2.05851452e-04 1.09946605e+01] [ 1.63537074e-02 -5.03514129e-04 9.99866142e-01 2.29615939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.754391418 meters Centerline goodness [0,1] 0.9992898797099267 Centerline is valid? [True, True] Translation: X:321.63, Y:10.99, Z:2.30 [[ 9.98692226e-01 -4.84178439e-02 -1.64179683e-02 3.21632307e+02] [ 4.84209966e-02 9.98826994e-01 -2.05670499e-04 1.09906316e+01] [ 1.64086681e-02 -5.89572858e-04 9.99865195e-01 2.29651598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.784391418 meters Centerline goodness [0,1] 0.9989458284927499 Centerline is valid? [True, True] Translation: X:321.66, Y:10.99, Z:2.30 [[ 9.98575235e-01 -5.08085326e-02 -1.63093034e-02 3.21664741e+02] [ 5.08119785e-02 9.98708216e-01 -2.03293710e-04 1.09903999e+01] [ 1.62985643e-02 -6.25703907e-04 9.99866974e-01 2.29699260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.814391418 meters Centerline goodness [0,1] 0.9989018087855297 Centerline is valid? [True, True] Translation: X:321.70, Y:10.98, Z:2.30 [[ 9.98457953e-01 -5.32836740e-02 -1.55745521e-02 3.21695949e+02] [ 5.32871333e-02 9.98579213e-01 -1.93086692e-04 1.09807919e+01] [ 1.55627124e-02 -6.37134293e-04 9.99878691e-01 2.29597938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.844391418 meters Centerline goodness [0,1] 0.9992061619000622 Centerline is valid? [True, True] Translation: X:321.73, Y:10.98, Z:2.30 [[ 9.98233598e-01 -5.74575786e-02 -1.51099528e-02 3.21726874e+02] [ 5.74613202e-02 9.98347716e-01 -1.86762072e-04 1.09833230e+01] [ 1.50957178e-02 -6.81805663e-04 9.99885821e-01 2.29846299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.874391418 meters Centerline goodness [0,1] 0.9992047286405159 Centerline is valid? [True, True] Translation: X:321.76, Y:10.98, Z:2.30 [[ 9.98144216e-01 -5.90513775e-02 -1.48680487e-02 3.21758510e+02] [ 5.90551855e-02 9.98254703e-01 -1.83175036e-04 1.09817229e+01] [ 1.48529163e-02 -6.95200272e-04 9.99889448e-01 2.29858185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.904391418 meters Centerline goodness [0,1] 0.9990789135463971 Centerline is valid? [True, True] Translation: X:321.79, Y:10.98, Z:2.30 [[ 9.98043637e-01 -6.06389242e-02 -1.52256447e-02 3.21790665e+02] [ 6.06431181e-02 9.98159495e-01 -1.86515936e-04 1.09805215e+01] [ 1.52089320e-02 -7.37179528e-04 9.99884066e-01 2.29848262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.934391418 meters Centerline goodness [0,1] 0.9990104121848378 Centerline is valid? [True, True] Translation: X:321.82, Y:10.98, Z:2.30 [[ 9.97882192e-01 -6.31004466e-02 -1.57944384e-02 3.21822807e+02] [ 6.31052872e-02 9.98006857e-01 -1.92218895e-04 1.09804836e+01] [ 1.57750869e-02 -8.04900759e-04 9.99875242e-01 2.29871141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.964391418 meters Centerline goodness [0,1] 0.9989246849326853 Centerline is valid? [True, True] Translation: X:321.86, Y:10.98, Z:2.30 [[ 9.97842926e-01 -6.35574837e-02 -1.64298710e-02 3.21855187e+02] [ 6.35628054e-02 9.97977821e-01 -1.98624586e-04 1.09797863e+01] [ 1.64092709e-02 -8.46132552e-04 9.99865001e-01 2.29845032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.994391418 meters Centerline goodness [0,1] 0.9989916326968462 Centerline is valid? [True, True] Translation: X:321.89, Y:10.98, Z:2.30 [[ 9.97811837e-01 -6.38757636e-02 -1.70711453e-02 3.21887611e+02] [ 6.38815788e-02 9.97957465e-01 -2.04999878e-04 1.09796182e+01] [ 1.70493714e-02 -8.85980407e-04 9.99854256e-01 2.29831663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.024391418 meters Centerline goodness [0,1] 0.9992035131527963 Centerline is valid? [True, True] Translation: X:321.92, Y:10.98, Z:2.30 [[ 9.97815202e-01 -6.37310254e-02 -1.74120195e-02 3.21919328e+02] [ 6.37370810e-02 9.97966704e-01 -2.07499880e-04 1.09791385e+01] [ 1.73898399e-02 -9.02744761e-04 9.99848378e-01 2.29781659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.054391418 meters Centerline goodness [0,1] 0.9991171784160889 Centerline is valid? [True, True] Translation: X:321.95, Y:10.98, Z:2.30 [[ 9.97892223e-01 -6.22186430e-02 -1.84377713e-02 3.21951820e+02] [ 6.22252060e-02 9.98062110e-01 -2.18081678e-04 1.09829598e+01] [ 1.84156097e-02 -9.29672109e-04 9.99829986e-01 2.29761759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.084391418 meters Centerline goodness [0,1] 0.9993528345845198 Centerline is valid? [True, True] Translation: X:321.98, Y:10.99, Z:2.30 [[ 9.97973280e-01 -6.08521135e-02 -1.86105355e-02 3.21984465e+02] [ 6.08585950e-02 9.98146374e-01 -2.18411928e-04 1.09850128e+01] [ 1.85893293e-02 -9.14641772e-04 9.99826785e-01 2.29798533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.114391418 meters Centerline goodness [0,1] 0.9992884710752712 Centerline is valid? [True, True] Translation: X:322.01, Y:10.99, Z:2.30 [[ 9.98138697e-01 -5.79802810e-02 -1.89058039e-02 3.22014997e+02] [ 5.79864736e-02 9.98317344e-01 -2.20934692e-04 1.09875604e+01] [ 1.88868018e-02 -8.75757431e-04 9.99821245e-01 2.29768168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.144391418 meters Centerline goodness [0,1] 0.999222142996046 Centerline is valid? [True, True] Translation: X:322.05, Y:10.99, Z:2.30 [[ 9.98252288e-01 -5.60099578e-02 -1.88481646e-02 3.22046586e+02] [ 5.60157738e-02 9.98429860e-01 -2.19646997e-04 1.09926636e+01] [ 1.88308727e-02 -8.36531406e-04 9.99822333e-01 2.29880679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.174391418 meters Centerline goodness [0,1] 0.9992874570854836 Centerline is valid? [True, True] Translation: X:322.08, Y:11.00, Z:2.30 [[ 9.98391030e-01 -5.35114675e-02 -1.87583277e-02 3.22077942e+02] [ 5.35168022e-02 9.98566925e-01 -2.17841966e-04 1.09972796e+01] [ 1.87431027e-02 -7.86394249e-04 9.99824023e-01 2.29977408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.204391418 meters Centerline goodness [0,1] 0.9993297297297298 Centerline is valid? [True, True] Translation: X:322.11, Y:11.00, Z:2.30 [[ 9.98741215e-01 -4.67791475e-02 -1.81024240e-02 3.22107553e+02] [ 4.67830159e-02 9.98905053e-01 -2.09955590e-04 1.10046952e+01] [ 1.80924244e-02 -6.37194690e-04 9.99836116e-01 2.30099559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.234391418 meters Centerline goodness [0,1] 0.9991785027131029 Centerline is valid? [True, True] Translation: X:322.14, Y:11.01, Z:2.30 [[ 9.98932818e-01 -4.25541408e-02 -1.79546507e-02 3.22139021e+02] [ 4.25572723e-02 9.99094007e-01 -2.07807109e-04 1.10102313e+01] [ 1.79472270e-02 -5.56515619e-04 9.99838781e-01 2.30176627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.264391418 meters Centerline goodness [0,1] 0.9994148371296677 Centerline is valid? [True, True] Translation: X:322.17, Y:11.01, Z:2.30 [[ 9.99098116e-01 -3.85154984e-02 -1.78748752e-02 3.22169136e+02] [ 3.85179651e-02 9.99257887e-01 -2.06387239e-04 1.10128724e+01] [ 1.78695592e-02 -4.82302718e-04 9.99840210e-01 2.30182567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.294391418 meters Centerline goodness [0,1] 0.9991964208148727 Centerline is valid? [True, True] Translation: X:322.20, Y:11.02, Z:2.30 [[ 9.99264716e-01 -3.42804719e-02 -1.71719862e-02 3.22200431e+02] [ 3.42821327e-02 9.99412175e-01 -1.97733707e-04 1.10203678e+01] [ 1.71686705e-02 -3.91103994e-04 9.99852531e-01 2.30369392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.324391418 meters Centerline goodness [0,1] 0.9994795168181129 Centerline is valid? [True, True] Translation: X:322.23, Y:11.03, Z:2.31 [[ 9.99522084e-01 -2.64343824e-02 -1.60258351e-02 3.22231672e+02] [ 2.64348304e-02 9.99650522e-01 -1.83909883e-04 1.10301919e+01] [ 1.60250959e-02 -2.39818243e-04 9.99871561e-01 2.30557091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.354391418 meters Centerline goodness [0,1] 0.9994127626256035 Centerline is valid? [True, True] Translation: X:322.26, Y:11.03, Z:2.31 [[ 9.99615802e-01 -2.29147200e-02 -1.55937197e-02 3.22261775e+02] [ 2.29147203e-02 9.99737407e-01 -1.78673835e-04 1.10339077e+01] [ 1.55937192e-02 -1.78720538e-04 9.99878395e-01 2.30597026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.384391418 meters Centerline goodness [0,1] 0.9993453355155483 Centerline is valid? [True, True] Translation: X:322.29, Y:11.04, Z:2.31 [[ 9.99736469e-01 -1.74454402e-02 -1.49214108e-02 3.22290961e+02] [ 1.74448290e-02 9.99847813e-01 -1.71127334e-04 1.10398869e+01] [ 1.49221253e-02 -8.92192226e-05 9.99888655e-01 2.30591644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.414391418 meters Centerline goodness [0,1] 0.9994545771882363 Centerline is valid? [True, True] Translation: X:322.32, Y:11.04, Z:2.31 [[ 9.99763802e-01 -1.53753559e-02 -1.53602905e-02 3.22321063e+02] [ 1.53744567e-02 9.99881790e-01 -1.76629185e-04 1.10424714e+01] [ 1.53611905e-02 -5.95686572e-05 9.99882008e-01 2.30571506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.444391418 meters Centerline goodness [0,1] 0.9994093196237147 Centerline is valid? [True, True] Translation: X:322.35, Y:11.04, Z:2.31 [[ 9.99770072e-01 -1.42847238e-02 -1.59921820e-02 3.22349517e+02] [ 1.42835661e-02 9.99897967e-01 -1.86616487e-04 1.10445604e+01] [ 1.59932161e-02 -4.18518102e-05 9.99872099e-01 2.30511442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.474391418 meters Centerline goodness [0,1] 0.9996498446185494 Centerline is valid? [True, True] Translation: X:322.38, Y:11.05, Z:2.30 [[ 9.99788129e-01 -1.13511868e-02 -1.71711482e-02 3.22376998e+02] [ 1.13493677e-02 9.99935573e-01 -2.03390032e-04 1.10482844e+01] [ 1.71723507e-02 8.46526454e-06 9.99852544e-01 2.30404216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.504391418 meters Centerline goodness [0,1] 0.9995835707710516 Centerline is valid? [True, True] Translation: X:322.40, Y:11.05, Z:2.30 [[ 9.99785196e-01 -1.06028342e-02 -1.78084868e-02 3.22404404e+02] [ 1.06006879e-02 9.99943788e-01 -2.14920069e-04 1.10502956e+01] [ 1.78097645e-02 2.60916930e-05 9.99841393e-01 2.30392360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.534391418 meters Centerline goodness [0,1] 0.9996056782334385 Centerline is valid? [True, True] Translation: X:322.43, Y:11.05, Z:2.30 [[ 9.99788550e-01 -8.27886622e-03 -1.88232486e-02 3.22432916e+02] [ 8.27595493e-03 9.99965727e-01 -2.32557709e-04 1.10528839e+01] [ 1.88245287e-02 7.67281779e-05 9.99822800e-01 2.30316549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.564391418 meters Centerline goodness [0,1] 0.99960569550931 Centerline is valid? [True, True] Translation: X:322.46, Y:11.05, Z:2.30 [[ 9.99794000e-01 -7.28906528e-03 -1.89427177e-02 3.22461178e+02] [ 7.28588253e-03 9.99973430e-01 -2.37028706e-04 1.10544194e+01] [ 1.89439421e-02 9.89654623e-05 9.99820543e-01 2.30305666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.594391418 meters Centerline goodness [0,1] 0.9995173956916598 Centerline is valid? [True, True] Translation: X:322.49, Y:11.06, Z:2.30 [[ 9.99801274e-01 -6.71740383e-03 -1.87693554e-02 3.22489434e+02] [ 6.71409678e-03 9.99977432e-01 -2.39204665e-04 1.10551788e+01] [ 1.87705387e-02 1.13137860e-04 9.99823812e-01 2.30481566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.624391418 meters Centerline goodness [0,1] 0.9995183677043653 Centerline is valid? [True, True] Translation: X:322.52, Y:11.06, Z:2.31 [[ 9.99818483e-01 -5.83413400e-03 -1.81373791e-02 3.22517473e+02] [ 5.83079688e-03 9.99982973e-01 -2.36868099e-04 1.10560938e+01] [ 1.81384522e-02 1.31069729e-04 9.99835476e-01 2.30641733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.654391418 meters Centerline goodness [0,1] 0.9995626120806543 Centerline is valid? [True, True] Translation: X:322.54, Y:11.06, Z:2.31 [[ 9.99853529e-01 -4.49136730e-03 -1.65150775e-02 3.22544863e+02] [ 4.48836771e-03 9.99989903e-01 -2.18688627e-04 1.10569602e+01] [ 1.65158930e-02 1.44530855e-04 9.99863593e-01 2.30769773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.684391418 meters Centerline goodness [0,1] 0.9994754900889481 Centerline is valid? [True, True] Translation: X:322.57, Y:11.06, Z:2.31 [[ 9.99866407e-01 -4.66552290e-03 -1.56652583e-02 3.22572272e+02] [ 4.66279215e-03 9.99989107e-01 -2.10838700e-04 1.10571884e+01] [ 1.56660714e-02 1.37766690e-04 9.99877270e-01 2.30840129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.714391418 meters Centerline goodness [0,1] 0.9995410939446253 Centerline is valid? [True, True] Translation: X:322.60, Y:11.06, Z:2.31 [[ 9.99869496e-01 -5.15926824e-03 -1.53092145e-02 3.22600146e+02] [ 5.15664501e-03 9.99986682e-01 -2.10819610e-04 1.10571351e+01] [ 1.53100983e-02 1.31847912e-04 9.99882785e-01 2.30910195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.744391418 meters Centerline goodness [0,1] 0.9994971798347252 Centerline is valid? [True, True] Translation: X:322.63, Y:11.05, Z:2.31 [[ 9.99870551e-01 -6.88796572e-03 -1.45408566e-02 3.22628412e+02] [ 6.88574099e-03 9.99976272e-01 -2.03058806e-04 1.10546546e+01] [ 1.45419103e-02 1.02907948e-04 9.99894256e-01 2.30929275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.774391418 meters Centerline goodness [0,1] 0.999303757533561 Centerline is valid? [True, True] Translation: X:322.66, Y:11.05, Z:2.31 [[ 9.99853729e-01 -8.82011555e-03 -1.46535294e-02 3.22656159e+02] [ 8.81801926e-03 9.99961099e-01 -2.07663390e-04 1.10526884e+01] [ 1.46547910e-02 7.84179105e-05 9.99892610e-01 2.30923519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.804391418 meters Centerline goodness [0,1] 0.9993467467990593 Centerline is valid? [True, True] Translation: X:322.69, Y:11.05, Z:2.31 [[ 9.99807829e-01 -1.25930943e-02 -1.50239641e-02 3.22685193e+02] [ 1.25912743e-02 9.99920703e-01 -2.15728494e-04 1.10474659e+01] [ 1.50254894e-02 2.65161845e-05 9.99887111e-01 2.30844104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.834391418 meters Centerline goodness [0,1] 0.9994129030855204 Centerline is valid? [True, True] Translation: X:322.71, Y:11.04, Z:2.31 [[ 9.99768314e-01 -1.47110791e-02 -1.57131289e-02 3.22712970e+02] [ 1.47093282e-02 9.99891786e-01 -2.27006320e-04 1.10447637e+01] [ 1.57147681e-02 -4.17584360e-06 9.99876515e-01 2.30808225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.864391418 meters Centerline goodness [0,1] 0.9993701539864909 Centerline is valid? [True, True] Translation: X:322.74, Y:11.04, Z:2.31 [[ 9.99725517e-01 -1.71603772e-02 -1.59503268e-02 3.22741187e+02] [ 1.71588606e-02 9.99852749e-01 -2.31943392e-04 1.10416080e+01] [ 1.59519583e-02 -4.18097061e-05 9.99872759e-01 2.30729511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.894391418 meters Centerline goodness [0,1] 0.9992613352451715 Centerline is valid? [True, True] Translation: X:322.77, Y:11.04, Z:2.31 [[ 9.99668993e-01 -1.95594217e-02 -1.67132426e-02 3.22770331e+02] [ 1.95580380e-02 9.99808693e-01 -2.46251721e-04 1.10384159e+01] [ 1.67148618e-02 -8.07080244e-05 9.99860294e-01 2.30664480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.924391418 meters Centerline goodness [0,1] 0.9993487180600482 Centerline is valid? [True, True] Translation: X:322.80, Y:11.03, Z:2.31 [[ 9.99584581e-01 -2.33381458e-02 -1.69114553e-02 3.22798841e+02] [ 2.33371931e-02 9.99727618e-01 -2.53709366e-04 1.10328635e+01] [ 1.69127700e-02 -1.41061928e-04 9.99856959e-01 2.30689781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.954391418 meters Centerline goodness [0,1] 0.9992427192868579 Centerline is valid? [True, True] Translation: X:322.83, Y:11.03, Z:2.31 [[ 9.99553615e-01 -2.45979172e-02 -1.69562355e-02 3.22828528e+02] [ 2.45971015e-02 9.99697413e-01 -2.56690150e-04 1.10312439e+01] [ 1.69574188e-02 -1.60498679e-04 9.99856200e-01 2.30726617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.984391418 meters Centerline goodness [0,1] 0.9992192413628576 Centerline is valid? [True, True] Translation: X:322.86, Y:11.03, Z:2.31 [[ 9.99534224e-01 -2.54183657e-02 -1.68890896e-02 3.22859425e+02] [ 2.54176688e-02 9.99676886e-01 -2.55954093e-04 1.10290617e+01] [ 1.68901384e-02 -1.73446410e-04 9.99857336e-01 2.30758694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.014391418 meters Centerline goodness [0,1] 0.9992442073894924 Centerline is valid? [True, True] Translation: X:322.89, Y:11.03, Z:2.31 [[ 9.99523106e-01 -2.60861196e-02 -1.65249792e-02 3.22889902e+02] [ 2.60855436e-02 9.99659683e-01 -2.50436001e-04 1.10262769e+01] [ 1.65258883e-02 -1.80746495e-04 9.99863422e-01 2.30847763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.044391418 meters Centerline goodness [0,1] 0.9992016398748517 Centerline is valid? [True, True] Translation: X:322.92, Y:11.03, Z:2.31 [[ 9.99545149e-01 -2.55626927e-02 -1.60013666e-02 3.22920078e+02] [ 2.55620884e-02 9.99673207e-01 -2.42321207e-04 1.10250388e+01] [ 1.60023319e-02 -1.66817361e-04 9.99871941e-01 2.30867864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.074391418 meters Centerline goodness [0,1] 0.9992022595459348 Centerline is valid? [True, True] Translation: X:322.95, Y:11.02, Z:2.31 [[ 9.99588655e-01 -2.39507644e-02 -1.57759848e-02 3.22950887e+02] [ 2.39499812e-02 9.99713130e-01 -2.38600204e-04 1.10236075e+01] [ 1.57771738e-02 -1.39332482e-04 9.99875523e-01 2.30916999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.104391418 meters Centerline goodness [0,1] 0.9989873526813609 Centerline is valid? [True, True] Translation: X:322.98, Y:11.02, Z:2.31 [[ 9.99619044e-01 -2.27597096e-02 -1.56128829e-02 3.22980922e+02] [ 2.27587994e-02 9.99740957e-01 -2.35998929e-04 1.10240434e+01] [ 1.56142097e-02 -1.19421445e-04 9.99878084e-01 2.31008703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.134391418 meters Centerline goodness [0,1] 0.9989873526813609 Centerline is valid? [True, True] Translation: X:323.01, Y:11.02, Z:2.31 [[ 9.99619044e-01 -2.27597096e-02 -1.56128829e-02 3.23010920e+02] [ 2.27587994e-02 9.99740957e-01 -2.35998929e-04 1.10244969e+01] [ 1.56142097e-02 -1.19421445e-04 9.99878084e-01 2.31029732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.164391418 meters Centerline goodness [0,1] 0.9990288328729282 Centerline is valid? [True, True] Translation: X:323.04, Y:11.02, Z:2.31 [[ 9.99651220e-01 -2.10701581e-02 -1.59212864e-02 3.23040629e+02] [ 2.10689944e-02 9.99777995e-01 -2.40837189e-04 1.10243138e+01] [ 1.59228263e-02 -9.46923049e-05 9.99873219e-01 2.30980173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.194391418 meters Centerline goodness [0,1] 0.9991149869406609 Centerline is valid? [True, True] Translation: X:323.07, Y:11.02, Z:2.31 [[ 9.99704185e-01 -1.76301516e-02 -1.67546839e-02 3.23069144e+02] [ 1.76283680e-02 9.99844576e-01 -2.54147879e-04 1.10244705e+01] [ 1.67565605e-02 -4.12850361e-05 9.99859598e-01 2.30923196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.224391418 meters Centerline goodness [0,1] 0.9989228548654646 Centerline is valid? [True, True] Translation: X:323.10, Y:11.02, Z:2.31 [[ 9.99726375e-01 -1.61063219e-02 -1.69635241e-02 3.23097979e+02] [ 1.61042206e-02 9.99870285e-01 -2.60474148e-04 1.10249775e+01] [ 1.69655190e-02 -1.27814577e-05 9.99856075e-01 2.30988370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.254391418 meters Centerline goodness [0,1] 0.9990303813833226 Centerline is valid? [True, True] Translation: X:323.13, Y:11.03, Z:2.31 [[ 9.99731467e-01 -1.48787794e-02 -1.77656054e-02 3.23125503e+02] [ 1.48761843e-02 9.99889305e-01 -2.78227652e-04 1.10250972e+01] [ 1.77677785e-02 1.38685196e-05 9.99842140e-01 2.30981753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.284391418 meters Centerline goodness [0,1] 0.9991373360938578 Centerline is valid? [True, True] Translation: X:323.15, Y:11.02, Z:2.31 [[ 9.99747323e-01 -1.29834475e-02 -1.83499539e-02 3.23154606e+02] [ 1.29802596e-02 9.99915710e-01 -2.92827266e-04 1.10235880e+01] [ 1.83522091e-02 5.45661105e-05 9.99831583e-01 2.30946877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.314391418 meters Centerline goodness [0,1] 0.9990506602226633 Centerline is valid? [True, True] Translation: X:323.18, Y:11.02, Z:2.31 [[ 9.99750317e-01 -1.23513887e-02 -1.86211182e-02 3.23182920e+02] [ 1.23479377e-02 9.99923716e-01 -3.00300058e-04 1.10225984e+01] [ 1.86234069e-02 7.02926706e-05 9.99826567e-01 2.30991977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.344391418 meters Centerline goodness [0,1] 0.9990522756154824 Centerline is valid? [True, True] Translation: X:323.21, Y:11.02, Z:2.31 [[ 9.99755539e-01 -1.22577332e-02 -1.84013525e-02 3.23210146e+02] [ 1.22542880e-02 9.99924868e-01 -2.99972309e-04 1.10216277e+01] [ 1.84036469e-02 7.44035046e-05 9.99830636e-01 2.30978799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.374391418 meters Centerline goodness [0,1] 0.9990752887034687 Centerline is valid? [True, True] Translation: X:323.24, Y:11.02, Z:2.31 [[ 9.99752798e-01 -1.22872518e-02 -1.85301559e-02 3.23237283e+02] [ 1.22836877e-02 9.99924506e-01 -3.06149857e-04 1.10207850e+01] [ 1.85325188e-02 7.84555265e-05 9.99828255e-01 2.31002573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.404391418 meters Centerline goodness [0,1] 0.998886390405825 Centerline is valid? [True, True] Translation: X:323.27, Y:11.02, Z:2.31 [[ 9.99759791e-01 -1.30130423e-02 -1.76358098e-02 3.23265702e+02] [ 1.30098420e-02 9.99915325e-01 -2.96189088e-04 1.10173162e+01] [ 1.76381708e-02 6.66788422e-05 9.99844433e-01 2.31083524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.434391418 meters Centerline goodness [0,1] 0.9988620993194066 Centerline is valid? [True, True] Translation: X:323.29, Y:11.02, Z:2.31 [[ 9.99756982e-01 -1.39670970e-02 -1.70557171e-02 3.23293367e+02] [ 1.39641520e-02 9.99902454e-01 -2.91757704e-04 1.10154478e+01] [ 1.70581284e-02 5.35181753e-05 9.99854498e-01 2.31117518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.464391418 meters Centerline goodness [0,1] 0.9990801155203766 Centerline is valid? [True, True] Translation: X:323.32, Y:11.01, Z:2.31 [[ 9.99728668e-01 -1.56799078e-02 -1.72259047e-02 3.23321815e+02] [ 1.56770631e-02 9.99877062e-01 -3.00169993e-04 1.10114654e+01] [ 1.72284936e-02 3.00369524e-05 9.99851578e-01 2.31204489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.494391418 meters Centerline goodness [0,1] 0.9990365263563568 Centerline is valid? [True, True] Translation: X:323.35, Y:11.01, Z:2.31 [[ 9.99708662e-01 -1.68566495e-02 -1.72755211e-02 3.23349020e+02] [ 1.68539007e-02 9.99857917e-01 -3.04703393e-04 1.10102502e+01] [ 1.72782029e-02 1.34547031e-05 9.99850721e-01 2.31123610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.524391418 meters Centerline goodness [0,1] 0.9990399180730088 Centerline is valid? [True, True] Translation: X:323.38, Y:11.01, Z:2.31 [[ 9.99685359e-01 -1.81216705e-02 -1.73432615e-02 3.23376630e+02] [ 1.81190167e-02 9.99835789e-01 -3.10145931e-04 1.10088445e+01] [ 1.73460339e-02 -4.19449888e-06 9.99849546e-01 2.31255515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.554391418 meters Centerline goodness [0,1] 0.9989126031427902 Centerline is valid? [True, True] Translation: X:323.40, Y:11.00, Z:2.31 [[ 9.99634311e-01 -2.14614273e-02 -1.64514996e-02 3.23404423e+02] [ 2.14594080e-02 9.99769676e-01 -2.99285274e-04 1.10048414e+01] [ 1.64541335e-02 -5.38636131e-05 9.99864620e-01 2.31319888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.584391418 meters Centerline goodness [0,1] 0.9989338337207071 Centerline is valid? [True, True] Translation: X:323.43, Y:11.00, Z:2.31 [[ 9.99586937e-01 -2.39422854e-02 -1.58972143e-02 3.23432650e+02] [ 2.39406713e-02 9.99713338e-01 -2.91859872e-04 1.10022294e+01] [ 1.58996450e-02 -8.88506675e-05 9.99873589e-01 2.31337475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.614391418 meters Centerline goodness [0,1] 0.998710250338295 Centerline is valid? [True, True] Translation: X:323.46, Y:11.00, Z:2.31 [[ 9.99526307e-01 -2.65026775e-02 -1.56451308e-02 3.23462044e+02] [ 2.65014162e-02 9.99648734e-01 -2.87971780e-04 1.09994862e+01] [ 1.56472672e-02 -1.26782753e-04 9.99877566e-01 2.31380576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.644391418 meters Centerline goodness [0,1] 0.998812024014086 Centerline is valid? [True, True] Translation: X:323.49, Y:11.00, Z:2.31 [[ 9.99448478e-01 -2.96726790e-02 -1.49087939e-02 3.23492240e+02] [ 2.96718824e-02 9.99559655e-01 -2.74678075e-04 1.09966215e+01] [ 1.49103793e-02 -1.67845395e-04 9.99888820e-01 2.31445774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.674391418 meters Centerline goodness [0,1] 0.99908685495859 Centerline is valid? [True, True] Translation: X:323.52, Y:10.99, Z:2.31 [[ 9.99193839e-01 -3.73376485e-02 -1.47503116e-02 3.23522301e+02] [ 3.73377035e-02 9.99302668e-01 -2.71758213e-04 1.09876398e+01] [ 1.47501725e-02 -2.79203628e-04 9.99891171e-01 2.31385144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.704391418 meters Centerline goodness [0,1] 0.998684294293657 Centerline is valid? [True, True] Translation: X:323.55, Y:10.98, Z:2.31 [[ 9.99018953e-01 -4.16091685e-02 -1.51594730e-02 3.23553153e+02] [ 4.16097203e-02 9.99133902e-01 -2.79141539e-04 1.09831011e+01] [ 1.51579583e-02 -3.51913745e-04 9.99885050e-01 2.31310851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.734391418 meters Centerline goodness [0,1] 0.9988987250624761 Centerline is valid? [True, True] Translation: X:323.59, Y:10.98, Z:2.31 [[ 9.98830749e-01 -4.58579276e-02 -1.53030988e-02 3.23585063e+02] [ 4.58589975e-02 9.98947883e-01 -2.81170923e-04 1.09796564e+01] [ 1.52998920e-02 -4.20942605e-04 9.99882861e-01 2.31330754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.764391418 meters Centerline goodness [0,1] 0.9987965035260336 Centerline is valid? [True, True] Translation: X:323.62, Y:10.97, Z:2.31 [[ 9.98374994e-01 -5.49698089e-02 -1.50230072e-02 3.23615137e+02] [ 5.49718786e-02 9.98487865e-01 -2.75458565e-04 1.09678267e+01] [ 1.50154323e-02 -5.50831986e-04 9.99887110e-01 2.31246062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.794391418 meters Centerline goodness [0,1] 0.9986059773999366 Centerline is valid? [True, True] Translation: X:323.65, Y:10.96, Z:2.31 [[ 9.98115124e-01 -5.95155518e-02 -1.49699220e-02 3.23646299e+02] [ 5.95181216e-02 9.98227188e-01 -2.74186094e-04 1.09640460e+01] [ 1.49597015e-02 -6.17312353e-04 9.99887907e-01 2.31275730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.824391418 meters Centerline goodness [0,1] 0.9987958424877472 Centerline is valid? [True, True] Translation: X:323.68, Y:10.96, Z:2.31 [[ 9.97853468e-01 -6.38236489e-02 -1.46627910e-02 3.23676633e+02] [ 6.38265825e-02 9.97960969e-01 -2.68282553e-04 1.09589380e+01] [ 1.46500159e-02 -6.68169161e-04 9.99892460e-01 2.31333840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.854391418 meters Centerline goodness [0,1] 0.9982929759119934 Centerline is valid? [True, True] Translation: X:323.71, Y:10.95, Z:2.31 [[ 9.97342635e-01 -7.14773307e-02 -1.40946776e-02 3.23707273e+02] [ 7.14808060e-02 9.97441942e-01 -2.57699366e-04 1.09498584e+01] [ 1.40770423e-02 -7.50484353e-04 9.99900632e-01 2.31367904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.884391418 meters Centerline goodness [0,1] 0.9985455005375324 Centerline is valid? [True, True] Translation: X:323.74, Y:10.95, Z:2.31 [[ 9.97129492e-01 -7.44407952e-02 -1.38326945e-02 3.23738180e+02] [ 7.44444292e-02 9.97225132e-01 -2.52723507e-04 1.09461904e+01] [ 1.38131235e-02 -7.77768983e-04 9.99904292e-01 2.31386502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.914391418 meters Centerline goodness [0,1] 0.9982091313233467 Centerline is valid? [True, True] Translation: X:323.77, Y:10.95, Z:2.31 [[ 9.96734962e-01 -7.94792732e-02 -1.42288648e-02 3.23768940e+02] [ 7.94836321e-02 9.96836137e-01 -2.59800938e-04 1.09480988e+01] [ 1.42044954e-02 -8.72009172e-04 9.99898731e-01 2.31425835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.944391418 meters Centerline goodness [0,1] 0.9982906343645802 Centerline is valid? [True, True] Translation: X:323.80, Y:10.95, Z:2.31 [[ 9.96628380e-01 -8.08175658e-02 -1.41560530e-02 3.23801211e+02] [ 8.08220233e-02 9.96728516e-01 -2.57862746e-04 1.09502563e+01] [ 1.41305816e-02 -8.87127517e-04 9.99899765e-01 2.31486643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.974391418 meters Centerline goodness [0,1] 0.9979596558759807 Centerline is valid? [True, True] Translation: X:323.83, Y:10.94, Z:2.31 [[ 9.96562809e-01 -8.16481455e-02 -1.40052815e-02 3.23832412e+02] [ 8.16526040e-02 9.96660819e-01 -2.54124416e-04 1.09399660e+01] [ 1.39792641e-02 -8.90316762e-04 9.99901889e-01 2.31420271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.004391418 meters Centerline goodness [0,1] 0.9983600353223161 Centerline is valid? [True, True] Translation: X:323.86, Y:10.95, Z:2.32 [[ 9.96568563e-01 -8.16164245e-02 -1.37788793e-02 3.23864722e+02] [ 8.16207501e-02 9.96663429e-01 -2.49067098e-04 1.09482292e+01] [ 1.37532330e-02 -8.76430021e-04 9.99905036e-01 2.31586892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.034391418 meters Centerline goodness [0,1] 0.9983978413019647 Centerline is valid? [True, True] Translation: X:323.90, Y:10.96, Z:2.32 [[ 9.96646104e-01 -8.06146069e-02 -1.40651673e-02 3.23897150e+02] [ 8.06190308e-02 9.96744956e-01 -2.53097305e-04 1.09559986e+01] [ 1.40397879e-02 -8.81671711e-04 9.99901049e-01 2.31668493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.064391418 meters Centerline goodness [0,1] 0.9982874540149689 Centerline is valid? [True, True] Translation: X:323.93, Y:10.95, Z:2.32 [[ 9.96716170e-01 -7.97095191e-02 -1.42572459e-02 3.23928494e+02] [ 7.97139872e-02 9.96817744e-01 -2.55517620e-04 1.09546482e+01] [ 1.42322428e-02 -8.81823372e-04 9.99898328e-01 2.31669217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.094391418 meters Centerline goodness [0,1] 0.99854359710408 Centerline is valid? [True, True] Translation: X:323.96, Y:10.96, Z:2.32 [[ 9.96838327e-01 -7.81651746e-02 -1.42673149e-02 3.23960368e+02] [ 7.81695063e-02 9.96940050e-01 -2.54654920e-04 1.09626158e+01] [ 1.42435628e-02 -8.61419179e-04 9.99898184e-01 2.31755271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.124391418 meters Centerline goodness [0,1] 0.9989007969222314 Centerline is valid? [True, True] Translation: X:323.99, Y:10.97, Z:2.32 [[ 9.97100732e-01 -7.46925350e-02 -1.45312103e-02 3.23990182e+02] [ 7.46966696e-02 9.97206268e-01 -2.58765016e-04 1.09661634e+01] [ 1.45099418e-02 -8.27418230e-04 9.99894383e-01 2.31785307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.154391418 meters Centerline goodness [0,1] 0.9985399297473444 Centerline is valid? [True, True] Translation: X:324.02, Y:10.97, Z:2.32 [[ 9.97244810e-01 -7.27271806e-02 -1.46132063e-02 3.24020429e+02] [ 7.27311538e-02 9.97351549e-01 -2.60071137e-04 1.09685257e+01] [ 1.45934181e-02 -8.03480761e-04 9.99893188e-01 2.31747099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.184391418 meters Centerline goodness [0,1] 0.9988149903717968 Centerline is valid? [True, True] Translation: X:324.05, Y:10.97, Z:2.32 [[ 9.97384846e-01 -7.07523988e-02 -1.47501658e-02 3.24051920e+02] [ 7.07562384e-02 9.97493602e-01 -2.62044490e-04 1.09735507e+01] [ 1.47317362e-02 -7.82307041e-04 9.99891176e-01 2.31805222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.214391418 meters Centerline goodness [0,1] 0.9987738621229098 Centerline is valid? [True, True] Translation: X:324.08, Y:10.98, Z:2.32 [[ 9.97704224e-01 -6.59595720e-02 -1.53498011e-02 3.24082799e+02] [ 6.59631716e-02 9.97822021e-01 -2.72224547e-04 1.09813382e+01] [ 1.53343254e-02 -7.40921982e-04 9.99882148e-01 2.31846036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.244391418 meters Centerline goodness [0,1] 0.9986645752077328 Centerline is valid? [True, True] Translation: X:324.11, Y:10.99, Z:2.32 [[ 9.97869424e-01 -6.34706845e-02 -1.51024748e-02 3.24114651e+02] [ 6.34738941e-02 9.97983463e-01 -2.67202354e-04 1.09855074e+01] [ 1.50889796e-02 -6.91979823e-04 9.99885915e-01 2.31891403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.274391418 meters Centerline goodness [0,1] 0.9988751883528937 Centerline is valid? [True, True] Translation: X:324.15, Y:10.99, Z:2.32 [[ 9.98043268e-01 -6.06848076e-02 -1.50661870e-02 3.24145935e+02] [ 6.06876963e-02 9.98156768e-01 -2.65801163e-04 1.09905731e+01] [ 1.50545466e-02 -6.49051122e-04 9.99886463e-01 2.31969532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.304391418 meters Centerline goodness [0,1] 0.998681944769234 Centerline is valid? [True, True] Translation: X:324.18, Y:11.00, Z:2.32 [[ 9.98368445e-01 -5.52222211e-02 -1.45242764e-02 3.24176436e+02] [ 5.52243347e-02 9.98473939e-01 -2.55808582e-04 1.09991584e+01] [ 1.45162378e-02 -5.46702287e-04 9.99894484e-01 2.32052262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.334391418 meters Centerline goodness [0,1] 0.9988526262111168 Centerline is valid? [True, True] Translation: X:324.21, Y:11.00, Z:2.32 [[ 9.98530906e-01 -5.22590021e-02 -1.43187274e-02 3.24207751e+02] [ 5.22607584e-02 9.98633441e-01 -2.51745411e-04 1.10038559e+01] [ 1.43123160e-02 -4.96931981e-04 9.99897450e-01 2.32119599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.364391418 meters Centerline goodness [0,1] 0.9989592846675021 Centerline is valid? [True, True] Translation: X:324.24, Y:11.01, Z:2.32 [[ 9.98825321e-01 -4.61861088e-02 -1.46568107e-02 3.24237566e+02] [ 4.61873000e-02 9.98932764e-01 -2.57393709e-04 1.10104358e+01] [ 1.46530564e-02 -4.19867158e-04 9.99892550e-01 2.32118214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.394391418 meters Centerline goodness [0,1] 0.9988499382374239 Centerline is valid? [True, True] Translation: X:324.27, Y:11.02, Z:2.32 [[ 9.98954889e-01 -4.32640691e-02 -1.47428227e-02 3.24270202e+02] [ 4.32649703e-02 9.99063599e-01 -2.57962191e-04 1.10174984e+01] [ 1.47401780e-02 -3.80155195e-04 9.99891285e-01 2.32230411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.424391418 meters Centerline goodness [0,1] 0.9989752785961317 Centerline is valid? [True, True] Translation: X:324.30, Y:11.02, Z:2.32 [[ 9.99101259e-01 -3.96817350e-02 -1.49008147e-02 3.24302766e+02] [ 3.96822847e-02 9.99212314e-01 -2.58890419e-04 1.10221714e+01] [ 1.48993508e-02 -3.32640629e-04 9.99888943e-01 2.32261591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.454391418 meters Centerline goodness [0,1] 0.9988501831189848 Centerline is valid? [True, True] Translation: X:324.33, Y:11.03, Z:2.32 [[ 9.99242810e-01 -3.58852511e-02 -1.50351645e-02 3.24334153e+02] [ 3.58854017e-02 9.99355878e-01 -2.59857039e-04 1.10261396e+01] [ 1.50348050e-02 -2.79882638e-04 9.99886932e-01 2.32268066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.484391418 meters Centerline goodness [0,1] 0.9989709507985851 Centerline is valid? [True, True] Translation: X:324.37, Y:11.03, Z:2.32 [[ 9.99472244e-01 -2.87205699e-02 -1.51777123e-02 3.24365557e+02] [ 2.87199089e-02 9.99587464e-01 -2.61554329e-04 1.10346170e+01] [ 1.51789629e-02 -1.74486222e-04 9.99884778e-01 2.32327090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.514391418 meters Centerline goodness [0,1] 0.9991646854719527 Centerline is valid? [True, True] Translation: X:324.40, Y:11.04, Z:2.32 [[ 9.99569801e-01 -2.51142409e-02 -1.51488324e-02 3.24396906e+02] [ 2.51131777e-02 9.99684580e-01 -2.60439072e-04 1.10389891e+01] [ 1.51505949e-02 -1.20108290e-04 9.99885216e-01 2.32406349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.544391418 meters Centerline goodness [0,1] 0.9992915566432665 Centerline is valid? [True, True] Translation: X:324.43, Y:11.04, Z:2.32 [[ 9.99642843e-01 -2.22206705e-02 -1.48467986e-02 3.24427779e+02] [ 2.22193391e-02 9.99753088e-01 -2.54641849e-04 1.10425245e+01] [ 1.48487911e-02 -7.53351511e-05 9.99889748e-01 2.32476421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.574391418 meters Centerline goodness [0,1] 0.9991847767790102 Centerline is valid? [True, True] Translation: X:324.46, Y:11.05, Z:2.33 [[ 9.99751444e-01 -1.75167305e-02 -1.37917880e-02 3.24456998e+02] [ 1.75151358e-02 9.99846570e-01 -2.36417446e-04 1.10477388e+01] [ 1.37938132e-02 -5.20635616e-06 9.99904861e-01 2.32587529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.604391418 meters Centerline goodness [0,1] 0.999270480195683 Centerline is valid? [True, True] Translation: X:324.49, Y:11.05, Z:2.33 [[ 9.99779575e-01 -1.62877021e-02 -1.32480813e-02 3.24486655e+02] [ 1.62861193e-02 9.99867347e-01 -2.27358397e-04 1.10495770e+01] [ 1.32500270e-02 1.15484497e-05 9.99912214e-01 2.32605387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.634391418 meters Centerline goodness [0,1] 0.9992495711835334 Centerline is valid? [True, True] Translation: X:324.52, Y:11.05, Z:2.33 [[ 9.99801373e-01 -1.55593273e-02 -1.24547612e-02 3.24515949e+02] [ 1.55578675e-02 9.99878946e-01 -2.14092539e-04 1.10507604e+01] [ 1.24565847e-02 2.02804891e-05 9.99922414e-01 2.32671978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.664391418 meters Centerline goodness [0,1] 0.9990995819487619 Centerline is valid? [True, True] Translation: X:324.55, Y:11.05, Z:2.33 [[ 9.99797831e-01 -1.62805513e-02 -1.18000701e-02 3.24545737e+02] [ 1.62792858e-02 9.99867463e-01 -2.03295571e-04 1.10503736e+01] [ 1.18018159e-02 1.11577575e-05 9.99930356e-01 2.32678019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.694391418 meters Centerline goodness [0,1] 0.999225989550859 Centerline is valid? [True, True] Translation: X:324.58, Y:11.05, Z:2.33 [[ 9.99785165e-01 -1.72654625e-02 -1.14685942e-02 3.24576559e+02] [ 1.72643287e-02 9.99850941e-01 -1.97857607e-04 1.10493874e+01] [ 1.14703008e-02 -1.82481098e-07 9.99934214e-01 2.32706285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.724391418 meters Centerline goodness [0,1] 0.9990985576923077 Centerline is valid? [True, True] Translation: X:324.61, Y:11.05, Z:2.33 [[ 9.99755808e-01 -1.92354359e-02 -1.08775716e-02 3.24605622e+02] [ 1.92345328e-02 9.99814982e-01 -1.87643702e-04 1.10477126e+01] [ 1.08791684e-02 -2.16271269e-05 9.99940820e-01 2.32718393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.754391418 meters Centerline goodness [0,1] 0.99888512499464 Centerline is valid? [True, True] Translation: X:324.64, Y:11.04, Z:2.33 [[ 9.99650730e-01 -2.43602950e-02 -1.02467023e-02 3.24636538e+02] [ 2.43597637e-02 9.99703241e-01 -1.76665795e-04 1.10427720e+01] [ 1.02479651e-02 -7.30031555e-05 9.99947486e-01 2.32745963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.784391418 meters Centerline goodness [0,1] 0.9988632463967055 Centerline is valid? [True, True] Translation: X:324.67, Y:11.04, Z:2.33 [[ 9.99575288e-01 -2.73140204e-02 -1.01581240e-02 3.24668609e+02] [ 2.73136548e-02 9.99626897e-01 -1.74743301e-04 1.10397279e+01] [ 1.01591070e-02 -1.02786408e-04 9.99948390e-01 2.32759603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.814391418 meters Centerline goodness [0,1] 0.9989736572015053 Centerline is valid? [True, True] Translation: X:324.70, Y:11.04, Z:2.33 [[ 9.99476979e-01 -3.06498666e-02 -1.03128150e-02 3.24699794e+02] [ 3.06496754e-02 9.99530173e-01 -1.76628055e-04 1.10352195e+01] [ 1.03133834e-02 -1.39548756e-04 9.99946806e-01 2.32755894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.844391418 meters Centerline goodness [0,1] 0.9987598357851523 Centerline is valid? [True, True] Translation: X:324.73, Y:11.03, Z:2.33 [[ 9.99237390e-01 -3.76701824e-02 -1.02759431e-02 3.24731607e+02] [ 3.76703713e-02 9.99290204e-01 -1.75242730e-04 1.10282879e+01] [ 1.02752507e-02 -2.11989503e-04 9.99947186e-01 2.32740285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.874391418 meters Centerline goodness [0,1] 0.9986313673495574 Centerline is valid? [True, True] Translation: X:324.76, Y:11.02, Z:2.33 [[ 9.99109739e-01 -4.08476553e-02 -1.05450485e-02 3.24762901e+02] [ 4.08480410e-02 9.99165354e-01 -1.78886747e-04 1.10224732e+01] [ 1.05435542e-02 -2.52017083e-04 9.99944383e-01 2.32680206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.904391418 meters Centerline goodness [0,1] 0.9988255141045079 Centerline is valid? [True, True] Translation: X:324.79, Y:11.02, Z:2.33 [[ 9.98992262e-01 -4.36029874e-02 -1.06413915e-02 3.24794704e+02] [ 4.36035432e-02 9.99048897e-01 -1.79886632e-04 1.10187914e+01] [ 1.06391140e-02 -2.84297020e-04 9.99943363e-01 2.32685793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.934391418 meters Centerline goodness [0,1] 0.9987207368555712 Centerline is valid? [True, True] Translation: X:324.83, Y:11.01, Z:2.33 [[ 9.98793426e-01 -4.80223275e-02 -1.02736473e-02 3.24826438e+02] [ 4.80230869e-02 9.98846211e-01 -1.72907525e-04 1.10148866e+01] [ 1.02700971e-02 -3.20673356e-04 9.99947210e-01 2.32664716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.964391418 meters Centerline goodness [0,1] 0.9988926510360101 Centerline is valid? [True, True] Translation: X:324.86, Y:11.01, Z:2.33 [[ 9.98737555e-01 -4.91893852e-02 -1.01833751e-02 3.24858676e+02] [ 4.91902027e-02 9.98789415e-01 -1.70330647e-04 1.10134280e+01] [ 1.01794257e-02 -3.30806672e-04 9.99948134e-01 2.32681353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.994391418 meters Centerline goodness [0,1] 0.9988295132903445 Centerline is valid? [True, True] Translation: X:324.89, Y:11.01, Z:2.33 [[ 9.98690552e-01 -5.01425861e-02 -1.01440918e-02 3.24889895e+02] [ 5.01434540e-02 9.98742011e-01 -1.68923613e-04 1.10113306e+01] [ 1.01398010e-02 -3.39957387e-04 9.99948533e-01 2.32700602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.024391418 meters Centerline goodness [0,1] 0.9986602585913577 Centerline is valid? [True, True] Translation: X:324.92, Y:11.01, Z:2.33 [[ 9.98686291e-01 -5.04016526e-02 -9.23939978e-03 3.24922307e+02] [ 5.04023888e-02 9.98728980e-01 -1.53297599e-04 1.10098452e+01] [ 9.23538278e-03 -3.12591611e-04 9.99957304e-01 2.32749142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.054391418 meters Centerline goodness [0,1] 0.998765747361253 Centerline is valid? [True, True] Translation: X:324.95, Y:11.01, Z:2.33 [[ 9.98714698e-01 -4.98651793e-02 -9.07834556e-03 3.24953334e+02] [ 4.98658740e-02 9.98755912e-01 -1.49952888e-04 1.10097729e+01] [ 9.07452872e-03 -3.02939482e-04 9.99958780e-01 2.32793527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.084391418 meters Centerline goodness [0,1] 0.998765747361253 Centerline is valid? [True, True] Translation: X:324.99, Y:11.01, Z:2.33 [[ 9.98720620e-01 -4.97464176e-02 -9.07835645e-03 3.24985889e+02] [ 4.97471135e-02 9.98761835e-01 -1.49290330e-04 1.10101905e+01] [ 9.07454261e-03 -3.02522698e-04 9.99958780e-01 2.32816336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.114391418 meters Centerline goodness [0,1] 0.9987458816027208 Centerline is valid? [True, True] Translation: X:325.02, Y:11.01, Z:2.33 [[ 9.98763090e-01 -4.87870761e-02 -9.59746253e-03 3.25017054e+02] [ 4.87878195e-02 9.98809153e-01 -1.56793244e-04 1.10061091e+01] [ 9.59368290e-03 -3.11639965e-04 9.99953931e-01 2.32803088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.144391418 meters Centerline goodness [0,1] 0.9987684467565558 Centerline is valid? [True, True] Translation: X:325.05, Y:11.01, Z:2.33 [[ 9.98805505e-01 -4.78984274e-02 -9.65934579e-03 3.25049291e+02] [ 4.78991449e-02 9.98852165e-01 -1.57176434e-04 1.10135663e+01] [ 9.65578695e-03 -3.05685716e-04 9.99953335e-01 2.32852800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.174391418 meters Centerline goodness [0,1] 0.9985959836623554 Centerline is valid? [True, True] Translation: X:325.08, Y:11.01, Z:2.33 [[ 9.98845999e-01 -4.69297947e-02 -1.02109815e-02 3.25081571e+02] [ 4.69305547e-02 9.98898141e-01 -1.65300537e-04 1.10146972e+01] [ 1.02074879e-02 -3.14097244e-04 9.99947853e-01 2.32802031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.204391418 meters Centerline goodness [0,1] 0.9988940641017461 Centerline is valid? [True, True] Translation: X:325.11, Y:11.01, Z:2.33 [[ 9.98907072e-01 -4.54138855e-02 -1.10562211e-02 3.25112924e+02] [ 4.54146931e-02 9.98968205e-01 -1.78131438e-04 1.10138518e+01] [ 1.10529030e-02 -3.24178135e-04 9.99938862e-01 2.32634986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.234391418 meters Centerline goodness [0,1] 0.9987467606950168 Centerline is valid? [True, True] Translation: X:325.15, Y:11.02, Z:2.33 [[ 9.98937178e-01 -4.46602796e-02 -1.14006356e-02 3.25145593e+02] [ 4.46610994e-02 9.99002179e-01 -1.82795412e-04 1.10170218e+01] [ 1.13974235e-02 -3.26563787e-04 9.99934994e-01 2.32654525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.264391418 meters Centerline goodness [0,1] 0.999043387683085 Centerline is valid? [True, True] Translation: X:325.18, Y:11.02, Z:2.33 [[ 9.98962373e-01 -4.38581026e-02 -1.22736967e-02 3.25177741e+02] [ 4.38590072e-02 9.99037712e-01 -1.95584340e-04 1.10176687e+01] [ 1.22704638e-02 -3.42930755e-04 9.99924656e-01 2.32635477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.294391418 meters Centerline goodness [0,1] 0.9988320485867788 Centerline is valid? [True, True] Translation: X:325.21, Y:11.02, Z:2.33 [[ 9.98973811e-01 -4.35141003e-02 -1.25637504e-02 3.25209202e+02] [ 4.35150326e-02 9.99052752e-01 -1.99279289e-04 1.10154701e+01] [ 1.25605209e-02 -3.47637219e-04 9.99921053e-01 2.32573673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.324391418 meters Centerline goodness [0,1] 0.9988954031778401 Centerline is valid? [True, True] Translation: X:325.24, Y:11.02, Z:2.33 [[ 9.98992123e-01 -4.30309475e-02 -1.27701113e-02 3.25241078e+02] [ 4.30318828e-02 9.99073679e-01 -2.01648327e-04 1.10201922e+01] [ 1.27669592e-02 -3.48076841e-04 9.99918438e-01 2.32694249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.354391418 meters Centerline goodness [0,1] 0.9989160928334608 Centerline is valid? [True, True] Translation: X:325.27, Y:11.02, Z:2.33 [[ 9.99044850e-01 -4.15857051e-02 -1.34170287e-02 3.25273691e+02] [ 4.15866242e-02 9.99134880e-01 -2.10613289e-04 1.10224454e+01] [ 1.34141798e-02 -3.47556807e-04 9.99909965e-01 2.32728611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.384391418 meters Centerline goodness [0,1] 0.9988297623353688 Centerline is valid? [True, True] Translation: X:325.31, Y:11.02, Z:2.33 [[ 9.99069007e-01 -4.08781719e-02 -1.37874726e-02 3.25305765e+02] [ 4.08790927e-02 9.99164077e-01 -2.15144017e-04 1.10238670e+01] [ 1.37847420e-02 -3.48675651e-04 9.99904925e-01 2.32729287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.414391418 meters Centerline goodness [0,1] 0.9990424105717873 Centerline is valid? [True, True] Translation: X:325.34, Y:11.02, Z:2.33 [[ 9.99091946e-01 -4.01857155e-02 -1.41560071e-02 3.25336540e+02] [ 4.01866387e-02 9.99192167e-01 -2.19346733e-04 1.10243408e+01] [ 1.41533861e-02 -3.49734791e-04 9.99899775e-01 2.32718026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.444391418 meters Centerline goodness [0,1] 0.9988959425890146 Centerline is valid? [True, True] Translation: X:325.37, Y:11.03, Z:2.33 [[ 9.99149869e-01 -3.87404219e-02 -1.40967413e-02 3.25367965e+02] [ 3.87412128e-02 9.99249254e-01 -2.17066644e-04 1.10265198e+01] [ 1.40945675e-02 -3.29242744e-04 9.99900612e-01 2.32819099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.474391418 meters Centerline goodness [0,1] 0.9989153551680137 Centerline is valid? [True, True] Translation: X:325.40, Y:11.03, Z:2.33 [[ 9.99193351e-01 -3.77274632e-02 -1.37581426e-02 3.25400464e+02] [ 3.77281337e-02 9.99288018e-01 -2.10902716e-04 1.10290562e+01] [ 1.37563039e-02 -3.08336451e-04 9.99905330e-01 2.32933028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.504391418 meters Centerline goodness [0,1] 0.99914967794052 Centerline is valid? [True, True] Translation: X:325.43, Y:11.03, Z:2.33 [[ 9.99230840e-01 -3.69598365e-02 -1.31033725e-02 3.25431970e+02] [ 3.69603905e-02 9.99316711e-01 -1.99967493e-04 1.10297629e+01] [ 1.31018099e-02 -2.84492079e-04 9.99914127e-01 2.33052869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.534391418 meters Centerline goodness [0,1] 0.9990436722983742 Centerline is valid? [True, True] Translation: X:325.46, Y:11.03, Z:2.33 [[ 9.99322015e-01 -3.50226450e-02 -1.13544681e-02 3.25464106e+02] [ 3.50229440e-02 9.99386494e-01 -1.72560687e-04 1.10342563e+01] [ 1.13535456e-02 -2.25223208e-04 9.99935521e-01 2.33325236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.564391418 meters Centerline goodness [0,1] 0.9990881910133803 Centerline is valid? [True, True] Translation: X:325.49, Y:11.03, Z:2.33 [[ 9.99372090e-01 -3.36669562e-02 -1.10436009e-02 3.25494889e+02] [ 3.36671689e-02 9.99433086e-01 -1.66706115e-04 1.10345268e+01] [ 1.10429526e-02 -2.05205339e-04 9.99939004e-01 2.33376053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.594391418 meters Centerline goodness [0,1] 0.998769074046563 Centerline is valid? [True, True] Translation: X:325.53, Y:11.04, Z:2.33 [[ 9.99419984e-01 -3.24006573e-02 -1.04829521e-02 3.25527112e+02] [ 3.24007920e-02 9.99474944e-01 -1.57025968e-04 1.10363697e+01] [ 1.04825357e-02 -1.82721059e-04 9.99945040e-01 2.33445531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.624391418 meters Centerline goodness [0,1] 0.9988741130985257 Centerline is valid? [True, True] Translation: X:325.56, Y:11.04, Z:2.34 [[ 9.99482505e-01 -3.05870721e-02 -9.95754304e-03 3.25558927e+02] [ 3.05871113e-02 9.99532094e-01 -1.48393716e-04 1.10390343e+01] [ 9.95742278e-03 -1.56255554e-04 9.99950411e-01 2.33543008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.654391418 meters Centerline goodness [0,1] 0.9990223997959791 Centerline is valid? [True, True] Translation: X:325.59, Y:11.04, Z:2.34 [[ 9.99572449e-01 -2.75393518e-02 -9.82365376e-03 3.25591281e+02] [ 2.75392505e-02 9.99620712e-01 -1.45608413e-04 1.10431739e+01] [ 9.82393773e-03 -1.24989904e-04 9.99951736e-01 2.33620847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.684391418 meters Centerline goodness [0,1] 0.9988332378709773 Centerline is valid? [True, True] Translation: X:325.62, Y:11.04, Z:2.34 [[ 9.99608860e-01 -2.60297843e-02 -1.02262802e-02 3.25622405e+02] [ 2.60296037e-02 9.99661161e-01 -1.50783941e-04 1.10447505e+01] [ 1.02267401e-02 -1.15461058e-04 9.99947699e-01 2.33590881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.714391418 meters Centerline goodness [0,1] 0.9987889346874602 Centerline is valid? [True, True] Translation: X:325.65, Y:11.05, Z:2.33 [[ 9.99651856e-01 -2.39027168e-02 -1.11725743e-02 3.25653141e+02] [ 2.39023763e-02 9.99714284e-01 -1.64021289e-04 1.10453728e+01] [ 1.11733027e-02 -1.03086889e-04 9.99937571e-01 2.33497418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.744391418 meters Centerline goodness [0,1] 0.9990212557713994 Centerline is valid? [True, True] Translation: X:325.68, Y:11.05, Z:2.34 [[ 9.99664913e-01 -2.34118796e-02 -1.10429152e-02 3.25684482e+02] [ 2.34115234e-02 9.99725900e-01 -1.61539176e-04 1.10472786e+01] [ 1.10436703e-02 -9.70464221e-05 9.99939012e-01 2.33594650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.774391418 meters Centerline goodness [0,1] 0.9989195373077412 Centerline is valid? [True, True] Translation: X:325.71, Y:11.05, Z:2.34 [[ 9.99671417e-01 -2.30948902e-02 -1.11213407e-02 3.25714970e+02] [ 2.30945134e-02 9.99733273e-01 -1.62319996e-04 1.10472855e+01] [ 1.11221231e-02 -9.45752922e-05 9.99938143e-01 2.33627731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.804391418 meters Centerline goodness [0,1] 0.9990651822894535 Centerline is valid? [True, True] Translation: X:325.75, Y:11.05, Z:2.34 [[ 9.99665434e-01 -2.34304625e-02 -1.09559722e-02 3.25746075e+02] [ 2.34301202e-02 9.99725464e-01 -1.59609393e-04 1.10458599e+01] [ 1.09567041e-02 -9.71437529e-05 9.99939969e-01 2.33683272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.834391418 meters Centerline goodness [0,1] 0.9991922970646375 Centerline is valid? [True, True] Translation: X:325.78, Y:11.04, Z:2.34 [[ 9.99656031e-01 -2.38300599e-02 -1.09520304e-02 3.25776550e+02] [ 2.38297459e-02 9.99716019e-01 -1.59190579e-04 1.10446284e+01] [ 1.09527138e-02 -1.01848279e-04 9.99940012e-01 2.33690147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.864391418 meters Centerline goodness [0,1] 0.9989381357911951 Centerline is valid? [True, True] Translation: X:325.81, Y:11.04, Z:2.34 [[ 9.99647057e-01 -2.43174725e-02 -1.06968153e-02 3.25807938e+02] [ 2.43172039e-02 9.99704281e-01 -1.55191822e-04 1.10446139e+01] [ 1.06974260e-02 -1.04979592e-04 9.99942775e-01 2.33759032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.894391418 meters Centerline goodness [0,1] 0.9990428993768211 Centerline is valid? [True, True] Translation: X:325.84, Y:11.04, Z:2.34 [[ 9.99613892e-01 -2.53793974e-02 -1.13115924e-02 3.25838449e+02] [ 2.53791695e-02 9.99677884e-01 -1.63717601e-04 1.10419471e+01] [ 1.13121038e-02 -1.23424432e-04 9.99936008e-01 2.33727689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.924391418 meters Centerline goodness [0,1] 0.9988110403397028 Centerline is valid? [True, True] Translation: X:325.87, Y:11.04, Z:2.34 [[ 9.99600104e-01 -2.59241908e-02 -1.12945880e-02 3.25870006e+02] [ 2.59240019e-02 9.99663903e-01 -1.63154584e-04 1.10411808e+01] [ 1.12950216e-02 -1.29711581e-04 9.99936201e-01 2.33735714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.954391418 meters Centerline goodness [0,1] 0.9991951369326245 Centerline is valid? [True, True] Translation: X:325.90, Y:11.04, Z:2.34 [[ 9.99572946e-01 -2.68406983e-02 -1.15543280e-02 3.25901648e+02] [ 2.68405684e-02 9.99639713e-01 -1.66339124e-04 1.10390339e+01] [ 1.15546298e-02 -1.43856642e-04 9.99933233e-01 2.33735817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.984391418 meters Centerline goodness [0,1] 0.998790733197556 Centerline is valid? [True, True] Translation: X:325.93, Y:11.04, Z:2.34 [[ 9.99540881e-01 -2.81372317e-02 -1.12393261e-02 3.25932788e+02] [ 2.81371973e-02 9.99604058e-01 -1.61219429e-04 1.10371539e+01] [ 1.12394123e-02 -1.55097727e-04 9.99936824e-01 2.33737948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.014391418 meters Centerline goodness [0,1] 0.9988976978844278 Centerline is valid? [True, True] Translation: X:325.96, Y:11.03, Z:2.34 [[ 9.99432088e-01 -3.18113914e-02 -1.11146773e-02 3.25964268e+02] [ 3.18115933e-02 9.99493871e-01 -1.58673633e-04 1.10311084e+01] [ 1.11140995e-02 -1.94992074e-04 9.99938217e-01 2.33715464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.044391418 meters Centerline goodness [0,1] 0.9988549132702829 Centerline is valid? [True, True] Translation: X:326.00, Y:11.03, Z:2.34 [[ 9.99344406e-01 -3.43951298e-02 -1.13018952e-02 3.25996629e+02] [ 3.43955169e-02 9.99408286e-01 -1.60172980e-04 1.10277694e+01] [ 1.13007169e-02 -2.28666556e-04 9.99936119e-01 2.33721316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.074391418 meters Centerline goodness [0,1] 0.9986908783783783 Centerline is valid? [True, True] Translation: X:326.03, Y:11.02, Z:2.34 [[ 9.99243563e-01 -3.71431710e-02 -1.15189561e-02 3.26028658e+02] [ 3.71437664e-02 9.99309919e-01 -1.62319595e-04 1.10243447e+01] [ 1.15170361e-02 -2.65660604e-04 9.99933641e-01 2.33734550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.104391418 meters Centerline goodness [0,1] 0.998695121437892 Centerline is valid? [True, True] Translation: X:326.06, Y:11.02, Z:2.34 [[ 9.98984216e-01 -4.36242159e-02 -1.12899649e-02 3.26058695e+02] [ 4.36252075e-02 9.99047955e-01 -1.58545991e-04 1.10152947e+01] [ 1.12861328e-02 -3.34142117e-04 9.99936254e-01 2.33726864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.134391418 meters Centerline goodness [0,1] 0.9987140839429137 Centerline is valid? [True, True] Translation: X:326.09, Y:11.01, Z:2.34 [[ 9.98823047e-01 -4.71746720e-02 -1.12725497e-02 3.26091054e+02] [ 4.71758900e-02 9.98886585e-01 -1.57971227e-04 1.10104966e+01] [ 1.12674509e-02 -3.74007262e-04 9.99936450e-01 2.33729046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.164391418 meters Centerline goodness [0,1] 0.9985467871359069 Centerline is valid? [True, True] Translation: X:326.12, Y:11.01, Z:2.34 [[ 9.98652623e-01 -5.07306174e-02 -1.09244519e-02 3.26123223e+02] [ 5.07319828e-02 9.98712292e-01 -1.52267784e-04 1.10054735e+01] [ 1.09181090e-02 -4.02156482e-04 9.99940315e-01 2.33743239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.194391418 meters Centerline goodness [0,1] 0.9985494754987492 Centerline is valid? [True, True] Translation: X:326.15, Y:11.00, Z:2.34 [[ 9.98284093e-01 -5.76792044e-02 -1.00984770e-02 3.26153884e+02] [ 5.76807311e-02 9.98335071e-01 -1.40247887e-04 1.09959521e+01] [ 1.00897532e-02 -4.42480303e-04 9.99948999e-01 2.33801985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.224391418 meters Centerline goodness [0,1] 0.9985036565575671 Centerline is valid? [True, True] Translation: X:326.19, Y:10.99, Z:2.34 [[ 9.98122672e-01 -6.02944688e-02 -1.07568064e-02 3.26186273e+02] [ 6.02963560e-02 9.98180508e-01 -1.49076627e-04 1.09919282e+01] [ 1.07462229e-02 -4.99799465e-04 9.99942133e-01 2.33600600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.254391418 meters Centerline goodness [0,1] 0.9984439397762638 Centerline is valid? [True, True] Translation: X:326.22, Y:10.99, Z:2.34 [[ 9.97941758e-01 -6.34097857e-02 -9.56280421e-03 3.26217096e+02] [ 6.34114248e-02 9.97987462e-01 -1.32003762e-04 1.09933538e+01] [ 9.55192904e-03 -4.74658974e-04 9.99954267e-01 2.33916927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.284391418 meters Centerline goodness [0,1] 0.9988432011778315 Centerline is valid? [True, True] Translation: X:326.25, Y:10.99, Z:2.34 [[ 9.97779738e-01 -6.59323998e-02 -9.40814432e-03 3.26249210e+02] [ 6.59341013e-02 9.97823971e-01 -1.29535487e-04 1.09909205e+01] [ 9.39621251e-03 -4.91069656e-04 9.99955734e-01 2.33963530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.314391418 meters Centerline goodness [0,1] 0.9984025894865166 Centerline is valid? [True, True] Translation: X:326.28, Y:10.98, Z:2.34 [[ 9.97569890e-01 -6.89193457e-02 -1.02195004e-02 3.26279465e+02] [ 6.89215190e-02 9.97622075e-01 -1.39784004e-04 1.09843904e+01] [ 1.02048331e-02 -5.64899180e-04 9.99947770e-01 2.33837122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.344391418 meters Centerline goodness [0,1] 0.9984878714690749 Centerline is valid? [True, True] Translation: X:326.31, Y:10.98, Z:2.34 [[ 9.97513038e-01 -6.97008205e-02 -1.04658902e-02 3.26311516e+02] [ 6.97031528e-02 9.97567767e-01 -1.42192182e-04 1.09837577e+01] [ 1.04503456e-02 -5.87666986e-04 9.99945221e-01 2.33813396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.374391418 meters Centerline goodness [0,1] 0.9984464551886297 Centerline is valid? [True, True] Translation: X:326.34, Y:10.98, Z:2.34 [[ 9.97467049e-01 -7.01924560e-02 -1.15111181e-02 3.26343672e+02] [ 7.01953213e-02 9.97533254e-01 -1.55423001e-04 1.09820548e+01] [ 1.14936326e-02 -6.52997309e-04 9.99933733e-01 2.33679380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.404391418 meters Centerline goodness [0,1] 0.9986145514085394 Centerline is valid? [True, True] Translation: X:326.37, Y:10.98, Z:2.34 [[ 9.97481980e-01 -6.99927950e-02 -1.14327782e-02 3.26374945e+02] [ 6.99956214e-02 9.97547287e-01 -1.53226870e-04 1.09800188e+01] [ 1.14154616e-02 -6.47403372e-04 9.99934632e-01 2.33692307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.434391418 meters Centerline goodness [0,1] 0.9985509376903207 Centerline is valid? [True, True] Translation: X:326.41, Y:10.98, Z:2.34 [[ 9.97505629e-01 -6.96624014e-02 -1.13873024e-02 3.26406694e+02] [ 6.96651983e-02 9.97570417e-01 -1.51350355e-04 1.09809949e+01] [ 1.13701794e-02 -6.42325847e-04 9.99935151e-01 2.33702181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.464391418 meters Centerline goodness [0,1] 0.9985956233755345 Centerline is valid? [True, True] Translation: X:326.44, Y:10.98, Z:2.34 [[ 9.97587016e-01 -6.83059817e-02 -1.24273005e-02 3.26438657e+02] [ 6.83092206e-02 9.97664184e-01 -1.64151662e-04 1.09841624e+01] [ 1.24094851e-02 -6.85143643e-04 9.99922765e-01 2.33636257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.494391418 meters Centerline goodness [0,1] 0.9985691139027418 Centerline is valid? [True, True] Translation: X:326.47, Y:10.98, Z:2.34 [[ 9.97652371e-01 -6.71569857e-02 -1.34047025e-02 3.26470778e+02] [ 6.71606654e-02 9.97742158e-01 -1.75965938e-04 1.09846375e+01] [ 1.33862541e-02 -7.24715903e-04 9.99910137e-01 2.33542856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.524391418 meters Centerline goodness [0,1] 0.9989679865206402 Centerline is valid? [True, True] Translation: X:326.50, Y:10.99, Z:2.34 [[ 9.97734509e-01 -6.57741740e-02 -1.41282604e-02 3.26503356e+02] [ 6.57781420e-02 9.97834256e-01 -1.84149434e-04 1.09911154e+01] [ 1.41097745e-02 -7.45598477e-04 9.99900174e-01 2.33565058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.554391418 meters Centerline goodness [0,1] 0.9988205560235889 Centerline is valid? [True, True] Translation: X:326.53, Y:10.99, Z:2.33 [[ 9.97931918e-01 -6.25033913e-02 -1.50070928e-02 3.26534248e+02] [ 6.25075160e-02 9.98044474e-01 -1.94504221e-04 1.09922550e+01] [ 1.49899032e-02 -7.43954125e-04 9.99887368e-01 2.33415046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.584391418 meters Centerline goodness [0,1] 0.998736150313856 Centerline is valid? [True, True] Translation: X:326.57, Y:11.00, Z:2.33 [[ 9.98046990e-01 -6.05508606e-02 -1.53557627e-02 3.26565267e+02] [ 6.05549585e-02 9.98164845e-01 -1.98386057e-04 1.09964287e+01] [ 1.53395950e-02 -7.31868968e-04 9.99882074e-01 2.33493426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.614391418 meters Centerline goodness [0,1] 0.998649931441831 Centerline is valid? [True, True] Translation: X:326.60, Y:11.00, Z:2.34 [[ 9.98196318e-01 -5.81855702e-02 -1.47834600e-02 3.26595399e+02] [ 5.81891158e-02 9.98305560e-01 -1.90559445e-04 1.09974727e+01] [ 1.47694981e-02 -6.70020729e-04 9.99890701e-01 2.33515938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.644391418 meters Centerline goodness [0,1] 0.998630050371994 Centerline is valid? [True, True] Translation: X:326.63, Y:11.00, Z:2.34 [[ 9.98336139e-01 -5.57964893e-02 -1.45500700e-02 3.26626640e+02] [ 5.57996770e-02 9.98441967e-01 -1.87107156e-04 1.10017989e+01] [ 1.45378405e-02 -6.25093373e-04 9.99894125e-01 2.33576001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.674391418 meters Centerline goodness [0,1] 0.9987548802363617 Centerline is valid? [True, True] Translation: X:326.66, Y:11.01, Z:2.34 [[ 9.98641495e-01 -5.02686475e-02 -1.37195845e-02 3.26657662e+02] [ 5.02709662e-02 9.98735600e-01 -1.76024620e-04 1.10092136e+01] [ 1.37110860e-02 -5.13911280e-04 9.99905867e-01 2.33711028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.704391418 meters Centerline goodness [0,1] 0.9988159675236806 Centerline is valid? [True, True] Translation: X:326.69, Y:11.01, Z:2.34 [[ 9.98795654e-01 -4.70478803e-02 -1.39190119e-02 3.26688274e+02] [ 4.70499604e-02 9.98892521e-01 -1.78161523e-04 1.10124921e+01] [ 1.39119790e-02 -4.76942005e-04 9.99903110e-01 2.33763650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.734391418 meters Centerline goodness [0,1] 0.9988164179735385 Centerline is valid? [True, True] Translation: X:326.72, Y:11.02, Z:2.34 [[ 9.98943392e-01 -4.38590222e-02 -1.37290165e-02 3.26718358e+02] [ 4.38607506e-02 9.99037639e-01 -1.75318490e-04 1.10156773e+01] [ 1.37234935e-02 -4.27031720e-04 9.99905737e-01 2.33800077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.764391418 meters Centerline goodness [0,1] 0.999007538484279 Centerline is valid? [True, True] Translation: X:326.75, Y:11.02, Z:2.34 [[ 9.99087878e-01 -4.04227347e-02 -1.37628177e-02 3.26750235e+02] [ 4.04241534e-02 9.99182594e-01 -1.75200886e-04 1.10215097e+01] [ 1.37586500e-02 -3.81309173e-04 9.99905273e-01 2.33872121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.794391418 meters Centerline goodness [0,1] 0.9988785679524343 Centerline is valid? [True, True] Translation: X:326.78, Y:11.03, Z:2.34 [[ 9.99331182e-01 -3.38805056e-02 -1.37586560e-02 3.26782041e+02] [ 3.38813153e-02 9.99425848e-01 -1.74301985e-04 1.10301016e+01] [ 1.37566619e-02 -2.91975956e-04 9.99905330e-01 2.33928630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.824391418 meters Centerline goodness [0,1] 0.9989430516213588 Centerline is valid? [True, True] Translation: X:326.81, Y:11.03, Z:2.34 [[ 9.99439127e-01 -3.06929157e-02 -1.33931328e-02 3.26812539e+02] [ 3.06934101e-02 9.99528832e-01 -1.68687534e-04 1.10331339e+01] [ 1.33919999e-02 -2.42487996e-04 9.99910294e-01 2.33953579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.854391418 meters Centerline goodness [0,1] 0.9990232508758892 Centerline is valid? [True, True] Translation: X:326.84, Y:11.04, Z:2.34 [[ 9.99607733e-01 -2.47740699e-02 -1.30623391e-02 3.26843412e+02] [ 2.47740458e-02 9.99693063e-01 -1.63679255e-04 1.10406341e+01] [ 1.30623848e-02 -1.59991938e-04 9.99914671e-01 2.34071364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.884391418 meters Centerline goodness [0,1] 0.9989188730841795 Centerline is valid? [True, True] Translation: X:326.87, Y:11.04, Z:2.34 [[ 9.99670827e-01 -2.21973269e-02 -1.28653290e-02 3.26874485e+02] [ 2.21970968e-02 9.99753601e-01 -1.60698450e-04 1.10441591e+01] [ 1.28657261e-02 -1.24927400e-04 9.99917225e-01 2.34109912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.914391418 meters Centerline goodness [0,1] 0.9990457003499099 Centerline is valid? [True, True] Translation: X:326.90, Y:11.05, Z:2.34 [[ 9.99716010e-01 -2.00303561e-02 -1.29106196e-02 3.26904654e+02] [ 2.00299473e-02 9.99799368e-01 -1.60982450e-04 1.10471568e+01] [ 1.29112539e-02 -9.76622972e-05 9.99916642e-01 2.34149272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.944391418 meters Centerline goodness [0,1] 0.9990457003499099 Centerline is valid? [True, True] Translation: X:326.93, Y:11.05, Z:2.34 [[ 9.99716010e-01 -2.00303561e-02 -1.29106196e-02 3.26934652e+02] [ 2.00299473e-02 9.99799368e-01 -1.60982450e-04 1.10475308e+01] [ 1.29112539e-02 -9.76622972e-05 9.99916642e-01 2.34170300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.974391418 meters Centerline goodness [0,1] 0.9990227528626968 Centerline is valid? [True, True] Translation: X:326.96, Y:11.05, Z:2.34 [[ 9.99749041e-01 -1.81804693e-02 -1.30891598e-02 3.26964044e+02] [ 1.81798890e-02 9.99834719e-01 -1.63330070e-04 1.10500083e+01] [ 1.30899658e-02 -7.46703912e-05 9.99914320e-01 2.34174992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.004391418 meters Centerline goodness [0,1] 0.9992555092316855 Centerline is valid? [True, True] Translation: X:326.99, Y:11.05, Z:2.34 [[ 9.99794778e-01 -1.56440336e-02 -1.28711512e-02 3.26993207e+02] [ 1.56432574e-02 9.99877624e-01 -1.60990649e-04 1.10543816e+01] [ 1.28720946e-02 -4.03891204e-05 9.99917150e-01 2.34239805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.034391418 meters Centerline goodness [0,1] 0.999021318241777 Centerline is valid? [True, True] Translation: X:327.02, Y:11.06, Z:2.34 [[ 9.99803944e-01 -1.51998225e-02 -1.26901435e-02 3.27021545e+02] [ 1.51990240e-02 9.99884475e-01 -1.59363702e-04 1.10556554e+01] [ 1.26910998e-02 -3.35453376e-05 9.99919464e-01 2.34232050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.064391418 meters Centerline goodness [0,1] 0.9991515357203462 Centerline is valid? [True, True] Translation: X:327.05, Y:11.06, Z:2.34 [[ 9.99814653e-01 -1.51560989e-02 -1.18723632e-02 3.27050147e+02] [ 1.51553887e-02 9.99885139e-01 -1.49793364e-04 1.10563339e+01] [ 1.18732698e-02 -3.01646779e-05 9.99929510e-01 2.34288474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.094391418 meters Centerline goodness [0,1] 0.9993830049785115 Centerline is valid? [True, True] Translation: X:327.08, Y:11.06, Z:2.34 [[ 9.99808571e-01 -1.58283401e-02 -1.15015098e-02 3.27078543e+02] [ 1.58277102e-02 9.99874723e-01 -1.45788585e-04 1.10560924e+01] [ 1.15023765e-02 -3.62818868e-05 9.99933845e-01 2.34335446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.124391418 meters Centerline goodness [0,1] 0.9992343032159265 Centerline is valid? [True, True] Translation: X:327.11, Y:11.06, Z:2.34 [[ 9.99792413e-01 -1.70075218e-02 -1.12194145e-02 3.27107841e+02] [ 1.70069903e-02 9.99855360e-01 -1.42783686e-04 1.10560595e+01] [ 1.12202202e-02 -4.80544280e-05 9.99937050e-01 2.34406623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.154391418 meters Centerline goodness [0,1] 0.9992146874668365 Centerline is valid? [True, True] Translation: X:327.14, Y:11.06, Z:2.34 [[ 9.99777761e-01 -1.81104556e-02 -1.07907145e-02 3.27138158e+02] [ 1.81100252e-02 9.99835991e-01 -1.37602977e-04 1.10554982e+01] [ 1.07914368e-02 -5.78477151e-05 9.99941769e-01 2.34444980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.184391418 meters Centerline goodness [0,1] 0.9993207819497804 Centerline is valid? [True, True] Translation: X:327.17, Y:11.05, Z:2.34 [[ 9.99702436e-01 -2.18344670e-02 -1.08763417e-02 3.27167827e+02] [ 2.18342499e-02 9.99761595e-01 -1.38713445e-04 1.10524344e+01] [ 1.08767775e-02 -9.88045944e-05 9.99940841e-01 2.34444916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.214391418 meters Centerline goodness [0,1] 0.9992362849505707 Centerline is valid? [True, True] Translation: X:327.20, Y:11.05, Z:2.34 [[ 9.99647275e-01 -2.41808203e-02 -1.09824010e-02 3.27199512e+02] [ 2.41807420e-02 9.99707593e-01 -1.39937641e-04 1.10512078e+01] [ 1.09825734e-02 -1.25674322e-04 9.99939682e-01 2.34443072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.244391418 meters Centerline goodness [0,1] 0.9992127659574468 Centerline is valid? [True, True] Translation: X:327.23, Y:11.05, Z:2.34 [[ 9.99573001e-01 -2.69709606e-02 -1.12420546e-02 3.27230857e+02] [ 2.69710601e-02 9.99636205e-01 -1.42781315e-04 1.10486592e+01] [ 1.12418157e-02 -1.60489783e-04 9.99936796e-01 2.34390245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.274391418 meters Centerline goodness [0,1] 0.9991295116772824 Centerline is valid? [True, True] Translation: X:327.26, Y:11.04, Z:2.34 [[ 9.99371253e-01 -3.33769977e-02 -1.19613782e-02 3.27261328e+02] [ 3.33775739e-02 9.99442802e-01 -1.51515246e-04 1.10423129e+01] [ 1.19597704e-02 -2.47821802e-04 9.99928449e-01 2.34282746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.304391418 meters Centerline goodness [0,1] 0.9990876106006917 Centerline is valid? [True, True] Translation: X:327.29, Y:11.04, Z:2.34 [[ 9.99245402e-01 -3.69322045e-02 -1.20266024e-02 3.27292466e+02] [ 3.69330496e-02 9.99317731e-01 -1.51899720e-04 1.10388553e+01] [ 1.20240071e-02 -2.92394008e-04 9.99927666e-01 2.34250197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.334391418 meters Centerline goodness [0,1] 0.9988551317658533 Centerline is valid? [True, True] Translation: X:327.32, Y:11.04, Z:2.34 [[ 9.99105577e-01 -4.04876152e-02 -1.21983291e-02 3.27324711e+02] [ 4.04887595e-02 9.99179982e-01 -1.53232037e-04 1.10353821e+01] [ 1.21945302e-02 -3.40800230e-04 9.99925586e-01 2.34222496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.364391418 meters Centerline goodness [0,1] 0.9991941982272361 Centerline is valid? [True, True] Translation: X:327.36, Y:11.03, Z:2.34 [[ 9.98966571e-01 -4.38717592e-02 -1.18768224e-02 3.27356471e+02] [ 4.38730927e-02 9.99037101e-01 -1.48363721e-04 1.10319748e+01] [ 1.18718952e-02 -3.72862534e-04 9.99929457e-01 2.34273232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.394391418 meters Centerline goodness [0,1] 0.9987086940875124 Centerline is valid? [True, True] Translation: X:327.39, Y:11.03, Z:2.34 [[ 9.98668100e-01 -5.02128247e-02 -1.18616628e-02 3.27386550e+02] [ 5.02146064e-02 9.98738440e-01 -1.47759617e-04 1.10258437e+01] [ 1.18541180e-02 -4.48065914e-04 9.99929637e-01 2.34247204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.424391418 meters Centerline goodness [0,1] 0.9987724867724868 Centerline is valid? [True, True] Translation: X:327.42, Y:11.02, Z:2.34 [[ 9.98546366e-01 -5.26467210e-02 -1.15532753e-02 3.27418407e+02] [ 5.26485794e-02 9.98613092e-01 -1.43436163e-04 1.10234577e+01] [ 1.15448034e-02 -4.65035870e-04 9.99933248e-01 2.34283749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.454391418 meters Centerline goodness [0,1] 0.9987337230652343 Centerline is valid? [True, True] Translation: X:327.45, Y:11.02, Z:2.34 [[ 9.98431053e-01 -5.48249318e-02 -1.13867757e-02 3.27450364e+02] [ 5.48268906e-02 9.98495865e-01 -1.40296441e-04 1.10221006e+01] [ 1.13773402e-02 -4.84225181e-04 9.99935159e-01 2.34298125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.484391418 meters Centerline goodness [0,1] 0.9988814081593888 Centerline is valid? [True, True] Translation: X:327.48, Y:11.02, Z:2.34 [[ 9.98210695e-01 -5.87870096e-02 -1.09314602e-02 3.27480611e+02] [ 5.87890597e-02 9.98270419e-01 -1.33981091e-04 1.10185224e+01] [ 1.09204297e-02 -5.08908911e-04 9.99940241e-01 2.34350722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.514391418 meters Centerline goodness [0,1] 0.9984819094205954 Centerline is valid? [True, True] Translation: X:327.51, Y:11.02, Z:2.34 [[ 9.98116346e-01 -6.03948237e-02 -1.07807349e-02 3.27513091e+02] [ 6.03969177e-02 9.98174431e-01 -1.31523802e-04 1.10171575e+01] [ 1.07689973e-02 -5.19847104e-04 9.99941878e-01 2.34373971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.544391418 meters Centerline goodness [0,1] 0.9986896886953949 Centerline is valid? [True, True] Translation: X:327.54, Y:11.02, Z:2.34 [[ 9.98047084e-01 -6.15616995e-02 -1.05912843e-02 3.27544502e+02] [ 6.15637938e-02 9.98103142e-01 -1.28482668e-04 1.10154577e+01] [ 1.05791038e-02 -5.23807891e-04 9.99943903e-01 2.34396012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.574391418 meters Centerline goodness [0,1] 0.9988201087185538 Centerline is valid? [True, True] Translation: X:327.57, Y:11.01, Z:2.35 [[ 9.97888355e-01 -6.41158068e-02 -1.03920553e-02 3.27574452e+02] [ 6.41179685e-02 9.97942318e-01 -1.25358628e-04 1.10143660e+01] [ 1.03787092e-02 -5.41223556e-04 9.99945993e-01 2.34503858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.604391418 meters Centerline goodness [0,1] 0.9985649467130948 Centerline is valid? [True, True] Translation: X:327.61, Y:11.01, Z:2.35 [[ 9.97814353e-01 -6.52517995e-02 -1.04268954e-02 3.27605625e+02] [ 6.52540464e-02 9.97868676e-01 -1.24932333e-04 1.10136617e+01] [ 1.04128244e-02 -5.55737844e-04 9.99945631e-01 2.34521408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.634391418 meters Centerline goodness [0,1] 0.9987765777927776 Centerline is valid? [True, True] Translation: X:327.64, Y:11.01, Z:2.35 [[ 9.97750444e-01 -6.62419017e-02 -1.02986268e-02 3.27636517e+02] [ 6.62441521e-02 9.97803436e-01 -1.22828683e-04 1.10130301e+01] [ 1.02841416e-02 -5.59671425e-04 9.99946960e-01 2.34542194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.664391418 meters Centerline goodness [0,1] 0.9980954799390553 Centerline is valid? [True, True] Translation: X:327.67, Y:11.01, Z:2.35 [[ 9.97617320e-01 -6.81505473e-02 -1.07324899e-02 3.27667877e+02] [ 6.81531079e-02 9.97674866e-01 -1.27397575e-04 1.10120850e+01] [ 1.07162176e-02 -6.04358511e-04 9.99942397e-01 2.34521369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.694391418 meters Centerline goodness [0,1] 0.9983330519918974 Centerline is valid? [True, True] Translation: X:327.70, Y:11.01, Z:2.34 [[ 9.97549243e-01 -6.90232177e-02 -1.14587784e-02 3.27700403e+02] [ 6.90262024e-02 9.97614838e-01 -1.35289829e-04 1.10119834e+01] [ 1.14407855e-02 -6.55997687e-04 9.99934337e-01 2.34498642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.724391418 meters Centerline goodness [0,1] 0.9979445233201246 Centerline is valid? [True, True] Translation: X:327.73, Y:11.01, Z:2.34 [[ 9.97496966e-01 -6.97414655e-02 -1.16589784e-02 3.27733007e+02] [ 6.97446141e-02 9.97564870e-01 -1.36806859e-04 1.10116506e+01] [ 1.16401283e-02 -6.76686519e-04 9.99932022e-01 2.34464773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.754391418 meters Centerline goodness [0,1] 0.9985362438744988 Centerline is valid? [True, True] Translation: X:327.77, Y:11.03, Z:2.35 [[ 9.97385533e-01 -7.10929898e-02 -1.29570775e-02 3.27765017e+02] [ 7.10970058e-02 9.97469395e-01 -1.50995320e-04 1.10263551e+01] [ 1.29350230e-02 -7.70608870e-04 9.99916042e-01 2.34528209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.784391418 meters Centerline goodness [0,1] 0.9953498248221679 Centerline is valid? [True, True] Translation: X:327.80, Y:11.01, Z:2.34 [[ 9.97356570e-01 -7.13633989e-02 -1.36798589e-02 3.27796555e+02] [ 7.13679147e-02 9.97450047e-01 -1.58408597e-04 1.10129239e+01] [ 1.36562804e-02 -8.18313146e-04 9.99906414e-01 2.34330558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.814391418 meters Centerline goodness [0,1] 0.998597713848638 Centerline is valid? [True, True] Translation: X:327.83, Y:11.03, Z:2.34 [[ 9.97391428e-01 -7.07582099e-02 -1.42693714e-02 3.27828234e+02] [ 7.07630761e-02 9.97493138e-01 -1.64225060e-04 1.10260782e+01] [ 1.42452203e-02 -8.45947944e-04 9.99898174e-01 2.34465801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.844391418 meters Centerline goodness [0,1] 0.9988536248805859 Centerline is valid? [True, True] Translation: X:327.86, Y:11.03, Z:2.35 [[ 9.97471612e-01 -6.95649083e-02 -1.45295304e-02 3.27860368e+02] [ 6.95698439e-02 9.97577069e-01 -1.66078074e-04 1.10287261e+01] [ 1.45058796e-02 -8.45158999e-04 9.99894427e-01 2.34517225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.874391418 meters Centerline goodness [0,1] 0.9992333737941609 Centerline is valid? [True, True] Translation: X:327.89, Y:11.04, Z:2.35 [[ 9.97774160e-01 -6.52926972e-02 -1.35495256e-02 3.27891429e+02] [ 6.52966051e-02 9.97865888e-01 -1.54241791e-04 1.10361375e+01] [ 1.35306803e-02 -7.30839550e-04 9.99908189e-01 2.34666059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.904391418 meters Centerline goodness [0,1] 0.9989788103140158 Centerline is valid? [True, True] Translation: X:327.92, Y:11.05, Z:2.35 [[ 9.97972032e-01 -6.23417169e-02 -1.28582274e-02 3.27922622e+02] [ 6.23449966e-02 9.98054648e-01 -1.46004351e-04 1.10464454e+01] [ 1.28423158e-02 -6.55937886e-04 9.99917319e-01 2.34845661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.934391418 meters Centerline goodness [0,1] 0.9993386384485738 Centerline is valid? [True, True] Translation: X:327.95, Y:11.06, Z:2.35 [[ 9.98433414e-01 -5.48227279e-02 -1.11886596e-02 3.27951863e+02] [ 5.48247417e-02 9.98495985e-01 -1.26882780e-04 1.10572454e+01] [ 1.11787877e-02 -4.86731363e-04 9.99937397e-01 2.35127667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.964391418 meters Centerline goodness [0,1] 0.9989972905510636 Centerline is valid? [True, True] Translation: X:327.98, Y:11.06, Z:2.35 [[ 9.98641295e-01 -5.10020739e-02 -1.06935894e-02 3.27982873e+02] [ 5.10036948e-02 9.98698457e-01 -1.21259167e-04 1.10632262e+01] [ 1.06858557e-02 -4.24318158e-04 9.99942815e-01 2.35227576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.994391418 meters Centerline goodness [0,1] 0.9995718261614215 Centerline is valid? [True, True] Translation: X:328.01, Y:11.07, Z:2.35 [[ 9.98857488e-01 -4.66961778e-02 -1.01580499e-02 3.28014811e+02] [ 4.66974234e-02 9.98909074e-01 -1.14655561e-04 1.10687553e+01] [ 1.01523222e-02 -3.59830192e-04 9.99948399e-01 2.35337344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.024391418 meters Centerline goodness [0,1] 0.9992065704543992 Centerline is valid? [True, True] Translation: X:328.05, Y:11.07, Z:2.35 [[ 9.99019943e-01 -4.31573973e-02 -9.82813097e-03 3.28046130e+02] [ 4.31583989e-02 9.99068236e-01 -1.10252043e-04 1.10744453e+01] [ 9.82373167e-03 -3.14022408e-04 9.99951697e-01 2.35381699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.054391418 meters Centerline goodness [0,1] 0.9998924939259068 Centerline is valid? [True, True] Translation: X:328.08, Y:11.09, Z:2.35 [[ 9.99296864e-01 -3.61365649e-02 -9.99633685e-03 3.28076884e+02] [ 3.61372534e-02 9.99346830e-01 -1.11795864e-04 1.10853898e+01] [ 9.99384746e-03 -2.49522901e-04 9.99950029e-01 2.35417933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.084391418 meters Centerline goodness [0,1] 0.9996133771505896 Centerline is valid? [True, True] Translation: X:328.11, Y:11.09, Z:2.35 [[ 9.99406933e-01 -3.29572664e-02 -9.98000726e-03 3.28108241e+02] [ 3.29578001e-02 9.99456738e-01 -1.11025397e-04 1.10882181e+01] [ 9.97824460e-03 -2.17959533e-04 9.99950192e-01 2.35384864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.114391418 meters Centerline goodness [0,1] 0.9996118514684953 Centerline is valid? [True, True] Translation: X:328.14, Y:11.09, Z:2.35 [[ 9.99496916e-01 -3.00365586e-02 -1.01843393e-02 3.28140550e+02] [ 3.00369763e-02 9.99548782e-01 -1.11977991e-04 1.10927566e+01] [ 1.01831074e-02 -1.93985101e-04 9.99948132e-01 2.35419643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.144391418 meters Centerline goodness [0,1] 0.9996550757755406 Centerline is valid? [True, True] Translation: X:328.17, Y:11.10, Z:2.35 [[ 9.99570606e-01 -2.73810152e-02 -1.04347786e-02 3.28173158e+02] [ 2.73813187e-02 9.99625055e-01 -1.13801271e-04 1.10966396e+01] [ 1.04339821e-02 -1.71965592e-04 9.99945550e-01 2.35449450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.174391418 meters Centerline goodness [0,1] 0.9996546141392336 Centerline is valid? [True, True] Translation: X:328.21, Y:11.11, Z:2.36 [[ 9.99684620e-01 -2.27210170e-02 -1.06965133e-02 3.28205672e+02] [ 2.27210818e-02 9.99741836e-01 -1.15483405e-04 1.11056298e+01] [ 1.06963757e-02 -1.27589370e-04 9.99942784e-01 2.35515358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.204391418 meters Centerline goodness [0,1] 0.9996974412171508 Centerline is valid? [True, True] Translation: X:328.24, Y:11.11, Z:2.36 [[ 9.99735330e-01 -2.01232825e-02 -1.11500427e-02 3.28238013e+02] [ 2.01232034e-02 9.99797501e-01 -1.19292876e-04 1.11089570e+01] [ 1.11501854e-02 -1.05113275e-04 9.99937829e-01 2.35513951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.234391418 meters Centerline goodness [0,1] 0.9997183281693498 Centerline is valid? [True, True] Translation: X:328.27, Y:11.11, Z:2.35 [[ 9.99769352e-01 -1.81986155e-02 -1.14041199e-02 3.28268603e+02] [ 1.81984154e-02 9.99834388e-01 -1.21334020e-04 1.11102950e+01] [ 1.14044393e-02 -8.62308760e-05 9.99934964e-01 2.35424752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.264391418 meters Centerline goodness [0,1] 0.999869966624767 Centerline is valid? [True, True] Translation: X:328.30, Y:11.12, Z:2.35 [[ 9.99827438e-01 -1.39524635e-02 -1.22647104e-02 3.28300064e+02] [ 1.39519170e-02 9.99902659e-01 -1.30125320e-04 1.11161365e+01] [ 1.22653321e-02 -4.10133565e-05 9.99924777e-01 2.35392065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.294391418 meters Centerline goodness [0,1] 0.9996316599137651 Centerline is valid? [True, True] Translation: X:328.33, Y:11.12, Z:2.35 [[ 9.99841388e-01 -1.24185258e-02 -1.27663100e-02 3.28329928e+02] [ 1.24178094e-02 9.99922887e-01 -1.35385636e-04 1.11185838e+01] [ 1.27670068e-02 -2.31654424e-05 9.99918498e-01 2.35366183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.324391418 meters Centerline goodness [0,1] 0.9997832401265878 Centerline is valid? [True, True] Translation: X:328.36, Y:11.12, Z:2.35 [[ 9.99874232e-01 -9.63131739e-03 -1.25998824e-02 3.28358684e+02] [ 9.63037490e-03 9.99953618e-01 -1.35473481e-04 1.11225034e+01] [ 1.26006028e-02 1.41148517e-05 9.99920609e-01 2.35334600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.354391418 meters Centerline goodness [0,1] 0.999869292436389 Centerline is valid? [True, True] Translation: X:328.39, Y:11.12, Z:2.35 [[ 9.99877665e-01 -8.98713540e-03 -1.28018194e-02 3.28386814e+02] [ 8.98605998e-03 9.99959615e-01 -1.41525767e-04 1.11242563e+01] [ 1.28025743e-02 2.64705367e-05 9.99918043e-01 2.35370770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.384391418 meters Centerline goodness [0,1] 0.9998910319276452 Centerline is valid? [True, True] Translation: X:328.41, Y:11.13, Z:2.35 [[ 9.99888910e-01 -8.37362684e-03 -1.23308792e-02 3.28414866e+02] [ 8.37254888e-03 9.99964940e-01 -1.39040544e-04 1.11259038e+01] [ 1.23316111e-02 3.57842096e-05 9.99923962e-01 2.35417217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.414391418 meters Centerline goodness [0,1] 0.9995212603908256 Centerline is valid? [True, True] Translation: X:328.44, Y:11.13, Z:2.36 [[ 9.99895133e-01 -9.28546350e-03 -1.11132011e-02 3.28442623e+02] [ 9.28462230e-03 9.99956889e-01 -1.27285135e-04 1.11268876e+01] [ 1.11139039e-02 2.40899119e-05 9.99938238e-01 2.35526832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.444391418 meters Centerline goodness [0,1] 0.9995219262027902 Centerline is valid? [True, True] Translation: X:328.47, Y:11.13, Z:2.36 [[ 9.99883553e-01 -1.05539812e-02 -1.10224400e-02 3.28471689e+02] [ 1.05531930e-02 9.99944305e-01 -1.29676447e-04 1.11267097e+01] [ 1.10231947e-02 1.33394099e-05 9.99939243e-01 2.35588110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.474391418 meters Centerline goodness [0,1] 0.9996963584705142 Centerline is valid? [True, True] Translation: X:328.50, Y:11.13, Z:2.36 [[ 9.99873361e-01 -1.20951079e-02 -1.03426498e-02 3.28500114e+02] [ 1.20944746e-02 9.99926852e-01 -1.23778191e-04 1.11259771e+01] [ 1.03433904e-02 -1.32639943e-06 9.99946506e-01 2.35609894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.504391418 meters Centerline goodness [0,1] 0.9997395550732502 Centerline is valid? [True, True] Translation: X:328.53, Y:11.12, Z:2.36 [[ 9.99842392e-01 -1.43210178e-02 -1.04928161e-02 3.28529971e+02] [ 1.43204825e-02 9.99897449e-01 -1.26150948e-04 1.11245947e+01] [ 1.04935467e-02 -2.41311238e-05 9.99944941e-01 2.35633131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.534391418 meters Centerline goodness [0,1] 0.999264339961486 Centerline is valid? [True, True] Translation: X:328.56, Y:11.12, Z:2.36 [[ 9.99727289e-01 -2.06734327e-02 -1.08607985e-02 3.28559938e+02] [ 2.06732308e-02 9.99786277e-01 -1.30868439e-04 1.11189410e+01] [ 1.08611828e-02 -9.36950437e-05 9.99941011e-01 2.35534912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.564391418 meters Centerline goodness [0,1] 0.9992844907959498 Centerline is valid? [True, True] Translation: X:328.59, Y:11.12, Z:2.36 [[ 9.99645978e-01 -2.42587613e-02 -1.09284589e-02 3.28591962e+02] [ 2.42587745e-02 9.99705704e-01 -1.31369843e-04 1.11154491e+01] [ 1.09284296e-02 -1.33787686e-04 9.99940274e-01 2.35511737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.594391418 meters Centerline goodness [0,1] 0.9993725388376823 Centerline is valid? [True, True] Translation: X:328.62, Y:11.11, Z:2.35 [[ 9.99542106e-01 -2.82083450e-02 -1.09484057e-02 3.28622953e+02] [ 2.82086039e-02 9.99602050e-01 -1.30812548e-04 1.11108859e+01] [ 1.09477387e-02 -1.78086588e-04 9.99940056e-01 2.35495510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.624391418 meters Centerline goodness [0,1] 0.9991789109766638 Centerline is valid? [True, True] Translation: X:328.66, Y:11.11, Z:2.35 [[ 9.99414000e-01 -3.24538279e-02 -1.08814282e-02 3.28655349e+02] [ 3.24543429e-02 9.99473211e-01 -1.29294641e-04 1.11066296e+01] [ 1.08798921e-02 -2.23930727e-04 9.99940787e-01 2.35486772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.654391418 meters Centerline goodness [0,1] 0.999439932791935 Centerline is valid? [True, True] Translation: X:328.69, Y:11.10, Z:2.35 [[ 9.99120177e-01 -4.05718796e-02 -1.06204311e-02 3.28686212e+02] [ 4.05728348e-02 9.99176576e-01 -1.25589004e-04 1.10975819e+01] [ 1.06167814e-02 -3.05422490e-04 9.99943594e-01 2.35490001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.684391418 meters Centerline goodness [0,1] 0.9992058552080874 Centerline is valid? [True, True] Translation: X:328.72, Y:11.09, Z:2.36 [[ 9.98976198e-01 -4.39982091e-02 -1.05220047e-02 3.28718764e+02] [ 4.39993409e-02 9.99031552e-01 -1.24016605e-04 1.10934536e+01] [ 1.05172712e-02 -3.39071635e-04 9.99944634e-01 2.35514523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.714391418 meters Centerline goodness [0,1] 0.9992695398100804 Centerline is valid? [True, True] Translation: X:328.75, Y:11.09, Z:2.36 [[ 9.98824695e-01 -4.73972477e-02 -1.01355349e-02 3.28751279e+02] [ 4.73984804e-02 9.98876053e-01 -1.18690187e-04 1.10904940e+01] [ 1.01297687e-02 -3.61858263e-04 9.99948627e-01 2.35559672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.744391418 meters Centerline goodness [0,1] 0.9994000042856837 Centerline is valid? [True, True] Translation: X:328.78, Y:11.08, Z:2.36 [[ 9.98527999e-01 -5.31884557e-02 -1.06218393e-02 3.28781299e+02] [ 5.31901428e-02 9.98584395e-01 -1.23807106e-04 1.10821823e+01] [ 1.06133881e-02 -4.41352286e-04 9.99943579e-01 2.35505375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.774391418 meters Centerline goodness [0,1] 0.9993779894043713 Centerline is valid? [True, True] Translation: X:328.81, Y:11.08, Z:2.35 [[ 9.98385892e-01 -5.57792603e-02 -1.06904364e-02 3.28813256e+02] [ 5.57811197e-02 9.98443014e-01 -1.24394593e-04 1.10786052e+01] [ 1.06807302e-02 -4.72130704e-04 9.99942848e-01 2.35466931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.804391418 meters Centerline goodness [0,1] 0.9993146724348403 Centerline is valid? [True, True] Translation: X:328.85, Y:11.08, Z:2.35 [[ 9.98254375e-01 -5.79857368e-02 -1.12186409e-02 3.28845157e+02] [ 5.79879339e-02 9.98317276e-01 -1.29622093e-04 1.10754204e+01] [ 1.12072793e-02 -5.21149986e-04 9.99937061e-01 2.35417665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.834391418 meters Centerline goodness [0,1] 0.9992939817291029 Centerline is valid? [True, True] Translation: X:328.88, Y:11.08, Z:2.35 [[ 9.98011936e-01 -6.19167557e-02 -1.17682545e-02 3.28875849e+02] [ 6.19194571e-02 9.98081140e-01 -1.35010185e-04 1.10772943e+01] [ 1.17540322e-02 -5.93942153e-04 9.99930743e-01 2.35442631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.864391418 meters Centerline goodness [0,1] 0.9991004497751125 Centerline is valid? [True, True] Translation: X:328.91, Y:11.07, Z:2.35 [[ 9.97928122e-01 -6.32574459e-02 -1.17456015e-02 3.28907053e+02] [ 6.32602347e-02 9.97997056e-01 -1.34315974e-04 1.10718359e+01] [ 1.17305722e-02 -6.08991819e-04 9.99931009e-01 2.35395784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.894391418 meters Centerline goodness [0,1] 0.9991004497751125 Centerline is valid? [True, True] Translation: X:328.94, Y:11.07, Z:2.35 [[ 9.97935595e-01 -6.31394346e-02 -1.17456127e-02 3.28939637e+02] [ 6.31422268e-02 9.98004530e-01 -1.33325686e-04 1.10720865e+01] [ 1.17305928e-02 -6.08593695e-04 9.99931009e-01 2.35418611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.924391418 meters Centerline goodness [0,1] 0.9994652063234004 Centerline is valid? [True, True] Translation: X:328.97, Y:11.07, Z:2.35 [[ 9.97873321e-01 -6.40968345e-02 -1.18503712e-02 3.28971299e+02] [ 6.40997575e-02 9.97943487e-01 -1.33390837e-04 1.10716423e+01] [ 1.18345507e-02 -6.26498765e-04 9.99929773e-01 2.35435029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.954391418 meters Centerline goodness [0,1] 0.9992074711905068 Centerline is valid? [True, True] Translation: X:329.00, Y:11.07, Z:2.35 [[ 9.97818778e-01 -6.49002847e-02 -1.20680741e-02 3.29002992e+02] [ 6.49033834e-02 9.97891543e-01 -1.35109579e-04 1.10731473e+01] [ 1.20513978e-02 -6.48443967e-04 9.99927169e-01 2.35439788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.984391418 meters Centerline goodness [0,1] 0.9989555801858641 Centerline is valid? [True, True] Translation: X:329.03, Y:11.06, Z:2.35 [[ 9.97755032e-01 -6.57926243e-02 -1.24990646e-02 3.29034017e+02] [ 6.57960278e-02 9.97833084e-01 -1.39162578e-04 1.10612584e+01] [ 1.24811361e-02 -6.83538641e-04 9.99921874e-01 2.35252667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.014391418 meters Centerline goodness [0,1] 0.9989728885370082 Centerline is valid? [True, True] Translation: X:329.07, Y:11.07, Z:2.35 [[ 9.97722731e-01 -6.62466066e-02 -1.26783317e-02 3.29066013e+02] [ 6.62501558e-02 9.97803035e-01 -1.40302514e-04 1.10650466e+01] [ 1.26597724e-02 -6.99958445e-04 9.99919617e-01 2.35290937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.044391418 meters Centerline goodness [0,1] 0.9989728885370082 Centerline is valid? [True, True] Translation: X:329.10, Y:11.07, Z:2.35 [[ 9.97696850e-01 -6.65884434e-02 -1.29218478e-02 3.29098433e+02] [ 6.65921718e-02 9.97780268e-01 -1.41992606e-04 1.10689548e+01] [ 1.29026198e-02 -7.18828331e-04 9.99916499e-01 2.35341920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.074391418 meters Centerline goodness [0,1] 0.9990377419009944 Centerline is valid? [True, True] Translation: X:329.13, Y:11.07, Z:2.35 [[ 9.97681805e-01 -6.67664382e-02 -1.31627861e-02 3.29130967e+02] [ 6.67703363e-02 9.97768361e-01 -1.43578960e-04 1.10717058e+01] [ 1.31429978e-02 -7.35637538e-04 9.99913356e-01 2.35385609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.104391418 meters Centerline goodness [0,1] 0.9992516250427643 Centerline is valid? [True, True] Translation: X:329.16, Y:11.07, Z:2.35 [[ 9.97691272e-01 -6.66036933e-02 -1.32692971e-02 3.29163206e+02] [ 6.66076564e-02 9.97779234e-01 -1.43536092e-04 1.10707497e+01] [ 1.32493892e-02 -7.40632079e-04 9.99911949e-01 2.35388471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.134391418 meters Centerline goodness [0,1] 0.9992305226033985 Centerline is valid? [True, True] Translation: X:329.20, Y:11.07, Z:2.35 [[ 9.97708852e-01 -6.62843982e-02 -1.35434247e-02 3.29195194e+02] [ 6.62885142e-02 9.97800487e-01 -1.45258163e-04 1.10708057e+01] [ 1.35232641e-02 -7.52848145e-04 9.99908273e-01 2.35355310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.164391418 meters Centerline goodness [0,1] 0.9990353077368319 Centerline is valid? [True, True] Translation: X:329.23, Y:11.07, Z:2.35 [[ 9.97747891e-01 -6.56975845e-02 -1.35268023e-02 3.29227591e+02] [ 6.57016514e-02 9.97839302e-01 -1.43992623e-04 1.10742710e+01] [ 1.35070349e-02 -7.45064914e-04 9.99908498e-01 2.35358700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.194391418 meters Centerline goodness [0,1] 0.9993992834309497 Centerline is valid? [True, True] Translation: X:329.26, Y:11.07, Z:2.35 [[ 9.97788747e-01 -6.50880057e-02 -1.34598672e-02 3.29258808e+02] [ 6.50919900e-02 9.97879258e-01 -1.42324376e-04 1.10748200e+01] [ 1.34405859e-02 -7.34119878e-04 9.99909402e-01 2.35418017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.224391418 meters Centerline goodness [0,1] 0.9990579570514055 Centerline is valid? [True, True] Translation: X:329.29, Y:11.07, Z:2.35 [[ 9.97835703e-01 -6.44213559e-02 -1.31833050e-02 3.29289937e+02] [ 6.44251386e-02 9.97922533e-01 -1.38001083e-04 1.10745328e+01] [ 1.31648073e-02 -7.11633843e-04 9.99913087e-01 2.35455737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.254391418 meters Centerline goodness [0,1] 0.9993768667139389 Centerline is valid? [True, True] Translation: X:329.32, Y:11.08, Z:2.36 [[ 9.97927124e-01 -6.30361564e-02 -1.29575807e-02 3.29322414e+02] [ 6.30397144e-02 9.98011010e-01 -1.34069758e-04 1.10776884e+01] [ 1.29402594e-02 -6.83050338e-04 9.99916038e-01 2.35564826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.284391418 meters Centerline goodness [0,1] 0.9992690844207494 Centerline is valid? [True, True] Translation: X:329.35, Y:11.08, Z:2.36 [[ 9.97954148e-01 -6.26326227e-02 -1.28324983e-02 3.29353497e+02] [ 6.26360905e-02 9.98036424e-01 -1.31884232e-04 1.10780658e+01] [ 1.28155610e-02 -6.72163109e-04 9.99917651e-01 2.35598113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.314391418 meters Centerline goodness [0,1] 0.9992686127304408 Centerline is valid? [True, True] Translation: X:329.39, Y:11.08, Z:2.36 [[ 9.97990334e-01 -6.21857604e-02 -1.21747794e-02 3.29385382e+02] [ 6.21888583e-02 9.98064392e-01 -1.24330440e-04 1.10799534e+01] [ 1.21589454e-02 -6.33055056e-04 9.99925877e-01 2.35683237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.344391418 meters Centerline goodness [0,1] 0.999247764786795 Centerline is valid? [True, True] Translation: X:329.42, Y:11.08, Z:2.36 [[ 9.97998470e-01 -6.20427953e-02 -1.22370292e-02 3.29418690e+02] [ 6.20459285e-02 9.98073288e-01 -1.23800423e-04 1.10811546e+01] [ 1.22211329e-02 -6.35705209e-04 9.99925117e-01 2.35695683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.374391418 meters Centerline goodness [0,1] 0.999293906196508 Centerline is valid? [True, True] Translation: X:329.45, Y:11.08, Z:2.36 [[ 9.98004465e-01 -6.20358976e-02 -1.17743309e-02 3.29450572e+02] [ 6.20388126e-02 9.98073731e-01 -1.17859322e-04 1.10804897e+01] [ 1.17589619e-02 -6.12841378e-04 9.99930673e-01 2.35707101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.404391418 meters Centerline goodness [0,1] 0.9993112502959471 Centerline is valid? [True, True] Translation: X:329.48, Y:11.08, Z:2.36 [[ 9.98011276e-01 -6.19548559e-02 -1.16228056e-02 3.29483857e+02] [ 6.19577052e-02 9.98078769e-01 -1.15114985e-04 1.10836793e+01] [ 1.16076075e-02 -6.05236311e-04 9.99932446e-01 2.35757623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.434391418 meters Centerline goodness [0,1] 0.9990731160544921 Centerline is valid? [True, True] Translation: X:329.51, Y:11.08, Z:2.36 [[ 9.98055429e-01 -6.13090266e-02 -1.12500381e-02 3.29514636e+02] [ 6.13116671e-02 9.98118664e-01 -1.10359060e-04 1.10811366e+01] [ 1.12356390e-02 -5.79614133e-04 9.99936710e-01 2.35756320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.464391418 meters Centerline goodness [0,1] 0.9991830592282059 Centerline is valid? [True, True] Translation: X:329.55, Y:11.08, Z:2.36 [[ 9.98116503e-01 -6.03652333e-02 -1.09309563e-02 3.29546246e+02] [ 6.03676772e-02 9.98176203e-01 -1.06533123e-04 1.10825602e+01] [ 1.09174513e-02 -5.53543971e-04 9.99940250e-01 2.35810335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.494391418 meters Centerline goodness [0,1] 0.9991808049669089 Centerline is valid? [True, True] Translation: X:329.58, Y:11.09, Z:2.36 [[ 9.98180771e-01 -5.93418535e-02 -1.06627007e-02 3.29578439e+02] [ 5.93441292e-02 9.98237579e-01 -1.03121767e-04 1.10898600e+01] [ 1.06500280e-02 -5.29834524e-04 9.99943146e-01 2.35856406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.524391418 meters Centerline goodness [0,1] 0.9995885486595348 Centerline is valid? [True, True] Translation: X:329.61, Y:11.10, Z:2.36 [[ 9.98239258e-01 -5.82795945e-02 -1.10396003e-02 3.29610481e+02] [ 5.82819790e-02 9.98300155e-01 -1.05863893e-04 1.10953483e+01] [ 1.10270044e-02 -5.37732262e-04 9.99939056e-01 2.35931758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.554391418 meters Centerline goodness [0,1] 0.9992638940007361 Centerline is valid? [True, True] Translation: X:329.64, Y:11.10, Z:2.36 [[ 9.98375302e-01 -5.60115939e-02 -1.04622441e-02 3.29642069e+02] [ 5.60136185e-02 9.98430000e-01 -9.96390812e-05 1.10985482e+01] [ 1.04513993e-02 -4.86550953e-04 9.99945264e-01 2.35879730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.584391418 meters Centerline goodness [0,1] 0.9990924413328147 Centerline is valid? [True, True] Translation: X:329.67, Y:11.09, Z:2.36 [[ 9.98429005e-01 -5.49380807e-02 -1.10149463e-02 3.29673151e+02] [ 5.49402656e-02 9.98489638e-01 -1.04357111e-04 1.10908810e+01] [ 1.10040429e-02 -5.00970908e-04 9.99939328e-01 2.35779844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.614391418 meters Centerline goodness [0,1] 0.9991553505295302 Centerline is valid? [True, True] Translation: X:329.71, Y:11.10, Z:2.36 [[ 9.98501898e-01 -5.35887315e-02 -1.10547129e-02 3.29705247e+02] [ 5.35908578e-02 9.98562972e-01 -1.04000662e-04 1.10978330e+01] [ 1.10444002e-02 -4.88586686e-04 9.99938889e-01 2.35798826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.644391418 meters Centerline goodness [0,1] 0.9994362288043714 Centerline is valid? [True, True] Translation: X:329.74, Y:11.10, Z:2.36 [[ 9.98536168e-01 -5.29549225e-02 -1.10135309e-02 3.29737716e+02] [ 5.29570038e-02 9.98596788e-01 -1.02773147e-04 1.11015703e+01] [ 1.10035189e-02 -4.80620893e-04 9.99939344e-01 2.35865168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.674391418 meters Centerline goodness [0,1] 0.999393151278717 Centerline is valid? [True, True] Translation: X:329.77, Y:11.10, Z:2.36 [[ 9.98581522e-01 -5.21479687e-02 -1.07486460e-02 3.29768716e+02] [ 5.21499124e-02 9.98639263e-01 -9.95524369e-05 1.11001377e+01] [ 1.07392114e-02 -4.61129726e-04 9.99942227e-01 2.35845649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.704391418 meters Centerline goodness [0,1] 0.9992628086988573 Centerline is valid? [True, True] Translation: X:329.80, Y:11.10, Z:2.36 [[ 9.98647734e-01 -5.07890770e-02 -1.10983314e-02 3.29800036e+02] [ 5.07910770e-02 9.98709295e-01 -1.01764314e-04 1.11023308e+01] [ 1.10891752e-02 -4.62069501e-04 9.99938406e-01 2.35847632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.734391418 meters Centerline goodness [0,1] 0.9993916085435544 Centerline is valid? [True, True] Translation: X:329.83, Y:11.10, Z:2.36 [[ 9.98683050e-01 -5.00551398e-02 -1.12538651e-02 3.29830911e+02] [ 5.00571641e-02 9.98746349e-01 -1.01900096e-04 1.11033811e+01] [ 1.12448574e-02 -4.61570676e-04 9.99936668e-01 2.35854894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.764391418 meters Centerline goodness [0,1] 0.9994134769952644 Centerline is valid? [True, True] Translation: X:329.86, Y:11.11, Z:2.36 [[ 9.98697459e-01 -4.97398884e-02 -1.13723244e-02 3.29863326e+02] [ 4.97419435e-02 9.98762098e-01 -1.02240203e-04 1.11095184e+01] [ 1.13633320e-02 -4.63574489e-04 9.99935328e-01 2.35920090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.794391418 meters Centerline goodness [0,1] 0.9995870103899491 Centerline is valid? [True, True] Translation: X:329.90, Y:11.11, Z:2.36 [[ 9.98713557e-01 -4.95294086e-02 -1.08659128e-02 3.29895314e+02] [ 4.95312814e-02 9.98772568e-01 -9.68561316e-05 1.11122452e+01] [ 1.08573729e-02 -4.41471053e-04 9.99940960e-01 2.35962736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.824391418 meters Centerline goodness [0,1] 0.9995652835438086 Centerline is valid? [True, True] Translation: X:329.93, Y:11.11, Z:2.36 [[ 9.98707756e-01 -4.97617349e-02 -1.03241276e-02 3.29926739e+02] [ 4.97634483e-02 9.98761028e-01 -9.10274845e-05 1.11092845e+01] [ 1.03158659e-02 -4.22854333e-04 9.99946701e-01 2.36002586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.854391418 meters Centerline goodness [0,1] 0.9993696885391988 Centerline is valid? [True, True] Translation: X:329.96, Y:11.11, Z:2.36 [[ 9.98687655e-01 -5.02653855e-02 -9.81628250e-03 3.29958959e+02] [ 5.02669701e-02 9.98735813e-01 -8.53804158e-05 1.11133661e+01] [ 9.80816457e-03 -4.08166412e-04 9.99951815e-01 2.36030322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.884391418 meters Centerline goodness [0,1] 0.9992839474026819 Centerline is valid? [True, True] Translation: X:329.99, Y:11.11, Z:2.36 [[ 9.98637631e-01 -5.12395760e-02 -9.86853603e-03 3.29991103e+02] [ 5.12412329e-02 9.98686302e-01 -8.50349818e-05 1.11126861e+01] [ 9.85992891e-03 -4.20756821e-04 9.99951301e-01 2.36034524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.914391418 meters Centerline goodness [0,1] 0.9993907215597528 Centerline is valid? [True, True] Translation: X:330.02, Y:11.11, Z:2.36 [[ 9.98515944e-01 -5.35151138e-02 -1.01016181e-02 3.30023247e+02] [ 5.35169745e-02 9.98566936e-01 -8.62197782e-05 1.11116178e+01] [ 1.00917559e-02 -4.54516213e-04 9.99948974e-01 2.35972027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.944391418 meters Centerline goodness [0,1] 0.9993480245142783 Centerline is valid? [True, True] Translation: X:330.06, Y:11.11, Z:2.36 [[ 9.98438932e-01 -5.48787860e-02 -1.03931799e-02 3.30055124e+02] [ 5.48808383e-02 9.98492907e-01 -8.78530214e-05 1.11132717e+01] [ 1.03823377e-02 -4.82670550e-04 9.99945986e-01 2.35938281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.974391418 meters Centerline goodness [0,1] 0.9994354698627758 Centerline is valid? [True, True] Translation: X:330.09, Y:11.11, Z:2.36 [[ 9.98380217e-01 -5.58566149e-02 -1.08157358e-02 3.30086174e+02] [ 5.58589073e-02 9.98438668e-01 -9.02549867e-05 1.11119897e+01] [ 1.08038902e-02 -5.14046393e-04 9.99941504e-01 2.35926219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.004391418 meters Centerline goodness [0,1] 0.999738886350284 Centerline is valid? [True, True] Translation: X:330.12, Y:11.11, Z:2.36 [[ 9.98274197e-01 -5.77293102e-02 -1.07682074e-02 3.30118234e+02] [ 5.77317057e-02 9.98332130e-01 -8.85092532e-05 1.11107157e+01] [ 1.07553570e-02 -5.33310474e-04 9.99942017e-01 2.35880994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.034391418 meters Centerline goodness [0,1] 0.9995652551952005 Centerline is valid? [True, True] Translation: X:330.15, Y:11.11, Z:2.36 [[ 9.98229747e-01 -5.84225723e-02 -1.11433639e-02 3.30150766e+02] [ 5.84251909e-02 9.98291785e-01 -9.06784146e-05 1.11099800e+01] [ 1.11296263e-02 -5.60535271e-04 9.99937907e-01 2.35806791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.064391418 meters Centerline goodness [0,1] 0.9995218222917753 Centerline is valid? [True, True] Translation: X:330.18, Y:11.11, Z:2.36 [[ 9.98206953e-01 -5.87863031e-02 -1.12716299e-02 3.30182837e+02] [ 5.87890157e-02 9.98270426e-01 -9.08172034e-05 1.11097028e+01] [ 1.12574735e-02 -5.71993661e-04 9.99936469e-01 2.35770945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.094391418 meters Centerline goodness [0,1] 0.9993474572584504 Centerline is valid? [True, True] Translation: X:330.22, Y:11.11, Z:2.36 [[ 9.98190159e-01 -5.89805876e-02 -1.17343854e-02 3.30215114e+02] [ 5.89835520e-02 9.98258950e-01 -9.35930195e-05 1.11113657e+01] [ 1.17194755e-02 -5.98712103e-04 9.99931145e-01 2.35738528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.124391418 meters Centerline goodness [0,1] 0.9997602859135286 Centerline is valid? [True, True] Translation: X:330.25, Y:11.11, Z:2.36 [[ 9.98216640e-01 -5.85342807e-02 -1.17165195e-02 3.30247337e+02] [ 5.85372162e-02 9.98285223e-01 -9.25276979e-05 1.11122089e+01] [ 1.17018443e-02 -5.93489746e-04 9.99931355e-01 2.35775648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.154391418 meters Centerline goodness [0,1] 0.9997168866239818 Centerline is valid? [True, True] Translation: X:330.28, Y:11.11, Z:2.36 [[ 9.98248137e-01 -5.80346071e-02 -1.15170449e-02 3.30279425e+02] [ 5.80374206e-02 9.98314404e-01 -9.00578434e-05 1.11133143e+01] [ 1.15028583e-02 -5.78519507e-04 9.99933673e-01 2.35802363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.184391418 meters Centerline goodness [0,1] 0.999411610878661 Centerline is valid? [True, True] Translation: X:330.31, Y:11.11, Z:2.36 [[ 9.98307273e-01 -5.70435706e-02 -1.13410662e-02 3.30310331e+02] [ 5.70462440e-02 9.98371533e-01 -8.78879414e-05 1.11142133e+01] [ 1.13276111e-02 -5.59226062e-04 9.99935684e-01 2.35784356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.214391418 meters Centerline goodness [0,1] 0.9994557763894029 Centerline is valid? [True, True] Translation: X:330.34, Y:11.11, Z:2.36 [[ 9.98326183e-01 -5.66368166e-02 -1.17090971e-02 3.30342675e+02] [ 5.66396477e-02 9.98394683e-01 -8.99569512e-05 1.11147072e+01] [ 1.16953952e-02 -5.73392755e-04 9.99931442e-01 2.35773163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.244391418 meters Centerline goodness [0,1] 0.9995642891377282 Centerline is valid? [True, True] Translation: X:330.37, Y:11.11, Z:2.36 [[ 9.98344059e-01 -5.62966265e-02 -1.18249355e-02 3.30373926e+02] [ 5.62994997e-02 9.98413921e-01 -9.00282650e-05 1.11147557e+01] [ 1.18112485e-02 -5.75858768e-04 9.99930079e-01 2.35758005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.274391418 meters Centerline goodness [0,1] 0.9996730031391698 Centerline is valid? [True, True] Translation: X:330.41, Y:11.12, Z:2.36 [[ 9.98389956e-01 -5.54982031e-02 -1.17236842e-02 3.30405783e+02] [ 5.55009812e-02 9.98458629e-01 -8.85019315e-05 1.11166804e+01] [ 1.17105253e-02 -5.62316534e-04 9.99931271e-01 2.35781705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.304391418 meters Centerline goodness [0,1] 0.9995850078630089 Centerline is valid? [True, True] Translation: X:330.44, Y:11.12, Z:2.36 [[ 9.98413693e-01 -5.51464800e-02 -1.13562207e-02 3.30437174e+02] [ 5.51490772e-02 9.98478128e-01 -8.45654985e-05 1.11160630e+01] [ 1.13436015e-02 -5.41853741e-04 9.99935512e-01 2.35827923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.334391418 meters Centerline goodness [0,1] 0.9996070555361509 Centerline is valid? [True, True] Translation: X:330.47, Y:11.12, Z:2.36 [[ 9.98431862e-01 -5.47883783e-02 -1.14913175e-02 3.30469189e+02] [ 5.47910301e-02 9.98497840e-01 -8.41613351e-05 1.11221136e+01] [ 1.14786668e-02 -5.45591764e-04 9.99933969e-01 2.35895885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.364391418 meters Centerline goodness [0,1] 0.9995854696192866 Centerline is valid? [True, True] Translation: X:330.50, Y:11.12, Z:2.36 [[ 9.98484855e-01 -5.37426002e-02 -1.18206343e-02 3.30500379e+02] [ 5.37453432e-02 9.98554671e-01 -8.57180962e-05 1.11236366e+01] [ 1.18081563e-02 -5.49715828e-04 9.99930130e-01 2.35899221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.394391418 meters Centerline goodness [0,1] 0.9996279680490207 Centerline is valid? [True, True] Translation: X:330.53, Y:11.13, Z:2.36 [[ 9.98501243e-01 -5.33708034e-02 -1.21170998e-02 3.30532576e+02] [ 5.33736685e-02 9.98574606e-01 -8.70370651e-05 1.11264050e+01] [ 1.21044734e-02 -5.59827452e-04 9.99926581e-01 2.35948863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.424391418 meters Centerline goodness [0,1] 0.9994098231655337 Centerline is valid? [True, True] Translation: X:330.57, Y:11.13, Z:2.36 [[ 9.98507883e-01 -5.32416955e-02 -1.21378973e-02 3.30565547e+02] [ 5.32445750e-02 9.98581498e-01 -8.60175769e-05 1.11268765e+01] [ 1.21252594e-02 -5.60387956e-04 9.99926329e-01 2.35951887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.454391418 meters Centerline goodness [0,1] 0.9994325621999127 Centerline is valid? [True, True] Translation: X:330.60, Y:11.13, Z:2.36 [[ 9.98530373e-01 -5.28857675e-02 -1.18401563e-02 3.30597423e+02] [ 5.28884967e-02 9.98600421e-01 -8.27069745e-05 1.11291847e+01] [ 1.18279591e-02 -5.43622643e-04 9.99929899e-01 2.36006337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.484391418 meters Centerline goodness [0,1] 0.9997374121972035 Centerline is valid? [True, True] Translation: X:330.63, Y:11.13, Z:2.36 [[ 9.98607686e-01 -5.13760190e-02 -1.19663567e-02 3.30628502e+02] [ 5.13787089e-02 9.98679239e-01 -8.27227629e-05 1.11281659e+01] [ 1.19548019e-02 -5.32208370e-04 9.99928397e-01 2.35984986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.514391418 meters Centerline goodness [0,1] 0.9997152619589977 Centerline is valid? [True, True] Translation: X:330.66, Y:11.13, Z:2.36 [[ 9.98646838e-01 -5.06407536e-02 -1.18324618e-02 3.30660763e+02] [ 5.06433416e-02 9.98716799e-01 -8.09925899e-05 1.11319357e+01] [ 1.18213799e-02 -5.18352412e-04 9.99929991e-01 2.36063276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.544391418 meters Centerline goodness [0,1] 0.9994311095551714 Centerline is valid? [True, True] Translation: X:330.69, Y:11.13, Z:2.36 [[ 9.98694097e-01 -4.97782528e-02 -1.14989925e-02 3.30692280e+02] [ 4.97806494e-02 9.98760172e-01 -7.78897481e-05 1.11315301e+01] [ 1.14886129e-02 -4.94639281e-04 9.99933881e-01 2.36053981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.574391418 meters Centerline goodness [0,1] 0.9996497142982245 Centerline is valid? [True, True] Translation: X:330.72, Y:11.13, Z:2.36 [[ 9.98763908e-01 -4.83273877e-02 -1.16240770e-02 3.30724262e+02] [ 4.83297479e-02 9.98831432e-01 -7.79405888e-05 1.11340351e+01] [ 1.16142601e-02 -4.83944464e-04 9.99932435e-01 2.36168125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.604391418 meters Centerline goodness [0,1] 0.9997804417511966 Centerline is valid? [True, True] Translation: X:330.76, Y:11.14, Z:2.36 [[ 9.98779597e-01 -4.79903544e-02 -1.16723111e-02 3.30756224e+02] [ 4.79927222e-02 9.98847682e-01 -7.73230637e-05 1.11354083e+01] [ 1.16625716e-02 -4.82957284e-04 9.99931873e-01 2.36252384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.634391418 meters Centerline goodness [0,1] 0.9996267181941944 Centerline is valid? [True, True] Translation: X:330.79, Y:11.14, Z:2.36 [[ 9.98810424e-01 -4.74239473e-02 -1.13448634e-02 3.30787232e+02] [ 4.74261568e-02 9.98874744e-01 -7.43438833e-05 1.11350469e+01] [ 1.13356232e-02 -4.63787825e-04 9.99935642e-01 2.36264757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.664391418 meters Centerline goodness [0,1] 0.9995398873819592 Centerline is valid? [True, True] Translation: X:330.82, Y:11.13, Z:2.36 [[ 9.98794442e-01 -4.75268309e-02 -1.22826129e-02 3.30818356e+02] [ 4.75294380e-02 9.98869834e-01 -7.97216965e-05 1.11335353e+01] [ 1.22725204e-02 -5.04160099e-04 9.99924563e-01 2.36161630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.694391418 meters Centerline goodness [0,1] 0.9994311220024505 Centerline is valid? [True, True] Translation: X:330.85, Y:11.13, Z:2.36 [[ 9.98773888e-01 -4.80465075e-02 -1.19270201e-02 3.30850718e+02] [ 4.80490121e-02 9.98844976e-01 -7.66280509e-05 1.11327503e+01] [ 1.19169258e-02 -4.96547439e-04 9.99928868e-01 2.36144081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.724391418 meters Centerline goodness [0,1] 0.9995840266222962 Centerline is valid? [True, True] Translation: X:330.88, Y:11.13, Z:2.36 [[ 9.98736770e-01 -4.87438343e-02 -1.22026108e-02 3.30883321e+02] [ 4.87465197e-02 9.98811179e-01 -7.74342848e-05 1.11314178e+01] [ 1.21918786e-02 -5.17498342e-04 9.99925542e-01 2.36166791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.754391418 meters Centerline goodness [0,1] 0.9995180406160317 Centerline is valid? [True, True] Translation: X:330.92, Y:11.13, Z:2.36 [[ 9.98708944e-01 -4.93618952e-02 -1.19936896e-02 3.30915744e+02] [ 4.93645451e-02 9.98780825e-01 -7.51809304e-05 1.11310217e+01] [ 1.19827783e-02 -5.16979164e-04 9.99928070e-01 2.36201920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.784391418 meters Centerline goodness [0,1] 0.9995180406160317 Centerline is valid? [True, True] Translation: X:330.95, Y:11.13, Z:2.36 [[ 9.98714757e-01 -4.92441449e-02 -1.19936966e-02 3.30948321e+02] [ 4.92468000e-02 9.98786637e-01 -7.40448726e-05 1.11311042e+01] [ 1.19827902e-02 -5.16701472e-04 9.99928070e-01 2.36224735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.814391418 meters Centerline goodness [0,1] 0.9997369632406129 Centerline is valid? [True, True] Translation: X:330.98, Y:11.13, Z:2.36 [[ 9.98703315e-01 -4.94454178e-02 -1.21177106e-02 3.30979701e+02] [ 4.94481565e-02 9.98776689e-01 -7.36776006e-05 1.11294560e+01] [ 1.21065299e-02 -5.25616386e-04 9.99926575e-01 2.36273003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.844391418 meters Centerline goodness [0,1] 0.9996719231862821 Centerline is valid? [True, True] Translation: X:331.01, Y:11.13, Z:2.36 [[ 9.98707960e-01 -4.93630657e-02 -1.20705531e-02 3.31011690e+02] [ 4.93657879e-02 9.98780764e-01 -7.24980542e-05 1.11285040e+01] [ 1.20594150e-02 -5.23467982e-04 9.99927146e-01 2.36301123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.874391418 meters Centerline goodness [0,1] 0.9996069697366697 Centerline is valid? [True, True] Translation: X:331.04, Y:11.13, Z:2.36 [[ 9.98680493e-01 -5.01164951e-02 -1.12075873e-02 3.31043856e+02] [ 5.01189000e-02 9.98743256e-01 -6.63659738e-05 1.11282921e+01] [ 1.11968283e-02 -4.95433545e-04 9.99937191e-01 2.36454390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.904391418 meters Centerline goodness [0,1] 0.9994977836976221 Centerline is valid? [True, True] Translation: X:331.07, Y:11.13, Z:2.36 [[ 9.98656389e-01 -5.05924705e-02 -1.12168883e-02 3.31074615e+02] [ 5.05949181e-02 9.98719255e-01 -6.56361180e-05 1.11252648e+01] [ 1.12058431e-02 -5.01969618e-04 9.99937087e-01 2.36479623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.934391418 meters Centerline goodness [0,1] 0.9995205195824162 Centerline is valid? [True, True] Translation: X:331.11, Y:11.12, Z:2.37 [[ 9.98641614e-01 -5.09570953e-02 -1.08766572e-02 3.31106978e+02] [ 5.09594257e-02 9.98700722e-01 -6.29641168e-05 1.11238707e+01] [ 1.08657339e-02 -4.91389616e-04 9.99940845e-01 2.36512779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.964391418 meters Centerline goodness [0,1] 0.9995642511656281 Centerline is valid? [True, True] Translation: X:331.14, Y:11.13, Z:2.37 [[ 9.98614107e-01 -5.16647936e-02 -1.00306490e-02 3.31139390e+02] [ 5.16668184e-02 9.98664376e-01 -5.73390313e-05 1.11275390e+01] [ 1.00202142e-02 -4.60992155e-04 9.99949690e-01 2.36645400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.994391418 meters Centerline goodness [0,1] 0.9996303865721616 Centerline is valid? [True, True] Translation: X:331.17, Y:11.13, Z:2.37 [[ 9.98572395e-01 -5.24554020e-02 -1.00797991e-02 3.31170318e+02] [ 5.24574944e-02 9.98623156e-01 -5.68665224e-05 1.11250704e+01] [ 1.00689037e-02 -4.71975663e-04 9.99949196e-01 2.36697841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.024391418 meters Centerline goodness [0,1] 0.999826158760512 Centerline is valid? [True, True] Translation: X:331.20, Y:11.12, Z:2.37 [[ 9.98454711e-01 -5.45284067e-02 -1.07164479e-02 3.31202535e+02] [ 5.45308989e-02 9.98512082e-01 -5.97162978e-05 1.11216720e+01] [ 1.07037590e-02 -5.24753520e-04 9.99942575e-01 2.36697646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.054391418 meters Centerline goodness [0,1] 0.9997392098057113 Centerline is valid? [True, True] Translation: X:331.23, Y:11.12, Z:2.37 [[ 9.98414763e-01 -5.51888579e-02 -1.10521914e-02 3.31233595e+02] [ 5.51915619e-02 9.98475782e-01 -6.04304454e-05 1.11192440e+01] [ 1.10386805e-02 -5.49653055e-04 9.99938921e-01 2.36673131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.084391418 meters Centerline goodness [0,1] 0.9996083806540043 Centerline is valid? [True, True] Translation: X:331.27, Y:11.12, Z:2.37 [[ 9.98364369e-01 -5.60047555e-02 -1.14914450e-02 3.31265733e+02] [ 5.60077489e-02 9.98430332e-01 -6.14207699e-05 1.11196699e+01] [ 1.14768471e-02 -5.82289657e-04 9.99933969e-01 2.36663366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.114391418 meters Centerline goodness [0,1] 0.9998915307185006 Centerline is valid? [True, True] Translation: X:331.30, Y:11.12, Z:2.37 [[ 9.98348223e-01 -5.62363390e-02 -1.17600929e-02 3.31296500e+02] [ 5.62395000e-02 9.98417305e-01 -6.19971601e-05 1.11161034e+01] [ 1.17449668e-02 -5.99486991e-04 9.99930846e-01 2.36694531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.144391418 meters Centerline goodness [0,1] 0.9997614865890414 Centerline is valid? [True, True] Translation: X:331.33, Y:11.12, Z:2.37 [[ 9.98359207e-01 -5.60963168e-02 -1.14933225e-02 3.31329227e+02] [ 5.60993378e-02 9.98425190e-01 -5.96322618e-05 1.11184357e+01] [ 1.14785679e-02 -5.85233363e-04 9.99933948e-01 2.36744958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.174391418 meters Centerline goodness [0,1] 0.9995661793414602 Centerline is valid? [True, True] Translation: X:331.36, Y:11.12, Z:2.37 [[ 9.98376449e-01 -5.57709243e-02 -1.15788594e-02 3.31360754e+02] [ 5.57739818e-02 9.98443418e-01 -5.89348110e-05 1.11150567e+01] [ 1.15641228e-02 -5.86959967e-04 9.99932961e-01 2.36742136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.204391418 meters Centerline goodness [0,1] 0.9996951086719805 Centerline is valid? [True, True] Translation: X:331.39, Y:11.11, Z:2.37 [[ 9.98407674e-01 -5.51115334e-02 -1.20347662e-02 3.31391757e+02] [ 5.51147975e-02 9.98480023e-01 -6.05204463e-05 1.11125695e+01] [ 1.20198090e-02 -6.02869625e-04 9.99927578e-01 2.36751468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.234391418 meters Centerline goodness [0,1] 0.9997611862530124 Centerline is valid? [True, True] Translation: X:331.42, Y:11.12, Z:2.37 [[ 9.98490304e-01 -5.34483112e-02 -1.26645446e-02 3.31423971e+02] [ 5.34518037e-02 9.98570429e-01 -6.27990919e-05 1.11184801e+01] [ 1.26497962e-02 -6.14238465e-04 9.99919799e-01 2.36837161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.264391418 meters Centerline goodness [0,1] 0.9998696077366076 Centerline is valid? [True, True] Translation: X:331.45, Y:11.12, Z:2.37 [[ 9.98549448e-01 -5.23543782e-02 -1.25705568e-02 3.31454977e+02] [ 5.23577437e-02 9.98628391e-01 -6.14360606e-05 1.11181594e+01] [ 1.25565314e-02 -5.96819048e-04 9.99920986e-01 2.36870692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.294391418 meters Centerline goodness [0,1] 0.9997835778903172 Centerline is valid? [True, True] Translation: X:331.49, Y:11.12, Z:2.37 [[ 9.98622933e-01 -5.09641714e-02 -1.24455009e-02 3.31487132e+02] [ 5.09673732e-02 9.98700317e-01 -5.99763641e-05 1.11186239e+01] [ 1.24323823e-02 -5.74420717e-04 9.99922550e-01 2.36909500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.324391418 meters Centerline goodness [0,1] 0.9995447943988035 Centerline is valid? [True, True] Translation: X:331.52, Y:11.12, Z:2.37 [[ 9.98785653e-01 -4.77127733e-02 -1.22763904e-02 3.31518173e+02] [ 4.77156527e-02 9.98860958e-01 -5.84052844e-05 1.11192270e+01] [ 1.22651938e-02 -5.27441623e-04 9.99924641e-01 2.36945561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.354391418 meters Centerline goodness [0,1] 0.9996528229831185 Centerline is valid? [True, True] Translation: X:331.55, Y:11.12, Z:2.37 [[ 9.98888728e-01 -4.55842664e-02 -1.19742951e-02 3.31550551e+02] [ 4.55868611e-02 9.98960377e-01 -5.63114109e-05 1.11201705e+01] [ 1.19644133e-02 -4.89621695e-04 9.99928304e-01 2.36995422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.384391418 meters Centerline goodness [0,1] 0.9997615021031179 Centerline is valid? [True, True] Translation: X:331.58, Y:11.12, Z:2.37 [[ 9.98989654e-01 -4.33431625e-02 -1.18761068e-02 3.31583024e+02] [ 4.33455676e-02 9.99060138e-01 -5.49279291e-05 1.11215774e+01] [ 1.18673256e-02 -4.59904157e-04 9.99929475e-01 2.37060018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.414391418 meters Centerline goodness [0,1] 0.9996306034201777 Centerline is valid? [True, True] Translation: X:331.61, Y:11.13, Z:2.37 [[ 9.99192392e-01 -3.84245156e-02 -1.17524288e-02 3.31614331e+02] [ 3.84265396e-02 9.99261426e-01 -5.36214908e-05 1.11277590e+01] [ 1.17458092e-02 -3.98026986e-04 9.99930936e-01 2.37118593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.444391418 meters Centerline goodness [0,1] 0.9997172745264349 Centerline is valid? [True, True] Translation: X:331.65, Y:11.13, Z:2.37 [[ 9.99292105e-01 -3.56373959e-02 -1.20526211e-02 3.31647014e+02] [ 3.56393318e-02 9.99364716e-01 -5.41933031e-05 1.11293734e+01] [ 1.20468956e-02 -3.75392423e-04 9.99927363e-01 2.37150575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.474391418 meters Centerline goodness [0,1] 0.9996520074818391 Centerline is valid? [True, True] Translation: X:331.68, Y:11.13, Z:2.37 [[ 9.99379543e-01 -3.28798529e-02 -1.26271191e-02 3.31677963e+02] [ 3.28817713e-02 9.99459247e-01 -5.57043615e-05 1.11311254e+01] [ 1.26221225e-02 -3.59532243e-04 9.99920273e-01 2.37097182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.504391418 meters Centerline goodness [0,1] 0.9997391020763127 Centerline is valid? [True, True] Translation: X:331.71, Y:11.13, Z:2.37 [[ 9.99510530e-01 -2.82092757e-02 -1.35254376e-02 3.31709329e+02] [ 2.82110591e-02 9.99601987e-01 -5.89579780e-05 1.11344568e+01] [ 1.35217175e-02 -3.22637799e-04 9.99908525e-01 2.37052794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.534391418 meters Centerline goodness [0,1] 0.9997829342942108 Centerline is valid? [True, True] Translation: X:331.74, Y:11.14, Z:2.37 [[ 9.99577999e-01 -2.58862927e-02 -1.31804566e-02 3.31740310e+02] [ 2.58877912e-02 9.99664853e-01 -5.69373655e-05 1.11360434e+01] [ 1.31775131e-02 -2.84299570e-04 9.99913132e-01 2.37107601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.564391418 meters Centerline goodness [0,1] 0.9995642986297192 Centerline is valid? [True, True] Translation: X:331.77, Y:11.14, Z:2.37 [[ 9.99621251e-01 -2.41333439e-02 -1.32263153e-02 3.31770608e+02] [ 2.41347048e-02 9.99708714e-01 -5.67354882e-05 1.11370452e+01] [ 1.32238319e-02 -2.62499217e-04 9.99912527e-01 2.37125113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.594391418 meters Centerline goodness [0,1] 0.9996740335093552 Centerline is valid? [True, True] Translation: X:331.80, Y:11.14, Z:2.37 [[ 9.99696240e-01 -2.06294307e-02 -1.34853437e-02 3.31801883e+02] [ 2.06305322e-02 9.99787166e-01 -5.74450414e-05 1.11408230e+01] [ 1.34836587e-02 -2.20782226e-04 9.99909067e-01 2.37285098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.624391418 meters Centerline goodness [0,1] 0.9995654818805945 Centerline is valid? [True, True] Translation: X:331.83, Y:11.14, Z:2.37 [[ 9.99730978e-01 -1.90620175e-02 -1.32140861e-02 3.31833489e+02] [ 1.90629452e-02 9.99818284e-01 -5.57625536e-05 1.11419521e+01] [ 1.32127478e-02 -1.96151846e-04 9.99912689e-01 2.37376375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.654391418 meters Centerline goodness [0,1] 0.9996520604544961 Centerline is valid? [True, True] Translation: X:331.86, Y:11.14, Z:2.37 [[ 9.99757019e-01 -1.77351981e-02 -1.30907109e-02 3.31864207e+02] [ 1.77359985e-02 9.99842703e-01 -5.49625487e-05 1.11432625e+01] [ 1.30896265e-02 -1.77227634e-04 9.99914311e-01 2.37496485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.684391418 meters Centerline goodness [0,1] 0.9997164914729358 Centerline is valid? [True, True] Translation: X:331.89, Y:11.14, Z:2.38 [[ 9.99778296e-01 -1.65761507e-02 -1.29842341e-02 3.31894926e+02] [ 1.65768403e-02 9.99862593e-01 -5.45154960e-05 1.11449223e+01] [ 1.29833536e-02 -1.60734165e-04 9.99915700e-01 2.37658012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.714391418 meters Centerline goodness [0,1] 0.9994558593069824 Centerline is valid? [True, True] Translation: X:331.92, Y:11.15, Z:2.38 [[ 9.99819000e-01 -1.47011336e-02 -1.20765465e-02 3.31924817e+02] [ 1.47015922e-02 9.99891924e-01 -5.08055896e-05 1.11466979e+01] [ 1.20759882e-02 -1.26748068e-04 9.99927075e-01 2.37838638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.744391418 meters Centerline goodness [0,1] 0.9995434981087779 Centerline is valid? [True, True] Translation: X:331.95, Y:11.15, Z:2.38 [[ 9.99828490e-01 -1.42990840e-02 -1.17697408e-02 3.31954877e+02] [ 1.42994878e-02 9.99897756e-01 -4.98446555e-05 1.11474399e+01] [ 1.17692501e-02 -1.18465159e-04 9.99930733e-01 2.37958204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.774391418 meters Centerline goodness [0,1] 0.9995877094002257 Centerline is valid? [True, True] Translation: X:331.98, Y:11.15, Z:2.38 [[ 9.99821386e-01 -1.48093168e-02 -1.17422700e-02 3.31984464e+02] [ 1.48097495e-02 9.99890328e-01 -5.01079406e-05 1.11463020e+01] [ 1.17417242e-02 -1.23801086e-04 9.99931056e-01 2.38089562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.804391418 meters Centerline goodness [0,1] 0.9992387498096874 Centerline is valid? [True, True] Translation: X:332.01, Y:11.14, Z:2.38 [[ 9.99802507e-01 -1.61656831e-02 -1.15593184e-02 3.32014411e+02] [ 1.61661904e-02 9.99869317e-01 -4.95570007e-05 1.11448474e+01] [ 1.15586089e-02 -1.37322928e-04 9.99933188e-01 2.38112232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.834391418 meters Centerline goodness [0,1] 0.999543825350277 Centerline is valid? [True, True] Translation: X:332.05, Y:11.14, Z:2.38 [[ 9.99776757e-01 -1.74928418e-02 -1.18505871e-02 3.32045138e+02] [ 1.74934665e-02 9.99846976e-01 -5.09489478e-05 1.11436768e+01] [ 1.18496649e-02 -1.56370275e-04 9.99929778e-01 2.38158182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.864391418 meters Centerline goodness [0,1] 0.9994589213055147 Centerline is valid? [True, True] Translation: X:332.08, Y:11.14, Z:2.38 [[ 9.99733492e-01 -1.94178348e-02 -1.24857034e-02 3.32075863e+02] [ 1.94186797e-02 9.99811438e-01 -5.35697418e-05 1.11410945e+01] [ 1.24843893e-02 -1.88900410e-04 9.99922049e-01 2.38137844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.894391418 meters Centerline goodness [0,1] 0.9994371075990474 Centerline is valid? [True, True] Translation: X:332.11, Y:11.14, Z:2.38 [[ 9.99621810e-01 -2.40928631e-02 -1.32578870e-02 3.32106458e+02] [ 2.40942288e-02 9.99709690e-01 -5.67336518e-05 1.11357644e+01] [ 1.32554050e-02 -2.62726366e-04 9.99912109e-01 2.38010019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.924391418 meters Centerline goodness [0,1] 0.9994369857080987 Centerline is valid? [True, True] Translation: X:332.14, Y:11.13, Z:2.38 [[ 9.99542751e-01 -2.67094520e-02 -1.41737024e-02 3.32137191e+02] [ 2.67112778e-02 9.99643188e-01 -6.05138126e-05 1.11322645e+01] [ 1.41702614e-02 -3.18111560e-04 9.99899546e-01 2.37901838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.954391418 meters Centerline goodness [0,1] 0.9995887534901842 Centerline is valid? [True, True] Translation: X:332.17, Y:11.13, Z:2.38 [[ 9.99413308e-01 -3.07609416e-02 -1.50599898e-02 3.32168721e+02] [ 3.07634696e-02 9.99526690e-01 -6.38256875e-05 1.11288571e+01] [ 1.50548251e-02 -3.99509296e-04 9.99886590e-01 2.37691990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.984391418 meters Centerline goodness [0,1] 0.9994592607012307 Centerline is valid? [True, True] Translation: X:332.20, Y:11.12, Z:2.38 [[ 9.99363833e-01 -3.21862094e-02 -1.53615518e-02 3.32199672e+02] [ 3.21890286e-02 9.99481797e-01 -6.37602619e-05 1.11246259e+01] [ 1.53556436e-02 -4.30753728e-04 9.99882002e-01 2.37520152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.014391418 meters Centerline goodness [0,1] 0.9991789109766638 Centerline is valid? [True, True] Translation: X:332.23, Y:11.12, Z:2.37 [[ 9.99338164e-01 -3.28536040e-02 -1.56164871e-02 3.32231878e+02] [ 3.28566234e-02 9.99460073e-01 -6.32502038e-05 1.11223551e+01] [ 1.56101334e-02 -4.49896694e-04 9.99878053e-01 2.37370178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.044391418 meters Centerline goodness [0,1] 0.9993316228628102 Centerline is valid? [True, True] Translation: X:332.26, Y:11.12, Z:2.37 [[ 9.99338028e-01 -3.29059139e-02 -1.55147160e-02 3.32264504e+02] [ 3.29089196e-02 9.99458353e-01 -6.15978091e-05 1.11233939e+01] [ 1.55083394e-02 -4.49015507e-04 9.99879638e-01 2.37285583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.074391418 meters Centerline goodness [0,1] 0.9992209647053731 Centerline is valid? [True, True] Translation: X:332.30, Y:11.12, Z:2.37 [[ 9.99358987e-01 -3.23539699e-02 -1.53243519e-02 3.32296131e+02] [ 3.23568539e-02 9.99476378e-01 -5.97661568e-05 1.11232467e+01] [ 1.53182614e-02 -4.36119971e-04 9.99882573e-01 2.37236779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.104391418 meters Centerline goodness [0,1] 0.9993072993332756 Centerline is valid? [True, True] Translation: X:332.33, Y:11.12, Z:2.37 [[ 9.99401106e-01 -3.10488435e-02 -1.52773755e-02 3.32326477e+02] [ 3.10515665e-02 9.99517782e-01 -5.89915677e-05 1.11238151e+01] [ 1.52718401e-02 -4.15430203e-04 9.99883292e-01 2.37222000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.134391418 meters Centerline goodness [0,1] 0.9996118179857667 Centerline is valid? [True, True] Translation: X:332.36, Y:11.12, Z:2.37 [[ 9.99449370e-01 -2.96383865e-02 -1.49172036e-02 3.32356605e+02] [ 2.96408300e-02 9.99560612e-01 -5.73089468e-05 1.11244493e+01] [ 1.49123477e-02 -3.84880905e-04 9.99888731e-01 2.37205258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.164391418 meters Centerline goodness [0,1] 0.9991990995281181 Centerline is valid? [True, True] Translation: X:332.39, Y:11.13, Z:2.37 [[ 9.99540662e-01 -2.70254708e-02 -1.37145600e-02 3.32387841e+02] [ 2.70272956e-02 9.99634695e-01 -5.22985226e-05 1.11258285e+01] [ 1.37109634e-02 -3.18392969e-04 9.99905950e-01 2.37166588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.194391418 meters Centerline goodness [0,1] 0.9992636229749632 Centerline is valid? [True, True] Translation: X:332.42, Y:11.13, Z:2.37 [[ 9.99583528e-01 -2.57099200e-02 -1.31061624e-02 3.32418936e+02] [ 2.57114801e-02 9.99669404e-01 -4.94767712e-05 1.11264377e+01] [ 1.31031016e-02 -2.87522667e-04 9.99914109e-01 2.37198763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.224391418 meters Centerline goodness [0,1] 0.9993499599141947 Centerline is valid? [True, True] Translation: X:332.45, Y:11.13, Z:2.37 [[ 9.99642193e-01 -2.38841484e-02 -1.20429532e-02 3.32450746e+02] [ 2.38853399e-02 9.99714704e-01 -4.49081662e-05 1.11287048e+01] [ 1.20405900e-02 -2.42757932e-04 9.99927480e-01 2.37279090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.254391418 meters Centerline goodness [0,1] 0.9993302655173159 Centerline is valid? [True, True] Translation: X:332.48, Y:11.13, Z:2.37 [[ 9.99663610e-01 -2.32017334e-02 -1.15908231e-02 3.32481891e+02] [ 2.32027980e-02 9.99730778e-01 -4.26341808e-05 1.11291737e+01] [ 1.15886918e-02 -2.26319689e-04 9.99932823e-01 2.37328361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.284391418 meters Centerline goodness [0,1] 0.9994800693240902 Centerline is valid? [True, True] Translation: X:332.51, Y:11.13, Z:2.37 [[ 9.99681515e-01 -2.26486592e-02 -1.11313352e-02 3.32513618e+02] [ 2.26496116e-02 9.99743464e-01 -4.05112681e-05 1.11300329e+01] [ 1.11293971e-02 -2.11622053e-04 9.99938044e-01 2.37414880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.314391418 meters Centerline goodness [0,1] 0.999372972972973 Centerline is valid? [True, True] Translation: X:332.54, Y:11.13, Z:2.38 [[ 9.99691920e-01 -2.23737143e-02 -1.07462456e-02 3.32544584e+02] [ 2.23745914e-02 9.99749657e-01 -3.86152977e-05 1.11304624e+01] [ 1.07444193e-02 -2.01839453e-04 9.99942257e-01 2.37551675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.344391418 meters Centerline goodness [0,1] 0.9993502696381001 Centerline is valid? [True, True] Translation: X:332.58, Y:11.13, Z:2.38 [[ 9.99685258e-01 -2.25852534e-02 -1.09220688e-02 3.32575744e+02] [ 2.25861784e-02 9.99744899e-01 -3.86664752e-05 1.11306035e+01] [ 1.09201559e-02 -2.08033489e-04 9.99940352e-01 2.37608786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.374391418 meters Centerline goodness [0,1] 0.9993510005408329 Centerline is valid? [True, True] Translation: X:332.61, Y:11.13, Z:2.38 [[ 9.99675624e-01 -2.31566281e-02 -1.06027083e-02 3.32606653e+02] [ 2.31575370e-02 9.99731828e-01 -3.70556828e-05 1.11297887e+01] [ 1.06007230e-02 -2.08488947e-04 9.99943789e-01 2.37712394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.404391418 meters Centerline goodness [0,1] 0.9996755143098189 Centerline is valid? [True, True] Translation: X:332.64, Y:11.13, Z:2.38 [[ 9.99664820e-01 -2.35549746e-02 -1.07429610e-02 3.32637736e+02] [ 2.35559367e-02 9.99722520e-01 -3.69828865e-05 1.11294514e+01] [ 1.07408511e-02 -2.16090018e-04 9.99942292e-01 2.37780892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.434391418 meters Centerline goodness [0,1] 0.9993283646763151 Centerline is valid? [True, True] Translation: X:332.67, Y:11.13, Z:2.38 [[ 9.99625849e-01 -2.50809006e-02 -1.09138118e-02 3.32669053e+02] [ 2.50819900e-02 9.99685397e-01 -3.70701956e-05 1.11282963e+01] [ 1.09113080e-02 -2.36683792e-04 9.99940442e-01 2.37900017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.464391418 meters Centerline goodness [0,1] 0.9995456119092955 Centerline is valid? [True, True] Translation: X:332.70, Y:11.13, Z:2.38 [[ 9.99598619e-01 -2.58373327e-02 -1.16203954e-02 3.32701374e+02] [ 2.58386281e-02 9.99666126e-01 -3.86716767e-05 1.11297024e+01] [ 1.16175149e-02 -2.61598921e-04 9.99932480e-01 2.37994233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.494391418 meters Centerline goodness [0,1] 0.9993078536975754 Centerline is valid? [True, True] Translation: X:332.73, Y:11.13, Z:2.38 [[ 9.99564206e-01 -2.68912609e-02 -1.21761330e-02 3.32733143e+02] [ 2.68927735e-02 9.99638323e-01 -3.95149985e-05 1.11302953e+01] [ 1.21727918e-02 -2.87952210e-04 9.99925867e-01 2.38039266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.524391418 meters Centerline goodness [0,1] 0.9993290624188382 Centerline is valid? [True, True] Translation: X:332.76, Y:11.13, Z:2.38 [[ 9.99528274e-01 -2.79832118e-02 -1.26558092e-02 3.32764249e+02] [ 2.79849494e-02 9.99608344e-01 -3.98144785e-05 1.11285290e+01] [ 1.26519666e-02 -3.14376481e-04 9.99919911e-01 2.38049957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.554391418 meters Centerline goodness [0,1] 0.999369866585546 Centerline is valid? [True, True] Translation: X:332.80, Y:11.13, Z:2.38 [[ 9.99428033e-01 -3.07235116e-02 -1.41305472e-02 3.32796783e+02] [ 3.07259725e-02 9.99527845e-01 -4.29598445e-05 1.11278689e+01] [ 1.41251952e-02 -3.91239530e-04 9.99900158e-01 2.38019584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.584391418 meters Centerline goodness [0,1] 0.9995009222089617 Centerline is valid? [True, True] Translation: X:332.83, Y:11.13, Z:2.38 [[ 9.99387077e-01 -3.16915865e-02 -1.48699073e-02 3.32829325e+02] [ 3.16944372e-02 9.99497604e-01 -4.39683213e-05 1.11279785e+01] [ 1.48638301e-02 -4.27351971e-04 9.99889436e-01 2.38019720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.614391418 meters Centerline goodness [0,1] 0.9996745144841055 Centerline is valid? [True, True] Translation: X:332.86, Y:11.13, Z:2.38 [[ 9.99340695e-01 -3.28976776e-02 -1.53596552e-02 3.32860353e+02] [ 3.29008785e-02 9.99458619e-01 -4.43125153e-05 1.11263130e+01] [ 1.53527975e-02 -4.61062848e-04 9.99882033e-01 2.37962083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.644391418 meters Centerline goodness [0,1] 0.9995216039315459 Centerline is valid? [True, True] Translation: X:332.89, Y:11.13, Z:2.38 [[ 9.99266384e-01 -3.45546943e-02 -1.65126348e-02 3.32891747e+02] [ 3.45586338e-02 9.99402671e-01 -4.67984493e-05 1.11266505e+01] [ 1.65043884e-02 -5.23889983e-04 9.99863656e-01 2.37888630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.674391418 meters Centerline goodness [0,1] 0.9994563799251979 Centerline is valid? [True, True] Translation: X:332.92, Y:11.13, Z:2.38 [[ 9.99235814e-01 -3.50179595e-02 -1.73646168e-02 3.32924258e+02] [ 3.50224054e-02 9.99386526e-01 -4.80924012e-05 1.11267774e+01] [ 1.73556482e-02 -5.60094999e-04 9.99849223e-01 2.37843136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.704391418 meters Centerline goodness [0,1] 0.9994563799251979 Centerline is valid? [True, True] Translation: X:332.96, Y:11.13, Z:2.38 [[ 9.99238601e-01 -3.49383405e-02 -1.73646206e-02 3.32955973e+02] [ 3.49427984e-02 9.99389313e-01 -4.67084787e-05 1.11267859e+01] [ 1.73556481e-02 -5.60095520e-04 9.99849223e-01 2.37865347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.734391418 meters Centerline goodness [0,1] 0.9995876288659794 Centerline is valid? [True, True] Translation: X:332.99, Y:11.13, Z:2.38 [[ 9.99214161e-01 -3.54095608e-02 -1.78107407e-02 3.32987044e+02] [ 3.54143472e-02 9.99372714e-01 -4.66948535e-05 1.11256048e+01] [ 1.78012217e-02 -5.84097596e-04 9.99841375e-01 2.37805650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.764391418 meters Centerline goodness [0,1] 0.999652400608299 Centerline is valid? [True, True] Translation: X:333.02, Y:11.13, Z:2.38 [[ 9.99191052e-01 -3.58102446e-02 -1.82993791e-02 3.33019184e+02] [ 3.58153884e-02 9.99358422e-01 -4.66640781e-05 1.11282388e+01] [ 1.82893097e-02 -6.08773043e-04 9.99832551e-01 2.37836661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.794391418 meters Centerline goodness [0,1] 0.9996523250760538 Centerline is valid? [True, True] Translation: X:333.05, Y:11.13, Z:2.38 [[ 9.99196809e-01 -3.56249301e-02 -1.83467144e-02 3.33051583e+02] [ 3.56300962e-02 9.99365046e-01 -4.53217880e-05 1.11303772e+01] [ 1.83366797e-02 -6.08409813e-04 9.99831684e-01 2.37891028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.824391418 meters Centerline goodness [0,1] 0.9995649620429382 Centerline is valid? [True, True] Translation: X:333.08, Y:11.13, Z:2.38 [[ 9.99190672e-01 -3.59459111e-02 -1.80524880e-02 3.33083870e+02] [ 3.59509913e-02 9.99353553e-01 -4.31434444e-05 1.11319645e+01] [ 1.80423688e-02 -6.05896311e-04 9.99837040e-01 2.37897752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.854391418 meters Centerline goodness [0,1] 0.9997388522556636 Centerline is valid? [True, True] Translation: X:333.12, Y:11.13, Z:2.38 [[ 9.99199668e-01 -3.58136893e-02 -1.78158014e-02 3.33115865e+02] [ 3.58186416e-02 9.99358306e-01 -4.11443987e-05 1.11323015e+01] [ 1.78058427e-02 -5.97026338e-04 9.99841285e-01 2.37937915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.884391418 meters Centerline goodness [0,1] 0.9997606926858983 Centerline is valid? [True, True] Translation: X:333.15, Y:11.13, Z:2.38 [[ 9.99203755e-01 -3.60234266e-02 -1.71513191e-02 3.33147126e+02] [ 3.60280669e-02 9.99350778e-01 -3.84563197e-05 1.11324933e+01] [ 1.71415694e-02 -5.79503172e-04 9.99852905e-01 2.37983384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.914391418 meters Centerline goodness [0,1] 0.999913120913968 Centerline is valid? [True, True] Translation: X:333.18, Y:11.13, Z:2.38 [[ 9.99219968e-01 -3.58141238e-02 -1.66374340e-02 3.33179786e+02] [ 3.58184809e-02 9.99358312e-01 -3.61244385e-05 1.11337255e+01] [ 1.66280517e-02 -5.59831351e-04 9.99861588e-01 2.38058748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.944391418 meters Centerline goodness [0,1] 0.9994342414483419 Centerline is valid? [True, True] Translation: X:333.21, Y:11.14, Z:2.38 [[ 9.99270967e-01 -3.46223385e-02 -1.60881251e-02 3.33211602e+02] [ 3.46262758e-02 9.99400330e-01 -3.38399211e-05 1.11371367e+01] [ 1.60796492e-02 -5.23256606e-04 9.99870577e-01 2.38195424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.974391418 meters Centerline goodness [0,1] 0.9997823958219998 Centerline is valid? [True, True] Translation: X:333.24, Y:11.14, Z:2.38 [[ 9.99315602e-01 -3.35713172e-02 -1.55336731e-02 3.33242518e+02] [ 3.35748752e-02 9.99436204e-01 -3.17510094e-05 1.11375444e+01] [ 1.55259812e-02 -4.89811856e-04 9.99879345e-01 2.38269808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.004391418 meters Centerline goodness [0,1] 0.9997162253607212 Centerline is valid? [True, True] Translation: X:333.27, Y:11.14, Z:2.38 [[ 9.99371426e-01 -3.21390715e-02 -1.49610418e-02 3.33274413e+02] [ 3.21422235e-02 9.99483305e-01 -2.97866816e-05 1.11397018e+01] [ 1.49542688e-02 -4.51113190e-04 9.99888077e-01 2.38372522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.034391418 meters Centerline goodness [0,1] 0.9996728533728817 Centerline is valid? [True, True] Translation: X:333.31, Y:11.14, Z:2.38 [[ 9.99436899e-01 -3.02011073e-02 -1.46211700e-02 3.33306858e+02] [ 3.02039242e-02 9.99543757e-01 -2.81713177e-05 1.11436708e+01] [ 1.46153500e-02 -4.13461256e-04 9.99893105e-01 2.38484663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.064391418 meters Centerline goodness [0,1] 0.9994957577883498 Centerline is valid? [True, True] Translation: X:333.34, Y:11.15, Z:2.39 [[ 9.99556544e-01 -2.61516666e-02 -1.42409575e-02 3.33338685e+02] [ 2.61539420e-02 9.99657927e-01 -2.64638359e-05 1.11491859e+01] [ 1.42367781e-02 -3.46005077e-04 9.99898592e-01 2.38577268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.094391418 meters Centerline goodness [0,1] 0.9996711896358973 Centerline is valid? [True, True] Translation: X:333.37, Y:11.15, Z:2.39 [[ 9.99625504e-01 -2.37170180e-02 -1.36511673e-02 3.33369901e+02] [ 2.37188911e-02 9.99718667e-01 -2.46996474e-05 1.11523505e+01] [ 1.36479126e-02 -2.99100153e-04 9.99906818e-01 2.38646720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.124391418 meters Centerline goodness [0,1] 0.9997367381861261 Centerline is valid? [True, True] Translation: X:333.40, Y:11.16, Z:2.39 [[ 9.99722624e-01 -1.92862965e-02 -1.35171922e-02 3.33401566e+02] [ 1.92877355e-02 9.99813974e-01 -2.39134533e-05 1.11574599e+01] [ 1.35151388e-02 -2.36809207e-04 9.99908638e-01 2.38627852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.154391418 meters Centerline goodness [0,1] 0.9997581886128819 Centerline is valid? [True, True] Translation: X:333.43, Y:11.16, Z:2.39 [[ 9.99749887e-01 -1.75271539e-02 -1.38910709e-02 3.33431528e+02] [ 1.75285148e-02 9.99846364e-01 -2.37877075e-05 1.11590562e+01] [ 1.38893536e-02 -2.19708083e-04 9.99903514e-01 2.38555956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.184391418 meters Centerline goodness [0,1] 0.9998241758241758 Centerline is valid? [True, True] Translation: X:333.46, Y:11.16, Z:2.38 [[ 9.99766743e-01 -1.59128723e-02 -1.46027521e-02 3.33460822e+02] [ 1.59142096e-02 9.99873361e-01 -2.46269891e-05 1.11608349e+01] [ 1.46012948e-02 -2.07770014e-04 9.99893374e-01 2.38491059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.214391418 meters Centerline goodness [0,1] 0.9997798229776741 Centerline is valid? [True, True] Translation: X:333.49, Y:11.16, Z:2.38 [[ 9.99786239e-01 -1.38377041e-02 -1.53621320e-02 3.33490789e+02] [ 1.38389318e-02 9.99904237e-01 -2.63876381e-05 1.11638853e+01] [ 1.53610260e-02 -1.86213501e-04 9.99881995e-01 2.38306519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.244391418 meters Centerline goodness [0,1] 0.9999118515580238 Centerline is valid? [True, True] Translation: X:333.52, Y:11.16, Z:2.38 [[ 9.99785095e-01 -1.33767007e-02 -1.58375467e-02 3.33519527e+02] [ 1.33779034e-02 9.99910511e-01 -3.00062788e-05 1.11647868e+01] [ 1.58365308e-02 -1.81873339e-04 9.99874578e-01 2.38236277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.274391418 meters Centerline goodness [0,1] 0.9996921859197045 Centerline is valid? [True, True] Translation: X:333.55, Y:11.16, Z:2.38 [[ 9.99774044e-01 -1.32653335e-02 -1.66099701e-02 3.33547604e+02] [ 1.32665821e-02 9.99911994e-01 -3.50173284e-05 1.11647445e+01] [ 1.66089728e-02 -1.85348116e-04 9.99862044e-01 2.38116801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.304391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.58, Y:11.16, Z:2.38 [[ 9.99768411e-01 -1.37719597e-02 -1.65365387e-02 3.33575755e+02] [ 1.37731992e-02 9.99905144e-01 -3.89360585e-05 1.11643814e+01] [ 1.65355064e-02 -1.88834001e-04 9.99863261e-01 2.38020511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.334391418 meters Centerline goodness [0,1] 0.9999339948515984 Centerline is valid? [True, True] Translation: X:333.60, Y:11.16, Z:2.38 [[ 9.99760607e-01 -1.45133420e-02 -1.63735088e-02 3.33603409e+02] [ 1.45145714e-02 9.99894657e-01 -4.37567980e-05 1.11644199e+01] [ 1.63724190e-02 -1.93908139e-04 9.99865944e-01 2.38062014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.364391418 meters Centerline goodness [0,1] 0.999845825165738 Centerline is valid? [True, True] Translation: X:333.63, Y:11.16, Z:2.38 [[ 9.99764144e-01 -1.46738084e-02 -1.60104633e-02 3.33630915e+02] [ 1.46749549e-02 9.99892316e-01 -4.58825866e-05 1.11642139e+01] [ 1.60094125e-02 -1.89081062e-04 9.99871823e-01 2.38098394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.394391418 meters Centerline goodness [0,1] 0.9998238816484678 Centerline is valid? [True, True] Translation: X:333.66, Y:11.16, Z:2.38 [[ 9.99778340e-01 -1.40775599e-02 -1.56554511e-02 3.33658800e+02] [ 1.40785591e-02 9.99900891e-01 -4.63920395e-05 1.11646950e+01] [ 1.56545526e-02 -1.74024437e-04 9.99877445e-01 2.38192540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.424391418 meters Centerline goodness [0,1] 0.9996919149685313 Centerline is valid? [True, True] Translation: X:333.69, Y:11.17, Z:2.38 [[ 9.99779664e-01 -1.39964659e-02 -1.56435833e-02 3.33687713e+02] [ 1.39974059e-02 9.99902030e-01 -4.94059435e-05 1.11652297e+01] [ 1.56427422e-02 -1.69574528e-04 9.99877630e-01 2.38234623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.454391418 meters Centerline goodness [0,1] 0.9998024062527443 Centerline is valid? [True, True] Translation: X:333.72, Y:11.17, Z:2.38 [[ 9.99779245e-01 -1.41032972e-02 -1.55742820e-02 3.33715995e+02] [ 1.41041758e-02 9.99900530e-01 -5.34283859e-05 1.11650406e+01] [ 1.55734864e-02 -1.66245820e-04 9.99878712e-01 2.38265938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.484391418 meters Centerline goodness [0,1] 0.9996258885147774 Centerline is valid? [True, True] Translation: X:333.74, Y:11.16, Z:2.38 [[ 9.99768865e-01 -1.51433288e-02 -1.52609689e-02 3.33744817e+02] [ 1.51442298e-02 9.99885318e-01 -5.65329512e-05 1.11643708e+01] [ 1.52600749e-02 -1.74595736e-04 9.99883543e-01 2.38337268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.514391418 meters Centerline goodness [0,1] 0.9996272256819577 Centerline is valid? [True, True] Translation: X:333.77, Y:11.16, Z:2.38 [[ 9.99761749e-01 -1.56676048e-02 -1.51977345e-02 3.33773345e+02] [ 1.56685218e-02 9.99877239e-01 -5.87392669e-05 1.11628042e+01] [ 1.51967891e-02 -1.79400763e-04 9.99884506e-01 2.38316273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.544391418 meters Centerline goodness [0,1] 0.9995169930622639 Centerline is valid? [True, True] Translation: X:333.80, Y:11.16, Z:2.38 [[ 9.99749416e-01 -1.67530524e-02 -1.48472307e-02 3.33801580e+02] [ 1.67540084e-02 9.99859640e-01 -6.00016066e-05 1.11628442e+01] [ 1.48461520e-02 -1.88764057e-04 9.99889772e-01 2.38463774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.574391418 meters Centerline goodness [0,1] 0.9997142166237991 Centerline is valid? [True, True] Translation: X:333.83, Y:11.16, Z:2.38 [[ 9.99745581e-01 -1.64524645e-02 -1.54301278e-02 3.33829902e+02] [ 1.64534218e-02 9.99864631e-01 -6.49147855e-05 1.11626941e+01] [ 1.54291071e-02 -1.88980131e-04 9.99880946e-01 2.38497323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.604391418 meters Centerline goodness [0,1] 0.9997145366710584 Centerline is valid? [True, True] Translation: X:333.86, Y:11.16, Z:2.39 [[ 9.99750882e-01 -1.60316794e-02 -1.55292904e-02 3.33859125e+02] [ 1.60325571e-02 9.99871468e-01 -6.79782161e-05 1.11636104e+01] [ 1.55283842e-02 -1.81012954e-04 9.99879411e-01 2.38568686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.634391418 meters Centerline goodness [0,1] 0.9997140657648741 Centerline is valid? [True, True] Translation: X:333.89, Y:11.16, Z:2.39 [[ 9.99764604e-01 -1.50713621e-02 -1.56073925e-02 3.33887284e+02] [ 1.50720950e-02 9.99886407e-01 -7.06716912e-05 1.11644707e+01] [ 1.56066847e-02 -1.64581047e-04 9.99878195e-01 2.38635689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.664391418 meters Centerline goodness [0,1] 0.9996480886816522 Centerline is valid? [True, True] Translation: X:333.92, Y:11.17, Z:2.39 [[ 9.99806466e-01 -1.22528198e-02 -1.53915302e-02 3.33915760e+02] [ 1.22531564e-02 9.99924925e-01 -7.24378366e-05 1.11673685e+01] [ 1.53912623e-02 -1.16171009e-04 9.99881541e-01 2.38847049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.694391418 meters Centerline goodness [0,1] 0.9997585124366095 Centerline is valid? [True, True] Translation: X:333.94, Y:11.17, Z:2.39 [[ 9.99827336e-01 -1.08406359e-02 -1.50923601e-02 3.33944457e+02] [ 1.08407361e-02 9.99941235e-01 -7.51732936e-05 1.11689103e+01] [ 1.50922881e-02 -8.84519796e-05 9.99886101e-01 2.38916651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.724391418 meters Centerline goodness [0,1] 0.9995171838651626 Centerline is valid? [True, True] Translation: X:333.97, Y:11.17, Z:2.39 [[ 9.99838758e-01 -9.57608661e-03 -1.51906951e-02 3.33972180e+02] [ 9.57597366e-03 9.99954146e-01 -8.01742640e-05 1.11702197e+01] [ 1.51907663e-02 -6.53043600e-05 9.99884612e-01 2.38941419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.754391418 meters Centerline goodness [0,1] 0.9995834703496657 Centerline is valid? [True, True] Translation: X:334.00, Y:11.17, Z:2.39 [[ 9.99843365e-01 -7.29505383e-03 -1.61253923e-02 3.33999741e+02] [ 7.29454626e-03 9.99973390e-01 -9.02946301e-05 1.11717229e+01] [ 1.61256219e-02 -2.73469332e-05 9.99869973e-01 2.38884317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.784391418 meters Centerline goodness [0,1] 0.999802371541502 Centerline is valid? [True, True] Translation: X:334.03, Y:11.17, Z:2.39 [[ 9.99835810e-01 -6.54968966e-03 -1.68954186e-02 3.34027860e+02] [ 6.54896357e-03 9.99978550e-01 -9.83034002e-05 1.11717748e+01] [ 1.68957001e-02 -1.23602215e-05 9.99857257e-01 2.38801873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.814391418 meters Centerline goodness [0,1] 0.9995595295775889 Centerline is valid? [True, True] Translation: X:334.06, Y:11.17, Z:2.39 [[ 9.99825720e-01 -6.48303535e-03 -1.75071238e-02 3.34055458e+02] [ 6.48217058e-03 9.99978985e-01 -1.06142005e-04 1.11718306e+01] [ 1.75074440e-02 -7.36065630e-06 9.99846733e-01 2.38735613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.844391418 meters Centerline goodness [0,1] 0.9996705758334431 Centerline is valid? [True, True] Translation: X:334.08, Y:11.17, Z:2.39 [[ 9.99797186e-01 -6.48889523e-03 -1.90651845e-02 3.34084232e+02] [ 6.48776283e-03 9.99978947e-01 -1.21247163e-04 1.11711550e+01] [ 1.90655699e-02 -2.46782286e-06 9.99818236e-01 2.38584748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.874391418 meters Centerline goodness [0,1] 0.9994286718818669 Centerline is valid? [True, True] Translation: X:334.11, Y:11.17, Z:2.39 [[ 9.99787257e-01 -7.25414053e-03 -1.93084942e-02 3.34111954e+02] [ 7.25301026e-03 9.99973688e-01 -1.28566216e-04 1.11709465e+01] [ 1.93089188e-02 -1.15058420e-05 9.99813565e-01 2.38570307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.904391418 meters Centerline goodness [0,1] 0.9996479105692846 Centerline is valid? [True, True] Translation: X:334.14, Y:11.17, Z:2.39 [[ 9.99773568e-01 -7.82822099e-03 -1.97871602e-02 3.34139972e+02] [ 7.82702323e-03 9.99969359e-01 -1.37977194e-04 1.11706902e+01] [ 1.97876340e-02 -1.69286112e-05 9.99804205e-01 2.38576205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.934391418 meters Centerline goodness [0,1] 0.9995613554117776 Centerline is valid? [True, True] Translation: X:334.17, Y:11.17, Z:2.39 [[ 9.99765432e-01 -8.74987782e-03 -1.98121562e-02 3.34166952e+02] [ 8.74876018e-03 9.99961719e-01 -1.43087209e-04 1.11704194e+01] [ 1.98126498e-02 -3.02781581e-05 9.99803710e-01 2.38615863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.964391418 meters Centerline goodness [0,1] 0.9996262914926357 Centerline is valid? [True, True] Translation: X:334.19, Y:11.17, Z:2.39 [[ 9.99755678e-01 -9.82017735e-03 -1.98027523e-02 3.34194566e+02] [ 9.81915951e-03 9.99951780e-01 -1.48633676e-04 1.11699335e+01] [ 1.98032570e-02 -4.58490222e-05 9.99803895e-01 2.38749399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.994391418 meters Centerline goodness [0,1] 0.9994296244296245 Centerline is valid? [True, True] Translation: X:334.22, Y:11.17, Z:2.39 [[ 9.99749827e-01 -1.08645239e-02 -1.95511145e-02 3.34221737e+02] [ 1.08636538e-02 9.99940977e-01 -1.50713367e-04 1.11689493e+01] [ 1.95515980e-02 -6.17208769e-05 9.99808847e-01 2.38712915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.024391418 meters Centerline goodness [0,1] 0.9996048992493086 Centerline is valid? [True, True] Translation: X:334.25, Y:11.17, Z:2.39 [[ 9.99731353e-01 -1.22918300e-02 -1.96502568e-02 3.34249548e+02] [ 1.22911281e-02 9.99924449e-01 -1.56496916e-04 1.11682587e+01] [ 1.96506958e-02 -8.50689494e-05 9.99806903e-01 2.38883830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.054391418 meters Centerline goodness [0,1] 0.9993216184869904 Centerline is valid? [True, True] Translation: X:334.28, Y:11.17, Z:2.39 [[ 9.99702647e-01 -1.45098134e-02 -1.95980344e-02 3.34277820e+02] [ 1.45094732e-02 9.99894719e-01 -1.59557798e-04 1.11662294e+01] [ 1.95982863e-02 -1.24846803e-04 9.99807927e-01 2.38958997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.084391418 meters Centerline goodness [0,1] 0.999519755511897 Centerline is valid? [True, True] Translation: X:334.31, Y:11.17, Z:2.39 [[ 9.99687203e-01 -1.58235279e-02 -1.93678248e-02 3.34305731e+02] [ 1.58233524e-02 9.99874790e-01 -1.62312932e-04 1.11658886e+01] [ 1.93679681e-02 -1.44201756e-04 9.99812413e-01 2.39067707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.114391418 meters Centerline goodness [0,1] 0.9994544581678523 Centerline is valid? [True, True] Translation: X:334.33, Y:11.17, Z:2.39 [[ 9.99661896e-01 -1.69810563e-02 -1.96910477e-02 3.34333447e+02] [ 1.69810301e-02 9.99855798e-01 -1.68546953e-04 1.11652189e+01] [ 1.96910703e-02 -1.65884307e-04 9.99806098e-01 2.39203403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.144391418 meters Centerline goodness [0,1] 0.9996938753197909 Centerline is valid? [True, True] Translation: X:334.36, Y:11.16, Z:2.39 [[ 9.99645138e-01 -1.74014921e-02 -2.01689582e-02 3.34361218e+02] [ 1.74015100e-02 9.99848567e-01 -1.74631099e-04 1.11648567e+01] [ 2.01689428e-02 -1.76401198e-04 9.99796571e-01 2.39220783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.174391418 meters Centerline goodness [0,1] 0.9996284721463383 Centerline is valid? [True, True] Translation: X:334.39, Y:11.16, Z:2.39 [[ 9.99640187e-01 -1.77715394e-02 -2.00915239e-02 3.34388804e+02] [ 1.77715367e-02 9.99842058e-01 -1.78697647e-04 1.11647231e+01] [ 2.00915263e-02 -1.78423904e-04 9.99798129e-01 2.39235459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.204391418 meters Centerline goodness [0,1] 0.9994331065759637 Centerline is valid? [True, True] Translation: X:334.42, Y:11.17, Z:2.39 [[ 9.99650949e-01 -1.75475483e-02 -1.97500119e-02 3.34416407e+02] [ 1.75473795e-02 9.99846016e-01 -1.81858905e-04 1.11655323e+01] [ 1.97501619e-02 -1.64765528e-04 9.99804933e-01 2.39399041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.234391418 meters Centerline goodness [0,1] 0.9995419947220344 Centerline is valid? [True, True] Translation: X:334.44, Y:11.17, Z:2.39 [[ 9.99683347e-01 -1.63831529e-02 -1.90997094e-02 3.34443732e+02] [ 1.63827185e-02 9.99865778e-01 -1.79224197e-04 1.11663878e+01] [ 1.91000820e-02 -1.33737716e-04 9.99817568e-01 2.39498416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.264391418 meters Centerline goodness [0,1] 0.9997382256058986 Centerline is valid? [True, True] Translation: X:334.47, Y:11.17, Z:2.40 [[ 9.99777907e-01 -1.19018036e-02 -1.73920626e-02 3.34471879e+02] [ 1.19007367e-02 9.99929170e-01 -1.64842137e-04 1.11694232e+01] [ 1.73927926e-02 -4.21728301e-05 9.99848733e-01 2.39696922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.294391418 meters Centerline goodness [0,1] 0.9995416748510443 Centerline is valid? [True, True] Translation: X:334.50, Y:11.17, Z:2.40 [[ 9.99816198e-01 -9.59160069e-03 -1.66003175e-02 3.34499575e+02] [ 9.59024927e-03 9.99954000e-01 -1.61015472e-04 1.11721424e+01] [ 1.66010983e-02 1.78469465e-06 9.99862192e-01 2.39913975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.324391418 meters Centerline goodness [0,1] 0.9996945765522056 Centerline is valid? [True, True] Translation: X:334.53, Y:11.17, Z:2.40 [[ 9.99842197e-01 -7.08441431e-03 -1.62908473e-02 3.34526461e+02] [ 7.08272409e-03 9.99974904e-01 -1.61446781e-04 1.11747493e+01] [ 1.62915822e-02 4.60377278e-05 9.99867282e-01 2.40043102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.354391418 meters Centerline goodness [0,1] 0.9997162005806973 Centerline is valid? [True, True] Translation: X:334.55, Y:11.18, Z:2.40 [[ 9.99874556e-01 -3.10725507e-03 -1.55311618e-02 3.34554639e+02] [ 3.10521224e-03 9.99995167e-01 -1.55645005e-04 1.11781680e+01] [ 1.55315703e-02 1.07397927e-04 9.99879372e-01 2.40205702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.384391418 meters Centerline goodness [0,1] 0.9996721598111641 Centerline is valid? [True, True] Translation: X:334.58, Y:11.18, Z:2.40 [[ 9.99872363e-01 -2.37729414e-03 -1.57989066e-02 3.34583648e+02] [ 2.37503890e-03 9.99997167e-01 -1.61507360e-04 1.11775988e+01] [ 1.57992457e-02 1.23963728e-04 9.99875176e-01 2.40280176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.414391418 meters Centerline goodness [0,1] 0.9993896723848552 Centerline is valid? [True, True] Translation: X:334.61, Y:11.17, Z:2.40 [[ 9.99850310e-01 -2.96012256e-03 -1.70468736e-02 3.34611184e+02] [ 2.95751908e-03 9.99995611e-01 -1.77932800e-04 1.11739246e+01] [ 1.70473255e-02 1.27489712e-04 9.99854676e-01 2.40090496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.444391418 meters Centerline goodness [0,1] 0.9995639851754959 Centerline is valid? [True, True] Translation: X:334.64, Y:11.17, Z:2.40 [[ 9.99825620e-01 -4.52093153e-03 -1.81187758e-02 3.34639529e+02] [ 4.51820180e-03 9.99989775e-01 -1.91590255e-04 1.11711943e+01] [ 1.81194566e-02 1.09692561e-04 9.99835823e-01 2.40033423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.474391418 meters Centerline goodness [0,1] 0.9995208746215999 Centerline is valid? [True, True] Translation: X:334.67, Y:11.17, Z:2.40 [[ 9.99791667e-01 -6.63661165e-03 -1.93022540e-02 3.34667714e+02] [ 6.63386681e-03 9.99977974e-01 -2.06230660e-04 1.11683952e+01] [ 1.93031975e-02 7.81391134e-05 9.99813673e-01 2.39902177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.504391418 meters Centerline goodness [0,1] 0.9994997172314787 Centerline is valid? [True, True] Translation: X:334.70, Y:11.16, Z:2.40 [[ 9.99709349e-01 -1.15371082e-02 -2.11686783e-02 3.34696646e+02] [ 1.15348649e-02 9.99933445e-01 -2.28074639e-04 1.11621331e+01] [ 2.11699008e-02 -1.61694952e-05 9.99775892e-01 2.39954401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.534391418 meters Centerline goodness [0,1] 0.999348081185623 Centerline is valid? [True, True] Translation: X:334.72, Y:11.16, Z:2.40 [[ 9.99655227e-01 -1.40514742e-02 -2.21807139e-02 3.34724795e+02] [ 1.40495836e-02 9.99901271e-01 -2.41076959e-04 1.11597644e+01] [ 2.21819115e-02 -7.06359532e-05 9.99753949e-01 2.39916006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.564391418 meters Centerline goodness [0,1] 0.9993922028305983 Centerline is valid? [True, True] Translation: X:334.75, Y:11.16, Z:2.40 [[ 9.99595070e-01 -1.67808944e-02 -2.29803733e-02 3.34753985e+02] [ 1.67794701e-02 9.99859182e-01 -2.54812053e-04 1.11573918e+01] [ 2.29814132e-02 -1.30889616e-04 9.99735884e-01 2.39925586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.594391418 meters Centerline goodness [0,1] 0.9993922028305983 Centerline is valid? [True, True] Translation: X:334.78, Y:11.16, Z:2.40 [[ 9.99589831e-01 -1.70902251e-02 -2.29802962e-02 3.34781361e+02] [ 1.70887255e-02 9.99853943e-01 -2.61649422e-04 1.11578467e+01] [ 2.29814114e-02 -1.31161872e-04 9.99735884e-01 2.39944843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.624391418 meters Centerline goodness [0,1] 0.9993074042811073 Centerline is valid? [True, True] Translation: X:334.81, Y:11.15, Z:2.40 [[ 9.99469113e-01 -2.11072380e-02 -2.48188787e-02 3.34810383e+02] [ 2.11065442e-02 9.99777190e-01 -2.89944238e-04 1.11533238e+01] [ 2.48194687e-02 -2.34050449e-04 9.99691922e-01 2.40089842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.654391418 meters Centerline goodness [0,1] 0.9994826471222246 Centerline is valid? [True, True] Translation: X:334.84, Y:11.15, Z:2.40 [[ 9.99425520e-01 -2.28019613e-02 -2.50739031e-02 3.34838681e+02] [ 2.28016911e-02 9.99739964e-01 -2.96719332e-04 1.11507874e+01] [ 2.50741488e-02 -2.75178522e-04 9.99685556e-01 2.40063983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.684391418 meters Centerline goodness [0,1] 0.9991576855791452 Centerline is valid? [True, True] Translation: X:334.87, Y:11.15, Z:2.40 [[ 9.99356504e-01 -2.50539182e-02 -2.56686385e-02 3.34867805e+02] [ 2.50542264e-02 9.99686046e-01 -3.09648926e-04 1.11486715e+01] [ 2.56683376e-02 -3.33658213e-04 9.99670458e-01 2.40117240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.714391418 meters Centerline goodness [0,1] 0.9992472632642966 Centerline is valid? [True, True] Translation: X:334.90, Y:11.14, Z:2.40 [[ 9.99299786e-01 -2.83072394e-02 -2.44670739e-02 3.34896688e+02] [ 2.83083262e-02 9.99599193e-01 -3.02014396e-04 1.11448983e+01] [ 2.44658165e-02 -3.90818986e-04 9.99700591e-01 2.40432929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.744391418 meters Centerline goodness [0,1] 0.9991626948344712 Centerline is valid? [True, True] Translation: X:334.92, Y:11.14, Z:2.40 [[ 9.99284167e-01 -2.96653133e-02 -2.34760091e-02 3.34924563e+02] [ 2.96666038e-02 9.99559806e-01 -2.93379647e-04 1.11422794e+01] [ 2.34743783e-02 -4.03283824e-04 9.99724357e-01 2.40452467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.774391418 meters Centerline goodness [0,1] 0.9989488136611319 Centerline is valid? [True, True] Translation: X:334.95, Y:11.14, Z:2.41 [[ 9.99256171e-01 -3.11931202e-02 -2.26736321e-02 3.34953309e+02] [ 3.11946017e-02 9.99513288e-01 -2.88435584e-04 1.11403319e+01] [ 2.26715938e-02 -4.19073884e-04 9.99742879e-01 2.40636774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.804391418 meters Centerline goodness [0,1] 0.9991855281207133 Centerline is valid? [True, True] Translation: X:334.98, Y:11.14, Z:2.41 [[ 9.99250844e-01 -3.13597595e-02 -2.26785546e-02 3.34982645e+02] [ 3.13612254e-02 9.99508073e-01 -2.91105420e-04 1.11401999e+01] [ 2.26765274e-02 -4.20339924e-04 9.99742766e-01 2.40739794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.834391418 meters Centerline goodness [0,1] 0.9992930288358541 Centerline is valid? [True, True] Translation: X:335.01, Y:11.14, Z:2.41 [[ 9.99252746e-01 -3.14007937e-02 -2.25375341e-02 3.35012076e+02] [ 3.14022469e-02 9.99506786e-01 -2.89515822e-04 1.11389243e+01] [ 2.25355093e-02 -4.18429729e-04 9.99745956e-01 2.40712567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.864391418 meters Centerline goodness [0,1] 0.9991225629721574 Centerline is valid? [True, True] Translation: X:335.04, Y:11.14, Z:2.41 [[ 9.99241278e-01 -3.16179347e-02 -2.27414899e-02 3.35041979e+02] [ 3.16194568e-02 9.99499937e-01 -2.92742032e-04 1.11385146e+01] [ 2.27393736e-02 -4.26553636e-04 9.99741336e-01 2.40751467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.894391418 meters Centerline goodness [0,1] 0.9990399180730088 Centerline is valid? [True, True] Translation: X:335.07, Y:11.14, Z:2.41 [[ 9.99213852e-01 -3.23079165e-02 -2.29755777e-02 3.35071308e+02] [ 3.23096462e-02 9.99477863e-01 -2.96024776e-04 1.11357250e+01] [ 2.29731453e-02 -4.46540729e-04 9.99735983e-01 2.40691947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.924391418 meters Centerline goodness [0,1] 0.9989340155633728 Centerline is valid? [True, True] Translation: X:335.10, Y:11.13, Z:2.41 [[ 9.99145553e-01 -3.44316665e-02 -2.28609650e-02 3.35101150e+02] [ 3.44339201e-02 9.99406933e-01 -2.95176176e-04 1.11323926e+01] [ 2.28575703e-02 -4.92268679e-04 9.99738610e-01 2.40773527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.954391418 meters Centerline goodness [0,1] 0.9989344244826631 Centerline is valid? [True, True] Translation: X:335.13, Y:11.13, Z:2.41 [[ 9.99101175e-01 -3.57842873e-02 -2.27228288e-02 3.35130976e+02] [ 3.57868565e-02 9.99359402e-01 -2.93695431e-04 1.11300700e+01] [ 2.27187823e-02 -5.19747162e-04 9.99741760e-01 2.40807147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.984391418 meters Centerline goodness [0,1] 0.998829861923707 Centerline is valid? [True, True] Translation: X:335.16, Y:11.13, Z:2.41 [[ 9.99043255e-01 -3.72429927e-02 -2.29245519e-02 3.35161920e+02] [ 3.72459913e-02 9.99306083e-01 -2.96313401e-04 1.11281421e+01] [ 2.29196797e-02 -5.57817754e-04 9.99737154e-01 2.40837014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.014391418 meters Centerline goodness [0,1] 0.9990621936143911 Centerline is valid? [True, True] Translation: X:335.19, Y:11.13, Z:2.41 [[ 9.98970647e-01 -3.87293842e-02 -2.36152654e-02 3.35192295e+02] [ 3.87329813e-02 9.99249550e-01 -3.05241283e-04 1.11264160e+01] [ 2.36093652e-02 -6.09762553e-04 9.99721074e-01 2.40845507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.044391418 meters Centerline goodness [0,1] 0.9991920222831749 Centerline is valid? [True, True] Translation: X:335.22, Y:11.12, Z:2.41 [[ 9.98815590e-01 -4.17312043e-02 -2.50184551e-02 3.35222525e+02] [ 4.17361738e-02 9.99128614e-01 -3.23730584e-04 1.11226944e+01] [ 2.50101640e-02 -7.20827436e-04 9.99686937e-01 2.40754311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.074391418 meters Centerline goodness [0,1] 0.9988072671508594 Centerline is valid? [True, True] Translation: X:335.25, Y:11.12, Z:2.41 [[ 9.98741856e-01 -4.31318823e-02 -2.55801735e-02 3.35253139e+02] [ 4.31375329e-02 9.99069089e-01 -3.31139156e-04 1.11229068e+01] [ 2.55706433e-02 -7.72743043e-04 9.99672719e-01 2.40805571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.104391418 meters Centerline goodness [0,1] 0.9988709230736457 Centerline is valid? [True, True] Translation: X:335.28, Y:11.12, Z:2.41 [[ 9.98664265e-01 -4.45371403e-02 -2.61940744e-02 3.35283939e+02] [ 4.45435485e-02 9.99007386e-01 -3.39086193e-04 1.11215677e+01] [ 2.61831757e-02 -8.28143758e-04 9.99656819e-01 2.40769349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.134391418 meters Centerline goodness [0,1] 0.9988514548238897 Centerline is valid? [True, True] Translation: X:335.31, Y:11.12, Z:2.41 [[ 9.98527811e-01 -4.67640753e-02 -2.74832890e-02 3.35314508e+02] [ 4.67719727e-02 9.98905529e-01 -3.55775268e-04 1.11193635e+01] [ 2.74698468e-02 -9.30196142e-04 9.99622200e-01 2.40674510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.164391418 meters Centerline goodness [0,1] 0.9990204637891016 Centerline is valid? [True, True] Translation: X:335.34, Y:11.12, Z:2.41 [[ 9.98446512e-01 -4.77791773e-02 -2.86655481e-02 3.35344369e+02] [ 4.77881814e-02 9.98857423e-01 -3.71278443e-04 1.11178749e+01] [ 2.86505348e-02 -9.99172744e-04 9.99588990e-01 2.40589827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.194391418 meters Centerline goodness [0,1] 0.9990615935847125 Centerline is valid? [True, True] Translation: X:335.37, Y:11.12, Z:2.41 [[ 9.98414328e-01 -4.81072984e-02 -2.92321314e-02 3.35374669e+02] [ 4.81168008e-02 9.98841644e-01 -3.78682412e-04 1.11193723e+01] [ 2.92164876e-02 -1.02847470e-03 9.99572578e-01 2.40669234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.224391418 meters Centerline goodness [0,1] 0.9988888176592516 Centerline is valid? [True, True] Translation: X:335.40, Y:11.12, Z:2.41 [[ 9.98398409e-01 -4.84120833e-02 -2.92726401e-02 3.35403721e+02] [ 4.84216929e-02 9.98826909e-01 -3.80914476e-04 1.11192439e+01] [ 2.92567415e-02 -1.03712638e-03 9.99571392e-01 2.40638744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.254391418 meters Centerline goodness [0,1] 0.9989996807491752 Centerline is valid? [True, True] Translation: X:335.43, Y:11.12, Z:2.41 [[ 9.98391315e-01 -4.86992439e-02 -2.90373057e-02 3.35433638e+02] [ 4.87087799e-02 9.98812951e-01 -3.79258052e-04 1.11198335e+01] [ 2.90213066e-02 -1.03572379e-03 9.99578257e-01 2.40688524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.284391418 meters Centerline goodness [0,1] 0.9988263912598156 Centerline is valid? [True, True] Translation: X:335.46, Y:11.12, Z:2.41 [[ 9.98382758e-01 -4.96647551e-02 -2.76636996e-02 3.35463671e+02] [ 4.96737497e-02 9.98765432e-01 -3.62399852e-04 1.11195896e+01] [ 2.76475454e-02 -1.01234593e-03 9.99617221e-01 2.40808549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.314391418 meters Centerline goodness [0,1] 0.9986983889896511 Centerline is valid? [True, True] Translation: X:335.49, Y:11.12, Z:2.41 [[ 9.98360139e-01 -5.04869336e-02 -2.69833835e-02 3.35492842e+02] [ 5.04957729e-02 9.98724212e-01 -3.54150683e-04 1.11182229e+01] [ 2.69668385e-02 -1.00897688e-03 9.99635819e-01 2.40831840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.344391418 meters Centerline goodness [0,1] 0.9990382354826989 Centerline is valid? [True, True] Translation: X:335.52, Y:11.12, Z:2.41 [[ 9.98344550e-01 -5.12967930e-02 -2.60153648e-02 3.35522898e+02] [ 5.13052801e-02 9.98682958e-01 -3.41578377e-04 1.11180531e+01] [ 2.59986234e-02 -9.93712667e-04 9.99661485e-01 2.40959572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.374391418 meters Centerline goodness [0,1] 0.9991459743365289 Centerline is valid? [True, True] Translation: X:335.55, Y:11.12, Z:2.41 [[ 9.98333148e-01 -5.19581280e-02 -2.51252628e-02 3.35554620e+02] [ 5.19662706e-02 9.98648786e-01 -3.29188300e-04 1.11187280e+01] [ 2.51084173e-02 -9.77026615e-04 9.99684257e-01 2.41126508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.404391418 meters Centerline goodness [0,1] 0.9990587027212049 Centerline is valid? [True, True] Translation: X:335.59, Y:11.12, Z:2.41 [[ 9.98328767e-01 -5.29220524e-02 -2.32148521e-02 3.35585310e+02] [ 5.29292765e-02 9.98598217e-01 -3.03595085e-04 1.11181470e+01] [ 2.31983768e-02 -9.25657616e-04 9.99730453e-01 2.41273811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.434391418 meters Centerline goodness [0,1] 0.9988003941562058 Centerline is valid? [True, True] Translation: X:335.62, Y:11.12, Z:2.41 [[ 9.98330616e-01 -5.29809839e-02 -2.29999355e-02 3.35616160e+02] [ 5.29881145e-02 9.98595098e-01 -2.99736377e-04 1.11186396e+01] [ 2.29835031e-02 -9.19487211e-04 9.99735422e-01 2.41315341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.464391418 meters Centerline goodness [0,1] 0.9989055559132171 Centerline is valid? [True, True] Translation: X:335.65, Y:11.12, Z:2.41 [[ 9.98372997e-01 -5.22631263e-02 -2.28018400e-02 3.35648369e+02] [ 5.22699838e-02 9.98632946e-01 -2.95562798e-04 1.11221845e+01] [ 2.27861157e-02 -8.96769894e-04 9.99739961e-01 2.41372740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.494391418 meters Centerline goodness [0,1] 0.9991615788115917 Centerline is valid? [True, True] Translation: X:335.68, Y:11.13, Z:2.42 [[ 9.98401387e-01 -5.15646477e-02 -2.31464482e-02 3.35680021e+02] [ 5.15715686e-02 9.98669257e-01 -2.98224327e-04 1.11270850e+01] [ 2.31310241e-02 -8.95951060e-04 9.99732041e-01 2.41532752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.524391418 meters Centerline goodness [0,1] 0.9991184312376366 Centerline is valid? [True, True] Translation: X:335.71, Y:11.13, Z:2.41 [[ 9.98426067e-01 -5.09529374e-02 -2.34347417e-02 3.35711012e+02] [ 5.09598992e-02 9.98700655e-01 -3.00420915e-04 1.11254011e+01] [ 2.34195992e-02 -8.94284001e-04 9.99725324e-01 2.41355405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.554391418 meters Centerline goodness [0,1] 0.9990960549254245 Centerline is valid? [True, True] Translation: X:335.74, Y:11.13, Z:2.41 [[ 9.98455187e-01 -4.99401692e-02 -2.43561051e-02 3.35742809e+02] [ 4.99474233e-02 9.98751800e-01 -3.10804699e-04 1.11318830e+01] [ 2.43412254e-02 -9.06200127e-04 9.99703298e-01 2.41442857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.584391418 meters Centerline goodness [0,1] 0.9993976162815713 Centerline is valid? [True, True] Translation: X:335.77, Y:11.13, Z:2.41 [[ 9.98458755e-01 -4.98297611e-02 -2.44358041e-02 3.35773868e+02] [ 4.98370560e-02 9.98757314e-01 -3.10748035e-04 1.11334215e+01] [ 2.44209226e-02 -9.07539444e-04 9.99701353e-01 2.41471123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.614391418 meters Centerline goodness [0,1] 0.9991390072753885 Centerline is valid? [True, True] Translation: X:335.80, Y:11.13, Z:2.41 [[ 9.98469182e-01 -4.93888103e-02 -2.49005506e-02 3.35803982e+02] [ 4.93962842e-02 9.98779209e-01 -3.15232202e-04 1.11330025e+01] [ 2.48857212e-02 -9.15245034e-04 9.99689884e-01 2.41251067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.644391418 meters Centerline goodness [0,1] 0.9994832708952331 Centerline is valid? [True, True] Translation: X:335.84, Y:11.14, Z:2.41 [[ 9.98488612e-01 -4.88778027e-02 -2.51286991e-02 3.35835494e+02] [ 4.88852812e-02 9.98804350e-01 -3.16979746e-04 1.11376655e+01] [ 2.51141473e-02 -9.11922858e-04 9.99684174e-01 2.41419509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.674391418 meters Centerline goodness [0,1] 0.9992028267333132 Centerline is valid? [True, True] Translation: X:335.87, Y:11.14, Z:2.41 [[ 9.98532901e-01 -4.78868179e-02 -2.52764536e-02 3.35867358e+02] [ 4.78941004e-02 9.98852369e-01 -3.17547924e-04 1.11395025e+01] [ 2.52626519e-02 -8.93510959e-04 9.99680449e-01 2.41393444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.704391418 meters Centerline goodness [0,1] 0.9994408722393067 Centerline is valid? [True, True] Translation: X:335.90, Y:11.14, Z:2.41 [[ 9.98572917e-01 -4.69103413e-02 -2.55254586e-02 3.35898393e+02] [ 4.69174774e-02 9.98898718e-01 -3.19583350e-04 1.11418461e+01] [ 2.55123396e-02 -8.78462850e-04 9.99674121e-01 2.41403755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.734391418 meters Centerline goodness [0,1] 0.9994601131602816 Centerline is valid? [True, True] Translation: X:335.93, Y:11.15, Z:2.42 [[ 9.98686472e-01 -4.42893874e-02 -2.57639403e-02 3.35929714e+02] [ 4.42958121e-02 9.99018407e-01 -3.21569574e-04 1.11496048e+01] [ 2.57528927e-02 -8.20087474e-04 9.99668003e-01 2.41563258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.764391418 meters Centerline goodness [0,1] 0.9995244065891306 Centerline is valid? [True, True] Translation: X:335.96, Y:11.15, Z:2.41 [[ 9.98771987e-01 -4.24912355e-02 -2.54757337e-02 3.35960292e+02] [ 4.24969489e-02 9.99096546e-01 -3.17342440e-04 1.11493681e+01] [ 2.54662018e-02 -7.65688213e-04 9.99675390e-01 2.41432613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.794391418 meters Centerline goodness [0,1] 0.9994809913066044 Centerline is valid? [True, True] Translation: X:335.99, Y:11.16, Z:2.42 [[ 9.98946194e-01 -3.89452891e-02 -2.42851141e-02 3.35990331e+02] [ 3.89494367e-02 9.99241137e-01 -3.02381600e-04 1.11553680e+01] [ 2.42784614e-02 -6.43828567e-04 9.99705027e-01 2.41573472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.824391418 meters Centerline goodness [0,1] 0.9994587104317325 Centerline is valid? [True, True] Translation: X:336.02, Y:11.16, Z:2.42 [[ 9.99008501e-01 -3.76502452e-02 -2.37586798e-02 3.36021101e+02] [ 3.76538489e-02 9.99290799e-01 -2.95826801e-04 1.11578293e+01] [ 2.37529681e-02 -5.99072251e-04 9.99717679e-01 2.41664631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.854391418 meters Centerline goodness [0,1] 0.9994156603038566 Centerline is valid? [True, True] Translation: X:336.05, Y:11.16, Z:2.42 [[ 9.99054462e-01 -3.66532188e-02 -2.33821175e-02 3.36051372e+02] [ 3.66564362e-02 9.99327885e-01 -2.91138105e-04 1.11599582e+01] [ 2.33770732e-02 -5.66242276e-04 9.99726559e-01 2.41706075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.884391418 meters Centerline goodness [0,1] 0.9995659439633656 Centerline is valid? [True, True] Translation: X:336.08, Y:11.17, Z:2.42 [[ 9.99107733e-01 -3.56035603e-02 -2.27183625e-02 3.36081534e+02] [ 3.56063264e-02 9.99365854e-01 -2.82873483e-04 1.11674275e+01] [ 2.27140270e-02 -5.26296346e-04 9.99741865e-01 2.42095876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.914391418 meters Centerline goodness [0,1] 0.9993285828766975 Centerline is valid? [True, True] Translation: X:336.11, Y:11.16, Z:2.42 [[ 9.99113576e-01 -3.55838729e-02 -2.24910984e-02 3.36111355e+02] [ 3.55865719e-02 9.99366558e-01 -2.80353347e-04 1.11630586e+01] [ 2.24868277e-02 -5.20276257e-04 9.99747004e-01 2.41731928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.944391418 meters Centerline goodness [0,1] 0.9995657177599722 Centerline is valid? [True, True] Translation: X:336.14, Y:11.17, Z:2.42 [[ 9.99131793e-01 -3.53146198e-02 -2.21029063e-02 3.36141960e+02] [ 3.53171575e-02 9.99376117e-01 -2.75652206e-04 1.11697722e+01] [ 2.20988512e-02 -5.05198939e-04 9.99755663e-01 2.41993623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.974391418 meters Centerline goodness [0,1] 0.999434499858625 Centerline is valid? [True, True] Translation: X:336.17, Y:11.17, Z:2.42 [[ 9.99164380e-01 -3.43351089e-02 -2.21730200e-02 3.36172708e+02] [ 3.43374462e-02 9.99410258e-01 -2.75419633e-04 1.11707186e+01] [ 2.21694003e-02 -4.86175397e-04 9.99754110e-01 2.41941222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.004391418 meters Centerline goodness [0,1] 0.9994344137480966 Centerline is valid? [True, True] Translation: X:336.20, Y:11.17, Z:2.42 [[ 9.99206234e-01 -3.31424109e-02 -2.21016561e-02 3.36202904e+02] [ 3.31444529e-02 9.99450534e-01 -2.74023315e-04 1.11731096e+01] [ 2.20985937e-02 -4.58741493e-04 9.99755691e-01 2.41964943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.034391418 meters Centerline goodness [0,1] 0.9995204986813714 Centerline is valid? [True, True] Translation: X:336.23, Y:11.18, Z:2.42 [[ 9.99257577e-01 -3.15937415e-02 -2.20483543e-02 3.36232922e+02] [ 3.15953969e-02 9.99500703e-01 -2.73362463e-04 1.11755177e+01] [ 2.20459822e-02 -4.23466993e-04 9.99756868e-01 2.41976388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.064391418 meters Centerline goodness [0,1] 0.9997378367159679 Centerline is valid? [True, True] Translation: X:336.26, Y:11.18, Z:2.42 [[ 9.99367548e-01 -2.79680878e-02 -2.19611238e-02 3.36263835e+02] [ 2.79688614e-02 9.99608758e-01 -2.71986041e-04 1.11810087e+01] [ 2.19601386e-02 -3.42413605e-04 9.99758788e-01 2.42053293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.094391418 meters Centerline goodness [0,1] 0.999475925319358 Centerline is valid? [True, True] Translation: X:336.29, Y:11.18, Z:2.42 [[ 9.99414835e-01 -2.63292273e-02 -2.18348216e-02 3.36293131e+02] [ 2.63295912e-02 9.99653280e-01 -2.70865742e-04 1.11835118e+01] [ 2.18343827e-02 -3.04194686e-04 9.99761555e-01 2.42034265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.124391418 meters Centerline goodness [0,1] 0.9996055745464107 Centerline is valid? [True, True] Translation: X:336.32, Y:11.19, Z:2.42 [[ 9.99492597e-01 -2.37026157e-02 -2.12775755e-02 3.36322439e+02] [ 2.37023485e-02 9.99719025e-01 -2.64782438e-04 1.11872568e+01] [ 2.12778730e-02 -2.39680423e-04 9.99773572e-01 2.42066734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.154391418 meters Centerline goodness [0,1] 0.9995616246191614 Centerline is valid? [True, True] Translation: X:336.35, Y:11.19, Z:2.42 [[ 9.99517402e-01 -2.29371476e-02 -2.09487610e-02 3.36351074e+02] [ 2.29366341e-02 9.99736886e-01 -2.64817744e-04 1.11891004e+01] [ 2.09493232e-02 -2.15804121e-04 9.99780516e-01 2.42107954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.184391418 meters Centerline goodness [0,1] 0.9997583426700938 Centerline is valid? [True, True] Translation: X:336.38, Y:11.19, Z:2.42 [[ 9.99585934e-01 -2.08636695e-02 -1.98158730e-02 3.36379258e+02] [ 2.08627514e-02 9.99782317e-01 -2.53081075e-04 1.11917399e+01] [ 1.98168396e-02 -1.60437350e-04 9.99803614e-01 2.42117506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.214391418 meters Centerline goodness [0,1] 0.9996269966649114 Centerline is valid? [True, True] Translation: X:336.41, Y:11.19, Z:2.42 [[ 9.99607291e-01 -1.99096690e-02 -1.97197400e-02 3.36407623e+02] [ 1.99085518e-02 9.99801773e-01 -2.52990349e-04 1.11934406e+01] [ 1.97208679e-02 -1.39700466e-04 9.99805515e-01 2.42109712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.244391418 meters Centerline goodness [0,1] 0.999582546029793 Centerline is valid? [True, True] Translation: X:336.44, Y:11.20, Z:2.42 [[ 9.99617590e-01 -1.92792311e-02 -1.98238600e-02 3.36436362e+02] [ 1.92778981e-02 9.99814131e-01 -2.58359933e-04 1.11961310e+01] [ 1.98251563e-02 -1.23901219e-04 9.99803455e-01 2.42284895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.274391418 meters Centerline goodness [0,1] 0.9996262668454723 Centerline is valid? [True, True] Translation: X:336.46, Y:11.20, Z:2.42 [[ 9.99620778e-01 -1.90450240e-02 -1.98894001e-02 3.36464833e+02] [ 1.90435238e-02 9.99818621e-01 -2.64841518e-04 1.11971848e+01] [ 1.98908365e-02 -1.14023181e-04 9.99802151e-01 2.42258477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.304391418 meters Centerline goodness [0,1] 0.9995821604503871 Centerline is valid? [True, True] Translation: X:336.49, Y:11.20, Z:2.42 [[ 9.99608030e-01 -1.88673049e-02 -2.06836168e-02 3.36493504e+02] [ 1.88655224e-02 9.99821991e-01 -2.81321166e-04 1.11982068e+01] [ 2.06852427e-02 -1.08996340e-04 9.99786032e-01 2.42162567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.334391418 meters Centerline goodness [0,1] 0.9996037075361617 Centerline is valid? [True, True] Translation: X:336.52, Y:11.20, Z:2.42 [[ 9.99587360e-01 -1.93170709e-02 -2.12593573e-02 3.36521972e+02] [ 1.93151613e-02 9.99813401e-01 -2.95176054e-04 1.11987267e+01] [ 2.12610923e-02 -1.15573663e-04 9.99773951e-01 2.42136522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.364391418 meters Centerline goodness [0,1] 0.9994509717799495 Centerline is valid? [True, True] Translation: X:336.55, Y:11.20, Z:2.42 [[ 9.99569432e-01 -1.98276982e-02 -2.16290017e-02 3.36549569e+02] [ 1.98256972e-02 9.99803404e-01 -3.06962169e-04 1.11990938e+01] [ 2.16308359e-02 -1.21980037e-04 9.99766019e-01 2.42084449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.394391418 meters Centerline goodness [0,1] 0.999537618072528 Centerline is valid? [True, True] Translation: X:336.58, Y:11.20, Z:2.42 [[ 9.99530387e-01 -2.03416258e-02 -2.29177416e-02 3.36577236e+02] [ 2.03394242e-02 9.99793078e-01 -3.29181479e-04 1.11989950e+01] [ 2.29196955e-02 -1.37106779e-04 9.99737300e-01 2.41946766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.424391418 meters Centerline goodness [0,1] 0.999757671887736 Centerline is valid? [True, True] Translation: X:336.61, Y:11.20, Z:2.42 [[ 9.99514606e-01 -2.09693666e-02 -2.30399117e-02 3.36605063e+02] [ 2.09671736e-02 9.99780108e-01 -3.36779599e-04 1.12000694e+01] [ 2.30419075e-02 -1.46465699e-04 9.99734489e-01 2.42012023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.454391418 meters Centerline goodness [0,1] 0.9995592480772197 Centerline is valid? [True, True] Translation: X:336.63, Y:11.20, Z:2.42 [[ 9.99493441e-01 -2.12773128e-02 -2.36672324e-02 3.36633214e+02] [ 2.12749687e-02 9.99773601e-01 -3.50863008e-04 1.12007582e+01] [ 2.36693396e-02 -1.52834354e-04 9.99719830e-01 2.41962932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.484391418 meters Centerline goodness [0,1] 0.9995592480772197 Centerline is valid? [True, True] Translation: X:336.66, Y:11.20, Z:2.42 [[ 9.99486721e-01 -2.15907787e-02 -2.36671377e-02 3.36660582e+02] [ 2.15883729e-02 9.99766880e-01 -3.57180618e-04 1.12013100e+01] [ 2.36693322e-02 -1.53937708e-04 9.99719830e-01 2.41982159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.514391418 meters Centerline goodness [0,1] 0.9995598688409146 Centerline is valid? [True, True] Translation: X:336.69, Y:11.20, Z:2.42 [[ 9.99479080e-01 -2.24667328e-02 -2.31692785e-02 3.36687997e+02] [ 2.24645617e-02 9.99747577e-01 -3.54012603e-04 1.12020015e+01] [ 2.31713836e-02 -1.66659497e-04 9.99731494e-01 2.41961097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.544391418 meters Centerline goodness [0,1] 0.9996916571227205 Centerline is valid? [True, True] Translation: X:336.72, Y:11.20, Z:2.42 [[ 9.99484668e-01 -2.27254687e-02 -2.26704834e-02 3.36715631e+02] [ 2.27233210e-02 9.99741730e-01 -3.52370499e-04 1.12030748e+01] [ 2.26726361e-02 -1.62959762e-04 9.99742929e-01 2.42135656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.574391418 meters Centerline goodness [0,1] 0.9997361187465641 Centerline is valid? [True, True] Translation: X:336.74, Y:11.21, Z:2.42 [[ 9.99533571e-01 -2.13131773e-02 -2.18721022e-02 3.36743049e+02] [ 2.13107601e-02 9.99772841e-01 -3.43619684e-04 1.12050495e+01] [ 2.18744574e-02 -1.22651712e-04 9.99760718e-01 2.42212036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.604391418 meters Centerline goodness [0,1] 0.9996707927311035 Centerline is valid? [True, True] Translation: X:336.77, Y:11.21, Z:2.42 [[ 9.99562476e-01 -2.02448252e-02 -2.15639452e-02 3.36771772e+02] [ 2.02421245e-02 9.99795048e-01 -3.43533170e-04 1.12072492e+01] [ 2.15664804e-02 -9.31171969e-05 9.99767412e-01 2.42374404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.634391418 meters Centerline goodness [0,1] 0.9998243302591129 Centerline is valid? [True, True] Translation: X:336.80, Y:11.21, Z:2.43 [[ 9.99611074e-01 -1.87715582e-02 -2.06235339e-02 3.36800256e+02] [ 1.87686578e-02 9.99823797e-01 -3.34203453e-04 1.12098029e+01] [ 2.06261735e-02 -5.30025790e-05 9.99787256e-01 2.42516538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.664391418 meters Centerline goodness [0,1] 0.9998462450853339 Centerline is valid? [True, True] Translation: X:336.83, Y:11.21, Z:2.43 [[ 9.99689291e-01 -1.55043700e-02 -1.95175762e-02 3.36828991e+02] [ 1.55010457e-02 9.99879800e-01 -3.21609595e-04 1.12138106e+01] [ 1.95202165e-02 1.89668291e-05 9.99809462e-01 2.42815188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.694391418 meters Centerline goodness [0,1] 0.9997798714449239 Centerline is valid? [True, True] Translation: X:336.86, Y:11.22, Z:2.43 [[ 9.99715967e-01 -1.47698220e-02 -1.87039486e-02 3.36857048e+02] [ 1.47665358e-02 9.99890920e-01 -3.13797813e-04 1.12152374e+01] [ 1.87065431e-02 3.75161586e-05 9.99825017e-01 2.42922145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.724391418 meters Centerline goodness [0,1] 0.9997796774477835 Centerline is valid? [True, True] Translation: X:336.88, Y:11.22, Z:2.43 [[ 9.99726308e-01 -1.43694483e-02 -1.84615451e-02 3.36884646e+02] [ 1.43660710e-02 9.99896753e-01 -3.15551160e-04 1.12160554e+01] [ 1.84641733e-02 5.02449287e-05 9.99829521e-01 2.43027513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.754391418 meters Centerline goodness [0,1] 0.9998899236069833 Centerline is valid? [True, True] Translation: X:336.91, Y:11.22, Z:2.43 [[ 9.99733789e-01 -1.44138619e-02 -1.80164512e-02 3.36912425e+02] [ 1.44105511e-02 9.99896113e-01 -3.13583717e-04 1.12165264e+01] [ 1.80190995e-02 5.38732462e-05 9.99837641e-01 2.43091802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.784391418 meters Centerline goodness [0,1] 0.9997144865149785 Centerline is valid? [True, True] Translation: X:336.94, Y:11.21, Z:2.43 [[ 9.99694517e-01 -1.56736882e-02 -1.91104320e-02 3.36940118e+02] [ 1.56701148e-02 9.99877160e-01 -3.36727360e-04 1.12148811e+01] [ 1.91133622e-02 3.71618325e-05 9.99817322e-01 2.42969613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.814391418 meters Centerline goodness [0,1] 0.9998463800557421 Centerline is valid? [True, True] Translation: X:336.97, Y:11.21, Z:2.43 [[ 9.99649795e-01 -1.72114676e-02 -2.01010581e-02 3.36969289e+02] [ 1.72077325e-02 9.99851872e-01 -3.58781886e-04 1.12135666e+01] [ 2.01042557e-02 1.27626086e-05 9.99797889e-01 2.42858656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.844391418 meters Centerline goodness [0,1] 0.9995843269378022 Centerline is valid? [True, True] Translation: X:337.00, Y:11.21, Z:2.43 [[ 9.99592608e-01 -1.93967199e-02 -2.09376737e-02 3.36997856e+02] [ 1.93930227e-02 9.99811866e-01 -3.79630117e-04 1.12117323e+01] [ 2.09410982e-02 -2.65693228e-05 9.99780711e-01 2.42857466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.874391418 meters Centerline goodness [0,1] 0.9997153990980341 Centerline is valid? [True, True] Translation: X:337.03, Y:11.21, Z:2.43 [[ 9.99471307e-01 -2.36195421e-02 -2.23433280e-02 3.37025444e+02] [ 2.36163050e-02 9.99721013e-01 -4.08772560e-04 1.12064341e+01] [ 2.23467495e-02 -1.19110403e-04 9.99750273e-01 2.42597272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.904391418 meters Centerline goodness [0,1] 0.9996500437445319 Centerline is valid? [True, True] Translation: X:337.05, Y:11.20, Z:2.43 [[ 9.99395284e-01 -2.61321544e-02 -2.29385560e-02 3.37053941e+02] [ 2.61292842e-02 9.99658482e-01 -4.24892401e-04 1.12041796e+01] [ 2.29418255e-02 -1.74732588e-04 9.99736786e-01 2.42597355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.934391418 meters Centerline goodness [0,1] 0.9995637474097503 Centerline is valid? [True, True] Translation: X:337.08, Y:11.20, Z:2.42 [[ 9.99258028e-01 -3.01512319e-02 -2.39644948e-02 3.37082158e+02] [ 3.01491723e-02 9.99545310e-01 -4.47327103e-04 1.11991403e+01] [ 2.39670859e-02 -2.75514485e-04 9.99712710e-01 2.42471860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.964391418 meters Centerline goodness [0,1] 0.9995427327163854 Centerline is valid? [True, True] Translation: X:337.11, Y:11.20, Z:2.42 [[ 9.99215880e-01 -3.14759653e-02 -2.40184904e-02 3.37111447e+02] [ 3.14742492e-02 9.99504462e-01 -4.49575859e-04 1.11976683e+01] [ 2.40207392e-02 -3.06740614e-04 9.99711413e-01 2.42477401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.994391418 meters Centerline goodness [0,1] 0.9995862999978227 Centerline is valid? [True, True] Translation: X:337.14, Y:11.20, Z:2.43 [[ 9.99175666e-01 -3.27038381e-02 -2.40509482e-02 3.37140703e+02] [ 3.27024500e-02 9.99465030e-01 -4.51138104e-04 1.11965717e+01] [ 2.40528357e-02 -3.35758716e-04 9.99710632e-01 2.42504750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.024391418 meters Centerline goodness [0,1] 0.9994785442694188 Centerline is valid? [True, True] Translation: X:337.17, Y:11.20, Z:2.43 [[ 9.99159823e-01 -3.36037846e-02 -2.34613054e-02 3.37171700e+02] [ 3.36027054e-02 9.99435173e-01 -4.40348549e-04 1.11961416e+01] [ 2.34628512e-02 -3.48384756e-04 9.99724649e-01 2.42568814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.054391418 meters Centerline goodness [0,1] 0.999629855425884 Centerline is valid? [True, True] Translation: X:337.20, Y:11.19, Z:2.43 [[ 9.99141150e-01 -3.47708699e-02 -2.25377226e-02 3.37202476e+02] [ 3.47701707e-02 9.99395245e-01 -4.23013693e-04 1.11946858e+01] [ 2.25388014e-02 -3.60990075e-04 9.99745904e-01 2.42696985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.084391418 meters Centerline goodness [0,1] 0.9994779998694999 Centerline is valid? [True, True] Translation: X:337.23, Y:11.19, Z:2.43 [[ 9.99146736e-01 -3.51184261e-02 -2.17369741e-02 3.37233462e+02] [ 3.51178578e-02 9.99383095e-01 -4.07984331e-04 1.11939925e+01] [ 2.17378922e-02 -3.55719754e-04 9.99763641e-01 2.42789212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.114391418 meters Centerline goodness [0,1] 0.9994344506558197 Centerline is valid? [True, True] Translation: X:337.26, Y:11.19, Z:2.43 [[ 9.99189070e-01 -3.51849028e-02 -1.95761438e-02 3.37264752e+02] [ 3.51844641e-02 9.99380768e-01 -3.66936384e-04 1.11925983e+01] [ 1.95769323e-02 -3.22137305e-04 9.99808302e-01 2.43009311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.144391418 meters Centerline goodness [0,1] 0.9992832008340936 Centerline is valid? [True, True] Translation: X:337.30, Y:11.19, Z:2.43 [[ 9.99205800e-01 -3.49306374e-02 -1.91734368e-02 3.37296232e+02] [ 3.49301885e-02 9.99389691e-01 -3.58407912e-04 1.11922874e+01] [ 1.91742545e-02 -3.11608497e-04 9.99816109e-01 2.43053365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.174391418 meters Centerline goodness [0,1] 0.9994788499956571 Centerline is valid? [True, True] Translation: X:337.33, Y:11.19, Z:2.43 [[ 9.99228123e-01 -3.45396886e-02 -1.87127752e-02 3.37328312e+02] [ 3.45392168e-02 9.99403282e-01 -3.48494420e-04 1.11923164e+01] [ 1.87136458e-02 -2.98099175e-04 9.99824840e-01 2.43106570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.204391418 meters Centerline goodness [0,1] 0.9993919652551574 Centerline is valid? [True, True] Translation: X:337.36, Y:11.19, Z:2.43 [[ 9.99224847e-01 -3.44034350e-02 -1.91339744e-02 3.37359498e+02] [ 3.44029408e-02 9.99407981e-01 -3.55089835e-04 1.11923354e+01] [ 1.91348630e-02 -3.03450400e-04 9.99816866e-01 2.43155148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.234391418 meters Centerline goodness [0,1] 0.9993721041008098 Centerline is valid? [True, True] Translation: X:337.39, Y:11.19, Z:2.43 [[ 9.99217463e-01 -3.45443351e-02 -1.92652640e-02 3.37391694e+02] [ 3.45438868e-02 9.99403118e-01 -3.56150097e-04 1.11935234e+01] [ 1.92660679e-02 -3.09625703e-04 9.99814344e-01 2.43272675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.264391418 meters Centerline goodness [0,1] 0.9994134005388025 Centerline is valid? [True, True] Translation: X:337.42, Y:11.19, Z:2.43 [[ 9.99161206e-01 -3.61722490e-02 -1.91951463e-02 3.37422911e+02] [ 3.61721241e-02 9.99345512e-01 -3.53815774e-04 1.11915105e+01] [ 1.91953816e-02 -3.40810220e-04 9.99815694e-01 2.43279226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.294391418 meters Centerline goodness [0,1] 0.9993932301824644 Centerline is valid? [True, True] Translation: X:337.45, Y:11.19, Z:2.43 [[ 9.99127871e-01 -3.70493522e-02 -1.92572829e-02 3.37453698e+02] [ 3.70494088e-02 9.99313372e-01 -3.53952506e-04 1.11892879e+01] [ 1.92571740e-02 -3.59827132e-04 9.99814499e-01 2.43217757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.324391418 meters Centerline goodness [0,1] 0.9992427684385885 Centerline is valid? [True, True] Translation: X:337.49, Y:11.19, Z:2.43 [[ 9.99071048e-01 -3.85109467e-02 -1.93377402e-02 3.37485155e+02] [ 3.85112995e-02 9.99258102e-01 -3.54289248e-04 1.11854756e+01] [ 1.93370375e-02 -3.90761372e-04 9.99812946e-01 2.43098682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.354391418 meters Centerline goodness [0,1] 0.9995242626070409 Centerline is valid? [True, True] Translation: X:337.52, Y:11.18, Z:2.43 [[ 9.99010072e-01 -4.00499693e-02 -1.93617211e-02 3.37517547e+02] [ 4.00506387e-02 9.99197589e-01 -3.53344809e-04 1.11848525e+01] [ 1.93603365e-02 -4.22454274e-04 9.99812482e-01 2.43223091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.384391418 meters Centerline goodness [0,1] 0.9992235522484633 Centerline is valid? [True, True] Translation: X:337.55, Y:11.18, Z:2.43 [[ 9.98884884e-01 -4.31710245e-02 -1.91115397e-02 3.37550168e+02] [ 4.31722759e-02 9.99067582e-01 -3.47290289e-04 1.11802808e+01] [ 1.91087127e-02 -4.78185645e-04 9.99817298e-01 2.43248483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.414391418 meters Centerline goodness [0,1] 0.999310270503287 Centerline is valid? [True, True] Translation: X:337.58, Y:11.18, Z:2.43 [[ 9.98804651e-01 -4.48995030e-02 -1.93210965e-02 3.37582181e+02] [ 4.49011352e-02 9.98991374e-01 -3.49541864e-04 1.11801216e+01] [ 1.93173030e-02 -5.18415126e-04 9.99813269e-01 2.43356488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.444391418 meters Centerline goodness [0,1] 0.9992882869282033 Centerline is valid? [True, True] Translation: X:337.61, Y:11.17, Z:2.43 [[ 9.98686529e-01 -4.73824281e-02 -1.94967310e-02 3.37613701e+02] [ 4.73845889e-02 9.98876658e-01 -3.51384519e-04 1.11739432e+01] [ 1.94914789e-02 -5.72921596e-04 9.99809859e-01 2.43215687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.474391418 meters Centerline goodness [0,1] 0.9994178901752797 Centerline is valid? [True, True] Translation: X:337.65, Y:11.17, Z:2.43 [[ 9.98651074e-01 -4.78922910e-02 -2.00589171e-02 3.37645936e+02] [ 4.78947099e-02 9.98852325e-01 -3.60074006e-04 1.11725376e+01] [ 2.00531408e-02 -6.01127725e-04 9.99798735e-01 2.43183796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.504391418 meters Centerline goodness [0,1] 0.9991376894388514 Centerline is valid? [True, True] Translation: X:337.68, Y:11.17, Z:2.43 [[ 9.98639050e-01 -4.79605615e-02 -2.04898262e-02 3.37677771e+02] [ 4.79631335e-02 9.98849040e-01 -3.66172061e-04 1.11739581e+01] [ 2.04838051e-02 -6.17082551e-04 9.99789994e-01 2.43235505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.534391418 meters Centerline goodness [0,1] 0.9989654057549305 Centerline is valid? [True, True] Translation: X:337.71, Y:11.17, Z:2.43 [[ 9.98637928e-01 -4.76976134e-02 -2.11477510e-02 3.37709384e+02] [ 4.77003246e-02 9.98861621e-01 -3.76498595e-04 1.11718820e+01] [ 2.11416349e-02 -6.32768811e-04 9.99776290e-01 2.43163029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.564391418 meters Centerline goodness [0,1] 0.9993100474342389 Centerline is valid? [True, True] Translation: X:337.74, Y:11.17, Z:2.43 [[ 9.98654797e-01 -4.72801104e-02 -2.12881935e-02 3.37741346e+02] [ 4.72827970e-02 9.98881472e-01 -3.77401232e-04 1.11740450e+01] [ 2.12822257e-02 -6.29671783e-04 9.99773309e-01 2.43318758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.594391418 meters Centerline goodness [0,1] 0.9992044379461598 Centerline is valid? [True, True] Translation: X:337.77, Y:11.17, Z:2.43 [[ 9.98691372e-01 -4.66957193e-02 -2.08579109e-02 3.37773178e+02] [ 4.66982065e-02 9.98908976e-01 -3.68069671e-04 1.11742957e+01] [ 2.08523417e-02 -6.06439026e-04 9.99782382e-01 2.43363058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.624391418 meters Centerline goodness [0,1] 0.9992267543011792 Centerline is valid? [True, True] Translation: X:337.80, Y:11.17, Z:2.43 [[ 9.98722910e-01 -4.63123627e-02 -2.01919484e-02 3.37804711e+02] [ 4.63146428e-02 9.98926838e-01 -3.54952705e-04 1.11729713e+01] [ 2.01867179e-02 -5.80683481e-04 9.99796059e-01 2.43371366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.654391418 meters Centerline goodness [0,1] 0.9992286595817621 Centerline is valid? [True, True] Translation: X:337.84, Y:11.17, Z:2.43 [[ 9.98800827e-01 -4.52066095e-02 -1.87955034e-02 3.37837358e+02] [ 4.52084191e-02 9.98977523e-01 -3.28825297e-04 1.11732930e+01] [ 1.87911505e-02 -5.21284018e-04 9.99823295e-01 2.43493863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.684391418 meters Centerline goodness [0,1] 0.9992929530992223 Centerline is valid? [True, True] Translation: X:337.87, Y:11.17, Z:2.44 [[ 9.98843870e-01 -4.44903366e-02 -1.82080574e-02 3.37869332e+02] [ 4.44919446e-02 9.99009693e-01 -3.16969537e-04 1.11731689e+01] [ 1.82041279e-02 -4.93508804e-04 9.99834169e-01 2.43516086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.714391418 meters Centerline goodness [0,1] 0.9991216795201371 Centerline is valid? [True, True] Translation: X:337.90, Y:11.17, Z:2.44 [[ 9.98947441e-01 -4.24455973e-02 -1.73891260e-02 3.37901028e+02] [ 4.24467779e-02 9.99098684e-01 -3.01351120e-04 1.11733680e+01] [ 1.73862439e-02 -4.37078438e-04 9.99848752e-01 2.43581169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.744391418 meters Centerline goodness [0,1] 0.9992064343163539 Centerline is valid? [True, True] Translation: X:337.93, Y:11.18, Z:2.44 [[ 9.99019159e-01 -4.08766559e-02 -1.70240552e-02 3.37932786e+02] [ 4.08775829e-02 9.99164119e-01 -2.93670734e-04 1.11754017e+01] [ 1.70218294e-02 -4.02519536e-04 9.99855037e-01 2.43707795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.774391418 meters Centerline goodness [0,1] 0.9989308700579469 Centerline is valid? [True, True] Translation: X:337.97, Y:11.18, Z:2.44 [[ 9.99104420e-01 -3.89680069e-02 -1.64879435e-02 3.37965451e+02] [ 3.89686413e-02 9.99240394e-01 -2.82917050e-04 1.11771914e+01] [ 1.64864439e-02 -3.59849084e-04 9.99864025e-01 2.43802970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.804391418 meters Centerline goodness [0,1] 0.9991266375545852 Centerline is valid? [True, True] Translation: X:338.00, Y:11.18, Z:2.44 [[ 9.99253796e-01 -3.51861062e-02 -1.59307488e-02 3.37997259e+02] [ 3.51862376e-02 9.99380736e-01 -2.72127062e-04 1.11794336e+01] [ 1.59304586e-02 -2.88619112e-04 9.99873061e-01 2.43929710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.834391418 meters Centerline goodness [0,1] 0.9992733334758169 Centerline is valid? [True, True] Translation: X:338.03, Y:11.18, Z:2.44 [[ 9.99314626e-01 -3.34130696e-02 -1.59325270e-02 3.38028741e+02] [ 3.34129912e-02 9.99441593e-01 -2.71189653e-04 1.11792405e+01] [ 1.59326914e-02 -2.61349598e-04 9.99873032e-01 2.43907435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.864391418 meters Centerline goodness [0,1] 0.9991031581644637 Centerline is valid? [True, True] Translation: X:338.06, Y:11.18, Z:2.44 [[ 9.99354681e-01 -3.21756531e-02 -1.59670916e-02 3.38060847e+02] [ 3.21754351e-02 9.99482200e-01 -2.70611977e-04 1.11804074e+01] [ 1.59675310e-02 -2.43310773e-04 9.99872481e-01 2.43959541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.894391418 meters Centerline goodness [0,1] 0.9991028708133971 Centerline is valid? [True, True] Translation: X:338.09, Y:11.18, Z:2.44 [[ 9.99400602e-01 -3.03827308e-02 -1.65929662e-02 3.38092227e+02] [ 3.03822680e-02 9.99538313e-01 -2.80027177e-04 1.11791380e+01] [ 1.65938135e-02 -2.24272618e-04 9.99862288e-01 2.43894237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92439141799997 meters Centerline goodness [0,1] 0.9992543990456307 Centerline is valid? [True, True] Translation: X:338.12, Y:11.18, Z:2.44 [[ 9.99387037e-01 -3.03053443e-02 -1.75253035e-02 3.38123273e+02] [ 3.03048315e-02 9.99540660e-01 -2.94890421e-04 1.11791657e+01] [ 1.75261902e-02 -2.36391705e-04 9.99846377e-01 2.43876646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.954391418 meters Centerline goodness [0,1] 0.9990201716829616 Centerline is valid? [True, True] Translation: X:338.15, Y:11.18, Z:2.44 [[ 9.99376465e-01 -3.04222997e-02 -1.79210474e-02 3.38154180e+02] [ 3.04217954e-02 9.99537105e-01 -3.00820792e-04 1.11791030e+01] [ 1.79219035e-02 -2.44557216e-04 9.99839360e-01 2.43892197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.984391418 meters Centerline goodness [0,1] 0.998920337870737 Centerline is valid? [True, True] Translation: X:338.19, Y:11.18, Z:2.44 [[ 9.99340755e-01 -3.12552690e-02 -1.84706150e-02 3.38185999e+02] [ 3.12548896e-02 9.99511399e-01 -3.09286698e-04 1.11759718e+01] [ 1.84712571e-02 -2.68214230e-04 9.99829356e-01 2.43795280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.014391418 meters Centerline goodness [0,1] 0.9991099243435692 Centerline is valid? [True, True] Translation: X:338.22, Y:11.17, Z:2.44 [[ 9.99310192e-01 -3.19556257e-02 -1.89203039e-02 3.38216472e+02] [ 3.19553729e-02 9.99489247e-01 -3.15765290e-04 1.11735334e+01] [ 1.89207308e-02 -2.89057895e-04 9.99820945e-01 2.43681679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.044391418 meters Centerline goodness [0,1] 0.9989165763813651 Centerline is valid? [True, True] Translation: X:338.25, Y:11.17, Z:2.44 [[ 9.99283359e-01 -3.26995498e-02 -1.90658810e-02 3.38247895e+02] [ 3.26994464e-02 9.99465180e-01 -3.17258492e-04 1.11724579e+01] [ 1.90660584e-02 -3.06412622e-04 9.99818179e-01 2.43710443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.074391418 meters Centerline goodness [0,1] 0.9988723644177784 Centerline is valid? [True, True] Translation: X:338.28, Y:11.17, Z:2.44 [[ 9.99257333e-01 -3.35096998e-02 -1.90232325e-02 3.38279512e+02] [ 3.35097581e-02 9.99438340e-01 -3.15783998e-04 1.11699567e+01] [ 1.90231297e-02 -3.21914443e-04 9.99818992e-01 2.43741616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.104391418 meters Centerline goodness [0,1] 0.9989780493517001 Centerline is valid? [True, True] Translation: X:338.31, Y:11.17, Z:2.44 [[ 9.99256199e-01 -3.36333277e-02 -1.88639379e-02 3.38310975e+02] [ 3.36334212e-02 9.99434188e-01 -3.12387252e-04 1.11694857e+01] [ 1.88637711e-02 -3.22303871e-04 9.99822011e-01 2.43769301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.134391418 meters Centerline goodness [0,1] 0.999297124600639 Centerline is valid? [True, True] Translation: X:338.34, Y:11.17, Z:2.44 [[ 9.99235128e-01 -3.42822331e-02 -1.88119025e-02 3.38341022e+02] [ 3.42824508e-02 9.99412136e-01 -3.11013493e-04 1.11677455e+01] [ 1.88115059e-02 -3.34142512e-04 9.99822992e-01 2.43860502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.164391418 meters Centerline goodness [0,1] 0.9991481568243287 Centerline is valid? [True, True] Translation: X:338.37, Y:11.17, Z:2.44 [[ 9.99229256e-01 -3.45986782e-02 -1.85425479e-02 3.38371067e+02] [ 3.45989467e-02 9.99401230e-01 -3.06423806e-04 1.11672824e+01] [ 1.85420470e-02 -3.35364994e-04 9.99828025e-01 2.43880836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.194391418 meters Centerline goodness [0,1] 0.9992112051506172 Centerline is valid? [True, True] Translation: X:338.40, Y:11.17, Z:2.44 [[ 9.99224826e-01 -3.48704283e-02 -1.82701919e-02 3.38402543e+02] [ 3.48707425e-02 9.99391785e-01 -3.01474353e-04 1.11672998e+01] [ 1.82695923e-02 -3.35854500e-04 9.99833041e-01 2.43949746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.224391418 meters Centerline goodness [0,1] 0.998937526561836 Centerline is valid? [True, True] Translation: X:338.43, Y:11.17, Z:2.44 [[ 9.99223780e-01 -3.51181659e-02 -1.78479981e-02 3.38433235e+02] [ 3.51185139e-02 9.99383111e-01 -2.94021051e-04 1.11658408e+01] [ 1.78473133e-02 -3.33002342e-04 9.99840669e-01 2.43930975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.254391418 meters Centerline goodness [0,1] 0.9991490629055247 Centerline is valid? [True, True] Translation: X:338.46, Y:11.17, Z:2.44 [[ 9.99212821e-01 -3.61317799e-02 -1.63778343e-02 3.38464850e+02] [ 3.61322172e-02 9.99346982e-01 -2.69302311e-04 1.11653740e+01] [ 1.63768697e-02 -3.22677145e-04 9.99865838e-01 2.44142704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.284391418 meters Centerline goodness [0,1] 0.9991072946777759 Centerline is valid? [True, True] Translation: X:338.50, Y:11.16, Z:2.44 [[ 9.99200563e-01 -3.68210195e-02 -1.55707196e-02 3.38495656e+02] [ 3.68215103e-02 9.99321826e-01 -2.55256293e-04 1.11638600e+01] [ 1.55695587e-02 -3.18285180e-04 9.99878736e-01 2.44166305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.314391418 meters Centerline goodness [0,1] 0.9987005794137696 Centerline is valid? [True, True] Translation: X:338.53, Y:11.16, Z:2.44 [[ 9.99170370e-01 -3.77937413e-02 -1.51725129e-02 3.38527454e+02] [ 3.77943353e-02 9.99285508e-01 -2.47682546e-04 1.11630890e+01] [ 1.51710331e-02 -3.25957979e-04 9.99884860e-01 2.44168445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.344391418 meters Centerline goodness [0,1] 0.9987428084380993 Centerline is valid? [True, True] Translation: X:338.56, Y:11.16, Z:2.44 [[ 9.99070202e-01 -4.02547062e-02 -1.54366412e-02 3.38558235e+02] [ 4.02556284e-02 9.99189382e-01 -2.51106679e-04 1.11598321e+01] [ 1.54342362e-02 -3.70538491e-04 9.99880816e-01 2.44064612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.374391418 meters Centerline goodness [0,1] 0.9989564032117224 Centerline is valid? [True, True] Translation: X:338.59, Y:11.16, Z:2.44 [[ 9.99012752e-01 -4.15810118e-02 -1.56377870e-02 3.38589618e+02] [ 4.15821406e-02 9.99135057e-01 -2.53098216e-04 1.11580925e+01] [ 1.56347852e-02 -3.97404311e-04 9.99877690e-01 2.44017971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.404391418 meters Centerline goodness [0,1] 0.9989564032117224 Centerline is valid? [True, True] Translation: X:338.62, Y:11.16, Z:2.44 [[ 9.99015942e-01 -4.15042934e-02 -1.56378108e-02 3.38621319e+02] [ 4.15054358e-02 9.99138246e-01 -2.51621084e-04 1.11585232e+01] [ 1.56347782e-02 -3.97680677e-04 9.99877690e-01 2.44040170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.434391418 meters Centerline goodness [0,1] 0.9987227520435967 Centerline is valid? [True, True] Translation: X:338.65, Y:11.15, Z:2.44 [[ 9.98870100e-01 -4.48258142e-02 -1.57850901e-02 3.38653452e+02] [ 4.48274118e-02 9.98994714e-01 -2.52779067e-04 1.11545064e+01] [ 1.57805527e-02 -4.55111283e-04 9.99875376e-01 2.43951483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.464391418 meters Centerline goodness [0,1] 0.9990004466089619 Centerline is valid? [True, True] Translation: X:338.69, Y:11.15, Z:2.44 [[ 9.98795145e-01 -4.63686751e-02 -1.60687076e-02 3.38685122e+02] [ 4.63705471e-02 9.98924275e-01 -2.56260613e-04 1.11527958e+01] [ 1.60633045e-02 -4.89162905e-04 9.99870857e-01 2.43950512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.494391418 meters Centerline goodness [0,1] 0.9989788972089857 Centerline is valid? [True, True] Translation: X:338.72, Y:11.15, Z:2.44 [[ 9.98723691e-01 -4.78984436e-02 -1.60227325e-02 3.38717125e+02] [ 4.79005189e-02 9.98852079e-01 -2.54443458e-04 1.11514520e+01] [ 1.60165271e-02 -5.13378493e-04 9.99871595e-01 2.43958434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.524391418 meters Centerline goodness [0,1] 0.9988521628228292 Centerline is valid? [True, True] Translation: X:338.75, Y:11.15, Z:2.44 [[ 9.98640871e-01 -4.95350526e-02 -1.62076850e-02 3.38749042e+02] [ 4.95374114e-02 9.98772236e-01 -2.56146978e-04 1.11494544e+01] [ 1.62004740e-02 -5.47087918e-04 9.99868614e-01 2.43917680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.554391418 meters Centerline goodness [0,1] 0.9987892948173323 Centerline is valid? [True, True] Translation: X:338.78, Y:11.15, Z:2.44 [[ 9.98470365e-01 -5.28954759e-02 -1.60934492e-02 3.38780587e+02] [ 5.28982549e-02 9.98599875e-01 -2.53253160e-04 1.11510325e+01] [ 1.60843123e-02 -5.98449602e-04 9.99870460e-01 2.44015187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.584391418 meters Centerline goodness [0,1] 0.9987496026279538 Centerline is valid? [True, True] Translation: X:338.81, Y:11.15, Z:2.44 [[ 9.98383684e-01 -5.44215825e-02 -1.63801885e-02 3.38813166e+02] [ 5.44246864e-02 9.98517845e-01 -2.56554042e-04 1.11494825e+01] [ 1.63698726e-02 -6.35347250e-04 9.99865803e-01 2.44020879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.614391418 meters Centerline goodness [0,1] 0.998983890429518 Centerline is valid? [True, True] Translation: X:338.84, Y:11.15, Z:2.44 [[ 9.98284777e-01 -5.62370589e-02 -1.62756836e-02 3.38844352e+02] [ 5.62403827e-02 9.98417225e-01 -2.53778835e-04 1.11470334e+01] [ 1.62641946e-02 -6.62007125e-04 9.99867510e-01 2.44061168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.644391418 meters Centerline goodness [0,1] 0.998749814591147 Centerline is valid? [True, True] Translation: X:338.88, Y:11.15, Z:2.44 [[ 9.98279783e-01 -5.63712344e-02 -1.61170571e-02 3.38876268e+02] [ 5.63745299e-02 9.98409660e-01 -2.50137845e-04 1.11470967e+01] [ 1.61055261e-02 -6.58883966e-04 9.99870081e-01 2.44109589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.67439141799997 meters Centerline goodness [0,1] 0.9986872194460913 Centerline is valid? [True, True] Translation: X:338.91, Y:11.15, Z:2.44 [[ 9.98277737e-01 -5.62782721e-02 -1.65624637e-02 3.38908497e+02] [ 5.62817621e-02 9.98414893e-01 -2.55688696e-04 1.11468365e+01] [ 1.65506001e-02 -6.76916310e-04 9.99862800e-01 2.44104521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.704391418 meters Centerline goodness [0,1] 0.9988960363458803 Centerline is valid? [True, True] Translation: X:338.94, Y:11.15, Z:2.44 [[ 9.98313925e-01 -5.53733944e-02 -1.74095890e-02 3.38940812e+02] [ 5.53771386e-02 9.98465473e-01 -2.67318193e-04 1.11487264e+01] [ 1.73976758e-02 -6.97225746e-04 9.99848406e-01 2.44111464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.734391418 meters Centerline goodness [0,1] 0.9987924496324386 Centerline is valid? [True, True] Translation: X:338.97, Y:11.15, Z:2.44 [[ 9.98352465e-01 -5.44064798e-02 -1.82288127e-02 3.38973313e+02] [ 5.44104513e-02 9.98518615e-01 -2.78384907e-04 1.11495840e+01] [ 1.82169548e-02 -7.13911669e-04 9.99833803e-01 2.44116920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.764391418 meters Centerline goodness [0,1] 0.9988745912430458 Centerline is valid? [True, True] Translation: X:339.00, Y:11.15, Z:2.44 [[ 9.98436546e-01 -5.30697439e-02 -1.75517843e-02 3.39004962e+02] [ 5.30732441e-02 9.98590587e-01 -2.66649483e-04 1.11504848e+01] [ 1.75411976e-02 -6.65297542e-04 9.99845920e-01 2.44195300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.794391418 meters Centerline goodness [0,1] 0.9989820803732372 Centerline is valid? [True, True] Translation: X:339.04, Y:11.15, Z:2.44 [[ 9.98491427e-01 -5.21916015e-02 -1.70559816e-02 3.39037302e+02] [ 5.21948018e-02 9.98636889e-01 -2.57759125e-04 1.11517526e+01] [ 1.70461853e-02 -6.32863303e-04 9.99854503e-01 2.44320315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.824391418 meters Centerline goodness [0,1] 0.9989610499756165 Centerline is valid? [True, True] Translation: X:339.07, Y:11.15, Z:2.44 [[ 9.98558558e-01 -5.12471242e-02 -1.59542373e-02 3.39068104e+02] [ 5.12498332e-02 9.98685835e-01 -2.39277230e-04 1.11520284e+01] [ 1.59455331e-02 -5.78719674e-04 9.99872694e-01 2.44423362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.854391418 meters Centerline goodness [0,1] 0.99877961536843 Centerline is valid? [True, True] Translation: X:339.10, Y:11.15, Z:2.45 [[ 9.98667876e-01 -4.95557755e-02 -1.43770334e-02 3.39098971e+02] [ 4.95578296e-02 9.98771233e-01 -2.13573772e-04 1.11523742e+01] [ 1.43699511e-02 -4.99205303e-04 9.99896622e-01 2.44590507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.884391418 meters Centerline goodness [0,1] 0.9987932932509104 Centerline is valid? [True, True] Translation: X:339.13, Y:11.15, Z:2.45 [[ 9.98693487e-01 -4.90800100e-02 -1.42292213e-02 3.39130924e+02] [ 4.90819970e-02 9.98794730e-01 -2.09751538e-04 1.11528612e+01] [ 1.42223658e-02 -4.88921099e-04 9.99898738e-01 2.44645177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.914391418 meters Centerline goodness [0,1] 0.9988371355477091 Centerline is valid? [True, True] Translation: X:339.16, Y:11.15, Z:2.45 [[ 9.98763729e-01 -4.75968034e-02 -1.43372993e-02 3.39163122e+02] [ 4.75986841e-02 9.98866518e-01 -2.10220019e-04 1.11540929e+01] [ 1.43310540e-02 -4.72476449e-04 9.99897194e-01 2.44644524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.944391418 meters Centerline goodness [0,1] 0.9991096979332273 Centerline is valid? [True, True] Translation: X:339.19, Y:11.16, Z:2.45 [[ 9.98784584e-01 -4.71517185e-02 -1.43551260e-02 3.39194853e+02] [ 4.71535746e-02 9.98887630e-01 -2.09329130e-04 1.11570037e+01] [ 1.43490280e-02 -4.67820795e-04 9.99896938e-01 2.44722869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.974391418 meters Centerline goodness [0,1] 0.9988175176316567 Centerline is valid? [True, True] Translation: X:339.23, Y:11.15, Z:2.45 [[ 9.98788471e-01 -4.69391785e-02 -1.47751275e-02 3.39225883e+02] [ 4.69411373e-02 9.98897634e-01 -2.14386718e-04 1.11546438e+01] [ 1.47689031e-02 -4.79434308e-04 9.99890819e-01 2.44680428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.004391418 meters Centerline goodness [0,1] 0.9988777606030449 Centerline is valid? [True, True] Translation: X:339.26, Y:11.15, Z:2.45 [[ 9.98778509e-01 -4.71277957e-02 -1.48479558e-02 3.39256826e+02] [ 4.71298079e-02 9.98888750e-01 -2.14554422e-04 1.11535301e+01] [ 1.48415675e-02 -4.85488960e-04 9.99889740e-01 2.44655116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.034391418 meters Centerline goodness [0,1] 0.9990255475998814 Centerline is valid? [True, True] Translation: X:339.29, Y:11.15, Z:2.45 [[ 9.98698156e-01 -4.84616428e-02 -1.59204991e-02 3.39289417e+02] [ 4.84641436e-02 9.98824897e-01 -2.28918630e-04 1.11528868e+01] [ 1.59128846e-02 -5.42952740e-04 9.99873235e-01 2.44522321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.064391418 meters Centerline goodness [0,1] 0.9986888574026688 Centerline is valid? [True, True] Translation: X:339.32, Y:11.15, Z:2.44 [[ 9.98633956e-01 -4.94213241e-02 -1.69633479e-02 3.39321990e+02] [ 4.94243246e-02 9.98777842e-01 -2.42560355e-04 1.11521126e+01] [ 1.69546036e-02 -5.96173005e-04 9.99856083e-01 2.44416766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.094391418 meters Centerline goodness [0,1] 0.9989401390537561 Centerline is valid? [True, True] Translation: X:339.35, Y:11.15, Z:2.44 [[ 9.98570118e-01 -5.04422663e-02 -1.77001758e-02 3.39352855e+02] [ 5.04457143e-02 9.98726773e-01 -2.51912454e-04 1.11507326e+01] [ 1.76903465e-02 -6.41345764e-04 9.99843308e-01 2.44335979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.124391418 meters Centerline goodness [0,1] 0.9987278162966733 Centerline is valid? [True, True] Translation: X:339.38, Y:11.15, Z:2.44 [[ 9.98444628e-01 -5.27716394e-02 -1.79855130e-02 3.39384566e+02] [ 5.27755962e-02 9.98606365e-01 -2.54896740e-04 1.11525905e+01] [ 1.79738990e-02 -6.94695889e-04 9.99838215e-01 2.44421869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.154391418 meters Centerline goodness [0,1] 0.9988340293824596 Centerline is valid? [True, True] Translation: X:339.42, Y:11.15, Z:2.44 [[ 9.98373593e-01 -5.41573048e-02 -1.78088662e-02 3.39416703e+02] [ 5.41614278e-02 9.98532161e-01 -2.51072718e-04 1.11536072e+01] [ 1.77963231e-02 -7.13889250e-04 9.99841378e-01 2.44490630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.184391418 meters Centerline goodness [0,1] 0.9987324122195462 Centerline is valid? [True, True] Translation: X:339.45, Y:11.15, Z:2.44 [[ 9.98227620e-01 -5.67382928e-02 -1.79550820e-02 3.39448191e+02] [ 5.67429233e-02 9.98388791e-01 -2.51866141e-04 1.11485210e+01] [ 1.79404430e-02 -7.67404100e-04 9.99838763e-01 2.44395395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.214391418 meters Centerline goodness [0,1] 0.998728732758438 Centerline is valid? [True, True] Translation: X:339.48, Y:11.15, Z:2.45 [[ 9.98165501e-01 -5.78586138e-02 -1.78329419e-02 3.39480357e+02] [ 5.78633835e-02 9.98324480e-01 -2.48829964e-04 1.11512354e+01] [ 1.78174594e-02 -7.83500870e-04 9.99840949e-01 2.44538762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.244391418 meters Centerline goodness [0,1] 0.9987055702917772 Centerline is valid? [True, True] Translation: X:339.51, Y:11.15, Z:2.45 [[ 9.98093816e-01 -5.91064335e-02 -1.77528859e-02 3.39511278e+02] [ 5.91113793e-02 9.98251363e-01 -2.46480589e-04 1.11473838e+01] [ 1.77364111e-02 -8.03386819e-04 9.99842375e-01 2.44535818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.274391418 meters Centerline goodness [0,1] 0.9986656500190622 Centerline is valid? [True, True] Translation: X:339.54, Y:11.15, Z:2.45 [[ 9.98057732e-01 -5.99479643e-02 -1.69412292e-02 3.39543623e+02] [ 5.99526098e-02 9.98201197e-01 -2.33986489e-04 1.11518140e+01] [ 1.69247823e-02 -7.82138882e-04 9.99856460e-01 2.44709375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.304391418 meters Centerline goodness [0,1] 0.9989619963563954 Centerline is valid? [True, True] Translation: X:339.58, Y:11.15, Z:2.45 [[ 9.97934723e-01 -6.21331069e-02 -1.63023126e-02 3.39575529e+02] [ 6.21377207e-02 9.98067560e-01 -2.23847015e-04 1.11511906e+01] [ 1.62847177e-02 -7.89603840e-04 9.99867083e-01 2.44824331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.334391418 meters Centerline goodness [0,1] 0.9988347704497786 Centerline is valid? [True, True] Translation: X:339.61, Y:11.15, Z:2.45 [[ 9.97868809e-01 -6.32642338e-02 -1.59836152e-02 3.39607370e+02] [ 6.32688344e-02 9.97996496e-01 -2.18172795e-04 1.11509525e+01] [ 1.59653945e-02 -7.93556874e-04 9.99872230e-01 2.44889543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.364391418 meters Centerline goodness [0,1] 0.9987938550086758 Centerline is valid? [True, True] Translation: X:339.64, Y:11.15, Z:2.45 [[ 9.97706876e-01 -6.56605437e-02 -1.64219951e-02 3.39639639e+02] [ 6.56657461e-02 9.97841651e-01 -2.22803167e-04 1.11503877e+01] [ 1.64011801e-02 -8.56070307e-04 9.99865125e-01 2.44952554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.394391418 meters Centerline goodness [0,1] 0.9987493110611778 Centerline is valid? [True, True] Translation: X:339.67, Y:11.15, Z:2.45 [[ 9.97600359e-01 -6.71883343e-02 -1.67108456e-02 3.39671428e+02] [ 6.71939547e-02 9.97739907e-01 -2.25550344e-04 1.11505377e+01] [ 1.66882319e-02 -8.97858698e-04 9.99860339e-01 2.44986685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42439141799997 meters Centerline goodness [0,1] 0.9989398469138944 Centerline is valid? [True, True] Translation: X:339.70, Y:11.15, Z:2.45 [[ 9.97482707e-01 -6.87399858e-02 -1.74087274e-02 3.39703451e+02] [ 6.87463439e-02 9.97634144e-01 -2.33658251e-04 1.11523431e+01] [ 1.73836026e-02 -9.63716299e-04 9.99848429e-01 2.45001240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.454391418 meters Centerline goodness [0,1] 0.9989172664161519 Centerline is valid? [True, True] Translation: X:339.73, Y:11.15, Z:2.45 [[ 9.97248661e-01 -7.17993683e-02 -1.84379872e-02 3.39734955e+02] [ 7.18070419e-02 9.97418512e-01 -2.46380203e-04 1.11513683e+01] [ 1.84080797e-02 -1.07827499e-03 9.99829976e-01 2.44894383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.484391418 meters Centerline goodness [0,1] 0.999002589024235 Centerline is valid? [True, True] Translation: X:339.77, Y:11.15, Z:2.45 [[ 9.97147631e-01 -7.30693412e-02 -1.89069467e-02 3.39766066e+02] [ 7.30776572e-02 9.97326222e-01 -2.51608270e-04 1.11487730e+01] [ 1.88747786e-02 -1.13078478e-03 9.99821216e-01 2.44801771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.514391418 meters Centerline goodness [0,1] 0.9987285441830897 Centerline is valid? [True, True] Translation: X:339.80, Y:11.14, Z:2.45 [[ 9.96981482e-01 -7.52253769e-02 -1.92111433e-02 3.39796014e+02] [ 7.52343699e-02 9.97165846e-01 -2.55213810e-04 1.11449399e+01] [ 1.91758945e-02 -1.19089482e-03 9.99815416e-01 2.44716421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.544391418 meters Centerline goodness [0,1] 0.9987280590180616 Centerline is valid? [True, True] Translation: X:339.83, Y:11.14, Z:2.45 [[ 9.96916250e-01 -7.61817781e-02 -1.88235894e-02 3.39827813e+02] [ 7.61905948e-02 9.97093241e-01 -2.49371135e-04 1.11448430e+01] [ 1.87878713e-02 -1.18557834e-03 9.99822789e-01 2.44745927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.574391418 meters Centerline goodness [0,1] 0.9986201040229276 Centerline is valid? [True, True] Translation: X:339.86, Y:11.15, Z:2.45 [[ 9.96877090e-01 -7.67468711e-02 -1.86006647e-02 3.39859971e+02] [ 7.67556025e-02 9.97049907e-01 -2.45099909e-04 1.11461559e+01] [ 1.85646017e-02 -1.18337075e-03 9.99826963e-01 2.44826136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.604391418 meters Centerline goodness [0,1] 0.9988746868232197 Centerline is valid? [True, True] Translation: X:339.89, Y:11.15, Z:2.45 [[ 9.96849489e-01 -7.70943454e-02 -1.86428936e-02 3.39892326e+02] [ 7.71032050e-02 9.97023087e-01 -2.44156591e-04 1.11511718e+01] [ 1.86062184e-02 -1.19403947e-03 9.99826176e-01 2.44946869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.634391418 meters Centerline goodness [0,1] 0.99861708012425 Centerline is valid? [True, True] Translation: X:339.92, Y:11.16, Z:2.45 [[ 9.96809479e-01 -7.76536005e-02 -1.84602758e-02 3.39924723e+02] [ 7.76624108e-02 9.96979685e-01 -2.40240581e-04 1.11563719e+01] [ 1.84231755e-02 -1.19419543e-03 9.99829566e-01 2.45032215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.664391418 meters Centerline goodness [0,1] 0.9986557705848464 Centerline is valid? [True, True] Translation: X:339.96, Y:11.16, Z:2.45 [[ 9.96807185e-01 -7.76806645e-02 -1.84702479e-02 3.39957365e+02] [ 7.76895175e-02 9.96977573e-01 -2.38825651e-04 1.11577681e+01] [ 1.84329751e-02 -1.19688153e-03 9.99829382e-01 2.45055094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.694391418 meters Centerline goodness [0,1] 0.9988287405766856 Centerline is valid? [True, True] Translation: X:339.99, Y:11.16, Z:2.45 [[ 9.96839666e-01 -7.72297721e-02 -1.86075878e-02 3.39988574e+02] [ 7.72387034e-02 9.97012600e-01 -2.39290719e-04 1.11570467e+01] [ 1.85704798e-02 -1.19869147e-03 9.99826835e-01 2.44992665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.724391418 meters Centerline goodness [0,1] 0.9985761948275496 Centerline is valid? [True, True] Translation: X:340.02, Y:11.16, Z:2.45 [[ 9.96887124e-01 -7.65887130e-02 -1.87144586e-02 3.40020558e+02] [ 7.65976607e-02 9.97062055e-01 -2.39276937e-04 1.11593982e+01] [ 1.86778025e-02 -1.19495165e-03 9.99824841e-01 2.45038015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.754391418 meters Centerline goodness [0,1] 0.9989819076505398 Centerline is valid? [True, True] Translation: X:340.05, Y:11.16, Z:2.45 [[ 9.96939267e-01 -7.58971107e-02 -1.87543885e-02 3.40053085e+02] [ 7.59060031e-02 9.97114949e-01 -2.38267232e-04 1.11616971e+01] [ 1.87183649e-02 -1.18603271e-03 9.99824093e-01 2.45126136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.784391418 meters Centerline goodness [0,1] 0.9989987217724755 Centerline is valid? [True, True] Translation: X:340.08, Y:11.17, Z:2.45 [[ 9.97082553e-01 -7.39464830e-02 -1.89288440e-02 3.40084672e+02] [ 7.39552162e-02 9.97261535e-01 -2.39179610e-04 1.11682767e+01] [ 1.88946945e-02 -1.16140493e-03 9.99820805e-01 2.45202791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.814391418 meters Centerline goodness [0,1] 0.9986733427483203 Centerline is valid? [True, True] Translation: X:340.12, Y:11.17, Z:2.45 [[ 9.97151709e-01 -7.30064115e-02 -1.89349843e-02 3.40116530e+02] [ 7.30150084e-02 9.97330814e-01 -2.37836889e-04 1.11723672e+01] [ 1.89018069e-02 -1.14537857e-03 9.99820689e-01 2.45242681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.844391418 meters Centerline goodness [0,1] 0.9988505991783913 Centerline is valid? [True, True] Translation: X:340.15, Y:11.17, Z:2.45 [[ 9.97254891e-01 -7.16035931e-02 -1.88575887e-02 3.40147641e+02] [ 7.16118946e-02 9.97432545e-01 -2.35552367e-04 1.11725382e+01] [ 1.88260390e-02 -1.11552190e-03 9.99822152e-01 2.45199775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.874391418 meters Centerline goodness [0,1] 0.998934833088345 Centerline is valid? [True, True] Translation: X:340.18, Y:11.18, Z:2.45 [[ 9.97391296e-01 -6.97354031e-02 -1.86433712e-02 3.40178099e+02] [ 6.97432041e-02 9.97564951e-01 -2.32212470e-04 1.11752380e+01] [ 1.86141671e-02 -1.06864175e-03 9.99826170e-01 2.45157337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.904391418 meters Centerline goodness [0,1] 0.9990606519929122 Centerline is valid? [True, True] Translation: X:340.21, Y:11.18, Z:2.45 [[ 9.97427376e-01 -6.90982732e-02 -1.90803005e-02 3.40210588e+02] [ 6.91063493e-02 9.97609270e-01 -2.36540205e-04 1.11785404e+01] [ 1.90510292e-02 -1.08263824e-03 9.99817927e-01 2.45194279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.934391418 meters Centerline goodness [0,1] 0.9990597286034832 Centerline is valid? [True, True] Translation: X:340.24, Y:11.18, Z:2.45 [[ 9.97448707e-01 -6.87965707e-02 -1.90553879e-02 3.40241722e+02] [ 6.88045952e-02 9.97630128e-01 -2.34949163e-04 1.11806917e+01] [ 1.90263928e-02 -1.07674851e-03 9.99818402e-01 2.45211657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.964391418 meters Centerline goodness [0,1] 0.9991227694809363 Centerline is valid? [True, True] Translation: X:340.27, Y:11.18, Z:2.45 [[ 9.97441745e-01 -6.88574134e-02 -1.91995498e-02 3.40273456e+02] [ 6.88655982e-02 9.97625919e-01 -2.35312066e-04 1.11845897e+01] [ 1.91701715e-02 -1.08747840e-03 9.99815644e-01 2.45300394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.994391418 meters Centerline goodness [0,1] 0.9992954589124448 Centerline is valid? [True, True] Translation: X:340.31, Y:11.19, Z:2.45 [[ 9.97427121e-01 -6.91318189e-02 -1.89718248e-02 3.40305733e+02] [ 6.91398892e-02 9.97606948e-01 -2.30988988e-04 1.11854048e+01] [ 1.89423929e-02 -1.08131518e-03 9.99819992e-01 2.45339098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.024391418 meters Centerline goodness [0,1] 0.9991648285757115 Centerline is valid? [True, True] Translation: X:340.34, Y:11.19, Z:2.45 [[ 9.97398101e-01 -6.95061631e-02 -1.91290764e-02 3.40337859e+02] [ 6.95144660e-02 9.97580917e-01 -2.31350473e-04 1.11867341e+01] [ 1.90988818e-02 -1.09899901e-03 9.99816996e-01 2.45428031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.054391418 meters Centerline goodness [0,1] 0.999336387378516 Centerline is valid? [True, True] Translation: X:340.37, Y:11.19, Z:2.46 [[ 9.97389754e-01 -6.98570821e-02 -1.82665592e-02 3.40370007e+02] [ 6.98647380e-02 9.97556450e-01 -2.19472954e-04 1.11882857e+01] [ 1.82372557e-02 -1.05728830e-03 9.99833128e-01 2.45556337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.084391418 meters Centerline goodness [0,1] 0.9990341274951706 Centerline is valid? [True, True] Translation: X:340.40, Y:11.19, Z:2.46 [[ 9.97384287e-01 -7.00307736e-02 -1.78962070e-02 3.40401262e+02] [ 7.00381853e-02 9.97544288e-01 -2.13049114e-04 1.11877153e+01] [ 1.78671791e-02 -1.04092603e-03 9.99839827e-01 2.45598112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.114391418 meters Centerline goodness [0,1] 0.9993983540686306 Centerline is valid? [True, True] Translation: X:340.43, Y:11.19, Z:2.46 [[ 9.97414149e-01 -6.97569243e-02 -1.72912253e-02 3.40433600e+02] [ 6.97638320e-02 9.97563515e-01 -2.04118592e-04 1.11943392e+01] [ 1.72633341e-02 -1.00271136e-03 9.99850475e-01 2.45836292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.144391418 meters Centerline goodness [0,1] 0.9990557129367328 Centerline is valid? [True, True] Translation: X:340.47, Y:11.19, Z:2.46 [[ 9.97415089e-01 -6.97440436e-02 -1.72889832e-02 3.40465603e+02] [ 6.97509757e-02 9.97564414e-01 -2.02466749e-04 1.11906010e+01] [ 1.72609952e-02 -1.00398005e-03 9.99850514e-01 2.45808045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.17439141799997 meters Centerline goodness [0,1] 0.9993141877411059 Centerline is valid? [True, True] Translation: X:340.50, Y:11.20, Z:2.46 [[ 9.97396963e-01 -6.98561806e-02 -1.78720990e-02 3.40497871e+02] [ 6.98636354e-02 9.97556529e-01 -2.07662472e-04 1.11991573e+01] [ 1.78429355e-02 -1.04148789e-03 9.99840260e-01 2.45939217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.204391418 meters Centerline goodness [0,1] 0.9992699476080048 Centerline is valid? [True, True] Translation: X:340.53, Y:11.20, Z:2.46 [[ 9.97365368e-01 -7.04339824e-02 -1.73602301e-02 3.40530239e+02] [ 7.04411277e-02 9.97515918e-01 -2.00308818e-04 1.11991367e+01] [ 1.73312144e-02 -1.02309311e-03 9.99849280e-01 2.45945261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.234391418 meters Centerline goodness [0,1] 0.9993998885507308 Centerline is valid? [True, True] Translation: X:340.56, Y:11.20, Z:2.46 [[ 9.97341749e-01 -7.07919083e-02 -1.72609856e-02 3.40562672e+02] [ 7.07990499e-02 9.97490579e-01 -1.97750847e-04 1.12000494e+01] [ 1.72316697e-02 -1.02483621e-03 9.99850999e-01 2.45985524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.264391418 meters Centerline goodness [0,1] 0.9994221137793758 Centerline is valid? [True, True] Translation: X:340.59, Y:11.20, Z:2.46 [[ 9.97319028e-01 -7.10836983e-02 -1.73742183e-02 3.40594226e+02] [ 7.10909991e-02 9.97469814e-01 -1.97833832e-04 1.11951922e+01] [ 1.73443210e-02 -1.03784709e-03 9.99849037e-01 2.45916426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.294391418 meters Centerline goodness [0,1] 0.9994221137793758 Centerline is valid? [True, True] Translation: X:340.63, Y:11.20, Z:2.46 [[ 9.97327370e-01 -7.09665622e-02 -1.73742369e-02 3.40626828e+02] [ 7.09738738e-02 9.97478156e-01 -1.96187727e-04 1.11954404e+01] [ 1.73443445e-02 -1.03745351e-03 9.99849037e-01 2.45939265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.324391418 meters Centerline goodness [0,1] 0.9995508405697908 Centerline is valid? [True, True] Translation: X:340.66, Y:11.20, Z:2.46 [[ 9.97274816e-01 -7.18622255e-02 -1.66961641e-02 3.40658679e+02] [ 7.18691282e-02 9.97414053e-01 -1.86987661e-04 1.11955086e+01] [ 1.66664260e-02 -1.01346067e-03 9.99860592e-01 2.46035648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.354391418 meters Centerline goodness [0,1] 0.9991207000085786 Centerline is valid? [True, True] Translation: X:340.69, Y:11.20, Z:2.46 [[ 9.97237935e-01 -7.23688850e-02 -1.67106241e-02 3.40690539e+02] [ 7.23758922e-02 9.97377409e-01 -1.85852081e-04 1.11959867e+01] [ 1.66802489e-02 -1.02410759e-03 9.99860350e-01 2.46100641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.384391418 meters Centerline goodness [0,1] 0.9991845143568393 Centerline is valid? [True, True] Translation: X:340.72, Y:11.20, Z:2.46 [[ 9.97232546e-01 -7.23395247e-02 -1.71535081e-02 3.40722248e+02] [ 7.23469275e-02 9.97379510e-01 -1.89410087e-04 1.12005758e+01] [ 1.71222593e-02 -1.05211770e-03 9.99852850e-01 2.46182683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.414391418 meters Centerline goodness [0,1] 0.9993994509265615 Centerline is valid? [True, True] Translation: X:340.75, Y:11.20, Z:2.46 [[ 9.97252625e-01 -7.18409650e-02 -1.80576033e-02 3.40754078e+02] [ 7.18491141e-02 9.97415493e-01 -1.97915587e-04 1.12025921e+01] [ 1.80251517e-02 -1.10005096e-03 9.99836929e-01 2.46171663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.444391418 meters Centerline goodness [0,1] 0.9993329173032645 Centerline is valid? [True, True] Translation: X:340.79, Y:11.20, Z:2.46 [[ 9.97265749e-01 -7.14232197e-02 -1.89670849e-02 3.40785014e+02] [ 7.14321601e-02 9.97445439e-01 -2.06575395e-04 1.11998394e+01] [ 1.89333866e-02 -1.14884928e-03 9.99820087e-01 2.46048014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.474391418 meters Centerline goodness [0,1] 0.9993529881165484 Centerline is valid? [True, True] Translation: X:340.82, Y:11.21, Z:2.46 [[ 9.97350509e-01 -6.97260241e-02 -2.07422975e-02 3.40817652e+02] [ 6.97363892e-02 9.97565429e-01 -2.24077442e-04 1.12057661e+01] [ 2.07074230e-02 -1.22300918e-03 9.99784830e-01 2.46035750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.504391418 meters Centerline goodness [0,1] 0.9992032387269046 Centerline is valid? [True, True] Translation: X:340.85, Y:11.21, Z:2.46 [[ 9.97427890e-01 -6.84977002e-02 -2.11108796e-02 3.40849017e+02] [ 6.85081957e-02 9.97650528e-01 -2.26504573e-04 1.12061075e+01] [ 2.10767952e-02 -1.22034629e-03 9.99777115e-01 2.46014145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.534391418 meters Centerline goodness [0,1] 0.9994397638389105 Centerline is valid? [True, True] Translation: X:340.88, Y:11.21, Z:2.46 [[ 9.97545586e-01 -6.67737359e-02 -2.10729994e-02 3.40880888e+02] [ 6.67838366e-02 9.97767442e-01 -2.24849392e-04 1.12091088e+01] [ 2.10409667e-02 -1.18303823e-03 9.99777914e-01 2.46093445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.564391418 meters Centerline goodness [0,1] 0.9994601131602816 Centerline is valid? [True, True] Translation: X:340.91, Y:11.22, Z:2.46 [[ 9.97799529e-01 -6.29523005e-02 -2.08112359e-02 3.40912064e+02] [ 6.29613371e-02 9.98015942e-01 -2.21372128e-04 1.12162432e+01] [ 2.07838811e-02 -1.08941823e-03 9.99783398e-01 2.46259138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.594391418 meters Centerline goodness [0,1] 0.9995472381527316 Centerline is valid? [True, True] Translation: X:340.94, Y:11.22, Z:2.46 [[ 9.97964883e-01 -6.03613550e-02 -2.05572392e-02 3.40943007e+02] [ 6.03696379e-02 9.98176066e-01 -2.17993375e-04 1.12166608e+01] [ 2.05329025e-02 -1.02348335e-03 9.99788654e-01 2.46241870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.624391418 meters Centerline goodness [0,1] 0.9995465244336954 Centerline is valid? [True, True] Translation: X:340.97, Y:11.22, Z:2.46 [[ 9.98126810e-01 -5.77096930e-02 -2.03091898e-02 3.40974195e+02] [ 5.77172455e-02 9.98332947e-01 -2.14572824e-04 1.12198564e+01] [ 2.02877163e-02 -9.58019607e-04 9.99793724e-01 2.46289015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.654391418 meters Centerline goodness [0,1] 0.9995455135696663 Centerline is valid? [True, True] Translation: X:341.01, Y:11.22, Z:2.46 [[ 9.98295028e-01 -5.49197433e-02 -1.97701432e-02 3.41006010e+02] [ 5.49263787e-02 9.98490385e-01 -2.07632045e-04 1.12228282e+01] [ 1.97517010e-02 -8.78624336e-04 9.99804530e-01 2.46364192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.684391418 meters Centerline goodness [0,1] 0.9993960180331759 Centerline is valid? [True, True] Translation: X:341.04, Y:11.23, Z:2.47 [[ 9.98579704e-01 -4.95260447e-02 -1.96403905e-02 3.41036600e+02] [ 4.95315685e-02 9.98772537e-01 -2.05407728e-04 1.12301154e+01] [ 1.96264557e-02 -7.67703357e-04 9.99807088e-01 2.46572361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.714391418 meters Centerline goodness [0,1] 0.999438202247191 Centerline is valid? [True, True] Translation: X:341.07, Y:11.24, Z:2.47 [[ 9.98701261e-01 -4.71888219e-02 -1.92095203e-02 3.41068135e+02] [ 4.71936869e-02 9.98885737e-01 -2.00238223e-04 1.12363314e+01] [ 1.91975648e-02 -7.06589919e-04 9.99815460e-01 2.46798721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.744391418 meters Centerline goodness [0,1] 0.9994369978995691 Centerline is valid? [True, True] Translation: X:341.10, Y:11.24, Z:2.47 [[ 9.98858109e-01 -4.38008352e-02 -1.90778896e-02 3.41099673e+02] [ 4.38050310e-02 9.99040079e-01 -1.98103955e-04 1.12407557e+01] [ 1.90682535e-02 -6.37829806e-04 9.99817981e-01 2.46901139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.774391418 meters Centerline goodness [0,1] 0.9993510286196379 Centerline is valid? [True, True] Translation: X:341.13, Y:11.24, Z:2.47 [[ 9.98911582e-01 -4.24887109e-02 -1.92447809e-02 3.41130775e+02] [ 4.24927568e-02 9.99096755e-01 -1.98824040e-04 1.12378766e+01] [ 1.92358459e-02 -6.19156158e-04 9.99814782e-01 2.46735743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.804391418 meters Centerline goodness [0,1] 0.9993944374756694 Centerline is valid? [True, True] Translation: X:341.16, Y:11.24, Z:2.47 [[ 9.98962185e-01 -4.11948817e-02 -1.94302386e-02 3.41162774e+02] [ 4.11987889e-02 9.99150950e-01 -1.99325895e-04 1.12435508e+01] [ 1.94219525e-02 -6.01383265e-04 9.99811195e-01 2.46936286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.834391418 meters Centerline goodness [0,1] 0.9993716687611042 Centerline is valid? [True, True] Translation: X:341.19, Y:11.24, Z:2.47 [[ 9.99072835e-01 -3.82696310e-02 -1.97206936e-02 3.41193838e+02] [ 3.82731127e-02 9.99267296e-01 -2.00980970e-04 1.12418579e+01] [ 1.97139356e-02 -5.53977702e-04 9.99805508e-01 2.46767951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.864391418 meters Centerline goodness [0,1] 0.9994367417677643 Centerline is valid? [True, True] Translation: X:341.23, Y:11.25, Z:2.47 [[ 9.99129177e-01 -3.64133016e-02 -2.03705419e-02 3.41225557e+02] [ 3.64166622e-02 9.99336672e-01 -2.06075797e-04 1.12501056e+01] [ 2.03645334e-02 -5.35930801e-04 9.99792478e-01 2.47077628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.894391418 meters Centerline goodness [0,1] 0.9994999239014632 Centerline is valid? [True, True] Translation: X:341.26, Y:11.25, Z:2.47 [[ 9.99190408e-01 -3.47615173e-02 -2.02525613e-02 3.41256380e+02] [ 3.47645225e-02 9.99395511e-01 -2.03774384e-04 1.12518625e+01] [ 2.02474023e-02 -5.00461212e-04 9.99794875e-01 2.47088382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92439141799997 meters Centerline goodness [0,1] 0.9995860386073467 Centerline is valid? [True, True] Translation: X:341.29, Y:11.26, Z:2.47 [[ 9.99304011e-01 -3.08461679e-02 -2.09763369e-02 3.41288294e+02] [ 3.08485520e-02 9.99524048e-01 -2.09990252e-04 1.12554526e+01] [ 2.09728306e-02 -4.37245519e-04 9.99779950e-01 2.47147427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.954391418 meters Centerline goodness [0,1] 0.9995857678555856 Centerline is valid? [True, True] Translation: X:341.32, Y:11.26, Z:2.47 [[ 9.99360243e-01 -2.88756993e-02 -2.11020831e-02 3.41318909e+02] [ 2.88776812e-02 9.99582931e-01 -2.10858953e-04 1.12569750e+01] [ 2.10993708e-02 -3.98655175e-04 9.99777304e-01 2.47161889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.984391418 meters Centerline goodness [0,1] 0.9994984079905788 Centerline is valid? [True, True] Translation: X:341.35, Y:11.26, Z:2.47 [[ 9.99457399e-01 -2.52877815e-02 -2.11053381e-02 3.41349485e+02] [ 2.52889644e-02 9.99680161e-01 -2.10891478e-04 1.12592505e+01] [ 2.11039208e-02 -3.22955096e-04 9.99777235e-01 2.47171341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.014391418 meters Centerline goodness [0,1] 0.9995850441163624 Centerline is valid? [True, True] Translation: X:341.38, Y:11.26, Z:2.47 [[ 9.99485921e-01 -2.39427032e-02 -2.13223104e-02 3.41378772e+02] [ 2.39435984e-02 9.99713288e-01 -2.13347368e-04 1.12601680e+01] [ 2.13213052e-02 -2.97295147e-04 9.99772631e-01 2.47171644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.044391418 meters Centerline goodness [0,1] 0.9996730601569311 Centerline is valid? [True, True] Translation: X:341.41, Y:11.26, Z:2.47 [[ 9.99516470e-01 -2.26587735e-02 -2.12933286e-02 3.41408336e+02] [ 2.26593599e-02 9.99743221e-01 -2.13764120e-04 1.12613295e+01] [ 2.12927045e-02 -2.68832437e-04 9.99773249e-01 2.47198402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.074391418 meters Centerline goodness [0,1] 0.9994325621999127 Centerline is valid? [True, True] Translation: X:341.44, Y:11.26, Z:2.47 [[ 9.99545651e-01 -2.12639547e-02 -2.13620015e-02 3.41438306e+02] [ 2.12642083e-02 9.99773868e-01 -2.15300567e-04 1.12617842e+01] [ 2.13617491e-02 -2.39043306e-04 9.99771783e-01 2.47217479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.104391418 meters Centerline goodness [0,1] 0.9996078858512145 Centerline is valid? [True, True] Translation: X:341.47, Y:11.26, Z:2.47 [[ 9.99543066e-01 -2.14642054e-02 -2.12825763e-02 3.41466651e+02] [ 2.14644123e-02 9.99769589e-01 -2.18740158e-04 1.12613652e+01] [ 2.12823677e-02 -2.38177783e-04 9.99773476e-01 2.47237427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.134391418 meters Centerline goodness [0,1] 0.999498626673061 Centerline is valid? [True, True] Translation: X:341.50, Y:11.26, Z:2.47 [[ 9.99517913e-01 -2.24011173e-02 -2.14972314e-02 3.41495416e+02] [ 2.24014163e-02 9.99749031e-01 -2.26931023e-04 1.12603153e+01] [ 2.14969197e-02 -2.54746808e-04 9.99768882e-01 2.47275697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.164391418 meters Centerline goodness [0,1] 0.999608286908078 Centerline is valid? [True, True] Translation: X:341.52, Y:11.26, Z:2.47 [[ 9.99465912e-01 -2.48972140e-02 -2.11664627e-02 3.41524429e+02] [ 2.48980053e-02 9.99689971e-01 -2.26186477e-04 1.12559579e+01] [ 2.11655319e-02 -3.00937027e-04 9.99775940e-01 2.47276779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.194391418 meters Centerline goodness [0,1] 0.9996526571726294 Centerline is valid? [True, True] Translation: X:341.55, Y:11.25, Z:2.47 [[ 9.99419791e-01 -2.66777426e-02 -2.11749781e-02 3.41554382e+02] [ 2.66789134e-02 9.99644029e-01 -2.27251086e-04 1.12540320e+01] [ 2.11735030e-02 -3.37806174e-04 9.99775759e-01 2.47363816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.224391418 meters Centerline goodness [0,1] 0.9994580180805168 Centerline is valid? [True, True] Translation: X:341.58, Y:11.25, Z:2.47 [[ 9.99369531e-01 -2.88334759e-02 -2.07164424e-02 3.41584536e+02] [ 2.88350538e-02 9.99584159e-01 -2.22601588e-04 1.12525507e+01] [ 2.07142460e-02 -3.74898486e-04 9.99785367e-01 2.47481674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.254391418 meters Centerline goodness [0,1] 0.9994384206661194 Centerline is valid? [True, True] Translation: X:341.62, Y:11.25, Z:2.48 [[ 9.99237836e-01 -3.31896457e-02 -2.05473858e-02 3.41615247e+02] [ 3.31921240e-02 9.99448965e-01 -2.20510611e-04 1.12468786e+01] [ 2.05433821e-02 -4.61668829e-04 9.99788856e-01 2.47537606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.284391418 meters Centerline goodness [0,1] 0.9995447253176083 Centerline is valid? [True, True] Translation: X:341.65, Y:11.24, Z:2.48 [[ 9.99154405e-01 -3.54468648e-02 -2.08325321e-02 3.41645429e+02] [ 3.54499115e-02 9.99371429e-01 -2.23149386e-04 1.12435137e+01] [ 2.08273474e-02 -5.15550728e-04 9.99782954e-01 2.47518947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.314391418 meters Centerline goodness [0,1] 0.999394817040223 Centerline is valid? [True, True] Translation: X:341.68, Y:11.24, Z:2.48 [[ 9.99000910e-01 -3.98456675e-02 -2.02362110e-02 3.41676610e+02] [ 3.98494572e-02 9.99205672e-01 -2.16096798e-04 1.12377329e+01] [ 2.02287473e-02 -5.90521125e-04 9.99795204e-01 2.47584812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.344391418 meters Centerline goodness [0,1] 0.9992442726664219 Centerline is valid? [True, True] Translation: X:341.71, Y:11.24, Z:2.48 [[ 9.98933130e-01 -4.18048728e-02 -1.96202549e-02 3.41708746e+02] [ 4.18088381e-02 9.99125607e-01 -2.08220591e-04 1.12359128e+01] [ 1.96118037e-02 -6.12301615e-04 9.99807483e-01 2.47674206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.374391418 meters Centerline goodness [0,1] 0.999353907781104 Centerline is valid? [True, True] Translation: X:341.74, Y:11.23, Z:2.48 [[ 9.98858622e-01 -4.35066389e-02 -1.97135988e-02 3.41741040e+02] [ 4.35110046e-02 9.99052926e-01 -2.07611492e-04 1.12328960e+01] [ 1.97039610e-02 -6.50383958e-04 9.99805647e-01 2.47710488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.404391418 meters Centerline goodness [0,1] 0.9992463393626184 Centerline is valid? [True, True] Translation: X:341.77, Y:11.23, Z:2.48 [[ 9.98674315e-01 -4.76660299e-02 -1.94309709e-02 3.41772458e+02] [ 4.76710780e-02 9.98863067e-01 -2.03580020e-04 1.12266171e+01] [ 1.94185830e-02 -7.22985192e-04 9.99811180e-01 2.47665376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.434391418 meters Centerline goodness [0,1] 0.9994842369931016 Centerline is valid? [True, True] Translation: X:341.80, Y:11.22, Z:2.48 [[ 9.98558729e-01 -4.97936662e-02 -2.00263474e-02 3.41803219e+02] [ 4.97994719e-02 9.98759215e-01 -2.09006892e-04 1.12227491e+01] [ 2.00119063e-02 -7.88595869e-04 9.99799431e-01 2.47571144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.464391418 meters Centerline goodness [0,1] 0.9993550467591099 Centerline is valid? [True, True] Translation: X:341.83, Y:11.22, Z:2.47 [[ 9.98280709e-01 -5.45942908e-02 -2.13328063e-02 3.41834222e+02] [ 5.46019851e-02 9.98508174e-01 -2.22061942e-04 1.12160931e+01] [ 2.13131048e-02 -9.43133419e-04 9.99772405e-01 2.47449108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.494391418 meters Centerline goodness [0,1] 0.9993793206771825 Centerline is valid? [True, True] Translation: X:341.87, Y:11.21, Z:2.47 [[ 9.98144380e-01 -5.69262384e-02 -2.16148311e-02 3.41866644e+02] [ 5.69347112e-02 9.98377879e-01 -2.23698397e-04 1.12136031e+01] [ 2.15925035e-02 -1.00735087e-03 9.99766347e-01 2.47417454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.524391418 meters Centerline goodness [0,1] 0.9992724627137141 Centerline is valid? [True, True] Translation: X:341.90, Y:11.21, Z:2.47 [[ 9.97852699e-01 -6.13942898e-02 -2.28195525e-02 3.41896565e+02] [ 6.14049123e-02 9.98112910e-01 -2.35578794e-04 1.12062090e+01] [ 2.27909531e-02 -1.16615968e-03 9.99739572e-01 2.47266246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.554391418 meters Centerline goodness [0,1] 0.9991435973194596 Centerline is valid? [True, True] Translation: X:341.93, Y:11.20, Z:2.47 [[ 9.97633007e-01 -6.44766629e-02 -2.38986245e-02 3.41927642e+02] [ 6.44892146e-02 9.97918374e-01 -2.45935582e-04 1.12029139e+01] [ 2.38647336e-02 -1.29585007e-03 9.99714357e-01 2.47260484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.584391418 meters Centerline goodness [0,1] 0.9992718082714014 Centerline is valid? [True, True] Translation: X:341.96, Y:11.20, Z:2.47 [[ 9.97551908e-01 -6.55734396e-02 -2.42963827e-02 3.41958877e+02] [ 6.55867697e-02 9.97846839e-01 -2.48686424e-04 1.12009284e+01] [ 2.42603759e-02 -1.34544364e-03 9.99704768e-01 2.47256056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.614391418 meters Centerline goodness [0,1] 0.9993150978125936 Centerline is valid? [True, True] Translation: X:341.99, Y:11.21, Z:2.48 [[ 9.97509685e-01 -6.62354636e-02 -2.42341185e-02 3.41990993e+02] [ 6.62489648e-02 9.97803094e-01 -2.46203327e-04 1.12063774e+01] [ 2.41971858e-02 -1.35989506e-03 9.99706280e-01 2.47532964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.644391418 meters Centerline goodness [0,1] 0.9992746666666666 Centerline is valid? [True, True] Translation: X:342.02, Y:11.20, Z:2.47 [[ 9.97492440e-01 -6.66115817e-02 -2.39108715e-02 3.42022352e+02] [ 6.66248973e-02 9.97778064e-01 -2.40214586e-04 1.11989257e+01] [ 2.38737442e-02 -1.35344713e-03 9.99714065e-01 2.47343158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.67439141799997 meters Centerline goodness [0,1] 0.9991229383703767 Centerline is valid? [True, True] Translation: X:342.05, Y:11.20, Z:2.47 [[ 9.97495824e-01 -6.67476738e-02 -2.33843960e-02 3.42053542e+02] [ 6.67604887e-02 9.97769003e-01 -2.33117562e-04 1.11967491e+01] [ 2.33477856e-02 -1.32861991e-03 9.99726520e-01 2.47313896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.704391418 meters Centerline goodness [0,1] 0.9992944345855338 Centerline is valid? [True, True] Translation: X:342.09, Y:11.20, Z:2.47 [[ 9.97578273e-01 -6.56574831e-02 -2.29495912e-02 3.42085691e+02] [ 6.56695747e-02 9.97841398e-01 -2.27184863e-04 1.11969412e+01] [ 2.29149686e-02 -1.28045521e-03 9.99736598e-01 2.47380792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.734391418 meters Centerline goodness [0,1] 0.9990616536222303 Centerline is valid? [True, True] Translation: X:342.12, Y:11.20, Z:2.48 [[ 9.97661167e-01 -6.45364299e-02 -2.25221133e-02 3.42117921e+02] [ 6.45478293e-02 9.97914590e-01 -2.21216910e-04 1.12021176e+01] [ 2.24894220e-02 -1.23305401e-03 9.99746321e-01 2.47551715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.764391418 meters Centerline goodness [0,1] 0.9991473215237364 Centerline is valid? [True, True] Translation: X:342.15, Y:11.21, Z:2.48 [[ 9.97746780e-01 -6.33236280e-02 -2.21693587e-02 3.42150184e+02] [ 6.33344140e-02 9.97992337e-01 -2.15969857e-04 1.12074868e+01] [ 2.21385261e-02 -1.18860011e-03 9.99754206e-01 2.47740025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.794391418 meters Centerline goodness [0,1] 0.9993366287903105 Centerline is valid? [True, True] Translation: X:342.18, Y:11.21, Z:2.48 [[ 9.97936082e-01 -6.08407181e-02 -2.05422399e-02 3.42181143e+02] [ 6.08494759e-02 9.98146934e-01 -1.99037078e-04 1.12066850e+01] [ 2.05162834e-02 -1.05135825e-03 9.99788966e-01 2.47853411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.824391418 meters Centerline goodness [0,1] 0.999208014041697 Centerline is valid? [True, True] Translation: X:342.21, Y:11.21, Z:2.48 [[ 9.98030813e-01 -5.95505789e-02 -1.97034271e-02 3.42213340e+02] [ 5.95584109e-02 9.98224804e-01 -1.89593752e-04 1.12125663e+01] [ 1.96797401e-02 -9.84284401e-04 9.99805851e-01 2.48065396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.854391418 meters Centerline goodness [0,1] 0.9992308842694468 Centerline is valid? [True, True] Translation: X:342.25, Y:11.21, Z:2.48 [[ 9.98101764e-01 -5.85823503e-02 -1.89994038e-02 3.42245724e+02] [ 5.85894867e-02 9.98282144e-01 -1.81280198e-04 1.12134119e+01] [ 1.89773854e-02 -9.32229229e-04 9.99819479e-01 2.48165441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.884391418 meters Centerline goodness [0,1] 0.9994003126940952 Centerline is valid? [True, True] Translation: X:342.28, Y:11.21, Z:2.48 [[ 9.98172544e-01 -5.75423122e-02 -1.84514313e-02 3.42277789e+02] [ 5.75488932e-02 9.98342674e-01 -1.74550439e-04 1.12145877e+01] [ 1.84308953e-02 -8.87627990e-04 9.99829743e-01 2.48256325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.914391418 meters Centerline goodness [0,1] 0.9993586317477285 Centerline is valid? [True, True] Translation: X:342.31, Y:11.22, Z:2.48 [[ 9.98292024e-01 -5.53189606e-02 -1.87842220e-02 3.42308142e+02] [ 5.53254040e-02 9.98468361e-01 -1.76871682e-04 1.12153701e+01] [ 1.87652357e-02 -8.62675083e-04 9.99823545e-01 2.48268238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.944391418 meters Centerline goodness [0,1] 0.9993993607482249 Centerline is valid? [True, True] Translation: X:342.34, Y:11.22, Z:2.48 [[ 9.98349843e-01 -5.40101803e-02 -1.95061729e-02 3.42340663e+02] [ 5.40169019e-02 9.98540005e-01 -1.82512266e-04 1.12169236e+01] [ 1.94875515e-02 -8.71451935e-04 9.99809720e-01 2.48294590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.974391418 meters Centerline goodness [0,1] 0.999249635537261 Centerline is valid? [True, True] Translation: X:342.37, Y:11.22, Z:2.48 [[ 9.98482186e-01 -5.07735513e-02 -2.13394373e-02 3.42372055e+02] [ 5.07808840e-02 9.98709799e-01 -1.98468239e-04 1.12204415e+01] [ 2.13219821e-02 -8.85468489e-04 9.99772269e-01 2.48252689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.004391418 meters Centerline goodness [0,1] 0.9991168551427033 Centerline is valid? [True, True] Translation: X:342.40, Y:11.22, Z:2.48 [[ 9.98563704e-01 -4.87218354e-02 -2.22870171e-02 3.42403175e+02] [ 4.87293508e-02 9.98811998e-01 -2.06072551e-04 1.12211299e+01] [ 2.22705803e-02 -8.80255303e-04 9.99751592e-01 2.48148118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.034391418 meters Centerline goodness [0,1] 0.9992255899498784 Centerline is valid? [True, True] Translation: X:342.44, Y:11.23, Z:2.48 [[ 9.98656988e-01 -4.64791436e-02 -2.28890604e-02 3.42435570e+02] [ 4.64865225e-02 9.98918895e-01 -2.09895795e-04 1.12266378e+01] [ 2.28740707e-02 -8.54418918e-04 9.99737989e-01 2.48246870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.064391418 meters Centerline goodness [0,1] 0.9991833576893321 Centerline is valid? [True, True] Translation: X:342.47, Y:11.23, Z:2.48 [[ 9.98880981e-01 -4.12444489e-02 -2.31447819e-02 3.42466703e+02] [ 4.12506188e-02 9.99148809e-01 -2.10992258e-04 1.12308809e+01] [ 2.31337835e-02 -7.43980423e-04 9.99732101e-01 2.48213220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.094391418 meters Centerline goodness [0,1] 0.9991825847530545 Centerline is valid? [True, True] Translation: X:342.50, Y:11.23, Z:2.48 [[ 9.98978942e-01 -3.86478716e-02 -2.33969118e-02 3.42498164e+02] [ 3.86534877e-02 9.99252652e-01 -2.12334305e-04 1.12330907e+01] [ 2.33876324e-02 -6.92254741e-04 9.99726232e-01 2.48226472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.124391418 meters Centerline goodness [0,1] 0.9993124932860672 Centerline is valid? [True, True] Translation: X:342.53, Y:11.24, Z:2.48 [[ 9.99155652e-01 -3.40520246e-02 -2.29879013e-02 3.42528099e+02] [ 3.40562368e-02 9.99419896e-01 -2.08342812e-04 1.12362875e+01] [ 2.29816604e-02 -5.74714513e-04 9.99735722e-01 2.48286682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.154391418 meters Centerline goodness [0,1] 0.9994847684678302 Centerline is valid? [True, True] Translation: X:342.56, Y:11.24, Z:2.48 [[ 9.99253629e-01 -3.16410227e-02 -2.21592084e-02 3.42557571e+02] [ 3.16443375e-02 9.99499172e-01 -2.01131835e-04 1.12376009e+01] [ 2.21544744e-02 -5.00231752e-04 9.99754434e-01 2.48352624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.184391418 meters Centerline goodness [0,1] 0.999441940330543 Centerline is valid? [True, True] Translation: X:342.59, Y:11.24, Z:2.48 [[ 9.99332687e-01 -2.91056367e-02 -2.20690409e-02 3.42586793e+02] [ 2.91083085e-02 9.99576243e-01 -2.00228528e-04 1.12388255e+01] [ 2.20655168e-02 -4.42297538e-04 9.99756429e-01 2.48358865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.214391418 meters Centerline goodness [0,1] 0.999441940330543 Centerline is valid? [True, True] Translation: X:342.62, Y:11.24, Z:2.48 [[ 9.99331583e-01 -2.91435156e-02 -2.20690367e-02 3.42615952e+02] [ 2.91461863e-02 9.99575140e-01 -2.00695600e-04 1.12391303e+01] [ 2.20655094e-02 -4.42666801e-04 9.99756429e-01 2.48379301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.244391418 meters Centerline goodness [0,1] 0.999527034290014 Centerline is valid? [True, True] Translation: X:342.65, Y:11.24, Z:2.49 [[ 9.99420789e-01 -2.65684479e-02 -2.12650822e-02 3.42646002e+02] [ 2.65703142e-02 9.99646928e-01 -1.94823110e-04 1.12422826e+01] [ 2.12627503e-02 -3.70309650e-04 9.99773854e-01 2.48553050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.274391418 meters Centerline goodness [0,1] 0.9994195046439629 Centerline is valid? [True, True] Translation: X:342.68, Y:11.24, Z:2.49 [[ 9.99569905e-01 -2.11159825e-02 -2.03499527e-02 3.42675061e+02] [ 2.11165398e-02 9.99777003e-01 -1.87518155e-04 1.12440738e+01] [ 2.03493744e-02 -2.42283083e-04 9.99792901e-01 2.48599882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.304391418 meters Centerline goodness [0,1] 0.9990941833631678 Centerline is valid? [True, True] Translation: X:342.70, Y:11.25, Z:2.49 [[ 9.99615341e-01 -1.87048585e-02 -2.04767755e-02 3.42704110e+02] [ 1.87048337e-02 9.99825031e-01 -1.92758399e-04 1.12460419e+01] [ 2.04767982e-02 -1.90330427e-04 9.99790310e-01 2.48710619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.334391418 meters Centerline goodness [0,1] 0.9992886857931154 Centerline is valid? [True, True] Translation: X:342.73, Y:11.25, Z:2.49 [[ 9.99662864e-01 -1.41565475e-02 -2.17657944e-02 3.42733005e+02] [ 1.41553041e-02 9.99899786e-01 -2.11198839e-04 1.12478155e+01] [ 2.17666030e-02 -9.69738025e-05 9.99763075e-01 2.48677703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.364391418 meters Centerline goodness [0,1] 0.9993109981913703 Centerline is valid? [True, True] Translation: X:342.76, Y:11.25, Z:2.49 [[ 9.99676398e-01 -1.19972974e-02 -2.24313120e-02 3.42760019e+02] [ 1.19953384e-02 9.99928029e-01 -2.21885245e-04 1.12484756e+01] [ 2.24323596e-02 -4.72577370e-05 9.99748362e-01 2.48508207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.394391418 meters Centerline goodness [0,1] 0.9996774332286783 Centerline is valid? [True, True] Translation: X:342.79, Y:11.25, Z:2.49 [[ 9.99690457e-01 -8.48271120e-03 -2.33887684e-02 3.42788781e+02] [ 8.47948516e-03 9.99964020e-01 -2.37105461e-04 1.12487703e+01] [ 2.33899382e-02 3.87073515e-05 9.99726417e-01 2.48601595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42439141799997 meters Centerline goodness [0,1] 0.9995276233010543 Centerline is valid? [True, True] Translation: X:342.82, Y:11.25, Z:2.49 [[ 9.99703570e-01 -6.84102029e-03 -2.33660584e-02 3.42816338e+02] [ 6.83726606e-03 9.99976597e-01 -2.40558039e-04 1.12487858e+01] [ 2.33671572e-02 8.07267723e-05 9.99726947e-01 2.48551062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.454391418 meters Centerline goodness [0,1] 0.9996127199965575 Centerline is valid? [True, True] Translation: X:342.85, Y:11.25, Z:2.49 [[ 9.99703379e-01 -5.46018461e-03 -2.37348078e-02 3.42845398e+02] [ 5.45579304e-03 9.99985086e-01 -2.49778051e-04 1.12487124e+01] [ 2.37358176e-02 1.20211762e-04 9.99718259e-01 2.48587842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.484391418 meters Centerline goodness [0,1] 0.9994617057468295 Centerline is valid? [True, True] Translation: X:342.87, Y:11.25, Z:2.49 [[ 9.99711856e-01 -2.64876527e-03 -2.38576729e-02 3.42874572e+02] [ 2.64336326e-03 9.99996473e-01 -2.57960522e-04 1.12475506e+01] [ 2.38582721e-02 1.94821696e-04 9.99715332e-01 2.48775161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.514391418 meters Centerline goodness [0,1] 0.9996340859682731 Centerline is valid? [True, True] Translation: X:342.90, Y:11.25, Z:2.49 [[ 9.99725525e-01 -1.47040289e-03 -2.33818848e-02 3.42902792e+02] [ 1.46480572e-03 9.99998894e-01 -2.56506243e-04 1.12472722e+01] [ 2.33822361e-02 2.22185920e-04 9.99726573e-01 2.48802619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.544391418 meters Centerline goodness [0,1] 0.9997209222446438 Centerline is valid? [True, True] Translation: X:342.93, Y:11.25, Z:2.49 [[ 9.99731883e-01 -9.86943602e-04 -2.31341378e-02 3.42931121e+02] [ 9.81196379e-04 9.99999485e-01 -2.59780172e-04 1.12465805e+01] [ 2.31343823e-02 2.37011388e-04 9.99732336e-01 2.48887084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.574391418 meters Centerline goodness [0,1] 0.9998713881505616 Centerline is valid? [True, True] Translation: X:342.96, Y:11.24, Z:2.49 [[ 9.99761777e-01 3.17283239e-04 -2.18240267e-02 3.42958075e+02] [-3.22827428e-04 9.99999917e-01 -2.50517958e-04 1.12441747e+01] [ 2.18239454e-02 2.57503673e-04 9.99761796e-01 2.48955144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.604391418 meters Centerline goodness [0,1] 0.9997859589041096 Centerline is valid? [True, True] Translation: X:342.99, Y:11.24, Z:2.49 [[ 9.99771644e-01 3.72991905e-04 -2.13663499e-02 3.42986416e+02] [-3.78450659e-04 9.99999897e-01 -2.51440736e-04 1.12421510e+01] [ 2.13662539e-02 2.59469427e-04 9.99771682e-01 2.49084075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.634391418 meters Centerline goodness [0,1] 0.9998080368569234 Centerline is valid? [True, True] Translation: X:343.01, Y:11.24, Z:2.49 [[ 9.99790537e-01 -6.19380840e-05 -2.04665231e-02 3.43014989e+02] [ 5.69537230e-05 9.99999969e-01 -2.44120055e-04 1.12381405e+01] [ 2.04665376e-02 2.42903276e-04 9.99790509e-01 2.49216427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.664391418 meters Centerline goodness [0,1] 0.9998079139454475 Centerline is valid? [True, True] Translation: X:343.04, Y:11.24, Z:2.49 [[ 9.99804459e-01 -1.01592666e-03 -1.97486920e-02 3.43044037e+02] [ 1.01144063e-03 9.99999460e-01 -2.37143190e-04 1.12358071e+01] [ 1.97489223e-02 2.17122190e-04 9.99804947e-01 2.49312906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.694391418 meters Centerline goodness [0,1] 0.9995326010750175 Centerline is valid? [True, True] Translation: X:343.07, Y:11.23, Z:2.49 [[ 9.99805207e-01 -3.95611167e-03 -1.93364349e-02 3.43071887e+02] [ 3.95232601e-03 9.99992162e-01 -2.33990541e-04 1.12294926e+01] [ 1.93372090e-02 1.57521066e-04 9.99813006e-01 2.49302829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.724391418 meters Centerline goodness [0,1] 0.9997871570568078 Centerline is valid? [True, True] Translation: X:343.10, Y:11.23, Z:2.49 [[ 9.99786261e-01 -5.83550112e-03 -1.98337877e-02 3.43100921e+02] [ 5.83185303e-03 9.99982965e-01 -2.41768035e-04 1.12256801e+01] [ 1.98348606e-02 1.26048625e-04 9.99803262e-01 2.49344105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.754391418 meters Centerline goodness [0,1] 0.9994261424017004 Centerline is valid? [True, True] Translation: X:343.13, Y:11.22, Z:2.49 [[ 9.99757345e-01 -8.01638364e-03 -2.05180003e-02 3.43128777e+02] [ 8.01289318e-03 9.99967864e-01 -2.52325707e-04 1.12217868e+01] [ 2.05193637e-02 8.78559346e-05 9.99789452e-01 2.49316183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.784391418 meters Centerline goodness [0,1] 0.9996400821459572 Centerline is valid? [True, True] Translation: X:343.16, Y:11.21, Z:2.49 [[ 9.99680421e-01 -1.25155026e-02 -2.19640080e-02 3.43156191e+02] [ 1.25125291e-02 9.99921678e-01 -2.72806981e-04 1.12137254e+01] [ 2.19657020e-02 -2.10549260e-06 9.99758725e-01 2.49163035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.814391418 meters Centerline goodness [0,1] 0.9993228946254761 Centerline is valid? [True, True] Translation: X:343.18, Y:11.21, Z:2.49 [[ 9.99621118e-01 -1.48391205e-02 -2.31823374e-02 3.43184808e+02] [ 1.48363081e-02 9.99889893e-01 -2.93312822e-04 1.12102086e+01] [ 2.31841374e-02 -5.07386100e-05 9.99731210e-01 2.49096808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.844391418 meters Centerline goodness [0,1] 0.9993663935118695 Centerline is valid? [True, True] Translation: X:343.21, Y:11.21, Z:2.49 [[ 9.99568609e-01 -1.70985375e-02 -2.38796238e-02 3.43213611e+02] [ 1.70960387e-02 9.99853804e-01 -3.08804991e-04 1.12071920e+01] [ 2.38814128e-02 -9.95751967e-05 9.99714793e-01 2.49074603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.874391418 meters Centerline goodness [0,1] 0.9996197477660181 Centerline is valid? [True, True] Translation: X:343.24, Y:11.20, Z:2.49 [[ 9.99547887e-01 -1.88506185e-02 -2.34238096e-02 3.43240737e+02] [ 1.88485980e-02 9.99822302e-01 -3.07060631e-04 1.12039982e+01] [ 2.34254355e-02 -1.34584165e-04 9.99725578e-01 2.49093573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.904391418 meters Centerline goodness [0,1] 0.9990499915554805 Centerline is valid? [True, True] Translation: X:343.27, Y:11.20, Z:2.49 [[ 9.99520329e-01 -2.16338260e-02 -2.21605512e-02 3.43267289e+02] [ 2.16326357e-02 9.99765944e-01 -2.93460956e-04 1.11972052e+01] [ 2.21617131e-02 -1.86070941e-04 9.99754382e-01 2.49146401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.934391418 meters Centerline goodness [0,1] 0.9993665273026733 Centerline is valid? [True, True] Translation: X:343.30, Y:11.19, Z:2.49 [[ 9.99488882e-01 -2.30479057e-02 -2.21532828e-02 3.43295633e+02] [ 2.30469522e-02 9.99734339e-01 -2.98390523e-04 1.11942767e+01] [ 2.21542749e-02 -2.12327639e-04 9.99754541e-01 2.49174329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.964391418 meters Centerline goodness [0,1] 0.9991581960140581 Centerline is valid? [True, True] Translation: X:343.32, Y:11.19, Z:2.49 [[ 9.99453544e-01 -2.50217139e-02 -2.15992433e-02 3.43324305e+02] [ 2.50211440e-02 9.99686878e-01 -2.96675021e-04 1.11890711e+01] [ 2.15999034e-02 -2.43924876e-04 9.99766665e-01 2.49270571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.994391418 meters Centerline goodness [0,1] 0.999369270877134 Centerline is valid? [True, True] Translation: X:343.35, Y:11.19, Z:2.50 [[ 9.99427319e-01 -2.64300063e-02 -2.11303035e-02 3.43352319e+02] [ 2.64296392e-02 9.99650632e-01 -2.96684143e-04 1.11885217e+01] [ 2.11307627e-02 -2.61952061e-04 9.99776686e-01 2.49538744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.024391418 meters Centerline goodness [0,1] 0.9991821841972823 Centerline is valid? [True, True] Translation: X:343.38, Y:11.19, Z:2.50 [[ 9.99413055e-01 -2.75879346e-02 -2.03089124e-02 3.43379931e+02] [ 2.75877500e-02 9.99619344e-01 -2.89311705e-04 1.11850545e+01] [ 2.03091632e-02 -2.71135303e-04 9.99793711e-01 2.49508869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.054391418 meters Centerline goodness [0,1] 0.9992643194955334 Centerline is valid? [True, True] Translation: X:343.41, Y:11.18, Z:2.50 [[ 9.99313456e-01 -3.11178404e-02 -2.01071114e-02 3.43408421e+02] [ 3.11182785e-02 9.99515667e-01 -2.91170922e-04 1.11811032e+01] [ 2.01064335e-02 -3.34727672e-04 9.99797789e-01 2.49764889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.084391418 meters Centerline goodness [0,1] 0.999371977642404 Centerline is valid? [True, True] Translation: X:343.44, Y:11.18, Z:2.50 [[ 9.99239405e-01 -3.30650597e-02 -2.06715454e-02 3.43437299e+02] [ 3.30658800e-02 9.99453129e-01 -3.02208936e-04 1.11767674e+01] [ 2.06702333e-02 -3.81543762e-04 9.99786275e-01 2.49669551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.114391418 meters Centerline goodness [0,1] 0.999202719147329 Centerline is valid? [True, True] Translation: X:343.47, Y:11.17, Z:2.50 [[ 9.99060865e-01 -3.76466216e-02 -2.14504115e-02 3.43466632e+02] [ 3.76485235e-02 9.99290993e-01 -3.15306262e-04 1.11729534e+01] [ 2.14470733e-02 -4.92566176e-04 9.99769864e-01 2.49801861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.144391418 meters Centerline goodness [0,1] 0.9990368710872888 Centerline is valid? [True, True] Translation: X:343.50, Y:11.17, Z:2.50 [[ 9.98944093e-01 -4.04927888e-02 -2.17032914e-02 3.43496414e+02] [ 4.04953870e-02 9.99179674e-01 -3.19948455e-04 1.11693090e+01] [ 2.16984432e-02 -5.59272564e-04 9.99764405e-01 2.49760072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.17439141799997 meters Centerline goodness [0,1] 0.9986595735768441 Centerline is valid? [True, True] Translation: X:343.53, Y:11.17, Z:2.50 [[ 9.98807357e-01 -4.37555432e-02 -2.16636939e-02 3.43526829e+02] [ 4.37588954e-02 9.99042070e-01 -3.19507642e-04 1.11657574e+01] [ 2.16569219e-02 -6.28852735e-04 9.99765264e-01 2.49748799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.204391418 meters Centerline goodness [0,1] 0.998896293211162 Centerline is valid? [True, True] Translation: X:343.56, Y:11.16, Z:2.50 [[ 9.98518436e-01 -4.99816244e-02 -2.15120752e-02 3.43557075e+02] [ 4.99863663e-02 9.98749850e-01 -3.17568334e-04 1.11589280e+01] [ 2.15010544e-02 -7.58212632e-04 9.99768538e-01 2.49786144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.234391418 meters Centerline goodness [0,1] 0.9989542155570894 Centerline is valid? [True, True] Translation: X:343.59, Y:11.16, Z:2.50 [[ 9.98354264e-01 -5.32332848e-02 -2.13302694e-02 3.43587726e+02] [ 5.32386847e-02 9.98581766e-01 -3.15026661e-04 1.11567168e+01] [ 2.13167880e-02 -8.21087278e-04 9.99772434e-01 2.49881746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.264391418 meters Centerline goodness [0,1] 0.9989543249121633 Centerline is valid? [True, True] Translation: X:343.62, Y:11.15, Z:2.50 [[ 9.98049743e-01 -5.87592488e-02 -2.10727420e-02 3.43617738e+02] [ 5.87657647e-02 9.98271751e-01 -3.10439800e-04 1.11490014e+01] [ 2.10545643e-02 -9.28521437e-04 9.99777897e-01 2.49863547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.294391418 meters Centerline goodness [0,1] 0.9989569643490415 Centerline is valid? [True, True] Translation: X:343.65, Y:11.14, Z:2.50 [[ 9.97922846e-01 -6.10677411e-02 -2.05115923e-02 3.43648188e+02] [ 6.10744223e-02 9.98133170e-01 -3.01129445e-04 1.11439763e+01] [ 2.04916899e-02 -9.52229699e-04 9.99789570e-01 2.49887658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.324391418 meters Centerline goodness [0,1] 0.9989736070381232 Centerline is valid? [True, True] Translation: X:343.68, Y:11.15, Z:2.50 [[ 9.97812101e-01 -6.29521100e-02 -2.02000515e-02 3.43678873e+02] [ 6.29589964e-02 9.98016071e-01 -2.95491912e-04 1.11480360e+01] [ 2.01785779e-02 -9.76929564e-04 9.99795914e-01 2.50138483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.354391418 meters Centerline goodness [0,1] 0.9987462387161484 Centerline is valid? [True, True] Translation: X:343.71, Y:11.15, Z:2.50 [[ 9.97702396e-01 -6.50479837e-02 -1.89390778e-02 3.43709202e+02] [ 6.50544322e-02 9.97881679e-01 -2.76054846e-04 1.11455274e+01] [ 1.89169156e-02 -9.56650373e-04 9.99820601e-01 2.50280314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.384391418 meters Centerline goodness [0,1] 0.9989337236044323 Centerline is valid? [True, True] Translation: X:343.74, Y:11.14, Z:2.50 [[ 9.97492508e-01 -6.83223914e-02 -1.84593675e-02 3.43740228e+02] [ 6.83290873e-02 9.97662801e-01 -2.68467619e-04 1.11426425e+01] [ 1.84345667e-02 -9.93517297e-04 9.99829575e-01 2.50479972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.414391418 meters Centerline goodness [0,1] 0.9990594825063747 Centerline is valid? [True, True] Translation: X:343.77, Y:11.14, Z:2.51 [[ 9.97339025e-01 -7.03433182e-02 -1.91490488e-02 3.43771823e+02] [ 7.03509127e-02 9.97522266e-01 -2.77583852e-04 1.11426710e+01] [ 1.91211287e-02 -1.07030785e-03 9.99816602e-01 2.50578259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.444391418 meters Centerline goodness [0,1] 0.998848914840627 Centerline is valid? [True, True] Translation: X:343.80, Y:11.14, Z:2.51 [[ 9.97264261e-01 -7.12473328e-02 -1.96929289e-02 3.43803448e+02] [ 7.12555652e-02 9.97458051e-01 -2.84220771e-04 1.11410649e+01] [ 1.96631205e-02 -1.11978756e-03 9.99806035e-01 2.50553296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.474391418 meters Centerline goodness [0,1] 0.9992454728370221 Centerline is valid? [True, True] Translation: X:343.84, Y:11.14, Z:2.51 [[ 9.97213532e-01 -7.18706280e-02 -1.99946308e-02 3.43836047e+02] [ 7.18792700e-02 9.97413299e-01 -2.87049605e-04 1.11412575e+01] [ 1.99635411e-02 -1.15094971e-03 9.99800046e-01 2.50550540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.504391418 meters Centerline goodness [0,1] 0.9985567872829952 Centerline is valid? [True, True] Translation: X:343.87, Y:11.14, Z:2.50 [[ 9.97158287e-01 -7.24895435e-02 -2.05089501e-02 3.43868389e+02] [ 7.24988017e-02 9.97368457e-01 -2.92713303e-04 1.11412500e+01] [ 2.04761985e-02 -1.19499281e-03 9.99789627e-01 2.50499303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.534391418 meters Centerline goodness [0,1] 0.9989526821809346 Centerline is valid? [True, True] Translation: X:343.90, Y:11.14, Z:2.50 [[ 9.97080654e-01 -7.34362542e-02 -2.09113791e-02 3.43898425e+02] [ 7.34461052e-02 9.97299143e-01 -2.97578039e-04 1.11399791e+01] [ 2.08767535e-02 -1.23915005e-03 9.99781289e-01 2.50382221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.564391418 meters Centerline goodness [0,1] 0.9987494528856374 Centerline is valid? [True, True] Translation: X:343.93, Y:11.14, Z:2.50 [[ 9.97091907e-01 -7.33343532e-02 -2.07316638e-02 3.43930982e+02] [ 7.33440398e-02 9.97306656e-01 -2.93758961e-04 1.11400221e+01] [ 2.06973690e-02 -1.22763930e-03 9.99785033e-01 2.50370893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.594391418 meters Centerline goodness [0,1] 0.9988518943742825 Centerline is valid? [True, True] Translation: X:343.96, Y:11.14, Z:2.50 [[ 9.97109461e-01 -7.33393920e-02 -1.98508368e-02 3.43963586e+02] [ 7.33483052e-02 9.97306346e-01 -2.79685322e-04 1.11401809e+01] [ 1.98178774e-02 -1.17714835e-03 9.99802914e-01 2.50494031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.624391418 meters Centerline goodness [0,1] 0.9991014147493366 Centerline is valid? [True, True] Translation: X:344.00, Y:11.14, Z:2.51 [[ 9.97146387e-01 -7.30356761e-02 -1.91016275e-02 3.43995330e+02] [ 7.30439026e-02 9.97328690e-01 -2.67598554e-04 1.11408738e+01] [ 1.90701454e-02 -1.12842249e-03 9.99817511e-01 2.50547468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.654391418 meters Centerline goodness [0,1] 0.9987867124090034 Centerline is valid? [True, True] Translation: X:344.03, Y:11.14, Z:2.51 [[ 9.97166489e-01 -7.28908338e-02 -1.85989116e-02 3.44027131e+02] [ 7.28986358e-02 9.97339321e-01 -2.59046286e-04 1.11437033e+01] [ 1.85683080e-02 -1.09752301e-03 9.99826992e-01 2.50654004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.684391418 meters Centerline goodness [0,1] 0.9989947012377741 Centerline is valid? [True, True] Translation: X:344.06, Y:11.15, Z:2.51 [[ 9.97220269e-01 -7.22021576e-02 -1.84006542e-02 3.44059695e+02] [ 7.22097097e-02 9.97389439e-01 -2.54522605e-04 1.11483579e+01] [ 1.83709953e-02 -1.07489080e-03 9.99830661e-01 2.50818324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.714391418 meters Centerline goodness [0,1] 0.9989109263409219 Centerline is valid? [True, True] Translation: X:344.09, Y:11.15, Z:2.51 [[ 9.97275264e-01 -7.14311026e-02 -1.84294771e-02 3.44091431e+02] [ 7.14385781e-02 9.97444969e-01 -2.53240676e-04 1.11481730e+01] [ 1.84004784e-02 -1.06402497e-03 9.99830131e-01 2.50826330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.744391418 meters Centerline goodness [0,1] 0.9990170243025055 Centerline is valid? [True, True] Translation: X:344.12, Y:11.15, Z:2.51 [[ 9.97315442e-01 -7.06983667e-02 -1.90696342e-02 3.44123076e+02] [ 7.07062626e-02 9.97497146e-01 -2.60702459e-04 1.11463451e+01] [ 1.90403369e-02 -1.08833998e-03 9.99818124e-01 2.50768789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.774391418 meters Centerline goodness [0,1] 0.9986176852511205 Centerline is valid? [True, True] Translation: X:344.16, Y:11.15, Z:2.51 [[ 9.97370673e-01 -6.95761474e-02 -2.02706549e-02 3.44155612e+02] [ 6.95848758e-02 9.97575997e-01 -2.75284078e-04 1.11549810e+01] [ 2.02406720e-02 -1.13597074e-03 9.99794491e-01 2.50771552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.804391418 meters Centerline goodness [0,1] 0.998763439733406 Centerline is valid? [True, True] Translation: X:344.19, Y:11.15, Z:2.51 [[ 9.97414427e-01 -6.86939130e-02 -2.11094003e-02 3.44186560e+02] [ 6.87032165e-02 9.97637102e-01 -2.85035280e-04 1.11505523e+01] [ 2.10791011e-02 -1.16598540e-03 9.99777131e-01 2.50598537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.834391418 meters Centerline goodness [0,1] 0.9985599198564094 Centerline is valid? [True, True] Translation: X:344.22, Y:11.16, Z:2.51 [[ 9.97562667e-01 -6.64078085e-02 -2.14179438e-02 3.44217850e+02] [ 6.64168828e-02 9.97791920e-01 -2.88171819e-04 1.11588138e+01] [ 2.13897882e-02 -1.13504362e-03 9.99770568e-01 2.50725573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.864391418 meters Centerline goodness [0,1] 0.9989956898355442 Centerline is valid? [True, True] Translation: X:344.25, Y:11.16, Z:2.51 [[ 9.97684436e-01 -6.47207630e-02 -2.09042602e-02 3.44249076e+02] [ 6.47290556e-02 9.97902836e-01 -2.80403618e-04 1.11637692e+01] [ 2.08785685e-02 -1.07335870e-03 9.99781443e-01 2.50886290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.894391418 meters Centerline goodness [0,1] 0.9990792667615301 Centerline is valid? [True, True] Translation: X:344.28, Y:11.17, Z:2.51 [[ 9.97813780e-01 -6.28464793e-02 -2.04445572e-02 3.44280455e+02] [ 6.28540358e-02 9.98022693e-01 -2.73393951e-04 1.11672030e+01] [ 2.04213139e-02 -1.01222668e-03 9.99790951e-01 2.50977442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92439141799997 meters Centerline goodness [0,1] 0.9984936608226286 Centerline is valid? [True, True] Translation: X:344.31, Y:11.17, Z:2.51 [[ 9.98078327e-01 -5.87865905e-02 -1.95905451e-02 3.44310440e+02] [ 5.87927538e-02 9.98270176e-01 -2.61694713e-04 1.11730388e+01] [ 1.95720410e-02 -8.90590272e-04 9.99808053e-01 2.51132360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.954391418 meters Centerline goodness [0,1] 0.9986772764492221 Centerline is valid? [True, True] Translation: X:344.34, Y:11.18, Z:2.51 [[ 9.98197484e-01 -5.67161980e-02 -1.96228365e-02 3.44341385e+02] [ 5.67219925e-02 9.98389977e-01 -2.61602517e-04 1.11768209e+01] [ 1.96060804e-02 -8.51915411e-04 9.99807419e-01 2.51221329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.984391418 meters Centerline goodness [0,1] 0.9989705666085422 Centerline is valid? [True, True] Translation: X:344.37, Y:11.18, Z:2.51 [[ 9.98437211e-01 -5.25650478e-02 -1.89750428e-02 3.44372862e+02] [ 5.25697371e-02 9.98617224e-01 -2.51931350e-04 1.11826739e+01] [ 1.89620474e-02 -7.45975378e-04 9.99819926e-01 2.51371838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.014391418 meters Centerline goodness [0,1] 0.9989494915539121 Centerline is valid? [True, True] Translation: X:344.40, Y:11.19, Z:2.51 [[ 9.98540938e-01 -5.04371190e-02 -1.92896885e-02 3.44403966e+02] [ 5.04416155e-02 9.98726979e-01 -2.53680886e-04 1.11850835e+01] [ 1.92779273e-02 -7.19692302e-04 9.99813904e-01 2.51449509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.044391418 meters Centerline goodness [0,1] 0.9991790510672336 Centerline is valid? [True, True] Translation: X:344.43, Y:11.19, Z:2.51 [[ 9.98651557e-01 -4.82003212e-02 -1.92820378e-02 3.44434716e+02] [ 4.82044292e-02 9.98837459e-01 -2.51950522e-04 1.11870253e+01] [ 1.92717657e-02 -6.77868844e-04 9.99814052e-01 2.51491250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.074391418 meters Centerline goodness [0,1] 0.9988202578579254 Centerline is valid? [True, True] Translation: X:344.47, Y:11.19, Z:2.52 [[ 9.98821632e-01 -4.43115649e-02 -1.97947590e-02 3.44465688e+02] [ 4.43151477e-02 9.99017568e-01 -2.57828557e-04 1.11936846e+01] [ 1.97867368e-02 -6.19682929e-04 9.99804031e-01 2.51590592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.104391418 meters Centerline goodness [0,1] 0.9988202578579254 Centerline is valid? [True, True] Translation: X:344.50, Y:11.19, Z:2.52 [[ 9.98823445e-01 -4.42706788e-02 -1.97947695e-02 3.44496549e+02] [ 4.42742697e-02 9.99019381e-01 -2.57015961e-04 1.11940480e+01] [ 1.97867367e-02 -6.19685398e-04 9.99804031e-01 2.51612217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.134391418 meters Centerline goodness [0,1] 0.9992615722182371 Centerline is valid? [True, True] Translation: X:344.53, Y:11.20, Z:2.52 [[ 9.98912973e-01 -4.23304549e-02 -1.95193528e-02 3.44526924e+02] [ 4.23335869e-02 9.99103500e-01 -2.52903192e-04 1.11952418e+01] [ 1.95125592e-02 -5.73695941e-04 9.99809447e-01 2.51631137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.164391418 meters Centerline goodness [0,1] 0.9989693323797905 Centerline is valid? [True, True] Translation: X:344.56, Y:11.20, Z:2.52 [[ 9.98975538e-01 -4.04703698e-02 -2.02490379e-02 3.44557974e+02] [ 4.04733725e-02 9.99180583e-01 -2.61672956e-04 1.11988315e+01] [ 2.02430355e-02 -5.58141973e-04 9.99794933e-01 2.51679484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.194391418 meters Centerline goodness [0,1] 0.99934739589912 Centerline is valid? [True, True] Translation: X:344.59, Y:11.20, Z:2.52 [[ 9.99096202e-01 -3.70199089e-02 -2.08879495e-02 3.44589303e+02] [ 3.70223687e-02 9.99314401e-01 -2.69063130e-04 1.12039525e+01] [ 2.08835895e-02 -5.04501417e-04 9.99781787e-01 2.51675859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.224391418 meters Centerline goodness [0,1] 0.9991386916516113 Centerline is valid? [True, True] Translation: X:344.62, Y:11.20, Z:2.52 [[ 9.99132926e-01 -3.62464399e-02 -2.04839600e-02 3.44618531e+02] [ 3.62486432e-02 9.99342767e-01 -2.63850663e-04 1.12040995e+01] [ 2.04800610e-02 -4.78893873e-04 9.99790147e-01 2.51719962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.254391418 meters Centerline goodness [0,1] 0.9990738012040584 Centerline is valid? [True, True] Translation: X:344.65, Y:11.21, Z:2.52 [[ 9.99215464e-01 -3.43794406e-02 -1.96598898e-02 3.44649557e+02] [ 3.43811111e-02 9.99408763e-01 -2.53123028e-04 1.12055338e+01] [ 1.96569684e-02 -4.23004412e-04 9.99806694e-01 2.51768303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.284391418 meters Centerline goodness [0,1] 0.9991562071511444 Centerline is valid? [True, True] Translation: X:344.68, Y:11.21, Z:2.52 [[ 9.99232220e-01 -3.40369231e-02 -1.94025589e-02 3.44679822e+02] [ 3.40384882e-02 9.99420492e-01 -2.49673052e-04 1.12071192e+01] [ 1.93998131e-02 -4.10952415e-04 9.99811721e-01 2.51895040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.314391418 meters Centerline goodness [0,1] 0.9985880171123896 Centerline is valid? [True, True] Translation: X:344.71, Y:11.21, Z:2.52 [[ 9.99245870e-01 -3.37360912e-02 -1.92241572e-02 3.44711609e+02] [ 3.37375816e-02 9.99430695e-01 -2.46874783e-04 1.12083590e+01] [ 1.92215414e-02 -4.01887966e-04 9.99815168e-01 2.51967014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.344391418 meters Centerline goodness [0,1] 0.9992812902953051 Centerline is valid? [True, True] Translation: X:344.74, Y:11.21, Z:2.52 [[ 9.99243123e-01 -3.38930898e-02 -1.90903167e-02 3.44743345e+02] [ 3.38946031e-02 9.99425383e-01 -2.44373111e-04 1.12085197e+01] [ 1.90876297e-02 -4.02870559e-04 9.99817733e-01 2.52025121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.374391418 meters Centerline goodness [0,1] 0.9991350758390819 Centerline is valid? [True, True] Translation: X:344.77, Y:11.21, Z:2.52 [[ 9.99194368e-01 -3.50709860e-02 -1.95100299e-02 3.44773665e+02] [ 3.50728119e-02 9.99384729e-01 -2.48675843e-04 1.12064013e+01] [ 1.95067473e-02 -4.35796108e-04 9.99809630e-01 2.51902297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.404391418 meters Centerline goodness [0,1] 0.9991342905405406 Centerline is valid? [True, True] Translation: X:344.81, Y:11.21, Z:2.52 [[ 9.99159617e-01 -3.59158986e-02 -1.97511449e-02 3.44805084e+02] [ 3.59179542e-02 9.99354711e-01 -2.50778879e-04 1.12061257e+01] [ 1.97474067e-02 -4.58852590e-04 9.99804896e-01 2.51917441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.434391418 meters Centerline goodness [0,1] 0.9990086061424233 Centerline is valid? [True, True] Translation: X:344.84, Y:11.20, Z:2.52 [[ 9.99086560e-01 -3.81593996e-02 -1.92329485e-02 3.44835155e+02] [ 3.81617743e-02 9.99271544e-01 -2.43663529e-04 1.12024217e+01] [ 1.92282362e-02 -4.90522482e-04 9.99815000e-01 2.51892298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.464391418 meters Centerline goodness [0,1] 0.9988223170911232 Centerline is valid? [True, True] Translation: X:344.87, Y:11.20, Z:2.52 [[ 9.99028217e-01 -3.97568634e-02 -1.90266682e-02 3.44865986e+02] [ 3.97594796e-02 9.99209250e-01 -2.40907254e-04 1.12007023e+01] [ 1.90212006e-02 -5.15817283e-04 9.99818948e-01 2.51947878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.494391418 meters Centerline goodness [0,1] 0.998799898938858 Centerline is valid? [True, True] Translation: X:344.90, Y:11.20, Z:2.52 [[ 9.98970258e-01 -4.14063325e-02 -1.85456223e-02 3.44896971e+02] [ 4.14091108e-02 9.99142247e-01 -2.34340532e-04 1.11996106e+01] [ 1.85394179e-02 -5.33858506e-04 9.99827988e-01 2.52065300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.524391418 meters Centerline goodness [0,1] 0.9988845627696517 Centerline is valid? [True, True] Translation: X:344.93, Y:11.20, Z:2.52 [[ 9.98813700e-01 -4.52679101e-02 -1.79445834e-02 3.44928461e+02] [ 4.52711468e-02 9.98974710e-01 -2.26015016e-04 1.11952223e+01] [ 1.79364162e-02 -5.86624972e-04 9.99838957e-01 2.52152115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.554391418 meters Centerline goodness [0,1] 0.99878035958364 Centerline is valid? [True, True] Translation: X:344.96, Y:11.19, Z:2.52 [[ 9.98724168e-01 -4.73666148e-02 -1.75054329e-02 3.44960117e+02] [ 4.73700295e-02 9.98877386e-01 -2.19763933e-04 1.11934050e+01] [ 1.74961906e-02 -6.09749322e-04 9.99846744e-01 2.52203975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.584391418 meters Centerline goodness [0,1] 0.9984665154188723 Centerline is valid? [True, True] Translation: X:344.99, Y:11.19, Z:2.52 [[ 9.98486293e-01 -5.21309806e-02 -1.75351854e-02 3.44989966e+02] [ 5.21351456e-02 9.98640014e-01 -2.19844604e-04 1.11868852e+01] [ 1.75227985e-02 -6.94687618e-04 9.99846223e-01 2.52209404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.614391418 meters Centerline goodness [0,1] 0.9986138821799853 Centerline is valid? [True, True] Translation: X:345.02, Y:11.18, Z:2.52 [[ 9.98363508e-01 -5.43584533e-02 -1.77613047e-02 3.45020917e+02] [ 5.43630900e-02 9.98521209e-01 -2.22013330e-04 1.11824320e+01] [ 1.77471077e-02 -7.43909397e-04 9.99842231e-01 2.52170861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.644391418 meters Centerline goodness [0,1] 0.9987392044380003 Centerline is valid? [True, True] Translation: X:345.05, Y:11.18, Z:2.52 [[ 9.98256675e-01 -5.62603757e-02 -1.78432440e-02 3.45052810e+02] [ 5.62653824e-02 9.98415824e-01 -2.21701038e-04 1.11819885e+01] [ 1.78274501e-02 -7.82642404e-04 9.99840772e-01 2.52217646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67439141799997 meters Centerline goodness [0,1] 0.9988458471481932 Centerline is valid? [True, True] Translation: X:345.08, Y:11.18, Z:2.52 [[ 9.98026446e-01 -5.99257665e-02 -1.87647282e-02 3.45083758e+02] [ 5.99319721e-02 9.98202437e-01 -2.31976757e-04 1.11771970e+01] [ 1.87448988e-02 -8.93088227e-04 9.99823900e-01 2.52115277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.704391418 meters Centerline goodness [0,1] 0.9989326971371171 Centerline is valid? [True, True] Translation: X:345.11, Y:11.17, Z:2.52 [[ 9.97929054e-01 -6.15233648e-02 -1.87744119e-02 3.45114916e+02] [ 6.15298891e-02 9.98105215e-01 -2.30482883e-04 1.11745300e+01] [ 1.87530185e-02 -9.25181915e-04 9.99823719e-01 2.52048138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.734391418 meters Centerline goodness [0,1] 0.9985775546490953 Centerline is valid? [True, True] Translation: X:345.15, Y:11.17, Z:2.52 [[ 9.97681832e-01 -6.51992360e-02 -1.94941533e-02 3.45146237e+02] [ 6.52069951e-02 9.97871731e-01 -2.38026181e-04 1.11695591e+01] [ 1.94681837e-02 -1.03368077e-03 9.99809943e-01 2.51916224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.764391418 meters Centerline goodness [0,1] 0.9989742945658545 Centerline is valid? [True, True] Translation: X:345.18, Y:11.17, Z:2.52 [[ 9.97587234e-01 -6.67392321e-02 -1.91203122e-02 3.45177886e+02] [ 6.67469930e-02 9.97769906e-01 -2.32697782e-04 1.11672697e+01] [ 1.90932022e-02 -1.04408701e-03 9.99817163e-01 2.51962201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.794391418 meters Centerline goodness [0,1] 0.9990200575455569 Centerline is valid? [True, True] Translation: X:345.21, Y:11.16, Z:2.52 [[ 9.97527999e-01 -6.78465500e-02 -1.82958354e-02 3.45209158e+02] [ 6.78538588e-02 9.97695246e-01 -2.21714110e-04 1.11625657e+01] [ 1.82687105e-02 -1.02027700e-03 9.99832593e-01 2.51985894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.824391418 meters Centerline goodness [0,1] 0.9985960647905622 Centerline is valid? [True, True] Translation: X:345.24, Y:11.16, Z:2.52 [[ 9.97469924e-01 -6.90499704e-02 -1.69071558e-02 3.45241324e+02] [ 6.90564038e-02 9.97612736e-01 -2.03706992e-04 1.11634065e+01] [ 1.68808600e-02 -9.64355781e-04 9.99857043e-01 2.52159151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.854391418 meters Centerline goodness [0,1] 0.9984295167099422 Centerline is valid? [True, True] Translation: X:345.27, Y:11.16, Z:2.52 [[ 9.97314657e-01 -7.15293951e-02 -1.57168598e-02 3.45271351e+02] [ 7.15352692e-02 9.97438053e-01 -1.88846536e-04 1.11588664e+01] [ 1.56901022e-02 -9.35970382e-04 9.99876465e-01 2.52320048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.884391418 meters Centerline goodness [0,1] 0.9984088101668656 Centerline is valid? [True, True] Translation: X:345.30, Y:11.16, Z:2.52 [[ 9.97240430e-01 -7.26441791e-02 -1.53084113e-02 3.45303717e+02] [ 7.26498925e-02 9.97357488e-01 -1.83292590e-04 1.11571563e+01] [ 1.52812738e-02 -9.29367653e-04 9.99882803e-01 2.52386188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.914391418 meters Centerline goodness [0,1] 0.9984339764470057 Centerline is valid? [True, True] Translation: X:345.34, Y:11.15, Z:2.52 [[ 9.97129252e-01 -7.41514346e-02 -1.53238112e-02 3.45335113e+02] [ 7.41573525e-02 9.97246536e-01 -1.82448773e-04 1.11537900e+01] [ 1.52951465e-02 -9.54448262e-04 9.99882567e-01 2.52440563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.944391418 meters Centerline goodness [0,1] 0.9978883104392733 Centerline is valid? [True, True] Translation: X:345.37, Y:11.15, Z:2.52 [[ 9.97082456e-01 -7.48263875e-02 -1.50860125e-02 3.45366979e+02] [ 7.48322155e-02 9.97196123e-01 -1.78599049e-04 1.11529597e+01] [ 1.50570771e-02 -9.50841759e-04 9.99886184e-01 2.52471392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.974391418 meters Centerline goodness [0,1] 0.9977224764412127 Centerline is valid? [True, True] Translation: X:345.40, Y:11.15, Z:2.52 [[ 9.97033341e-01 -7.54258134e-02 -1.53448097e-02 3.45398736e+02] [ 7.54319294e-02 9.97150937e-01 -1.80639942e-04 1.11521120e+01] [ 1.53147163e-02 -9.77384556e-04 9.99882245e-01 2.52475500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.004391418 meters Centerline goodness [0,1] 0.9965033500837521 Centerline is valid? [True, True] Translation: X:345.43, Y:11.15, Z:2.52 [[ 9.96987411e-01 -7.59272901e-02 -1.58476574e-02 3.45430618e+02] [ 7.59338938e-02 9.97112837e-01 -1.85475368e-04 1.11513527e+01] [ 1.58159852e-02 -1.01845772e-03 9.99874401e-01 2.52424211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.034391418 meters Centerline goodness [0,1] 0.9914226683640461 Centerline is valid? [True, True] Translation: X:345.46, Y:11.15, Z:2.52 [[ 9.96871978e-01 -7.72446340e-02 -1.67190312e-02 3.45462004e+02] [ 7.72521945e-02 9.97011565e-01 -1.94119848e-04 1.11485454e+01] [ 1.66840622e-02 -1.09806922e-03 9.99860208e-01 2.52336756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.064391418 meters Centerline goodness [0,1] 0.9871209753047827 Centerline is valid? [True, True] Translation: X:345.49, Y:11.15, Z:2.52 [[ 9.96816166e-01 -7.79207084e-02 -1.69084058e-02 3.45494351e+02] [ 7.79285626e-02 9.96958927e-01 -1.94860238e-04 1.11482705e+01] [ 1.68721698e-02 -1.12340793e-03 9.99857024e-01 2.52322713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.094391418 meters Centerline goodness [0,1] 0.9982870631488793 Centerline is valid? [True, True] Translation: X:345.53, Y:11.16, Z:2.53 [[ 9.96719489e-01 -7.93927898e-02 -1.57176522e-02 3.45526449e+02] [ 7.93997775e-02 9.96842838e-01 -1.79932382e-04 1.11606437e+01] [ 1.56823144e-02 -1.06863598e-03 9.99876454e-01 2.52588232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.124391418 meters Centerline goodness [0,1] 0.9749848867023827 Centerline is valid? [True, True] Translation: X:345.56, Y:11.15, Z:2.53 [[ 9.96680253e-01 -8.00412686e-02 -1.48952628e-02 3.45557455e+02] [ 8.00476317e-02 9.96791025e-01 -1.69478942e-04 1.11455788e+01] [ 1.48610296e-02 -1.02341420e-03 9.99889045e-01 2.52522229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.154391418 meters Centerline goodness [0,1] 0.9555879899916597 Centerline is valid? [True, True] Translation: X:345.59, Y:11.14, Z:2.53 [[ 9.96590634e-01 -8.12843655e-02 -1.41407211e-02 3.45587978e+02] [ 8.12902323e-02 9.96690460e-01 -1.60353567e-04 1.11430897e+01] [ 1.41069560e-02 -9.89695636e-04 9.99900002e-01 2.52681008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.184391418 meters Centerline goodness [0,1] 0.9983940266132733 Centerline is valid? [True, True] Translation: X:345.62, Y:11.16, Z:2.53 [[ 9.96556366e-01 -8.17448142e-02 -1.38994704e-02 3.45620272e+02] [ 8.17505365e-02 9.96652811e-01 -1.56928918e-04 1.11594946e+01] [ 1.38657744e-02 -9.79900653e-04 9.99903385e-01 2.52862442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.214391418 meters Centerline goodness [0,1] 0.9983103527399403 Centerline is valid? [True, True] Translation: X:345.65, Y:11.16, Z:2.53 [[ 9.96527127e-01 -8.19624405e-02 -1.46916091e-02 3.45652081e+02] [ 8.19688754e-02 9.96634876e-01 -1.64640552e-04 1.11593860e+01] [ 1.46556643e-02 -1.04018590e-03 9.99892059e-01 2.52868988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.244391418 meters Centerline goodness [0,1] 0.9979087810284615 Centerline is valid? [True, True] Translation: X:345.68, Y:11.16, Z:2.53 [[ 9.96533080e-01 -8.17197318e-02 -1.56111142e-02 3.45683588e+02] [ 8.17269855e-02 9.96654739e-01 -1.73817929e-04 1.11593924e+01] [ 1.55730953e-02 -1.10263399e-03 9.99878124e-01 2.52764607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.274391418 meters Centerline goodness [0,1] 0.9987241963482735 Centerline is valid? [True, True] Translation: X:345.72, Y:11.17, Z:2.53 [[ 9.96591474e-01 -8.08714833e-02 -1.62860927e-02 3.45715707e+02] [ 8.08792852e-02 9.96723888e-01 -1.80106516e-04 1.11675436e+01] [ 1.62473032e-02 -1.13771492e-03 9.99867357e-01 2.52852812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.304391418 meters Centerline goodness [0,1] 0.9983446137082749 Centerline is valid? [True, True] Translation: X:345.75, Y:11.17, Z:2.53 [[ 9.96826131e-01 -7.77549135e-02 -1.70832378e-02 3.45745900e+02] [ 7.77630530e-02 9.96971851e-01 -1.88301168e-04 1.11713228e+01] [ 1.70461485e-02 -1.14074120e-03 9.99854053e-01 2.52819081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.334391418 meters Centerline goodness [0,1] 0.9982606508937739 Centerline is valid? [True, True] Translation: X:345.78, Y:11.18, Z:2.53 [[ 9.96995745e-01 -7.54923833e-02 -1.73315985e-02 3.45777386e+02] [ 7.55004283e-02 9.97145751e-01 -1.90608275e-04 1.11750002e+01] [ 1.72965193e-02 -1.11850747e-03 9.99849778e-01 2.52856332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.364391418 meters Centerline goodness [0,1] 0.9982433025911287 Centerline is valid? [True, True] Translation: X:345.81, Y:11.18, Z:2.53 [[ 9.97169057e-01 -7.32137333e-02 -1.71353609e-02 3.45807573e+02] [ 7.32212705e-02 9.97315702e-01 -1.87950423e-04 1.11768201e+01] [ 1.71031250e-02 -1.06725455e-03 9.99853161e-01 2.52883348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.394391418 meters Centerline goodness [0,1] 0.9984473678689075 Centerline is valid? [True, True] Translation: X:345.84, Y:11.18, Z:2.53 [[ 9.97325304e-01 -7.11264855e-02 -1.68303520e-02 3.45839410e+02] [ 7.11334731e-02 9.97466789e-01 -1.83859968e-04 1.11798707e+01] [ 1.68007944e-02 -1.01383319e-03 9.99858343e-01 2.52996231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42439141799997 meters Centerline goodness [0,1] 0.9981336632625244 Centerline is valid? [True, True] Translation: X:345.87, Y:11.18, Z:2.53 [[ 9.97691093e-01 -6.60862490e-02 -1.56553588e-02 3.45868609e+02] [ 6.60916803e-02 9.97813540e-01 -1.70760763e-04 1.11848726e+01] [ 1.56324139e-02 -8.64322475e-04 9.99877433e-01 2.53167444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.454391418 meters Centerline goodness [0,1] 0.9983630983609998 Centerline is valid? [True, True] Translation: X:345.90, Y:11.19, Z:2.53 [[ 9.97856832e-01 -6.37020502e-02 -1.49596369e-02 3.45900326e+02] [ 6.37067495e-02 9.97968649e-01 -1.62688274e-04 1.11882219e+01] [ 1.49396122e-02 -7.90690235e-04 9.99888085e-01 2.53333730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.484391418 meters Centerline goodness [0,1] 0.9983194336491398 Centerline is valid? [True, True] Translation: X:345.93, Y:11.19, Z:2.54 [[ 9.98175419e-01 -5.88328127e-02 -1.35842835e-02 3.45929691e+02] [ 5.88362422e-02 9.98267637e-01 -1.47389063e-04 1.11937846e+01] [ 1.35694220e-02 -6.52128057e-04 9.99907719e-01 2.53523353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.514391418 meters Centerline goodness [0,1] 0.998074790214912 Centerline is valid? [True, True] Translation: X:345.96, Y:11.20, Z:2.54 [[ 9.98338247e-01 -5.61200971e-02 -1.30874008e-02 3.45959921e+02] [ 5.61230475e-02 9.98423850e-01 -1.42010650e-04 1.11964290e+01] [ 1.30747427e-02 -5.92730153e-04 9.99914346e-01 2.53579221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.544391418 meters Centerline goodness [0,1] 0.9985724482512491 Centerline is valid? [True, True] Translation: X:345.99, Y:11.20, Z:2.54 [[ 9.98604779e-01 -5.10935574e-02 -1.33395696e-02 3.45990270e+02] [ 5.10961767e-02 9.98693727e-01 -1.44605448e-04 1.12033426e+01] [ 1.33295329e-02 -5.37197315e-04 9.99911014e-01 2.53545413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.574391418 meters Centerline goodness [0,1] 0.9985707379616201 Centerline is valid? [True, True] Translation: X:346.02, Y:11.21, Z:2.53 [[ 9.98711268e-01 -4.87531589e-02 -1.41043273e-02 3.46022517e+02] [ 4.87558619e-02 9.98810714e-01 -1.52348679e-04 1.12063988e+01] [ 1.40949807e-02 -5.35516292e-04 9.99900517e-01 2.53467728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.604391418 meters Centerline goodness [0,1] 0.9986768597471332 Centerline is valid? [True, True] Translation: X:346.06, Y:11.21, Z:2.53 [[ 9.98815549e-01 -4.64036826e-02 -1.46354686e-02 3.46055211e+02] [ 4.64063605e-02 9.98922632e-01 -1.56763394e-04 1.12114299e+01] [ 1.46269752e-02 -5.22601117e-04 9.99892884e-01 2.53435524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.634391418 meters Centerline goodness [0,1] 0.9986953685583823 Centerline is valid? [True, True] Translation: X:346.09, Y:11.21, Z:2.53 [[ 9.98915173e-01 -4.41513285e-02 -1.48032663e-02 3.46087151e+02] [ 4.41538409e-02 9.99024731e-01 -1.57225929e-04 1.12136375e+01] [ 1.47957709e-02 -4.96565699e-04 9.99890413e-01 2.53354968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.664391418 meters Centerline goodness [0,1] 0.9986561961953555 Centerline is valid? [True, True] Translation: X:346.12, Y:11.22, Z:2.53 [[ 9.99049121e-01 -4.11966207e-02 -1.42720630e-02 3.46118204e+02] [ 4.11986668e-02 9.99150963e-01 -1.50740913e-04 1.12178965e+01] [ 1.42661556e-02 -4.37392393e-04 9.99898138e-01 2.53360787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.694391418 meters Centerline goodness [0,1] 0.9985329560934717 Centerline is valid? [True, True] Translation: X:346.15, Y:11.22, Z:2.53 [[ 9.99121056e-01 -3.97045852e-02 -1.34410022e-02 3.46149784e+02] [ 3.97062739e-02 9.99211385e-01 -1.41297249e-04 1.12187205e+01] [ 1.34360126e-02 -3.92519060e-04 9.99909656e-01 2.53395615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.724391418 meters Centerline goodness [0,1] 0.9986355430538646 Centerline is valid? [True, True] Translation: X:346.18, Y:11.22, Z:2.53 [[ 9.99204646e-01 -3.78022419e-02 -1.26911387e-02 3.46181590e+02] [ 3.78036050e-02 9.99285179e-01 -1.32552317e-04 1.12225619e+01] [ 1.26870776e-02 -3.47323904e-04 9.99919455e-01 2.53487832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.754391418 meters Centerline goodness [0,1] 0.9983600353223161 Centerline is valid? [True, True] Translation: X:346.21, Y:11.22, Z:2.53 [[ 9.99237669e-01 -3.69502125e-02 -1.26000686e-02 3.46213898e+02] [ 3.69515013e-02 9.99317052e-01 -1.30588803e-04 1.12239258e+01] [ 1.25962887e-02 -3.35102200e-04 9.99920607e-01 2.53478454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.784391418 meters Centerline goodness [0,1] 0.9985983263598326 Centerline is valid? [True, True] Translation: X:346.25, Y:11.23, Z:2.53 [[ 9.99266381e-01 -3.61955297e-02 -1.25133479e-02 3.46245789e+02] [ 3.61967543e-02 9.99344674e-01 -1.28672726e-04 1.12251020e+01] [ 1.25098049e-02 -3.24364249e-04 9.99921697e-01 2.53462883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.814391418 meters Centerline goodness [0,1] 0.9985331098072087 Centerline is valid? [True, True] Translation: X:346.28, Y:11.23, Z:2.53 [[ 9.99311676e-01 -3.47960614e-02 -1.28610820e-02 3.46278502e+02] [ 3.47972559e-02 9.99394384e-01 -1.30953879e-04 1.12259104e+01] [ 1.28578498e-02 -3.16666620e-04 9.99917284e-01 2.53438601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.844391418 meters Centerline goodness [0,1] 0.9984303384190368 Centerline is valid? [True, True] Translation: X:346.31, Y:11.23, Z:2.53 [[ 9.99341766e-01 -3.39757203e-02 -1.27155437e-02 3.46310332e+02] [ 3.39768380e-02 9.99422612e-01 -1.28177981e-04 1.12264129e+01] [ 1.27125568e-02 -3.03940357e-04 9.99919146e-01 2.53445477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.874391418 meters Centerline goodness [0,1] 0.9985977396400167 Centerline is valid? [True, True] Translation: X:346.34, Y:11.23, Z:2.54 [[ 9.99367429e-01 -3.33797790e-02 -1.22691909e-02 3.46341352e+02] [ 3.33807854e-02 9.99442699e-01 -1.22807830e-04 1.12270842e+01] [ 1.22664526e-02 -2.86825083e-04 9.99924723e-01 2.53504432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.904391418 meters Centerline goodness [0,1] 0.9984700827831918 Centerline is valid? [True, True] Translation: X:346.37, Y:11.23, Z:2.54 [[ 9.99419265e-01 -3.20313374e-02 -1.16243969e-02 3.46373075e+02] [ 3.20321586e-02 9.99486832e-01 -1.15580793e-04 1.12274509e+01] [ 1.16221339e-02 -2.56840854e-04 9.99932428e-01 2.53534316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.934391418 meters Centerline goodness [0,1] 0.9985115928053331 Centerline is valid? [True, True] Translation: X:346.41, Y:11.23, Z:2.54 [[ 9.99425862e-01 -3.17080981e-02 -1.19391661e-02 3.46405403e+02] [ 3.17089529e-02 9.99497138e-01 -1.17743474e-04 1.12288669e+01] [ 1.19368957e-02 -2.60902581e-04 9.99928719e-01 2.53567275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.964391418 meters Centerline goodness [0,1] 0.9988491556987718 Centerline is valid? [True, True] Translation: X:346.44, Y:11.23, Z:2.53 [[ 9.99426361e-01 -3.12686633e-02 -1.30084550e-02 3.46436722e+02] [ 3.12696590e-02 9.99510977e-01 -1.26888679e-04 1.12280904e+01] [ 1.30060612e-02 -2.79954063e-04 9.99915378e-01 2.53423459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.994391418 meters Centerline goodness [0,1] 0.9985144267989036 Centerline is valid? [True, True] Translation: X:346.47, Y:11.23, Z:2.53 [[ 9.99412485e-01 -3.13959738e-02 -1.37469332e-02 3.46468969e+02] [ 3.13971186e-02 9.99506980e-01 -1.32581712e-04 1.12283805e+01] [ 1.37443183e-02 -2.99110275e-04 9.99905498e-01 2.53376197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.024391418 meters Centerline goodness [0,1] 0.9985144267989036 Centerline is valid? [True, True] Translation: X:346.50, Y:11.23, Z:2.53 [[ 9.99413719e-01 -3.13566496e-02 -1.37469411e-02 3.46499821e+02] [ 3.13578020e-02 9.99508215e-01 -1.31764208e-04 1.12286372e+01] [ 1.37443122e-02 -2.99386900e-04 9.99905498e-01 2.53397807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.054391418 meters Centerline goodness [0,1] 0.9987650703281983 Centerline is valid? [True, True] Translation: X:346.53, Y:11.23, Z:2.53 [[ 9.99389441e-01 -3.16980569e-02 -1.46962030e-02 3.46531158e+02] [ 3.16994197e-02 9.99497437e-01 -1.40264338e-04 1.12290785e+01] [ 1.46932634e-02 -3.25682410e-04 9.99891995e-01 2.53430455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.084391418 meters Centerline goodness [0,1] 0.9985352277720815 Centerline is valid? [True, True] Translation: X:346.56, Y:11.23, Z:2.53 [[ 9.99381936e-01 -3.16880977e-02 -1.52187414e-02 3.46562382e+02] [ 3.16895697e-02 9.99497749e-01 -1.44480866e-04 1.12289992e+01] [ 1.52156761e-02 -3.37883799e-04 9.99884178e-01 2.53403585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.114391418 meters Centerline goodness [0,1] 0.9987646824815226 Centerline is valid? [True, True] Translation: X:346.59, Y:11.23, Z:2.53 [[ 9.99372294e-01 -3.17327838e-02 -1.57495695e-02 3.46593848e+02] [ 3.17343783e-02 9.99496327e-01 -1.48734516e-04 1.12316981e+01] [ 1.57463566e-02 -3.51161640e-04 9.99875957e-01 2.53480013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.144391418 meters Centerline goodness [0,1] 0.9987639060568603 Centerline is valid? [True, True] Translation: X:346.62, Y:11.23, Z:2.53 [[ 9.99363206e-01 -3.18066987e-02 -1.61714533e-02 3.46624402e+02] [ 3.18083971e-02 9.99493973e-01 -1.52237400e-04 1.12307693e+01] [ 1.61681122e-02 -3.62247551e-04 9.99869222e-01 2.53417205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17439141799997 meters Centerline goodness [0,1] 0.9987222722607403 Centerline is valid? [True, True] Translation: X:346.66, Y:11.23, Z:2.53 [[ 9.99365380e-01 -3.14766252e-02 -1.66751266e-02 3.46655245e+02] [ 3.14783978e-02 9.99504420e-01 -1.56223156e-04 1.12297406e+01] [ 1.66717801e-02 -3.68782256e-04 9.99860948e-01 2.53336047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.204391418 meters Centerline goodness [0,1] 0.9988495408622168 Centerline is valid? [True, True] Translation: X:346.69, Y:11.23, Z:2.54 [[ 9.99374994e-01 -3.12183708e-02 -1.65841527e-02 3.46686519e+02] [ 3.12201022e-02 9.99512522e-01 -1.54550844e-04 1.12327793e+01] [ 1.65808931e-02 -3.63304693e-04 9.99862462e-01 2.53508062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.234391418 meters Centerline goodness [0,1] 0.9986613399150788 Centerline is valid? [True, True] Translation: X:346.72, Y:11.23, Z:2.54 [[ 9.99384340e-01 -3.11633480e-02 -1.61178985e-02 3.46717549e+02] [ 3.11649865e-02 9.99514243e-01 -1.49568231e-04 1.12332476e+01] [ 1.61147302e-02 -3.52837943e-04 9.99870087e-01 2.53629153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.264391418 meters Centerline goodness [0,1] 0.9989128389538166 Centerline is valid? [True, True] Translation: X:346.75, Y:11.23, Z:2.54 [[ 9.99375232e-01 -3.13466196e-02 -1.63258830e-02 3.46748376e+02] [ 3.13483396e-02 9.99508509e-01 -1.50607006e-04 1.12324591e+01] [ 1.63225799e-02 -3.61276412e-04 9.99866713e-01 2.53682298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.294391418 meters Centerline goodness [0,1] 0.9987663355985363 Centerline is valid? [True, True] Translation: X:346.78, Y:11.23, Z:2.54 [[ 9.99342190e-01 -3.22899168e-02 -1.65090581e-02 3.46780096e+02] [ 3.22918182e-02 9.99478472e-01 -1.51452727e-04 1.12329388e+01] [ 1.65053385e-02 -3.81754403e-04 9.99863705e-01 2.53773987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.324391418 meters Centerline goodness [0,1] 0.9986804348281424 Centerline is valid? [True, True] Translation: X:346.81, Y:11.23, Z:2.54 [[ 9.99253827e-01 -3.46870686e-02 -1.69881515e-02 3.46811800e+02] [ 3.46894401e-02 9.99398128e-01 -1.55146297e-04 1.12324538e+01] [ 1.69833084e-02 -4.34278934e-04 9.99855679e-01 2.53936742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.354391418 meters Centerline goodness [0,1] 0.9989560496920347 Centerline is valid? [True, True] Translation: X:346.84, Y:11.23, Z:2.54 [[ 9.99192588e-01 -3.62460905e-02 -1.73318489e-02 3.46842578e+02] [ 3.62488021e-02 9.99342784e-01 -1.57780564e-04 1.12297890e+01] [ 1.73261770e-02 -4.70605590e-04 9.99849780e-01 2.53909736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.384391418 meters Centerline goodness [0,1] 0.9990586561793993 Centerline is valid? [True, True] Translation: X:346.87, Y:11.23, Z:2.54 [[ 9.99107234e-01 -3.81953822e-02 -1.80512723e-02 3.46874017e+02] [ 3.81986523e-02 9.99270152e-01 -1.63729327e-04 1.12292183e+01] [ 1.80443513e-02 -5.25951119e-04 9.99837049e-01 2.53956363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.414391418 meters Centerline goodness [0,1] 0.9986620675237796 Centerline is valid? [True, True] Translation: X:346.91, Y:11.22, Z:2.54 [[ 9.98868079e-01 -4.31624451e-02 -1.99890763e-02 3.46905512e+02] [ 4.31674655e-02 9.99067834e-01 -1.80456144e-04 1.12239368e+01] [ 1.99782321e-02 -6.82625882e-04 9.99800182e-01 2.53805248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.444391418 meters Centerline goodness [0,1] 0.998597240541842 Centerline is valid? [True, True] Translation: X:346.94, Y:11.22, Z:2.54 [[ 9.98747657e-01 -4.56522579e-02 -2.04692381e-02 3.46935447e+02] [ 4.56580777e-02 9.98957109e-01 -1.83174258e-04 1.12208237e+01] [ 2.04562532e-02 -7.51641201e-04 9.99790466e-01 2.53796398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.474391418 meters Centerline goodness [0,1] 0.9985582950271625 Centerline is valid? [True, True] Translation: X:346.97, Y:11.21, Z:2.54 [[ 9.98491607e-01 -5.05460764e-02 -2.14384144e-02 3.46965881e+02] [ 5.05536082e-02 9.98721331e-01 -1.90835822e-04 1.12108068e+01] [ 2.14206478e-02 -8.93241235e-04 9.99770153e-01 2.53683407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.504391418 meters Centerline goodness [0,1] 0.9987020056106855 Centerline is valid? [True, True] Translation: X:347.00, Y:11.21, Z:2.54 [[ 9.98378121e-01 -5.26636435e-02 -2.16256289e-02 3.46997156e+02] [ 5.26718186e-02 9.98611858e-01 -1.91789508e-04 1.12128985e+01] [ 2.16057098e-02 -9.47582755e-04 9.99766120e-01 2.53890330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.534391418 meters Centerline goodness [0,1] 0.9985341235105648 Centerline is valid? [True, True] Translation: X:347.03, Y:11.21, Z:2.54 [[ 9.98265758e-01 -5.46930246e-02 -2.17749830e-02 3.47028705e+02] [ 5.47018140e-02 9.98502716e-01 -1.92233257e-04 1.12146756e+01] [ 2.17528934e-02 -9.99231190e-04 9.99762878e-01 2.54048289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.564391418 meters Centerline goodness [0,1] 0.9989283688092286 Centerline is valid? [True, True] Translation: X:347.06, Y:11.21, Z:2.54 [[ 9.98141852e-01 -5.68370169e-02 -2.19635406e-02 3.47058900e+02] [ 5.68464900e-02 9.98382912e-01 -1.93304506e-04 1.12113079e+01] [ 2.19390105e-02 -1.05560488e-03 9.99758754e-01 2.54033352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.594391418 meters Centerline goodness [0,1] 0.9983857103922514 Centerline is valid? [True, True] Translation: X:347.09, Y:11.21, Z:2.54 [[ 9.97890346e-01 -6.09468630e-02 -2.23682401e-02 3.47088948e+02] [ 6.09577213e-02 9.98140330e-01 -1.96721444e-04 1.12063458e+01] [ 2.23386321e-02 -1.16721052e-03 9.99749780e-01 2.54004370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.624391418 meters Centerline goodness [0,1] 0.9986162651739103 Centerline is valid? [True, True] Translation: X:347.12, Y:11.20, Z:2.54 [[ 9.97772433e-01 -6.29308537e-02 -2.21332311e-02 3.47119705e+02] [ 6.29419849e-02 9.98017169e-01 -1.94053383e-04 1.12035245e+01] [ 2.21015566e-02 -1.19948838e-03 9.99755011e-01 2.54043932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.654391418 meters Centerline goodness [0,1] 0.9987407656145064 Centerline is valid? [True, True] Translation: X:347.15, Y:11.20, Z:2.54 [[ 9.97659850e-01 -6.48051036e-02 -2.17972813e-02 3.47151177e+02] [ 6.48163637e-02 9.97897190e-01 -1.90256856e-04 1.12012032e+01] [ 2.17637754e-02 -1.22300889e-03 9.99762393e-01 2.54105920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.684391418 meters Centerline goodness [0,1] 0.9987422965664696 Centerline is valid? [True, True] Translation: X:347.18, Y:11.20, Z:2.54 [[ 9.97435167e-01 -6.82464566e-02 -2.15756555e-02 3.47181986e+02] [ 6.82583030e-02 9.97667665e-01 -1.87765358e-04 1.11991482e+01] [ 2.15381482e-02 -1.28543386e-03 9.99767201e-01 2.54250561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.714391418 meters Centerline goodness [0,1] 0.9978410329504486 Centerline is valid? [True, True] Translation: X:347.21, Y:11.20, Z:2.54 [[ 9.97331648e-01 -6.97491465e-02 -2.15555336e-02 3.47212979e+02] [ 6.97613417e-02 9.97563692e-01 -1.86597092e-04 1.11954292e+01] [ 2.15160326e-02 -1.31764376e-03 9.99767635e-01 2.54262777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.744391418 meters Centerline goodness [0,1] 0.9976927594596862 Centerline is valid? [True, True] Translation: X:347.24, Y:11.20, Z:2.54 [[ 9.97143036e-01 -7.23601269e-02 -2.16743801e-02 3.47244202e+02] [ 7.23730926e-02 9.97377612e-01 -1.86640433e-04 1.11953567e+01] [ 2.16310468e-02 -1.38253471e-03 9.99765066e-01 2.54401762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.774391418 meters Centerline goodness [0,1] 0.9986173956762192 Centerline is valid? [True, True] Translation: X:347.28, Y:11.20, Z:2.55 [[ 9.97082731e-01 -7.32013467e-02 -2.16238166e-02 3.47276548e+02] [ 7.32144810e-02 9.97316201e-01 -1.84719881e-04 1.12006529e+01] [ 2.15793044e-02 -1.39899551e-03 9.99766161e-01 2.54594687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.804391418 meters Centerline goodness [0,1] 0.998179535467671 Centerline is valid? [True, True] Translation: X:347.31, Y:11.20, Z:2.55 [[ 9.97008352e-01 -7.40731802e-02 -2.20796447e-02 3.47308553e+02] [ 7.40871276e-02 9.97251755e-01 -1.86779488e-04 1.11993511e+01] [ 2.20327998e-02 -1.44959674e-03 9.99756197e-01 2.54555496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.834391418 meters Centerline goodness [0,1] 0.9903480549868383 Centerline is valid? [True, True] Translation: X:347.34, Y:11.19, Z:2.54 [[ 9.96910843e-01 -7.51395672e-02 -2.28651823e-02 3.47339290e+02] [ 7.51548327e-02 9.97171858e-01 -1.92176950e-04 1.11900129e+01] [ 2.28149564e-02 -1.52684567e-03 9.99738539e-01 2.54374627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.864391418 meters Centerline goodness [0,1] 0.9980347062513067 Centerline is valid? [True, True] Translation: X:347.37, Y:11.20, Z:2.55 [[ 9.96859080e-01 -7.56702050e-02 -2.33665287e-02 3.47371552e+02] [ 7.56863303e-02 9.97131657e-01 -1.94777684e-04 1.11977481e+01] [ 2.33142443e-02 -1.57436091e-03 9.99726946e-01 2.54591430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.894391418 meters Centerline goodness [0,1] 0.9767858631324497 Centerline is valid? [True, True] Translation: X:347.40, Y:11.19, Z:2.54 [[ 9.96834652e-01 -7.59213103e-02 -2.35930417e-02 3.47402804e+02] [ 7.59378568e-02 9.97112533e-01 -1.95099198e-04 1.11888355e+01] [ 2.35397298e-02 -1.59712338e-03 9.99721626e-01 2.54370122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92439141799997 meters Centerline goodness [0,1] 0.998033925247328 Centerline is valid? [True, True] Translation: X:347.43, Y:11.20, Z:2.55 [[ 9.96835568e-01 -7.56549701e-02 -2.43962169e-02 3.47434406e+02] [ 7.56726281e-02 9.97132696e-01 -1.99910571e-04 1.11991192e+01] [ 2.43413898e-02 -1.64684788e-03 9.99702348e-01 2.54551634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.954391418 meters Centerline goodness [0,1] 0.9971345506264249 Centerline is valid? [True, True] Translation: X:347.47, Y:11.20, Z:2.55 [[ 9.96820433e-01 -7.57699245e-02 -2.46564942e-02 3.47465931e+02] [ 7.57880364e-02 9.97123931e-01 -2.00421521e-04 1.11986875e+01] [ 2.46007664e-02 -1.66888301e-03 9.99695962e-01 2.54543684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.984391418 meters Centerline goodness [0,1] 0.9966699478501267 Centerline is valid? [True, True] Translation: X:347.50, Y:11.20, Z:2.55 [[ 9.96810467e-01 -7.58636246e-02 -2.47710125e-02 3.47498236e+02] [ 7.58819791e-02 9.97116786e-01 -1.99529826e-04 1.11990598e+01] [ 2.47147295e-02 -1.68078003e-03 9.99693131e-01 2.54593898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.014391418 meters Centerline goodness [0,1] 0.997778429810957 Centerline is valid? [True, True] Translation: X:347.53, Y:11.20, Z:2.55 [[ 9.96877584e-01 -7.50163485e-02 -2.46501443e-02 3.47530771e+02] [ 7.50343143e-02 9.97180933e-01 -1.96606493e-04 1.12021414e+01] [ 2.45954026e-02 -1.65361407e-03 9.99696120e-01 2.54642067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.044391418 meters Centerline goodness [0,1] 0.9266910611604809 Centerline is valid? [True, False] Translation: X:347.53, Y:11.20, Z:2.55 [[ 9.97165630e-01 -7.10251337e-02 -2.48221147e-02 3.47530725e+02] [ 7.11604150e-02 9.97454237e-01 4.60877555e-03 1.12001926e+01] [ 2.44315846e-02 -6.36206456e-03 9.99681260e-01 2.54590116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.074391418 meters Centerline goodness [0,1] 0.9985752001005741 Centerline is valid? [False, True] Translation: X:347.53, Y:11.20, Z:2.55 [[ 9.97144572e-01 -7.13126978e-02 -2.48435457e-02 3.47530566e+02] [ 7.14324646e-02 9.97437554e-01 3.96607917e-03 1.12018436e+01] [ 2.44970537e-02 -5.72939001e-03 9.99683484e-01 2.54625386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.104391418 meters Centerline goodness [0,1] 0.997597911227154 Centerline is valid? [True, True] Translation: X:347.56, Y:11.20, Z:2.55 [[ 9.97107667e-01 -7.19453267e-02 -2.44983677e-02 3.47562025e+02] [ 7.19651054e-02 9.97407148e-01 -7.44866890e-05 1.11993992e+01] [ 2.44402060e-02 -1.68875637e-03 9.99699867e-01 2.54687378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.134391418 meters Centerline goodness [0,1] 0.9968996145466734 Centerline is valid? [True, True] Translation: X:347.59, Y:11.20, Z:2.55 [[ 9.97086862e-01 -7.20778555e-02 -2.49513999e-02 3.47594062e+02] [ 7.20984605e-02 9.97397517e-01 -7.40006675e-05 1.12003737e+01] [ 2.48917981e-02 -1.72517243e-03 9.99688663e-01 2.54606302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.164391418 meters Centerline goodness [0,1] 0.9968996145466734 Centerline is valid? [True, True] Translation: X:347.63, Y:11.20, Z:2.55 [[ 9.97092628e-01 -7.19980397e-02 -2.49514057e-02 3.47625832e+02] [ 7.20186695e-02 9.97403282e-01 -7.20035910e-05 1.12003864e+01] [ 2.48917981e-02 -1.72517279e-03 9.99688663e-01 2.54631113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.194391418 meters Centerline goodness [0,1] 0.9983039490765945 Centerline is valid? [True, True] Translation: X:347.66, Y:11.21, Z:2.55 [[ 9.97055864e-01 -7.27883929e-02 -2.41133418e-02 3.47658169e+02] [ 7.28079360e-02 9.97345978e-01 -6.76560866e-05 1.12050207e+01] [ 2.40542691e-02 -1.68818575e-03 9.99709229e-01 2.55041100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.224391418 meters Centerline goodness [0,1] 0.9981578782106298 Centerline is valid? [True, True] Translation: X:347.69, Y:11.21, Z:2.55 [[ 9.97078452e-01 -7.23884535e-02 -2.43818020e-02 3.47690075e+02] [ 7.24083638e-02 9.97375067e-01 -6.64199362e-05 1.12064889e+01] [ 2.43226094e-02 -1.69922050e-03 9.99702717e-01 2.55114426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.254391418 meters Centerline goodness [0,1] 0.9950641039047957 Centerline is valid? [True, True] Translation: X:347.72, Y:11.20, Z:2.55 [[ 9.97142692e-01 -7.13888670e-02 -2.46998264e-02 3.47721860e+02] [ 7.14090445e-02 9.97447113e-01 -6.52828422e-05 1.12031973e+01] [ 2.46414310e-02 -1.69869469e-03 9.99694911e-01 2.55019296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.284391418 meters Centerline goodness [0,1] 0.9982808143069795 Centerline is valid? [True, True] Translation: X:347.75, Y:11.21, Z:2.55 [[ 9.97198684e-01 -7.06778654e-02 -2.44831261e-02 3.47753884e+02] [ 7.06975251e-02 9.97497797e-01 -6.27392952e-05 1.12096068e+01] [ 2.44262987e-02 -1.66833288e-03 9.99700241e-01 2.55185557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.314391418 meters Centerline goodness [0,1] 0.9984252960443437 Centerline is valid? [True, True] Translation: X:347.79, Y:11.21, Z:2.55 [[ 9.97225645e-01 -7.01090353e-02 -2.50147097e-02 3.47785464e+02] [ 7.01294222e-02 9.97537899e-01 -6.24212240e-05 1.12101420e+01] [ 2.49574973e-02 -1.69201910e-03 9.99687081e-01 2.55199170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.344391418 meters Centerline goodness [0,1] 0.9985942384759028 Centerline is valid? [True, True] Translation: X:347.82, Y:11.21, Z:2.55 [[ 9.97379717e-01 -6.78507090e-02 -2.50994352e-02 3.47816411e+02] [ 6.78705515e-02 9.97694134e-01 -6.14726882e-05 1.12134849e+01] [ 2.50457303e-02 -1.64220090e-03 9.99684958e-01 2.55302715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.374391418 meters Centerline goodness [0,1] 0.9986733769925668 Centerline is valid? [True, True] Translation: X:347.85, Y:11.22, Z:2.55 [[ 9.97476767e-01 -6.63284117e-02 -2.53108874e-02 3.47848015e+02] [ 6.63481278e-02 9.97796533e-01 -6.09702034e-05 1.12173839e+01] [ 2.52591597e-02 -1.61851363e-03 9.99679626e-01 2.55383314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.404391418 meters Centerline goodness [0,1] 0.9988411293721028 Centerline is valid? [True, True] Translation: X:347.88, Y:11.22, Z:2.55 [[ 9.97589194e-01 -6.45701743e-02 -2.54262318e-02 3.47879309e+02] [ 6.45895283e-02 9.97911915e-01 -6.02062868e-05 1.12210656e+01] [ 2.53770272e-02 -1.58220718e-03 9.99676699e-01 2.55462064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.434391418 meters Centerline goodness [0,1] 0.9990314973892538 Centerline is valid? [True, True] Translation: X:347.91, Y:11.22, Z:2.56 [[ 9.97713408e-01 -6.26640117e-02 -2.53214767e-02 3.47910473e+02] [ 6.26826213e-02 9.98033509e-01 -5.89149787e-05 1.12237369e+01] [ 2.52753741e-02 -1.52843627e-03 9.99679358e-01 2.55544185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.464391418 meters Centerline goodness [0,1] 0.9987553267794608 Centerline is valid? [True, True] Translation: X:347.94, Y:11.23, Z:2.56 [[ 9.97980852e-01 -5.84374367e-02 -2.48854186e-02 3.47939916e+02] [ 5.84541001e-02 9.98290096e-01 -5.79295554e-05 1.12276827e+01] [ 2.48462522e-02 -1.39684216e-03 9.99690308e-01 2.55638082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.494391418 meters Centerline goodness [0,1] 0.9988405674895124 Centerline is valid? [True, True] Translation: X:347.97, Y:11.23, Z:2.56 [[ 9.98150902e-01 -5.56226585e-02 -2.45131856e-02 3.47971558e+02] [ 5.56380020e-02 9.98451005e-01 -5.61897817e-05 1.12300956e+01] [ 2.44783402e-02 -1.30777879e-03 9.99699505e-01 2.55721095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.524391418 meters Centerline goodness [0,1] 0.9987338032330224 Centerline is valid? [True, True] Translation: X:348.00, Y:11.24, Z:2.56 [[ 9.98495286e-01 -4.94722794e-02 -2.36570859e-02 3.48001625e+02] [ 4.94848608e-02 9.98774872e-01 -5.36546733e-05 1.12406603e+01] [ 2.36307573e-02 -1.11709366e-03 9.99720131e-01 2.56016658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.554391418 meters Centerline goodness [0,1] 0.9988378972278567 Centerline is valid? [True, True] Translation: X:348.03, Y:11.24, Z:2.56 [[ 9.98653673e-01 -4.62115156e-02 -2.35655769e-02 3.48031902e+02] [ 4.62231029e-02 9.98931140e-01 -5.30648761e-05 1.12436280e+01] [ 2.35428408e-02 -1.03628065e-03 9.99722292e-01 2.56074217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.584391418 meters Centerline goodness [0,1] 0.998688635546437 Centerline is valid? [True, True] Translation: X:348.06, Y:11.25, Z:2.56 [[ 9.98819020e-01 -4.26208321e-02 -2.33244393e-02 3.48063242e+02] [ 4.26312246e-02 9.99090875e-01 -5.17222919e-05 1.12473768e+01] [ 2.33054389e-02 -9.42688203e-04 9.99727947e-01 2.56136658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.614391418 meters Centerline goodness [0,1] 0.9989417989417989 Centerline is valid? [True, True] Translation: X:348.09, Y:11.25, Z:2.56 [[ 9.99083737e-01 -3.58988680e-02 -2.33014440e-02 3.48093933e+02] [ 3.59074290e-02 9.99355119e-01 -5.10335442e-05 1.12545725e+01] [ 2.32882494e-02 -7.85708164e-04 9.99728483e-01 2.56280059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.644391418 meters Centerline goodness [0,1] 0.9988983517647557 Centerline is valid? [True, True] Translation: X:348.12, Y:11.26, Z:2.56 [[ 9.99193399e-01 -3.28871128e-02 -2.30432210e-02 3.48124318e+02] [ 3.28946886e-02 9.99458822e-01 -5.03099988e-05 1.12577241e+01] [ 2.30324050e-02 -7.07730161e-04 9.99734468e-01 2.56381207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67439141799997 meters Centerline goodness [0,1] 0.9989611601085482 Centerline is valid? [True, True] Translation: X:348.15, Y:11.26, Z:2.57 [[ 9.99400064e-01 -2.73331948e-02 -2.12698783e-02 3.48154193e+02] [ 2.73383922e-02 9.99626235e-01 -4.64382801e-05 1.12638060e+01] [ 2.12631976e-02 -5.35073854e-04 9.99773769e-01 2.56620445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.704391418 meters Centerline goodness [0,1] 0.9990901781558122 Centerline is valid? [True, True] Translation: X:348.18, Y:11.27, Z:2.57 [[ 9.99460308e-01 -2.53871361e-02 -2.08467325e-02 3.48184509e+02] [ 2.53917056e-02 9.99677578e-01 -4.55144308e-05 1.12664668e+01] [ 2.08411665e-02 -4.83844227e-04 9.99782682e-01 2.56706322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.734391418 meters Centerline goodness [0,1] 0.9988754985996775 Centerline is valid? [True, True] Translation: X:348.21, Y:11.27, Z:2.57 [[ 9.99496387e-01 -2.41172518e-02 -2.06235335e-02 3.48214360e+02] [ 2.41214564e-02 9.99709034e-01 -4.48985310e-05 1.12678432e+01] [ 2.06186156e-02 -4.52593746e-04 9.99787311e-01 2.56701619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.764391418 meters Centerline goodness [0,1] 0.9990663526216395 Centerline is valid? [True, True] Translation: X:348.24, Y:11.27, Z:2.57 [[ 9.99506189e-01 -2.27551494e-02 -2.16698123e-02 3.48244386e+02] [ 2.27594613e-02 9.99740969e-01 -4.76521927e-05 1.12694808e+01] [ 2.16652835e-02 -4.45564594e-04 9.99765181e-01 2.56548951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.794391418 meters Centerline goodness [0,1] 0.9991539226262242 Centerline is valid? [True, True] Translation: X:348.27, Y:11.27, Z:2.56 [[ 9.99496672e-01 -2.29937000e-02 -2.18561635e-02 3.48273208e+02] [ 2.29981181e-02 9.99735507e-01 -4.92212540e-05 1.12682656e+01] [ 2.18515145e-02 -4.53454150e-04 9.99761124e-01 2.56395846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.824391418 meters Centerline goodness [0,1] 0.9991125198098256 Centerline is valid? [True, True] Translation: X:348.30, Y:11.27, Z:2.56 [[ 9.99462086e-01 -2.44820456e-02 -2.18212802e-02 3.48301629e+02] [ 2.44867101e-02 9.99700154e-01 -5.34529295e-05 1.12673773e+01] [ 2.18160458e-02 -4.80907184e-04 9.99761886e-01 2.56366438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.854391418 meters Centerline goodness [0,1] 0.9991296410299956 Centerline is valid? [True, True] Translation: X:348.33, Y:11.27, Z:2.56 [[ 9.99449072e-01 -2.53289899e-02 -2.14474837e-02 3.48331132e+02] [ 2.53336341e-02 9.99679050e-01 -5.51807919e-05 1.12669608e+01] [ 2.14419978e-02 -4.88192312e-04 9.99769975e-01 2.56392241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.884391418 meters Centerline goodness [0,1] 0.9993409863945578 Centerline is valid? [True, True] Translation: X:348.36, Y:11.27, Z:2.56 [[ 9.99420138e-01 -2.66014310e-02 -2.12544623e-02 3.48361137e+02] [ 2.66062618e-02 9.99645989e-01 -5.55163393e-05 1.12657078e+01] [ 2.12484148e-02 -5.10017642e-04 9.99774097e-01 2.56408063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.914391418 meters Centerline goodness [0,1] 0.9993409863945578 Centerline is valid? [True, True] Translation: X:348.39, Y:11.27, Z:2.56 [[ 9.99419092e-01 -2.66406789e-02 -2.12544601e-02 3.48390299e+02] [ 2.66455009e-02 9.99644944e-01 -5.63505443e-05 1.12658238e+01] [ 2.12484148e-02 -5.10017925e-04 9.99774097e-01 2.56430861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.944391418 meters Centerline goodness [0,1] 0.9994051160023796 Centerline is valid? [True, True] Translation: X:348.42, Y:11.26, Z:2.56 [[ 9.99382008e-01 -2.80357966e-02 -2.12037031e-02 3.48420355e+02] [ 2.80408972e-02 9.99606775e-01 -5.67835758e-05 1.12641176e+01] [ 2.11969573e-02 -5.37822376e-04 9.99775175e-01 2.56419994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.974391418 meters Centerline goodness [0,1] 0.9991490991086813 Centerline is valid? [True, True] Translation: X:348.45, Y:11.26, Z:2.56 [[ 9.99268316e-01 -3.21098001e-02 -2.07796562e-02 3.48450299e+02] [ 3.21155704e-02 9.99484160e-01 -5.60523517e-05 1.12602693e+01] [ 2.07707371e-02 -6.11339173e-04 9.99784078e-01 2.56453552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.004391418 meters Centerline goodness [0,1] 0.9990277719068352 Centerline is valid? [True, True] Translation: X:348.48, Y:11.26, Z:2.56 [[ 9.99193380e-01 -3.43326569e-02 -2.08292433e-02 3.48480059e+02] [ 3.43389339e-02 9.99410243e-01 -5.63400189e-05 1.12566563e+01] [ 2.08188934e-02 -6.58959436e-04 9.99783046e-01 2.56404390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.034391418 meters Centerline goodness [0,1] 0.9992140869602159 Centerline is valid? [True, True] Translation: X:348.51, Y:11.25, Z:2.56 [[ 9.99032566e-01 -3.88873983e-02 -2.05353697e-02 3.48510494e+02] [ 3.88944602e-02 9.99243323e-01 -5.55451342e-05 1.12518807e+01] [ 2.05219910e-02 -7.43220721e-04 9.99789126e-01 2.56393101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.064391418 meters Centerline goodness [0,1] 0.9992775487654584 Centerline is valid? [True, True] Translation: X:348.54, Y:11.25, Z:2.56 [[ 9.98940033e-01 -4.09866021e-02 -2.09501492e-02 3.48540500e+02] [ 4.09944389e-02 9.99159373e-01 -5.54382843e-05 1.12483920e+01] [ 2.09348101e-02 -8.03460089e-04 9.99780520e-01 2.56344688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.094391418 meters Centerline goodness [0,1] 0.999299124968142 Centerline is valid? [True, True] Translation: X:348.57, Y:11.25, Z:2.56 [[ 9.98850358e-01 -4.31227724e-02 -2.09377403e-02 3.48571268e+02] [ 4.31310958e-02 9.99069420e-01 -5.40967316e-05 1.12477096e+01] [ 2.09205888e-02 -8.49033143e-04 9.99780780e-01 2.56415295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.124391418 meters Centerline goodness [0,1] 0.998834721074599 Centerline is valid? [True, True] Translation: X:348.60, Y:11.24, Z:2.56 [[ 9.98666583e-01 -4.72359955e-02 -2.08282810e-02 3.48601297e+02] [ 4.72451320e-02 9.98883324e-01 -5.34714314e-05 1.12426199e+01] [ 2.08075483e-02 -9.30634753e-04 9.99783066e-01 2.56364874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.154391418 meters Centerline goodness [0,1] 0.9989834815756036 Centerline is valid? [True, True] Translation: X:348.63, Y:11.24, Z:2.56 [[ 9.98563663e-01 -4.92613813e-02 -2.10695822e-02 3.48632737e+02] [ 4.92711910e-02 9.98785436e-01 -5.35937531e-05 1.12397398e+01] [ 2.10466319e-02 -9.84606633e-04 9.99778010e-01 2.56350671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.184391418 meters Centerline goodness [0,1] 0.9988553016492135 Centerline is valid? [True, True] Translation: X:348.66, Y:11.24, Z:2.56 [[ 9.98466844e-01 -5.13177146e-02 -2.07473836e-02 3.48664312e+02] [ 5.13276910e-02 9.98681864e-01 -5.17278377e-05 1.12403121e+01] [ 2.07226903e-02 -1.01326676e-03 9.99784749e-01 2.56420980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.214391418 meters Centerline goodness [0,1] 0.9989235282943201 Centerline is valid? [True, True] Translation: X:348.70, Y:11.24, Z:2.56 [[ 9.98314618e-01 -5.45901204e-02 -1.96937275e-02 3.48695623e+02] [ 5.45997614e-02 9.98508319e-01 -4.82078144e-05 1.12366417e+01] [ 1.96669824e-02 -1.02714626e-03 9.99806059e-01 2.56473411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.244391418 meters Centerline goodness [0,1] 0.9985602066526922 Centerline is valid? [True, True] Translation: X:348.73, Y:11.23, Z:2.56 [[ 9.98238354e-01 -5.61035773e-02 -1.93022634e-02 3.48726378e+02] [ 5.61131563e-02 9.98424415e-01 -4.54105873e-05 1.12299800e+01] [ 1.92743987e-02 -1.03778033e-03 9.99813693e-01 2.56349325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.274391418 meters Centerline goodness [0,1] 0.9986025239264843 Centerline is valid? [True, True] Translation: X:348.76, Y:11.24, Z:2.57 [[ 9.98119692e-01 -5.83559497e-02 -1.87526689e-02 3.48758170e+02] [ 5.83654190e-02 9.98295285e-01 -4.24114352e-05 1.12403297e+01] [ 1.87231759e-02 -1.05217569e-03 9.99824152e-01 2.56728026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.304391418 meters Centerline goodness [0,1] 0.9984992284766112 Centerline is valid? [True, True] Translation: X:348.79, Y:11.23, Z:2.57 [[ 9.97889173e-01 -6.20679843e-02 -1.90987751e-02 3.48788032e+02] [ 6.20785107e-02 9.98071268e-01 -4.17884273e-05 1.12333876e+01] [ 1.90645324e-02 -1.14392330e-03 9.99817601e-01 2.56621740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.334391418 meters Centerline goodness [0,1] 0.9986661020537794 Centerline is valid? [True, True] Translation: X:348.82, Y:11.23, Z:2.57 [[ 9.97753977e-01 -6.40636617e-02 -1.95665106e-02 3.48819725e+02] [ 6.40751191e-02 9.97945077e-01 -4.14459748e-05 1.12341290e+01] [ 1.95289581e-02 -1.21237361e-03 9.99808557e-01 2.56678969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.364391418 meters Centerline goodness [0,1] 0.9986869970351546 Centerline is valid? [True, True] Translation: X:348.85, Y:11.23, Z:2.57 [[ 9.97606452e-01 -6.63500798e-02 -1.94687686e-02 3.48850924e+02] [ 6.63618751e-02 9.97795620e-01 -4.02792234e-05 1.12325249e+01] [ 1.94285245e-02 -1.25180117e-03 9.99810465e-01 2.56666402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.394391418 meters Centerline goodness [0,1] 0.9984780908495212 Centerline is valid? [True, True] Translation: X:348.88, Y:11.23, Z:2.57 [[ 9.97280911e-01 -7.07637810e-02 -2.05735892e-02 3.48881989e+02] [ 7.07778971e-02 9.97492099e-01 -4.21324320e-05 1.12276208e+01] [ 2.05249741e-02 -1.41413751e-03 9.99788340e-01 2.56590184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42439141799997 meters Centerline goodness [0,1] 0.9986659608258338 Centerline is valid? [True, True] Translation: X:348.91, Y:11.23, Z:2.57 [[ 9.97155388e-01 -7.24852056e-02 -2.06646356e-02 3.48913552e+02] [ 7.24998326e-02 9.97368424e-01 -4.14484822e-05 1.12289790e+01] [ 2.06132594e-02 -1.45685204e-03 9.99786463e-01 2.56663932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.454391418 meters Centerline goodness [0,1] 0.9973178458289335 Centerline is valid? [True, True] Translation: X:348.94, Y:11.22, Z:2.57 [[ 9.96904646e-01 -7.56902191e-02 -2.12630677e-02 3.48943816e+02] [ 7.57064632e-02 9.97130147e-01 -4.11228215e-05 1.12208440e+01] [ 2.12051584e-02 -1.56875612e-03 9.99773915e-01 2.56581022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.484391418 meters Centerline goodness [0,1] 0.9984962724500169 Centerline is valid? [True, True] Translation: X:348.98, Y:11.23, Z:2.57 [[ 9.96817985e-01 -7.69794058e-02 -2.06899981e-02 3.48975590e+02] [ 7.69951061e-02 9.97031470e-01 -3.78761110e-05 1.12253088e+01] [ 2.06314949e-02 -1.55527301e-03 9.99785938e-01 2.56668272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.514391418 meters Centerline goodness [0,1] 0.9981440863843428 Centerline is valid? [True, True] Translation: X:349.01, Y:11.22, Z:2.57 [[ 9.96749177e-01 -7.79559239e-02 -2.03458146e-02 3.49007188e+02] [ 7.79713430e-02 9.96955600e-01 -3.55340915e-05 1.12199089e+01] [ 2.02866439e-02 -1.55097191e-03 9.99793002e-01 2.56652957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.544391418 meters Centerline goodness [0,1] 0.9965122178067135 Centerline is valid? [True, True] Translation: X:349.04, Y:11.22, Z:2.57 [[ 9.96639911e-01 -7.94162098e-02 -2.00487792e-02 3.49039693e+02] [ 7.94315048e-02 9.96840326e-01 -3.35465062e-05 1.12184187e+01] [ 1.99880957e-02 -1.55907092e-03 9.99799002e-01 2.56725767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.574391418 meters Centerline goodness [0,1] 0.9938665877077958 Centerline is valid? [True, True] Translation: X:349.07, Y:11.22, Z:2.57 [[ 9.96660915e-01 -7.93060030e-02 -1.94313545e-02 3.49071000e+02] [ 7.93203918e-02 9.96849173e-01 -3.03202663e-05 1.12163738e+01] [ 1.93725342e-02 -1.51108363e-03 9.99811193e-01 2.56847490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.604391418 meters Centerline goodness [0,1] 0.9934942863781341 Centerline is valid? [True, True] Translation: X:349.10, Y:11.22, Z:2.57 [[ 9.96727105e-01 -7.86894182e-02 -1.85216903e-02 3.49103408e+02] [ 7.87024195e-02 9.96898153e-01 -2.70424594e-05 1.12178866e+01] [ 1.84663668e-02 -1.43074789e-03 9.99828458e-01 2.57107653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.634391418 meters Centerline goodness [0,1] 0.9937945882054963 Centerline is valid? [True, True] Translation: X:349.14, Y:11.22, Z:2.57 [[ 9.96784664e-01 -7.80071405e-02 -1.83090299e-02 3.49136129e+02] [ 7.80197605e-02 9.96951812e-01 -2.50907861e-05 1.12182460e+01] [ 1.82551778e-02 -1.40345602e-03 9.99832375e-01 2.57236538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.664391418 meters Centerline goodness [0,1] 0.9939589121832112 Centerline is valid? [True, True] Translation: X:349.17, Y:11.22, Z:2.57 [[ 9.96843218e-01 -7.72104964e-02 -1.84969700e-02 3.49168549e+02] [ 7.72232704e-02 9.97013824e-01 -2.37338492e-05 1.12184380e+01] [ 1.84435673e-02 -1.40473759e-03 9.99828916e-01 2.57226294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.694391418 meters Centerline goodness [0,1] 0.9896616936331162 Centerline is valid? [True, True] Translation: X:349.20, Y:11.22, Z:2.57 [[ 9.96870076e-01 -7.67887871e-02 -1.88024845e-02 3.49199682e+02] [ 7.68019358e-02 9.97046369e-01 -2.28600651e-05 1.12171455e+01] [ 1.87487043e-02 -1.42127869e-03 9.99823217e-01 2.57170003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.724391418 meters Centerline goodness [0,1] 0.9852597935109447 Centerline is valid? [True, True] Translation: X:349.23, Y:11.22, Z:2.57 [[ 9.96938012e-01 -7.56915168e-02 -1.96314733e-02 3.49230786e+02] [ 7.57056823e-02 9.97130207e-01 -2.16669942e-05 1.12158558e+01] [ 1.95767751e-02 -1.46461343e-03 9.99807284e-01 2.57053779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.754391418 meters Centerline goodness [0,1] 0.9985873919460257 Centerline is valid? [True, True] Translation: X:349.26, Y:11.23, Z:2.57 [[ 9.97003167e-01 -7.48054637e-02 -1.97186963e-02 3.49262861e+02] [ 7.48196254e-02 9.97197083e-01 -1.96138238e-05 1.12278878e+01] [ 1.96648937e-02 -1.45579043e-03 9.99805567e-01 2.57280510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.784391418 meters Centerline goodness [0,1] 0.9988815497921371 Centerline is valid? [True, True] Translation: X:349.29, Y:11.23, Z:2.57 [[ 9.97170002e-01 -7.25130515e-02 -1.98455080e-02 3.49294482e+02] [ 7.25269725e-02 9.97366451e-01 -1.83154186e-05 1.12305585e+01] [ 1.97945720e-02 -1.42107103e-03 9.99803058e-01 2.57403503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.814391418 meters Centerline goodness [0,1] 0.9984665476315513 Centerline is valid? [True, True] Translation: X:349.32, Y:11.23, Z:2.57 [[ 9.97281531e-01 -7.08552002e-02 -2.02259264e-02 3.49324904e+02] [ 7.08693618e-02 9.97485606e-01 -1.66453429e-05 1.12251365e+01] [ 2.01762499e-02 -1.41679840e-03 9.99795435e-01 2.57299508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.844391418 meters Centerline goodness [0,1] 0.9986944619919983 Centerline is valid? [True, True] Translation: X:349.36, Y:11.23, Z:2.57 [[ 9.97353266e-01 -6.97298755e-02 -2.05962693e-02 3.49357601e+02] [ 6.97443739e-02 9.97564896e-01 -1.44162094e-05 1.12316030e+01] [ 2.05471205e-02 -1.42209585e-03 9.99787874e-01 2.57411265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.874391418 meters Centerline goodness [0,1] 0.9986944345006212 Centerline is valid? [True, True] Translation: X:349.39, Y:11.23, Z:2.58 [[ 9.97491468e-01 -6.80330217e-02 -1.95519522e-02 3.49387845e+02] [ 6.80457846e-02 9.97682199e-01 -1.25340346e-05 1.12290961e+01] [ 1.95074874e-02 -1.31792533e-03 9.99808842e-01 2.57547530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.904391418 meters Centerline goodness [0,1] 0.9987387008618878 Centerline is valid? [True, True] Translation: X:349.42, Y:11.23, Z:2.58 [[ 9.97578528e-01 -6.69579174e-02 -1.88073762e-02 3.49419711e+02] [ 6.69695562e-02 9.97755019e-01 -1.09964055e-05 1.12314991e+01] [ 1.87658903e-02 -1.24855186e-03 9.99823126e-01 2.57732889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.934391418 meters Centerline goodness [0,1] 0.9986107018060877 Centerline is valid? [True, True] Translation: X:349.45, Y:11.23, Z:2.58 [[ 9.97670562e-01 -6.57874133e-02 -1.80406903e-02 3.49451819e+02] [ 6.57979583e-02 9.97832966e-01 -9.07735562e-06 1.12337288e+01] [ 1.80021927e-02 -1.17798438e-03 9.99837253e-01 2.57853774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.964391418 meters Centerline goodness [0,1] 0.9989044559148846 Centerline is valid? [True, True] Translation: X:349.48, Y:11.23, Z:2.58 [[ 9.97797916e-01 -6.39921088e-02 -1.74450115e-02 3.49482399e+02] [ 6.40017099e-02 9.97949789e-01 -7.94738853e-06 1.12306126e+01] [ 1.74097541e-02 -1.10858068e-03 9.99847824e-01 2.57894528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.994391418 meters Centerline goodness [0,1] 0.9988616000843259 Centerline is valid? [True, True] Translation: X:349.51, Y:11.23, Z:2.58 [[ 9.97837458e-01 -6.32704241e-02 -1.78118399e-02 3.49514632e+02] [ 6.32803366e-02 9.97995791e-01 -7.11455547e-06 1.12339041e+01] [ 1.77765914e-02 -1.12004005e-03 9.99841357e-01 2.57951218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.024391418 meters Centerline goodness [0,1] 0.9988196610741085 Centerline is valid? [True, True] Translation: X:349.55, Y:11.24, Z:2.58 [[ 9.97935233e-01 -6.15600731e-02 -1.83201375e-02 3.49546883e+02] [ 6.15703009e-02 9.98102749e-01 -5.76229700e-06 1.12354171e+01] [ 1.82857343e-02 -1.12222598e-03 9.99832172e-01 2.57931713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.054391418 meters Centerline goodness [0,1] 0.9986718387654425 Centerline is valid? [True, True] Translation: X:349.58, Y:11.23, Z:2.58 [[ 9.98017672e-01 -6.02871886e-02 -1.80605100e-02 3.49578312e+02] [ 6.02969441e-02 9.98180484e-01 -4.38914881e-06 1.12324705e+01] [ 1.80279132e-02 -1.08461311e-03 9.99836896e-01 2.57880745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.084391418 meters Centerline goodness [0,1] 0.9990298633372702 Centerline is valid? [True, True] Translation: X:349.61, Y:11.23, Z:2.58 [[ 9.98119349e-01 -5.86664520e-02 -1.77767318e-02 3.49609754e+02] [ 5.86756630e-02 9.98277099e-01 -3.43100470e-06 1.12317305e+01] [ 1.77463056e-02 -1.03963697e-03 9.99841981e-01 2.57919015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.114391418 meters Centerline goodness [0,1] 0.9991154356479434 Centerline is valid? [True, True] Translation: X:349.64, Y:11.24, Z:2.58 [[ 9.98355573e-01 -5.49145010e-02 -1.64483128e-02 3.49640828e+02] [ 5.49218866e-02 9.98490654e-01 -2.69966502e-06 1.12351221e+01] [ 1.64236349e-02 -9.00677146e-04 9.99864717e-01 2.58087526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.144391418 meters Centerline goodness [0,1] 0.9989026989385722 Centerline is valid? [True, True] Translation: X:349.67, Y:11.23, Z:2.58 [[ 9.98473420e-01 -5.28453302e-02 -1.60686170e-02 3.49671684e+02] [ 5.28521197e-02 9.98602350e-01 -2.13422262e-06 1.12311374e+01] [ 1.60462715e-02 -8.47129506e-04 9.99870891e-01 2.58093565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17439141799997 meters Centerline goodness [0,1] 0.9989061842658814 Centerline is valid? [True, True] Translation: X:349.70, Y:11.24, Z:2.58 [[ 9.98621301e-01 -5.00333660e-02 -1.58795496e-02 3.49702962e+02] [ 5.00396524e-02 9.98747232e-01 -1.45069026e-06 1.12363731e+01] [ 1.58597288e-02 -7.93158452e-04 9.99873912e-01 2.58234740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.204391418 meters Centerline goodness [0,1] 0.9987347377744037 Centerline is valid? [True, True] Translation: X:349.73, Y:11.24, Z:2.58 [[ 9.98985770e-01 -4.24541305e-02 -1.50026266e-02 3.49732108e+02] [ 4.24588909e-02 9.99098215e-01 -1.20900945e-06 1.12367396e+01] [ 1.49891487e-02 -6.35787101e-04 9.99887454e-01 2.58381771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.234391418 meters Centerline goodness [0,1] 0.9991355317533946 Centerline is valid? [True, True] Translation: X:349.76, Y:11.24, Z:2.59 [[ 9.99182221e-01 -3.79043462e-02 -1.40765740e-02 3.49763173e+02] [ 3.79080877e-02 9.99281230e-01 -1.03007513e-06 1.12434960e+01] [ 1.40664952e-02 -5.32586769e-04 9.99900920e-01 2.58599713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.264391418 meters Centerline goodness [0,1] 0.9989023283304836 Centerline is valid? [True, True] Translation: X:349.79, Y:11.25, Z:2.59 [[ 9.99510560e-01 -2.81967841e-02 -1.35492323e-02 3.49793811e+02] [ 2.81993636e-02 9.99602319e-01 -6.67626383e-07 1.12488656e+01] [ 1.35438629e-02 -3.81412430e-04 9.99908205e-01 2.58652086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.294391418 meters Centerline goodness [0,1] 0.9990304154459035 Centerline is valid? [True, True] Translation: X:349.82, Y:11.25, Z:2.59 [[ 9.99629911e-01 -2.33856665e-02 -1.38979025e-02 3.49824789e+02] [ 2.33879196e-02 9.99726465e-01 -4.07377325e-07 1.12502301e+01] [ 1.38941105e-02 -3.24635801e-04 9.99903419e-01 2.58650772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.324391418 meters Centerline goodness [0,1] 0.9991777356103732 Centerline is valid? [True, True] Translation: X:349.86, Y:11.25, Z:2.59 [[ 9.99725217e-01 -1.86007644e-02 -1.42653818e-02 3.49855382e+02] [ 1.86026560e-02 9.99826956e-01 -8.72292407e-08 1.12533201e+01] [ 1.42629148e-02 -2.65286785e-04 9.99898244e-01 2.58657473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.354391418 meters Centerline goodness [0,1] 0.9991573625447651 Centerline is valid? [True, True] Translation: X:349.89, Y:11.26, Z:2.59 [[ 9.99791213e-01 -1.43936763e-02 -1.45035353e-02 3.49885256e+02] [ 1.43951892e-02 9.99896384e-01 -8.86854912e-08 1.12556577e+01] [ 1.45020338e-02 -2.08692468e-04 9.99894818e-01 2.58656270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.384391418 meters Centerline goodness [0,1] 0.9996622833864534 Centerline is valid? [True, True] Translation: X:349.91, Y:11.26, Z:2.59 [[ 9.99869914e-01 -7.53719587e-03 -1.42599385e-02 3.49914905e+02] [ 7.53795727e-03 9.99971589e-01 -3.54008796e-07 1.12596222e+01] [ 1.42595360e-02 -1.07136844e-04 9.99898322e-01 2.58710750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.414391418 meters Centerline goodness [0,1] 0.9995583410448389 Centerline is valid? [True, True] Translation: X:349.94, Y:11.26, Z:2.59 [[ 9.99892853e-01 -5.57612494e-03 -1.35347510e-02 3.49943661e+02] [ 5.57660459e-03 9.99984451e-01 -2.30255346e-06 1.12596144e+01] [ 1.35345534e-02 -7.31756477e-05 9.99908401e-01 2.58681768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.444391418 meters Centerline goodness [0,1] 0.9992847375617966 Centerline is valid? [True, True] Translation: X:349.97, Y:11.26, Z:2.59 [[ 9.99910898e-01 -3.56499605e-03 -1.28641757e-02 3.49971245e+02] [ 3.56522558e-03 9.99993645e-01 -5.09024023e-06 1.12575096e+01] [ 1.28641121e-02 -4.07739015e-05 9.99917253e-01 2.58657642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.474391418 meters Centerline goodness [0,1] 0.9993482328700881 Centerline is valid? [True, True] Translation: X:350.00, Y:11.26, Z:2.59 [[ 9.99917227e-01 -3.53025111e-03 -1.23724085e-02 3.49999018e+02] [ 3.53042875e-03 9.99993768e-01 -7.48342674e-06 1.12565267e+01] [ 1.23723578e-02 -3.61970994e-05 9.99923459e-01 2.58707073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.504391418 meters Centerline goodness [0,1] 0.9994537356080343 Centerline is valid? [True, True] Translation: X:350.03, Y:11.26, Z:2.59 [[ 9.99917227e-01 -4.17339087e-03 -1.21705107e-02 3.50026620e+02] [ 4.17356304e-03 9.99991291e-01 -1.12522382e-05 1.12555107e+01] [ 1.21704516e-02 -3.95430866e-05 9.99925937e-01 2.58750659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.534391418 meters Centerline goodness [0,1] 0.9995378151260504 Centerline is valid? [True, True] Translation: X:350.05, Y:11.25, Z:2.59 [[ 9.99919084e-01 -6.41778541e-03 -1.09835369e-02 3.50054268e+02] [ 6.41803261e-03 9.99979404e-01 -1.27404944e-05 1.12516138e+01] [ 1.09833925e-02 -5.77532347e-05 9.99939679e-01 2.58866877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.564391418 meters Centerline goodness [0,1] 0.9996645069300287 Centerline is valid? [True, True] Translation: X:350.08, Y:11.25, Z:2.59 [[ 9.99917892e-01 -8.17505628e-03 -9.86806255e-03 3.50082879e+02] [ 8.17532875e-03 9.99966581e-01 -1.27279587e-05 1.12490643e+01] [ 9.86783682e-03 -6.79477418e-05 9.99951309e-01 2.58956337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.594391418 meters Centerline goodness [0,1] 0.9993509348631728 Centerline is valid? [True, True] Translation: X:350.11, Y:11.25, Z:2.59 [[ 9.99901610e-01 -1.03690100e-02 -9.44743907e-03 3.50111319e+02] [ 1.03693366e-02 9.99946237e-01 -1.44073098e-05 1.12453836e+01] [ 9.44708054e-03 -8.35577837e-05 9.99955372e-01 2.58977095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.624391418 meters Centerline goodness [0,1] 0.9993516543271845 Centerline is valid? [True, True] Translation: X:350.14, Y:11.24, Z:2.59 [[ 9.99826051e-01 -1.60337995e-02 -9.52816516e-03 3.50141253e+02] [ 1.60343838e-02 9.99871441e-01 -1.50753436e-05 1.12385968e+01] [ 9.52718194e-03 -1.37705535e-04 9.99954606e-01 2.58926799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.654391418 meters Centerline goodness [0,1] 0.9992044550517104 Centerline is valid? [True, True] Translation: X:350.17, Y:11.24, Z:2.59 [[ 9.99765861e-01 -1.93284480e-02 -9.72800971e-03 3.50172757e+02] [ 1.93292104e-02 9.99813173e-01 -1.56416930e-05 1.12352105e+01] [ 9.72649459e-03 -1.72396716e-04 9.99952682e-01 2.58907861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.684391418 meters Centerline goodness [0,1] 0.9989765440608225 Centerline is valid? [True, True] Translation: X:350.20, Y:11.23, Z:2.59 [[ 9.99676162e-01 -2.30769315e-02 -1.07250308e-02 3.50204271e+02] [ 2.30780798e-02 9.99733666e-01 -1.66999029e-05 1.12288899e+01] [ 1.07225597e-02 -2.30818622e-04 9.99942485e-01 2.58825187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.714391418 meters Centerline goodness [0,1] 0.9991212286061012 Centerline is valid? [True, True] Translation: X:350.24, Y:11.22, Z:2.59 [[ 9.99465264e-01 -3.06383410e-02 -1.14226974e-02 3.50235562e+02] [ 3.06401445e-02 9.99530480e-01 -1.71165109e-05 1.12208941e+01] [ 1.14178586e-02 -3.32885741e-04 9.99934759e-01 2.58706662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.744391418 meters Centerline goodness [0,1] 0.99872406291834 Centerline is valid? [True, True] Translation: X:350.27, Y:11.22, Z:2.59 [[ 9.99335705e-01 -3.44651930e-02 -1.18448004e-02 3.50267136e+02] [ 3.44674099e-02 9.99405822e-01 -1.69852058e-05 1.12169253e+01] [ 1.18383479e-02 -3.91285668e-04 9.99929848e-01 2.58606056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.774391418 meters Centerline goodness [0,1] 0.9987446122944302 Centerline is valid? [True, True] Translation: X:350.30, Y:11.20, Z:2.58 [[ 9.99043997e-01 -4.17808581e-02 -1.28628023e-02 3.50296507e+02] [ 4.17840886e-02 9.99126663e-01 -1.76073368e-05 1.12046298e+01] [ 1.28523044e-02 -5.19869965e-04 9.99917271e-01 2.58367046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.804391418 meters Centerline goodness [0,1] 0.9988704110448697 Centerline is valid? [True, True] Translation: X:350.33, Y:11.20, Z:2.58 [[ 9.98907868e-01 -4.49138873e-02 -1.28768393e-02 3.50327048e+02] [ 4.49173844e-02 9.98990705e-01 -1.76463530e-05 1.11960121e+01] [ 1.28646353e-02 -5.60766859e-04 9.99917090e-01 2.58314615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.834391418 meters Centerline goodness [0,1] 0.9988704110448697 Centerline is valid? [True, True] Translation: X:350.36, Y:11.20, Z:2.58 [[ 9.98911210e-01 -4.48395089e-02 -1.28768400e-02 3.50358767e+02] [ 4.48430067e-02 9.98994046e-01 -1.71169902e-05 1.11959714e+01] [ 1.28646540e-02 -5.60337867e-04 9.99917090e-01 2.58339397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.864391418 meters Centerline goodness [0,1] 0.9990572954854928 Centerline is valid? [True, True] Translation: X:350.39, Y:11.20, Z:2.58 [[ 9.98799595e-01 -4.72272825e-02 -1.29982101e-02 3.50391123e+02] [ 4.72310614e-02 9.98883991e-01 -1.62675086e-05 1.11992647e+01] [ 1.29844722e-02 -5.97671278e-04 9.99915520e-01 2.58460536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.894391418 meters Centerline goodness [0,1] 0.9988288194081355 Centerline is valid? [True, True] Translation: X:350.42, Y:11.20, Z:2.59 [[ 9.98719407e-01 -4.90821663e-02 -1.22673526e-02 3.50423443e+02] [ 4.90856835e-02 9.98794571e-01 -1.43886203e-05 1.11961021e+01] [ 1.22532714e-02 -5.87781192e-04 9.99924753e-01 2.58514885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92439141799997 meters Centerline goodness [0,1] 0.9986822840409956 Centerline is valid? [True, True] Translation: X:350.46, Y:11.19, Z:2.59 [[ 9.98622700e-01 -5.12605964e-02 -1.11827285e-02 3.50455225e+02] [ 5.12636641e-02 9.98685154e-01 -1.23283882e-05 1.11926469e+01] [ 1.11686569e-02 -5.60956229e-04 9.99937471e-01 2.58661591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.954391418 meters Centerline goodness [0,1] 0.9985997617505068 Centerline is valid? [True, True] Translation: X:350.49, Y:11.19, Z:2.59 [[ 9.98576830e-01 -5.21275921e-02 -1.12706737e-02 3.50486808e+02] [ 5.21307713e-02 9.98640267e-01 -1.17208501e-05 1.11856520e+01] [ 1.12559596e-02 -5.75844743e-04 9.99936484e-01 2.58606150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.984391418 meters Centerline goodness [0,1] 0.9985170332309877 Centerline is valid? [True, True] Translation: X:350.52, Y:11.19, Z:2.59 [[ 9.98535627e-01 -5.25678303e-02 -1.27759397e-02 3.50518632e+02] [ 5.25719637e-02 9.98617138e-01 -1.23247241e-05 1.11874877e+01] [ 1.27589202e-02 -6.59349562e-04 9.99918384e-01 2.58506581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.014391418 meters Centerline goodness [0,1] 0.9987708333333334 Centerline is valid? [True, True] Translation: X:350.55, Y:11.19, Z:2.59 [[ 9.98551839e-01 -5.20875171e-02 -1.34578910e-02 3.50550827e+02] [ 5.20920757e-02 9.98642286e-01 -1.18295694e-05 1.11893631e+01] [ 1.34402352e-02 -6.89237036e-04 9.99909438e-01 2.58525713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.044391418 meters Centerline goodness [0,1] 0.9983085179693862 Centerline is valid? [True, True] Translation: X:350.58, Y:11.19, Z:2.58 [[ 9.98692965e-01 -4.90788758e-02 -1.42697764e-02 3.50581588e+02] [ 4.90837083e-02 9.98794668e-01 -1.15836424e-05 1.11909759e+01] [ 1.42531451e-02 -6.88845038e-04 9.99898181e-01 2.58475860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.074391418 meters Centerline goodness [0,1] 0.9983503174072836 Centerline is valid? [True, True] Translation: X:350.61, Y:11.19, Z:2.58 [[ 9.98810014e-01 -4.66217005e-02 -1.43168824e-02 3.50613371e+02] [ 4.66263236e-02 9.98912401e-01 -1.08874441e-05 1.11936352e+01] [ 1.43018189e-02 -6.56669102e-04 9.99897508e-01 2.58493053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.104391418 meters Centerline goodness [0,1] 0.9984773902886701 Centerline is valid? [True, True] Translation: X:350.64, Y:11.20, Z:2.58 [[ 9.98933842e-01 -4.39430421e-02 -1.41488142e-02 3.50644539e+02] [ 4.39472997e-02 9.99033851e-01 -1.00074502e-05 1.11955328e+01] [ 1.41355841e-02 -6.11805397e-04 9.99899900e-01 2.58491506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.134391418 meters Centerline goodness [0,1] 0.9988300428287893 Centerline is valid? [True, True] Translation: X:350.68, Y:11.20, Z:2.58 [[ 9.99054786e-01 -4.10998449e-02 -1.41540418e-02 3.50675541e+02] [ 4.11038292e-02 9.99154880e-01 -9.41833271e-06 1.11965111e+01] [ 1.41424671e-02 -5.72375887e-04 9.99899826e-01 2.58469743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.164391418 meters Centerline goodness [0,1] 0.9985416362840892 Centerline is valid? [True, True] Translation: X:350.71, Y:11.20, Z:2.58 [[ 9.99263101e-01 -3.54983575e-02 -1.45986828e-02 3.50705742e+02] [ 3.55020040e-02 9.99369605e-01 -9.37871592e-06 1.11999163e+01] [ 1.45898128e-02 -5.08910691e-04 9.99893434e-01 2.58401404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.194391418 meters Centerline goodness [0,1] 0.9986223020080992 Centerline is valid? [True, True] Translation: X:350.74, Y:11.21, Z:2.58 [[ 9.99483986e-01 -2.88960995e-02 -1.40276962e-02 3.50736870e+02] [ 2.88988183e-02 9.99582342e-01 -8.88785424e-06 1.12067844e+01] [ 1.40220942e-02 -3.96500576e-04 9.99901607e-01 2.58440805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.224391418 meters Centerline goodness [0,1] 0.9990578481251178 Centerline is valid? [True, True] Translation: X:350.77, Y:11.21, Z:2.58 [[ 9.99580647e-01 -2.55961861e-02 -1.35412379e-02 3.50768521e+02] [ 2.55984222e-02 9.99672307e-01 -8.19449709e-06 1.12107367e+01] [ 1.35370103e-02 -3.38443264e-04 9.99908313e-01 2.58498154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.254391418 meters Centerline goodness [0,1] 0.998705501618123 Centerline is valid? [True, True] Translation: X:350.80, Y:11.21, Z:2.58 [[ 9.99638654e-01 -2.29325707e-02 -1.40235279e-02 3.50798856e+02] [ 2.29347117e-02 9.99736965e-01 -8.15492948e-06 1.12138852e+01] [ 1.40200262e-02 -3.13473586e-04 9.99901665e-01 2.58495889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.284391418 meters Centerline goodness [0,1] 0.9987701928087546 Centerline is valid? [True, True] Translation: X:350.83, Y:11.22, Z:2.59 [[ 9.99712351e-01 -1.90560688e-02 -1.45629907e-02 3.50828331e+02] [ 1.90579645e-02 9.99818380e-01 -8.60419106e-06 1.12176821e+01] [ 1.45605097e-02 -2.68939244e-04 9.99893954e-01 2.58545195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.314391418 meters Centerline goodness [0,1] 0.9986671942356151 Centerline is valid? [True, True] Translation: X:350.86, Y:11.22, Z:2.59 [[ 9.99729655e-01 -1.79753824e-02 -1.47479904e-02 3.50857470e+02] [ 1.79772047e-02 9.99838397e-01 -9.00897291e-06 1.12180527e+01] [ 1.47457690e-02 -2.56121106e-04 9.99891242e-01 2.58564368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.344391418 meters Centerline goodness [0,1] 0.99893381276916 Centerline is valid? [True, True] Translation: X:350.89, Y:11.22, Z:2.59 [[ 9.99741665e-01 -1.75578232e-02 -1.44335410e-02 3.50887576e+02] [ 1.75595192e-02 9.99845820e-01 -9.22226368e-06 1.12185827e+01] [ 1.44314776e-02 -2.44226160e-04 9.99895831e-01 2.58660908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.374391418 meters Centerline goodness [0,1] 0.9989365473236441 Centerline is valid? [True, True] Translation: X:350.92, Y:11.22, Z:2.59 [[ 9.99719895e-01 -1.86838639e-02 -1.45274122e-02 3.50916965e+02] [ 1.86856928e-02 9.99825407e-01 -9.84221397e-06 1.12193678e+01] [ 1.45250597e-02 -2.61615305e-04 9.99894472e-01 2.58843748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.404391418 meters Centerline goodness [0,1] 0.9990588136869405 Centerline is valid? [True, True] Translation: X:350.95, Y:11.22, Z:2.59 [[ 9.99689662e-01 -1.99621024e-02 -1.49027986e-02 3.50946564e+02] [ 1.99641603e-02 9.99800696e-01 -1.06776352e-05 1.12199497e+01] [ 1.49000416e-02 -2.86847539e-04 9.99888947e-01 2.58941789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.434391418 meters Centerline goodness [0,1] 0.9987054205295247 Centerline is valid? [True, True] Translation: X:350.98, Y:11.22, Z:2.59 [[ 9.99573823e-01 -2.38099810e-02 -1.68895650e-02 3.50975995e+02] [ 2.38131653e-02 9.99716426e-01 -1.25804761e-05 1.12186106e+01] [ 1.68850751e-02 -3.89618887e-04 9.99857361e-01 2.58888739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.464391418 meters Centerline goodness [0,1] 0.9987852131113205 Centerline is valid? [True, True] Translation: X:351.01, Y:11.22, Z:2.59 [[ 9.99505677e-01 -2.58843143e-02 -1.78438882e-02 3.51005879e+02] [ 2.58881951e-02 9.99664844e-01 -1.35058270e-05 1.12169825e+01] [ 1.78382573e-02 -4.48446909e-04 9.99840785e-01 2.58844506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.494391418 meters Centerline goodness [0,1] 0.9990197918621869 Centerline is valid? [True, True] Translation: X:351.04, Y:11.22, Z:2.59 [[ 9.99436954e-01 -2.79880685e-02 -1.85052272e-02 3.51035982e+02] [ 2.79925977e-02 9.99608130e-01 -1.42807248e-05 1.12154057e+01] [ 1.84983753e-02 -5.03736696e-04 9.99828764e-01 2.58800212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.524391418 meters Centerline goodness [0,1] 0.9989334114104066 Centerline is valid? [True, True] Translation: X:351.07, Y:11.21, Z:2.59 [[ 9.99353790e-01 -3.06677181e-02 -1.87481581e-02 3.51065822e+02] [ 3.06728276e-02 9.99529478e-01 -1.50300088e-05 1.12139142e+01] [ 1.87397976e-02 -5.60038724e-04 9.99824238e-01 2.58843011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.554391418 meters Centerline goodness [0,1] 0.9987464482700986 Centerline is valid? [True, True] Translation: X:351.10, Y:11.22, Z:2.59 [[ 9.99184222e-01 -3.51809947e-02 -1.98289927e-02 3.51096339e+02] [ 3.51875919e-02 9.99380725e-01 -1.62081529e-05 1.12157579e+01] [ 1.98172833e-02 -6.81539572e-04 9.99803386e-01 2.59092903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.584391418 meters Centerline goodness [0,1] 0.9988524453346687 Centerline is valid? [True, True] Translation: X:351.13, Y:11.21, Z:2.59 [[ 9.99106257e-01 -3.73224006e-02 -1.98424970e-02 3.51126139e+02] [ 3.73294524e-02 9.99303013e-01 -1.50141966e-05 1.12141684e+01] [ 1.98292274e-02 -7.25708767e-04 9.99803118e-01 2.59157140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.614391418 meters Centerline goodness [0,1] 0.9989964877069744 Centerline is valid? [True, True] Translation: X:351.16, Y:11.21, Z:2.59 [[ 9.98948083e-01 -4.14417649e-02 -1.96292388e-02 3.51156447e+02] [ 4.14494750e-02 9.99140601e-01 -1.40785375e-05 1.12131398e+01] [ 1.96129529e-02 -7.99557914e-04 9.99807328e-01 2.59349176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.644391418 meters Centerline goodness [0,1] 0.9987455309540237 Centerline is valid? [True, True] Translation: X:351.19, Y:11.21, Z:2.59 [[ 9.98871552e-01 -4.32614409e-02 -1.95977031e-02 3.51187471e+02] [ 4.32694850e-02 9.99063437e-01 -1.35816152e-05 1.12127539e+01] [ 1.95799362e-02 -8.34416232e-04 9.99807946e-01 2.59414397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.67439141799997 meters Centerline goodness [0,1] 0.9986033810685178 Centerline is valid? [True, True] Translation: X:351.22, Y:11.21, Z:2.59 [[ 9.98810049e-01 -4.43442790e-02 -2.02995508e-02 3.51218221e+02] [ 4.43531497e-02 9.99015915e-01 -1.32396324e-05 1.12118419e+01] [ 2.02801614e-02 -8.87125138e-04 9.99793943e-01 2.59461621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.704391418 meters Centerline goodness [0,1] 0.9988509589270046 Centerline is valid? [True, True] Translation: X:351.25, Y:11.21, Z:2.60 [[ 9.98736752e-01 -4.55975528e-02 -2.11131259e-02 3.51249571e+02] [ 4.56074470e-02 9.98959439e-01 -1.29010882e-05 1.12146399e+01] [ 2.10917447e-02 -9.50030979e-04 9.99777093e-01 2.59612485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.734391418 meters Centerline goodness [0,1] 0.9988083291520321 Centerline is valid? [True, True] Translation: X:351.28, Y:11.21, Z:2.60 [[ 9.98726285e-01 -4.54497519e-02 -2.19118110e-02 3.51280400e+02] [ 4.54603869e-02 9.98966142e-01 -1.27739212e-05 1.12135714e+01] [ 2.18897379e-02 -9.83361755e-04 9.99759907e-01 2.59589265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.764391418 meters Centerline goodness [0,1] 0.9987705515847382 Centerline is valid? [True, True] Translation: X:351.31, Y:11.21, Z:2.60 [[ 9.98714109e-01 -4.51838865e-02 -2.29900964e-02 3.51310792e+02] [ 4.51955349e-02 9.98978160e-01 -1.29389286e-05 1.12132915e+01] [ 2.29671888e-02 -1.02612741e-03 9.99735693e-01 2.59512351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.794391418 meters Centerline goodness [0,1] 0.9988483363695374 Centerline is valid? [True, True] Translation: X:351.34, Y:11.22, Z:2.60 [[ 9.98731027e-01 -4.37690544e-02 -2.49119379e-02 3.51341914e+02] [ 4.37823143e-02 9.99041095e-01 -1.31778281e-05 1.12189401e+01] [ 2.48886265e-02 -1.07754119e-03 9.99689649e-01 2.59614298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.824391418 meters Centerline goodness [0,1] 0.9989520456069751 Centerline is valid? [True, True] Translation: X:351.37, Y:11.22, Z:2.60 [[ 9.98786739e-01 -4.24694779e-02 -2.49277829e-02 3.51371992e+02] [ 4.24823584e-02 9.99097217e-01 -1.28769251e-05 1.12246598e+01] [ 2.49058254e-02 -1.04612970e-03 9.99689254e-01 2.59850636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.854391418 meters Centerline goodness [0,1] 0.9988033506182689 Centerline is valid? [True, True] Translation: X:351.40, Y:11.23, Z:2.60 [[ 9.98883892e-01 -3.99647915e-02 -2.51751119e-02 3.51402016e+02] [ 3.99771437e-02 9.99200594e-01 -1.26496742e-05 1.12286251e+01] [ 2.51554923e-02 -9.93793512e-04 9.99683057e-01 2.60004515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.884391418 meters Centerline goodness [0,1] 0.9988700092073324 Centerline is valid? [True, True] Translation: X:351.43, Y:11.23, Z:2.60 [[ 9.98927472e-01 -3.89588189e-02 -2.50223241e-02 3.51431928e+02] [ 3.89707020e-02 9.99240354e-01 -1.27566136e-05 1.12261811e+01] [ 2.50038130e-02 -9.62394605e-04 9.99686893e-01 2.59884693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.914391418 meters Centerline goodness [0,1] 0.9988261926720885 Centerline is valid? [True, True] Translation: X:351.46, Y:11.23, Z:2.60 [[ 9.98974000e-01 -3.75339707e-02 -2.53406322e-02 3.51462194e+02] [ 3.75456964e-02 9.99294912e-01 -1.30763558e-05 1.12337879e+01] [ 2.53232556e-02 -9.38368743e-04 9.99678875e-01 2.60184631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.944391418 meters Centerline goodness [0,1] 0.9989124069271312 Centerline is valid? [True, True] Translation: X:351.49, Y:11.24, Z:2.60 [[ 9.99043806e-01 -3.56409349e-02 -2.53218640e-02 3.51492202e+02] [ 3.56520185e-02 9.99364265e-01 -1.37631864e-05 1.12386033e+01] [ 2.53062566e-02 -8.89025538e-04 9.99679350e-01 2.60290608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.974391418 meters Centerline goodness [0,1] 0.9988899128686327 Centerline is valid? [True, True] Translation: X:351.52, Y:11.24, Z:2.60 [[ 9.99059385e-01 -3.49997878e-02 -2.55999881e-02 3.51522316e+02] [ 3.50108980e-02 9.99386930e-01 -1.42285662e-05 1.12423444e+01] [ 2.55847915e-02 -8.82063388e-04 9.99672266e-01 2.60427770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.004391418 meters Centerline goodness [0,1] 0.9990370928577409 Centerline is valid? [True, True] Translation: X:351.55, Y:11.24, Z:2.61 [[ 9.99080930e-01 -3.45159704e-02 -2.54154046e-02 3.51553144e+02] [ 3.45267646e-02 9.99403773e-01 -1.41259740e-05 1.12447121e+01] [ 2.54007388e-02 -8.63398698e-04 9.99676976e-01 2.60557567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.034391418 meters Centerline goodness [0,1] 0.9989720351605933 Centerline is valid? [True, True] Translation: X:351.58, Y:11.25, Z:2.61 [[ 9.99098179e-01 -3.41668183e-02 -2.52082849e-02 3.51582613e+02] [ 3.41773173e-02 9.99415785e-01 -1.43631076e-05 1.12469230e+01] [ 2.51940485e-02 -8.47201395e-04 9.99682221e-01 2.60620813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.064391418 meters Centerline goodness [0,1] 0.9990772005620687 Centerline is valid? [True, True] Translation: X:351.61, Y:11.25, Z:2.61 [[ 9.99083071e-01 -3.42808984e-02 -2.56483533e-02 3.51613312e+02] [ 3.42918007e-02 9.99411863e-01 -1.47748181e-05 1.12485752e+01] [ 2.56337750e-02 -8.64766949e-04 9.99671027e-01 2.60665811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.094391418 meters Centerline goodness [0,1] 0.9988655700510494 Centerline is valid? [True, True] Translation: X:351.64, Y:11.25, Z:2.61 [[ 9.99002831e-01 -3.52937788e-02 -2.73439886e-02 3.51643477e+02] [ 3.53065500e-02 9.99376529e-01 -1.57515944e-05 1.12509921e+01] [ 2.73274963e-02 -9.49686014e-04 9.99626083e-01 2.60721172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.124391418 meters Centerline goodness [0,1] 0.9991169049621531 Centerline is valid? [True, True] Translation: X:351.67, Y:11.25, Z:2.61 [[ 9.98967553e-01 -3.58152038e-02 -2.79481670e-02 3.51673227e+02] [ 3.58287384e-02 9.99357944e-01 -1.65071801e-05 1.12505392e+01] [ 2.79308140e-02 -9.84857429e-04 9.99609374e-01 2.60687955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.154391418 meters Centerline goodness [0,1] 0.9988418858309995 Centerline is valid? [True, True] Translation: X:351.70, Y:11.25, Z:2.61 [[ 9.98929508e-01 -3.63628192e-02 -2.85934093e-02 3.51702470e+02] [ 3.63771814e-02 9.99338131e-01 -1.79013130e-05 1.12536674e+01] [ 2.85751352e-02 -1.02226549e-03 9.99591125e-01 2.60828007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.184391418 meters Centerline goodness [0,1] 0.9990717299578059 Centerline is valid? [True, True] Translation: X:351.73, Y:11.26, Z:2.61 [[ 9.98899963e-01 -3.65089102e-02 -2.94272728e-02 3.51732486e+02] [ 3.65241501e-02 9.99332770e-01 -1.96497967e-05 1.12572011e+01] [ 2.94083554e-02 -1.05517795e-03 9.99566924e-01 2.60934457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.214391418 meters Centerline goodness [0,1] 0.9990505527892649 Centerline is valid? [True, True] Translation: X:351.76, Y:11.26, Z:2.61 [[ 9.98905522e-01 -3.59304252e-02 -2.99460012e-02 3.51762080e+02] [ 3.59459107e-02 9.99353737e-01 -2.12375047e-05 1.12586581e+01] [ 2.99274112e-02 -1.05522202e-03 9.99551518e-01 2.60932402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.244391418 meters Centerline goodness [0,1] 0.9990723953282455 Centerline is valid? [True, True] Translation: X:351.79, Y:11.26, Z:2.61 [[ 9.98999837e-01 -3.39306433e-02 -2.91210698e-02 3.51790454e+02] [ 3.39443913e-02 9.99423723e-01 -2.22684512e-05 1.12621773e+01] [ 2.91050436e-02 -9.66250808e-04 9.99575891e-01 2.60993697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.274391418 meters Centerline goodness [0,1] 0.9991767462478627 Centerline is valid? [True, True] Translation: X:351.82, Y:11.26, Z:2.61 [[ 9.99067835e-01 -3.23050312e-02 -2.86329445e-02 3.51818747e+02] [ 3.23176057e-02 9.99477649e-01 -2.36194739e-05 1.12639145e+01] [ 2.86187511e-02 -9.01750754e-04 9.99589993e-01 2.61008350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.304391418 meters Centerline goodness [0,1] 0.9994515115077105 Centerline is valid? [True, True] Translation: X:351.85, Y:11.27, Z:2.61 [[ 9.99146516e-01 -3.05489963e-02 -2.78028310e-02 3.51848118e+02] [ 3.05601376e-02 9.99532930e-01 -2.41942356e-05 1.12677654e+01] [ 2.77905842e-02 -8.25484755e-04 9.99613426e-01 2.61155321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.334391418 meters Centerline goodness [0,1] 0.9990275663791646 Centerline is valid? [True, True] Translation: X:351.88, Y:11.27, Z:2.61 [[ 9.99276420e-01 -2.69216176e-02 -2.68675218e-02 3.51877752e+02] [ 2.69306825e-02 9.99637303e-01 -2.44623314e-05 1.12748910e+01] [ 2.68584356e-02 -6.99116068e-04 9.99639003e-01 2.61399221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.364391418 meters Centerline goodness [0,1] 0.9990464889604611 Centerline is valid? [True, True] Translation: X:351.91, Y:11.28, Z:2.61 [[ 9.99323218e-01 -2.52373101e-02 -2.67616157e-02 3.51906701e+02] [ 2.52455457e-02 9.99681280e-01 -3.01349641e-05 1.12783085e+01] [ 2.67538468e-02 -6.45497023e-04 9.99641843e-01 2.61487460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.394391418 meters Centerline goodness [0,1] 0.9991532599491956 Centerline is valid? [True, True] Translation: X:351.94, Y:11.28, Z:2.62 [[ 9.99357850e-01 -2.38137288e-02 -2.67729931e-02 3.51935484e+02] [ 2.38212541e-02 9.99716233e-01 -3.78732546e-05 1.12814468e+01] [ 2.67662977e-02 -5.99917337e-04 9.99641538e-01 2.61555649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42439141799997 meters Centerline goodness [0,1] 0.9990257952475751 Centerline is valid? [True, True] Translation: X:351.96, Y:11.29, Z:2.62 [[ 9.99428312e-01 -2.05389145e-02 -2.68551975e-02 3.51964131e+02] [ 2.05450972e-02 9.99788926e-01 -4.57069277e-05 1.12864952e+01] [ 2.68504678e-02 -5.06061846e-04 9.99639333e-01 2.61582517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.454391418 meters Centerline goodness [0,1] 0.9992384659319273 Centerline is valid? [True, True] Translation: X:351.99, Y:11.29, Z:2.62 [[ 9.99465642e-01 -1.90603737e-02 -2.65543480e-02 3.51993365e+02] [ 1.90657057e-02 9.99818232e-01 -5.23985110e-05 1.12891275e+01] [ 2.65505200e-02 -4.53906871e-04 9.99647370e-01 2.61669899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.484391418 meters Centerline goodness [0,1] 0.9991300842333072 Centerline is valid? [True, True] Translation: X:352.02, Y:11.29, Z:2.62 [[ 9.99533339e-01 -1.60884429e-02 -2.59666474e-02 3.52020928e+02] [ 1.60924381e-02 9.99870507e-01 -5.51135123e-05 1.12940587e+01] [ 2.59641716e-02 -3.62778873e-04 9.99662808e-01 2.61767674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.514391418 meters Centerline goodness [0,1] 0.9991294562286345 Centerline is valid? [True, True] Translation: X:352.05, Y:11.30, Z:2.62 [[ 9.99555226e-01 -1.49773886e-02 -2.57881445e-02 3.52048342e+02] [ 1.49808932e-02 9.99887778e-01 -5.73036005e-05 1.12966063e+01] [ 2.57861087e-02 -3.29051324e-04 9.99667429e-01 2.61820090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.544391418 meters Centerline goodness [0,1] 0.9993413924238883 Centerline is valid? [True, True] Translation: X:352.08, Y:11.30, Z:2.62 [[ 9.99561145e-01 -1.41828947e-02 -2.60069648e-02 3.52075879e+02] [ 1.41860201e-02 9.99899371e-01 -6.43276530e-05 1.12989493e+01] [ 2.60052601e-02 -3.04635904e-04 9.99661760e-01 2.61856094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.574391418 meters Centerline goodness [0,1] 0.9992771340491123 Centerline is valid? [True, True] Translation: X:352.10, Y:11.30, Z:2.62 [[ 9.99590367e-01 -1.26886870e-02 -2.56533524e-02 3.52104401e+02] [ 1.26910476e-02 9.99919463e-01 -7.07950142e-05 1.13033850e+01] [ 2.56521847e-02 -2.54801903e-04 9.99670896e-01 2.61847362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.604391418 meters Centerline goodness [0,1] 0.9994042299672327 Centerline is valid? [True, True] Translation: X:352.13, Y:11.31, Z:2.62 [[ 9.99601149e-01 -1.21874882e-02 -2.54756299e-02 3.52131955e+02] [ 1.21895555e-02 9.99925702e-01 -7.41522601e-05 1.13050162e+01] [ 2.54746408e-02 -2.36413919e-04 9.99675441e-01 2.61862270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.634391418 meters Centerline goodness [0,1] 0.9995310668229778 Centerline is valid? [True, True] Translation: X:352.16, Y:11.31, Z:2.62 [[ 9.99605241e-01 -1.24442430e-02 -2.51893375e-02 3.52159394e+02] [ 1.24461868e-02 9.99922540e-01 -7.96187104e-05 1.13071216e+01] [ 2.51883771e-02 -2.33923920e-04 9.99682695e-01 2.61998843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.664391418 meters Centerline goodness [0,1] 0.9992537472548559 Centerline is valid? [True, True] Translation: X:352.19, Y:11.31, Z:2.62 [[ 9.99663203e-01 -1.18509319e-02 -2.30875560e-02 3.52186992e+02] [ 1.18523188e-02 9.99929756e-01 -7.67686549e-05 1.13095798e+01] [ 2.30868440e-02 -1.96898275e-04 9.99733444e-01 2.61999221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.694391418 meters Centerline goodness [0,1] 0.9993384267360963 Centerline is valid? [True, True] Translation: X:352.22, Y:11.31, Z:2.62 [[ 9.99661033e-01 -1.30611074e-02 -2.25216797e-02 3.52215261e+02] [ 1.30626165e-02 9.99914677e-01 -8.01128655e-05 1.13107079e+01] [ 2.25208045e-02 -2.14106356e-04 9.99746352e-01 2.62197533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.724391418 meters Centerline goodness [0,1] 0.9993384267360963 Centerline is valid? [True, True] Translation: X:352.24, Y:11.31, Z:2.62 [[ 9.99657012e-01 -1.33653508e-02 -2.25216539e-02 3.52242640e+02] [ 1.33667828e-02 9.99910657e-01 -8.69648986e-05 1.13109637e+01] [ 2.25208041e-02 -2.14106985e-04 9.99746352e-01 2.62219012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.754391418 meters Centerline goodness [0,1] 0.9994875955420812 Centerline is valid? [True, True] Translation: X:352.27, Y:11.31, Z:2.63 [[ 9.99670695e-01 -1.47322335e-02 -2.10110105e-02 3.52270114e+02] [ 1.47336487e-02 9.99891450e-01 -8.74570275e-05 1.13135869e+01] [ 2.10100182e-02 -2.22140619e-04 9.99779241e-01 2.62513325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.784391418 meters Centerline goodness [0,1] 0.9995721467536635 Centerline is valid? [True, True] Translation: X:352.30, Y:11.31, Z:2.63 [[ 9.99663299e-01 -1.56177237e-02 -2.07213700e-02 3.52298188e+02] [ 1.56191578e-02 9.99878009e-01 -9.26383202e-05 1.13144179e+01] [ 2.07202889e-02 -2.31043219e-04 9.99785285e-01 2.62539216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.814391418 meters Centerline goodness [0,1] 0.9996361768608484 Centerline is valid? [True, True] Translation: X:352.33, Y:11.32, Z:2.63 [[ 9.99642861e-01 -1.66082919e-02 -2.09359565e-02 3.52326771e+02] [ 1.66098477e-02 9.99862042e-01 -9.95864106e-05 1.13154721e+01] [ 2.09347222e-02 -2.48192205e-04 9.99780814e-01 2.62548249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.844391418 meters Centerline goodness [0,1] 0.9996138499163342 Centerline is valid? [True, True] Translation: X:352.36, Y:11.32, Z:2.63 [[ 9.99623909e-01 -1.70441374e-02 -2.14834241e-02 3.52355352e+02] [ 1.70457484e-02 9.99854705e-01 -1.08143126e-04 1.13170883e+01] [ 2.14821459e-02 -2.58098589e-04 9.99769199e-01 2.62548735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.874391418 meters Centerline goodness [0,1] 0.9994417845717843 Centerline is valid? [True, True] Translation: X:352.38, Y:11.32, Z:2.62 [[ 9.99611834e-01 -1.71224629e-02 -2.19773381e-02 3.52384011e+02] [ 1.71240333e-02 9.99853366e-01 -1.16748844e-04 1.13197254e+01] [ 2.19761146e-02 -2.59637145e-04 9.99758462e-01 2.62424943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.904391418 meters Centerline goodness [0,1] 0.9995486394704036 Centerline is valid? [True, True] Translation: X:352.41, Y:11.32, Z:2.62 [[ 9.99621790e-01 -1.63627687e-02 -2.21028682e-02 3.52412174e+02] [ 1.63640928e-02 9.99866092e-01 -1.20976956e-04 1.13215293e+01] [ 2.21018879e-02 -2.40762183e-04 9.99755694e-01 2.62377827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.934391418 meters Centerline goodness [0,1] 0.9996336285855908 Centerline is valid? [True, True] Translation: X:352.44, Y:11.33, Z:2.62 [[ 9.99662433e-01 -1.43350001e-02 -2.16685932e-02 3.52441105e+02] [ 1.43356979e-02 9.99897231e-01 -1.23143260e-04 1.13266361e+01] [ 2.16681316e-02 -1.87532713e-04 9.99765201e-01 2.62451812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.964391418 meters Centerline goodness [0,1] 0.9995040645147379 Centerline is valid? [True, True] Translation: X:352.47, Y:11.33, Z:2.62 [[ 9.99680318e-01 -1.33567592e-02 -2.14676218e-02 3.52469873e+02] [ 1.33570932e-02 9.99910782e-01 -1.27834347e-04 1.13296440e+01] [ 2.14674140e-02 -1.58951546e-04 9.99769536e-01 2.62492951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.994391418 meters Centerline goodness [0,1] 0.9995902081311334 Centerline is valid? [True, True] Translation: X:352.50, Y:11.33, Z:2.63 [[ 9.99705201e-01 -1.19643854e-02 -2.11273523e-02 3.52498944e+02] [ 1.19642767e-02 9.99928417e-01 -1.31553850e-04 1.13328115e+01] [ 2.11274139e-02 -1.21258419e-04 9.99776784e-01 2.62558501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.024391418 meters Centerline goodness [0,1] 0.9996758999178946 Centerline is valid? [True, True] Translation: X:352.53, Y:11.34, Z:2.63 [[ 9.99767202e-01 -8.90615379e-03 -1.96525601e-02 3.52526468e+02] [ 8.90540703e-03 9.99960338e-01 -1.25514993e-04 1.13385446e+01] [ 1.96528985e-02 -4.95282734e-05 9.99806862e-01 2.62663005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.054391418 meters Centerline goodness [0,1] 0.9995883971317779 Centerline is valid? [True, True] Translation: X:352.56, Y:11.34, Z:2.63 [[ 9.99799363e-01 -7.37564159e-03 -1.86234771e-02 3.52555281e+02] [ 7.37463734e-03 9.99972799e-01 -1.22600953e-04 1.13414055e+01] [ 1.86238748e-02 -1.47650356e-05 9.99826560e-01 2.62774459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.084391418 meters Centerline goodness [0,1] 0.9996966019417476 Centerline is valid? [True, True] Translation: X:352.58, Y:11.34, Z:2.63 [[ 9.99818092e-01 -6.48756086e-03 -1.79358207e-02 3.52583039e+02] [ 6.48639204e-03 9.99978956e-01 -1.23340864e-04 1.13441351e+01] [ 1.79362434e-02 6.97966277e-06 9.99839133e-01 2.62906575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.114391418 meters Centerline goodness [0,1] 0.999739181464496 Centerline is valid? [True, True] Translation: X:352.61, Y:11.35, Z:2.63 [[ 9.99850498e-01 -4.57074880e-03 -1.66760189e-02 3.52610194e+02] [ 4.56940096e-03 9.99989553e-01 -1.18926928e-04 1.13489200e+01] [ 1.66763882e-02 4.27097312e-05 9.99860938e-01 2.62975794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.144391418 meters Centerline goodness [0,1] 0.9997826512204134 Centerline is valid? [True, True] Translation: X:352.64, Y:11.35, Z:2.63 [[ 9.99852770e-01 -4.21105328e-03 -1.66344864e-02 3.52637104e+02] [ 4.20961427e-03 9.99991132e-01 -1.21522093e-04 1.13514759e+01] [ 1.66348506e-02 5.14794301e-05 9.99861630e-01 2.62883162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.17439141799997 meters Centerline goodness [0,1] 0.9998256776780267 Centerline is valid? [True, True] Translation: X:352.67, Y:11.35, Z:2.63 [[ 9.99857845e-01 -5.07103525e-03 -1.60802639e-02 3.52665405e+02] [ 5.06974459e-03 9.99987141e-01 -1.21026396e-04 1.13534006e+01] [ 1.60806709e-02 3.94863604e-05 9.99870697e-01 2.63043074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.204391418 meters Centerline goodness [0,1] 0.9995859123005841 Centerline is valid? [True, True] Translation: X:352.69, Y:11.35, Z:2.63 [[ 9.99846619e-01 -6.44211892e-03 -1.62861053e-02 3.52693244e+02] [ 6.44089373e-03 9.99979249e-01 -1.27680920e-04 1.13538819e+01] [ 1.62865899e-02 2.27642621e-05 9.99867364e-01 2.63114774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.234391418 meters Centerline goodness [0,1] 0.9996299601663002 Centerline is valid? [True, True] Translation: X:352.72, Y:11.35, Z:2.63 [[ 9.99848281e-01 -7.50173962e-03 -1.57206215e-02 3.52720468e+02] [ 7.50067454e-03 9.99971862e-01 -1.26711763e-04 1.13544886e+01] [ 1.57211297e-02 8.77727270e-06 9.99876415e-01 2.63105427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.264391418 meters Centerline goodness [0,1] 0.9997165347462986 Centerline is valid? [True, True] Translation: X:352.75, Y:11.36, Z:2.63 [[ 9.99837044e-01 -9.97898535e-03 -1.50434702e-02 3.52747967e+02] [ 9.97824090e-03 9.99950208e-01 -1.24546135e-04 1.13551205e+01] [ 1.50439640e-02 -2.55815296e-05 9.99886833e-01 2.63229209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.294391418 meters Centerline goodness [0,1] 0.9995640897103376 Centerline is valid? [True, True] Translation: X:352.78, Y:11.36, Z:2.63 [[ 9.99820163e-01 -1.17384797e-02 -1.48946175e-02 3.52776324e+02] [ 1.17378802e-02 9.99931101e-01 -1.27675041e-04 1.13556406e+01] [ 1.48950899e-02 -4.71791550e-05 9.99889061e-01 2.63261232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.324391418 meters Centerline goodness [0,1] 0.9997819450501526 Centerline is valid? [True, True] Translation: X:352.81, Y:11.36, Z:2.63 [[ 9.99808287e-01 -1.28147405e-02 -1.48044699e-02 3.52805944e+02] [ 1.28142308e-02 9.99917886e-01 -1.29292067e-04 1.13558180e+01] [ 1.48049111e-02 -6.04406134e-05 9.99890399e-01 2.63314543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.354391418 meters Centerline goodness [0,1] 0.999651233760572 Centerline is valid? [True, True] Translation: X:352.84, Y:11.36, Z:2.63 [[ 9.99780364e-01 -1.53956826e-02 -1.42195790e-02 3.52835535e+02] [ 1.53954675e-02 9.99881475e-01 -1.24597052e-04 1.13555272e+01] [ 1.42198119e-02 -9.43473803e-05 9.99898889e-01 2.63308421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.384391418 meters Centerline goodness [0,1] 0.9996951020319271 Centerline is valid? [True, True] Translation: X:352.87, Y:11.36, Z:2.63 [[ 9.99764509e-01 -1.66105144e-02 -1.39648323e-02 3.52867093e+02] [ 1.66104268e-02 9.99862030e-01 -1.22270684e-04 1.13555354e+01] [ 1.39649366e-02 -1.09719935e-04 9.99902479e-01 2.63344849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.414391418 meters Centerline goodness [0,1] 0.9996512261580381 Centerline is valid? [True, True] Translation: X:352.90, Y:11.36, Z:2.63 [[ 9.99727842e-01 -1.90859634e-02 -1.34152121e-02 3.52898050e+02] [ 1.90861123e-02 9.99817837e-01 -1.16937293e-04 1.13556071e+01] [ 1.34150002e-02 -1.39138777e-04 9.99910005e-01 2.63434358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.444391418 meters Centerline goodness [0,1] 0.9997605572485851 Centerline is valid? [True, True] Translation: X:352.93, Y:11.36, Z:2.63 [[ 9.99710198e-01 -2.01928536e-02 -1.31060918e-02 3.52928983e+02] [ 2.01930991e-02 9.99796092e-01 -1.13613601e-04 1.13552374e+01] [ 1.31057136e-02 -1.51071936e-04 9.99914105e-01 2.63439792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.474391418 meters Centerline goodness [0,1] 0.9998474480233622 Centerline is valid? [True, True] Translation: X:352.96, Y:11.36, Z:2.63 [[ 9.99681800e-01 -2.12165449e-02 -1.36439210e-02 3.52961479e+02] [ 2.12169193e-02 9.99774889e-01 -1.17321016e-04 1.13550487e+01] [ 1.36433387e-02 -1.72198286e-04 9.99906910e-01 2.63412442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.504391418 meters Centerline goodness [0,1] 0.9998475377344107 Centerline is valid? [True, True] Translation: X:352.99, Y:11.35, Z:2.63 [[ 9.99602437e-01 -2.35785845e-02 -1.54602204e-02 3.52993595e+02] [ 2.35793681e-02 9.99721959e-01 -1.31619679e-04 1.13543189e+01] [ 1.54590252e-02 -2.32974875e-04 9.99880475e-01 2.63224156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.534391418 meters Centerline goodness [0,1] 0.9996297909407665 Centerline is valid? [True, True] Translation: X:353.03, Y:11.35, Z:2.63 [[ 9.99568703e-01 -2.46456529e-02 -1.59687190e-02 3.53025577e+02] [ 2.46466460e-02 9.99696216e-01 -1.34642770e-04 1.13537406e+01] [ 1.59671863e-02 -2.58990665e-04 9.99872483e-01 2.63137894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.564391418 meters Centerline goodness [0,1] 0.9997391190921344 Centerline is valid? [True, True] Translation: X:353.06, Y:11.35, Z:2.63 [[ 9.99501489e-01 -2.65324939e-02 -1.71114309e-02 3.53056246e+02] [ 2.65339284e-02 9.99647903e-01 -1.43233360e-04 1.13526074e+01] [ 1.71092064e-02 -3.10871528e-04 9.99853578e-01 2.63025180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.594391418 meters Centerline goodness [0,1] 0.9998037762176776 Centerline is valid? [True, True] Translation: X:353.09, Y:11.35, Z:2.63 [[ 9.99495518e-01 -2.69292698e-02 -1.68381420e-02 3.53088412e+02] [ 2.69307324e-02 9.99637292e-01 -1.39920750e-04 1.13531795e+01] [ 1.68358027e-02 -3.13613333e-04 9.99858219e-01 2.63102588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.624391418 meters Centerline goodness [0,1] 0.9998693522046815 Centerline is valid? [True, True] Translation: X:353.12, Y:11.35, Z:2.63 [[ 9.99481332e-01 -2.76100071e-02 -1.65757248e-02 3.53120215e+02] [ 2.76115397e-02 9.99618719e-01 -1.36430884e-04 1.13532120e+01] [ 1.65731717e-02 -3.21321163e-04 9.99862604e-01 2.63165694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.654391418 meters Centerline goodness [0,1] 0.9997815830857941 Centerline is valid? [True, True] Translation: X:353.15, Y:11.35, Z:2.63 [[ 9.99469327e-01 -2.84433603e-02 -1.58757548e-02 3.53151012e+02] [ 2.84448974e-02 9.99595354e-01 -1.29023183e-04 1.13523081e+01] [ 1.58730006e-02 -3.22629503e-04 9.99873964e-01 2.63237369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.684391418 meters Centerline goodness [0,1] 0.9998691527641479 Centerline is valid? [True, True] Translation: X:353.18, Y:11.35, Z:2.63 [[ 9.99472438e-01 -2.86292625e-02 -1.53365882e-02 3.53183070e+02] [ 2.86307429e-02 9.99590049e-01 -1.23067134e-04 1.13526826e+01] [ 1.53338243e-02 -3.16095707e-04 9.99882380e-01 2.63342905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.714391418 meters Centerline goodness [0,1] 0.9996949625239673 Centerline is valid? [True, True] Translation: X:353.21, Y:11.35, Z:2.63 [[ 9.99471262e-01 -2.88344310e-02 -1.50256950e-02 3.53214796e+02] [ 2.88358927e-02 9.99584152e-01 -1.19406782e-04 1.13532009e+01] [ 1.50228896e-02 -3.13935682e-04 9.99887101e-01 2.63458783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.744391418 meters Centerline goodness [0,1] 0.9996721741410962 Centerline is valid? [True, True] Translation: X:353.25, Y:11.35, Z:2.64 [[ 9.99484349e-01 -2.85605635e-02 -1.46741335e-02 3.53246797e+02] [ 2.85619447e-02 9.99592018e-01 -1.15479950e-04 1.13548450e+01] [ 1.46714449e-02 -3.03701387e-04 9.99892322e-01 2.63637839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.774391418 meters Centerline goodness [0,1] 0.9998034161897689 Centerline is valid? [True, True] Translation: X:353.28, Y:11.36, Z:2.64 [[ 9.99495107e-01 -2.81092818e-02 -1.48121137e-02 3.53278584e+02] [ 2.81106568e-02 9.99604811e-01 -1.15407047e-04 1.13553614e+01] [ 1.48095041e-02 -3.01029465e-04 9.99890288e-01 2.63643953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.804391418 meters Centerline goodness [0,1] 0.9998250754362181 Centerline is valid? [True, True] Translation: X:353.31, Y:11.36, Z:2.64 [[ 9.99481885e-01 -2.75333458e-02 -1.66696139e-02 3.53311220e+02] [ 2.75350301e-02 9.99620831e-01 -1.28514057e-04 1.13567938e+01] [ 1.66668318e-02 -3.30550850e-04 9.99861044e-01 2.63567452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.834391418 meters Centerline goodness [0,1] 0.9998024452883201 Centerline is valid? [True, True] Translation: X:353.34, Y:11.36, Z:2.64 [[ 9.99490488e-01 -2.63134904e-02 -1.80655471e-02 3.53343803e+02] [ 2.63152958e-02 9.99653683e-01 -1.37815311e-04 1.13599591e+01] [ 1.80629170e-02 -3.37655122e-04 9.99836795e-01 2.63534543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.864391418 meters Centerline goodness [0,1] 0.9998024452883201 Centerline is valid? [True, True] Translation: X:353.38, Y:11.36, Z:2.64 [[ 9.99492555e-01 -2.62348531e-02 -1.80655578e-02 3.53375510e+02] [ 2.62366714e-02 9.99655750e-01 -1.36393628e-04 1.13601215e+01] [ 1.80629170e-02 -3.37655688e-04 9.99836795e-01 2.63559297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.894391418 meters Centerline goodness [0,1] 0.9997799634739367 Centerline is valid? [True, True] Translation: X:353.41, Y:11.36, Z:2.63 [[ 9.99530214e-01 -2.40087407e-02 -1.90507723e-02 3.53408086e+02] [ 2.40103878e-02 9.99711699e-01 -1.42300207e-04 1.13630034e+01] [ 1.90486964e-02 -3.15183075e-04 9.99818507e-01 2.63461548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92439141799997 meters Centerline goodness [0,1] 0.9999559189790835 Centerline is valid? [True, True] Translation: X:353.44, Y:11.37, Z:2.64 [[ 9.99567783e-01 -2.23638604e-02 -1.90815504e-02 3.53439786e+02] [ 2.23652336e-02 9.99749857e-01 -1.41462155e-04 1.13656425e+01] [ 1.90799410e-02 -2.85362320e-04 9.99817921e-01 2.63531684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.954391418 meters Centerline goodness [0,1] 0.9999779696862884 Centerline is valid? [True, True] Translation: X:353.47, Y:11.37, Z:2.64 [[ 9.99652138e-01 -1.89283115e-02 -1.83663342e-02 3.53471341e+02] [ 1.89290174e-02 9.99820821e-01 -1.35424275e-04 1.13710516e+01] [ 1.83656067e-02 -2.12279495e-04 9.99831315e-01 2.63683915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.984391418 meters Centerline goodness [0,1] 0.9997791812039041 Centerline is valid? [True, True] Translation: X:353.50, Y:11.37, Z:2.64 [[ 9.99692672e-01 -1.70518916e-02 -1.79942702e-02 3.53501543e+02] [ 1.70522747e-02 9.99854591e-01 -1.32159321e-04 1.13731513e+01] [ 1.79939073e-02 -1.74724534e-04 9.99838081e-01 2.63712153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.014391418 meters Centerline goodness [0,1] 0.9998895686551671 Centerline is valid? [True, True] Translation: X:353.53, Y:11.38, Z:2.64 [[ 9.99726897e-01 -1.52760538e-02 -1.76853837e-02 3.53531767e+02] [ 1.52761487e-02 9.99883304e-01 -1.29734492e-04 1.13760384e+01] [ 1.76853017e-02 -1.40465490e-04 9.99843593e-01 2.63827905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.044391418 meters Centerline goodness [0,1] 0.9998454882571075 Centerline is valid? [True, True] Translation: X:353.56, Y:11.38, Z:2.64 [[ 9.99786341e-01 -1.21267232e-02 -1.67395941e-02 3.53561676e+02] [ 1.21263668e-02 9.99926465e-01 -1.22796473e-04 1.13802905e+01] [ 1.67398523e-02 -8.02202214e-05 9.99859876e-01 2.63950553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.074391418 meters Centerline goodness [0,1] 0.9998452525699126 Centerline is valid? [True, True] Translation: X:353.59, Y:11.38, Z:2.64 [[ 9.99801330e-01 -1.10793608e-02 -1.65695112e-02 3.53590086e+02] [ 1.10788592e-02 9.99938620e-01 -1.22065793e-04 1.13821751e+01] [ 1.65698466e-02 -6.15297403e-05 9.99862709e-01 2.63945609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.104391418 meters Centerline goodness [0,1] 0.9998668767056422 Centerline is valid? [True, True] Translation: X:353.62, Y:11.38, Z:2.64 [[ 9.99798289e-01 -1.09622005e-02 -1.68288628e-02 3.53619227e+02] [ 1.09616167e-02 9.99939912e-01 -1.26929940e-04 1.13842972e+01] [ 1.68292430e-02 -5.75672073e-05 9.99858377e-01 2.64066930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.134391418 meters Centerline goodness [0,1] 0.9998226832457832 Centerline is valid? [True, True] Translation: X:353.65, Y:11.39, Z:2.64 [[ 9.99783777e-01 -1.11069180e-02 -1.75794193e-02 3.53647513e+02] [ 1.11062506e-02 9.99938315e-01 -1.35593308e-04 1.13857017e+01] [ 1.75798409e-02 -5.96774461e-05 9.99845461e-01 2.64020845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.164391418 meters Centerline goodness [0,1] 0.9999555940407203 Centerline is valid? [True, True] Translation: X:353.68, Y:11.39, Z:2.64 [[ 9.99753556e-01 -1.22902884e-02 -1.84871785e-02 3.53676396e+02] [ 1.22896853e-02 9.99924468e-01 -1.46239832e-04 1.13857093e+01] [ 1.84875795e-02 -8.09978134e-05 9.99829087e-01 2.64014818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.194391418 meters Centerline goodness [0,1] 0.9999113416228916 Centerline is valid? [True, True] Translation: X:353.71, Y:11.38, Z:2.64 [[ 9.99689331e-01 -1.55329961e-02 -1.94927355e-02 3.53705318e+02] [ 1.55328320e-02 9.99879346e-01 -1.59829976e-04 1.13843554e+01] [ 1.94928663e-02 -1.42997064e-04 9.99809986e-01 2.63931833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.224391418 meters Centerline goodness [0,1] 0.9998890072811224 Centerline is valid? [True, True] Translation: X:353.73, Y:11.38, Z:2.64 [[ 9.99659875e-01 -1.70312205e-02 -1.97502164e-02 3.53734635e+02] [ 1.70312953e-02 9.99854943e-01 -1.64424968e-04 1.13831072e+01] [ 1.97501518e-02 -1.72002725e-04 9.99804932e-01 2.63815070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.254391418 meters Centerline goodness [0,1] 0.9999778265593472 Centerline is valid? [True, True] Translation: X:353.76, Y:11.38, Z:2.64 [[ 9.99630194e-01 -1.84497112e-02 -1.99770727e-02 3.53764615e+02] [ 1.84500681e-02 9.99829769e-01 -1.66458664e-04 1.13834269e+01] [ 1.99767431e-02 -2.02181245e-04 9.99800425e-01 2.63929503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.284391418 meters Centerline goodness [0,1] 0.999867024223754 Centerline is valid? [True, True] Translation: X:353.80, Y:11.38, Z:2.64 [[ 9.99591620e-01 -1.98215685e-02 -2.05839510e-02 3.53795492e+02] [ 1.98222384e-02 9.99803505e-01 -1.71506641e-04 1.13829606e+01] [ 2.05833059e-02 -2.36583382e-04 9.99788113e-01 2.63935905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.314391418 meters Centerline goodness [0,1] 0.9999555812197397 Centerline is valid? [True, True] Translation: X:353.83, Y:11.38, Z:2.64 [[ 9.99528331e-01 -2.24643656e-02 -2.09396045e-02 3.53825494e+02] [ 2.24656441e-02 9.99747600e-01 -1.74210341e-04 1.13812790e+01] [ 2.09382329e-02 -2.96293529e-04 9.99780727e-01 2.63929238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.344391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.86, Y:11.38, Z:2.64 [[ 9.99495575e-01 -2.37283555e-02 -2.11082890e-02 3.53856826e+02] [ 2.37299507e-02 9.99718390e-01 -1.74937398e-04 1.13801345e+01] [ 2.11064957e-02 -3.26049501e-04 9.99777180e-01 2.63930040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.374391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.89, Y:11.38, Z:2.64 [[ 9.99432036e-01 -2.66560068e-02 -2.06170733e-02 3.53886990e+02] [ 2.66581625e-02 9.99644594e-01 -1.70318861e-04 1.13778818e+01] [ 2.06142859e-02 -3.79391164e-04 9.99787431e-01 2.64087570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.404391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.92, Y:11.38, Z:2.64 [[ 9.99412204e-01 -2.79189293e-02 -1.98942157e-02 3.53918673e+02] [ 2.79212034e-02 9.99610114e-01 -1.63496755e-04 1.13772666e+01] [ 1.98910238e-02 -3.92069789e-04 9.99802077e-01 2.64214547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.434391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.95, Y:11.38, Z:2.64 [[ 9.99382851e-01 -2.89289115e-02 -1.99257309e-02 3.53951175e+02] [ 2.89314219e-02 9.99581386e-01 -1.62328271e-04 1.13779679e+01] [ 1.99220857e-02 -4.14251636e-04 9.99801450e-01 2.64364714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.464391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.98, Y:11.38, Z:2.64 [[ 9.99318288e-01 -3.05123883e-02 -2.07835031e-02 3.53982121e+02] [ 3.05154916e-02 9.99534280e-01 -1.67887656e-04 1.13764516e+01] [ 2.07789464e-02 -4.66445608e-04 9.99783986e-01 2.64310960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.494391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.01, Y:11.38, Z:2.64 [[ 9.99296342e-01 -3.10757621e-02 -2.10028293e-02 3.54014016e+02] [ 3.10790881e-02 9.99516914e-01 -1.68114989e-04 1.13771124e+01] [ 2.09979074e-02 -4.84752086e-04 9.99779402e-01 2.64332392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.524391418 meters Centerline goodness [0,1] 0.9999778363882178 Centerline is valid? [True, True] Translation: X:354.04, Y:11.38, Z:2.64 [[ 9.99276742e-01 -3.14918762e-02 -2.13132619e-02 3.54044896e+02] [ 3.14954269e-02 9.99503882e-01 -1.69137968e-04 1.13753621e+01] [ 2.13080144e-02 -5.02254644e-04 9.99772832e-01 2.64227853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.554391418 meters Centerline goodness [0,1] 0.9999335032694225 Centerline is valid? [True, True] Translation: X:354.08, Y:11.38, Z:2.64 [[ 9.99221761e-01 -3.22436105e-02 -2.27205265e-02 3.54077403e+02] [ 3.22478784e-02 9.99479886e-01 -1.78617653e-04 1.13751258e+01] [ 2.27144685e-02 -5.54210131e-04 9.99741840e-01 2.64171854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.584391418 meters Centerline goodness [0,1] 0.9998892114067935 Centerline is valid? [True, True] Translation: X:354.11, Y:11.37, Z:2.64 [[ 9.99203642e-01 -3.22814219e-02 -2.34518837e-02 3.54109027e+02] [ 3.22860163e-02 9.99478654e-01 -1.82801688e-04 1.13749147e+01] [ 2.34455582e-02 -5.74511786e-04 9.99724950e-01 2.64159575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.614391418 meters Centerline goodness [0,1] 0.9999335091646535 Centerline is valid? [True, True] Translation: X:354.14, Y:11.38, Z:2.64 [[ 9.99200858e-01 -3.20244709e-02 -2.39181815e-02 3.54141315e+02] [ 3.20292182e-02 9.99486916e-01 -1.84685181e-04 1.13762026e+01] [ 2.39118239e-02 -5.81543063e-04 9.99713902e-01 2.64228404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.644391418 meters Centerline goodness [0,1] 0.9999335091646535 Centerline is valid? [True, True] Translation: X:354.17, Y:11.38, Z:2.64 [[ 9.99203400e-01 -3.19450481e-02 -2.39181960e-02 3.54173030e+02] [ 3.19498181e-02 9.99489458e-01 -1.82784557e-04 1.13763685e+01] [ 2.39118238e-02 -5.81543062e-04 9.99713902e-01 2.64253163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.67439141799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.21, Y:11.38, Z:2.64 [[ 9.99220858e-01 -3.14239503e-02 -2.38791136e-02 3.54205372e+02] [ 3.14286017e-02 9.99505983e-01 -1.80576170e-04 1.13769181e+01] [ 2.38729913e-02 -5.70051675e-04 9.99714837e-01 2.64356650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.704391418 meters Centerline goodness [0,1] 0.9999556344276841 Centerline is valid? [True, True] Translation: X:354.24, Y:11.38, Z:2.64 [[ 9.99240508e-01 -3.10568588e-02 -2.35346095e-02 3.54237093e+02] [ 3.10613196e-02 9.99517465e-01 -1.76081615e-04 1.13773008e+01] [ 2.35287217e-02 -5.55068142e-04 9.99723007e-01 2.64416998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.734391418 meters Centerline goodness [0,1] 0.9998447824737239 Centerline is valid? [True, True] Translation: X:354.27, Y:11.38, Z:2.65 [[ 9.99258108e-01 -3.02199389e-02 -2.38744425e-02 3.54269521e+02] [ 3.02243374e-02 9.99543125e-01 -1.76671283e-04 1.13778533e+01] [ 2.38688739e-02 -5.45048994e-04 9.99714949e-01 2.64544494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.764391418 meters Centerline goodness [0,1] 0.9999778034271508 Centerline is valid? [True, True] Translation: X:354.30, Y:11.38, Z:2.65 [[ 9.99280007e-01 -2.93766922e-02 -2.40099655e-02 3.54300471e+02] [ 2.93809367e-02 9.99568272e-01 -1.76048024e-04 1.13777406e+01] [ 2.40047714e-02 -5.29514006e-04 9.99711704e-01 2.64559765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.794391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.33, Y:11.38, Z:2.65 [[ 9.99340870e-01 -2.74736566e-02 -2.37281157e-02 3.54330765e+02] [ 2.74772843e-02 9.99622413e-01 -1.73200269e-04 1.13790459e+01] [ 2.37239147e-02 -4.78898072e-04 9.99718434e-01 2.64683531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.824391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.36, Y:11.38, Z:2.65 [[ 9.99373625e-01 -2.66836563e-02 -2.32452387e-02 3.54362370e+02] [ 2.66869418e-02 9.99643826e-01 -1.68914072e-04 1.13796925e+01] [ 2.32414666e-02 -4.51536065e-04 9.99729779e-01 2.64803044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.854391418 meters Centerline goodness [0,1] 0.9999333954975357 Centerline is valid? [True, True] Translation: X:354.39, Y:11.38, Z:2.65 [[ 9.99388183e-01 -2.62682714e-02 -2.30919387e-02 3.54392387e+02] [ 2.62714170e-02 9.99654833e-01 -1.67192504e-04 1.13791460e+01] [ 2.30883599e-02 -4.39567737e-04 9.99733332e-01 2.64810063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.884391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.42, Y:11.38, Z:2.65 [[ 9.99380933e-01 -2.62043588e-02 -2.34751346e-02 3.54422450e+02] [ 2.62076029e-02 9.99656507e-01 -1.69507925e-04 1.13778134e+01] [ 2.34715129e-02 -4.45824016e-04 9.99724407e-01 2.64827680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.914391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.45, Y:11.38, Z:2.65 [[ 9.99367283e-01 -2.65993790e-02 -2.36115976e-02 3.54453441e+02] [ 2.66027889e-02 9.99646069e-01 -1.69738609e-04 1.13771528e+01] [ 2.36077557e-02 -4.58503134e-04 9.99721193e-01 2.64878356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.944391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.48, Y:11.38, Z:2.65 [[ 9.99313358e-01 -2.82648824e-02 -2.39563782e-02 3.54484497e+02] [ 2.82688936e-02 9.99600340e-01 -1.71268285e-04 1.13772809e+01] [ 2.39516447e-02 -5.06069622e-04 9.99712990e-01 2.65088515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.974391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.52, Y:11.38, Z:2.65 [[ 9.99279694e-01 -2.93556350e-02 -2.40487143e-02 3.54515458e+02] [ 2.93600239e-02 9.99568887e-01 -1.70642722e-04 1.13752548e+01] [ 2.40433559e-02 -5.35551019e-04 9.99710773e-01 2.65062728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.004391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.55, Y:11.37, Z:2.65 [[ 9.99234174e-01 -3.05997164e-02 -2.43869437e-02 3.54547662e+02] [ 3.06046441e-02 9.99531553e-01 -1.71229116e-04 1.13740639e+01] [ 2.43807593e-02 -5.75255748e-04 9.99702580e-01 2.65060325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.034391418 meters Centerline goodness [0,1] 0.9999779259193855 Centerline is valid? [True, True] Translation: X:354.58, Y:11.37, Z:2.65 [[ 9.99112352e-01 -3.38568142e-02 -2.50643912e-02 3.54577985e+02] [ 3.38630792e-02 9.99426466e-01 -1.74566952e-04 1.13694120e+01] [ 2.50559262e-02 -6.74345466e-04 9.99685824e-01 2.64907564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.064391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.61, Y:11.37, Z:2.65 [[ 9.99067134e-01 -3.51361541e-02 -2.51060219e-02 3.54610138e+02] [ 3.51428867e-02 9.99382283e-01 -1.73136965e-04 1.13678318e+01] [ 2.50965968e-02 -7.09322630e-04 9.99684779e-01 2.64885061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.094391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.64, Y:11.37, Z:2.65 [[ 9.99042059e-01 -3.62076088e-02 -2.45758508e-02 3.54642669e+02] [ 3.62144317e-02 9.99344028e-01 -1.67533088e-04 1.13673712e+01] [ 2.45657957e-02 -7.22627866e-04 9.99697954e-01 2.64918046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.124391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.67, Y:11.37, Z:2.65 [[ 9.98998061e-01 -3.79860596e-02 -2.36629172e-02 3.54674216e+02] [ 3.79929196e-02 9.99277996e-01 -1.59763441e-04 1.13651523e+01] [ 2.36519013e-02 -7.39419944e-04 9.99719981e-01 2.64892779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.154391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.71, Y:11.37, Z:2.65 [[ 9.98998325e-01 -3.84301031e-02 -2.29232258e-02 3.54706178e+02] [ 3.84366955e-02 9.99261025e-01 -1.53111058e-04 1.13653324e+01] [ 2.29121702e-02 -7.28135360e-04 9.99737217e-01 2.64993932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.184391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.74, Y:11.37, Z:2.65 [[ 9.99072290e-01 -3.77177281e-02 -2.07829943e-02 3.54737078e+02] [ 3.77230203e-02 9.99288224e-01 -1.37478722e-04 1.13660756e+01] [ 2.07733868e-02 -6.46646133e-04 9.99784001e-01 2.65162155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.214391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.77, Y:11.37, Z:2.65 [[ 9.99105879e-01 -3.71864316e-02 -2.01149669e-02 3.54769658e+02] [ 3.71913105e-02 9.99308155e-01 -1.31613035e-04 1.13684707e+01] [ 2.01059447e-02 -6.16606621e-04 9.99797665e-01 2.65299945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.244391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.80, Y:11.37, Z:2.65 [[ 9.99156479e-01 -3.60889543e-02 -1.95938449e-02 3.54801096e+02] [ 3.60933988e-02 9.99348413e-01 -1.26876021e-04 1.13695823e+01] [ 1.95856566e-02 -5.80439457e-04 9.99808014e-01 2.65366148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.274391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.83, Y:11.38, Z:2.66 [[ 9.99307764e-01 -3.25870366e-02 -1.79465462e-02 3.54832734e+02] [ 3.25902193e-02 9.99468791e-01 -1.15169080e-04 1.13755383e+01] [ 1.79407659e-02 -4.69792521e-04 9.99838941e-01 2.65557043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.304391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.86, Y:11.38, Z:2.66 [[ 9.99375705e-01 -3.09068550e-02 -1.71162423e-02 3.54864160e+02] [ 3.09095346e-02 9.99522180e-01 -1.08038508e-04 1.13771642e+01] [ 1.71114029e-02 -4.21084023e-04 9.99853501e-01 2.65632017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.334391418 meters Centerline goodness [0,1] 0.9999332250094598 Centerline is valid? [True, True] Translation: X:354.90, Y:11.38, Z:2.66 [[ 9.99447742e-01 -2.87496223e-02 -1.66634569e-02 3.54896513e+02] [ 2.87518924e-02 9.99586574e-01 -1.03368159e-04 1.13819376e+01] [ 1.66595396e-02 -3.75794847e-04 9.99861150e-01 2.65734732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.364391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.93, Y:11.38, Z:2.66 [[ 9.99481588e-01 -2.75975814e-02 -1.65809586e-02 3.54929128e+02] [ 2.75996926e-02 9.99619051e-01 -1.01535701e-04 1.13844107e+01] [ 1.65774442e-02 -3.56146296e-04 9.99862521e-01 2.65775747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.394391418 meters Centerline goodness [0,1] 0.9999331848552339 Centerline is valid? [True, True] Translation: X:354.96, Y:11.39, Z:2.66 [[ 9.99516738e-01 -2.63826089e-02 -1.64392210e-02 3.54960903e+02] [ 2.63845414e-02 9.99651862e-01 -9.93560542e-05 1.13870800e+01] [ 1.64361192e-02 -3.34433268e-04 9.99864862e-01 2.65824032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42439141799997 meters Centerline goodness [0,1] 0.9999776055896449 Centerline is valid? [True, True] Translation: X:354.99, Y:11.39, Z:2.66 [[ 9.99557101e-01 -2.49536933e-02 -1.62146686e-02 3.54991723e+02] [ 2.49554145e-02 9.99688561e-01 -9.62068328e-05 1.13889515e+01] [ 1.62120194e-02 -3.08479552e-04 9.99868529e-01 2.65831915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.454391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.02, Y:11.39, Z:2.66 [[ 9.99583667e-01 -2.40739751e-02 -1.59040018e-02 3.55024408e+02] [ 2.40755495e-02 9.99710138e-01 -9.24853674e-05 1.13925928e+01] [ 1.59016183e-02 -2.90450719e-04 9.99873519e-01 2.65958372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.484391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.06, Y:11.40, Z:2.66 [[ 9.99624912e-01 -2.25713029e-02 -1.55103667e-02 3.55056907e+02] [ 2.25726411e-02 9.99745202e-01 -8.88071949e-05 1.13956524e+01] [ 1.55084191e-02 -2.61336055e-04 9.99879703e-01 2.66051793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.514391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.09, Y:11.40, Z:2.66 [[ 9.99706224e-01 -1.94769238e-02 -1.44262068e-02 3.55088226e+02] [ 1.94777736e-02 9.99810287e-01 -8.16036611e-05 1.14000066e+01] [ 1.44250594e-02 -1.99410703e-04 9.99895934e-01 2.66113063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.544391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.12, Y:11.40, Z:2.66 [[ 9.99743150e-01 -1.78632926e-02 -1.39476223e-02 3.55120550e+02] [ 1.78639432e-02 9.99840424e-01 -7.79492641e-05 1.14026630e+01] [ 1.39467891e-02 -1.71230291e-04 9.99902724e-01 2.66186687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.574391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.15, Y:11.41, Z:2.66 [[ 9.99762905e-01 -1.70438901e-02 -1.35513590e-02 3.55152324e+02] [ 1.70444432e-02 9.99854730e-01 -7.46788490e-05 1.14050364e+01] [ 1.35506632e-02 -1.56314227e-04 9.99908173e-01 2.66279274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.604391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.18, Y:11.41, Z:2.66 [[ 9.99778025e-01 -1.66455240e-02 -1.29161949e-02 3.55183429e+02] [ 1.66460047e-02 9.99861443e-01 -7.02921561e-05 1.14091410e+01] [ 1.29155753e-02 -1.44726489e-04 9.99916580e-01 2.66464918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.634391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.21, Y:11.41, Z:2.67 [[ 9.99775110e-01 -1.73129554e-02 -1.22470637e-02 3.55214619e+02] [ 1.73134462e-02 9.99850109e-01 -6.59582832e-05 1.14101157e+01] [ 1.22463699e-02 -1.46095428e-04 9.99925000e-01 2.66548489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.664391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.25, Y:11.41, Z:2.67 [[ 9.99717273e-01 -2.01949417e-02 -1.25514181e-02 3.55246428e+02] [ 2.01956948e-02 9.99796044e-01 -6.67535235e-05 1.14107961e+01] [ 1.25502062e-02 -1.86749959e-04 9.99921226e-01 2.66530619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.694391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.28, Y:11.41, Z:2.66 [[ 9.99675038e-01 -2.20174464e-02 -1.28472273e-02 3.55278941e+02] [ 2.20183993e-02 9.99757563e-01 -6.72841882e-05 1.14107229e+01] [ 1.28455941e-02 -2.15613057e-04 9.99917469e-01 2.66492144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.724391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.31, Y:11.41, Z:2.66 [[ 9.99638289e-01 -2.35964851e-02 -1.29033961e-02 3.55309995e+02] [ 2.35975899e-02 9.99721536e-01 -6.66455721e-05 1.14100160e+01] [ 1.29013756e-02 -2.37867584e-04 9.99916745e-01 2.66466990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.754391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.34, Y:11.41, Z:2.66 [[ 9.99623362e-01 -2.41730171e-02 -1.29922909e-02 3.55341645e+02] [ 2.41741958e-02 9.99707759e-01 -6.63367328e-05 1.14113332e+01] [ 1.29900975e-02 -2.47766435e-04 9.99915594e-01 2.66477000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.784391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.37, Y:11.42, Z:2.67 [[ 9.99592332e-01 -2.47431905e-02 -1.42458537e-02 3.55373782e+02] [ 2.47446798e-02 9.99693801e-01 -7.17400861e-05 1.14174904e+01] [ 1.42432668e-02 -2.80798250e-04 9.99898520e-01 2.66611213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.814391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.41, Y:11.42, Z:2.67 [[ 9.99591310e-01 -2.49721016e-02 -1.39143087e-02 3.55406009e+02] [ 2.49735595e-02 9.99688110e-01 -6.89964625e-05 1.14198018e+01] [ 1.39116919e-02 -2.78521551e-04 9.99903189e-01 2.66672793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.844391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.44, Y:11.42, Z:2.67 [[ 9.99539483e-01 -2.70251410e-02 -1.38008276e-02 3.55437541e+02] [ 2.70267890e-02 9.99634707e-01 -6.71102109e-05 1.14225510e+01] [ 1.37975999e-02 -3.05912751e-04 9.99904762e-01 2.66825411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.874391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.47, Y:11.42, Z:2.67 [[ 9.99509638e-01 -2.82125231e-02 -1.35844537e-02 3.55470120e+02] [ 2.82142481e-02 9.99601897e-01 -6.46809308e-05 1.14244539e+01] [ 1.35808705e-02 -3.18625933e-04 9.99907725e-01 2.66929677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.904391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.50, Y:11.43, Z:2.67 [[ 9.99468249e-01 -2.97745281e-02 -1.32927686e-02 3.55502655e+02] [ 2.97763317e-02 9.99556585e-01 -6.22589047e-05 1.14252850e+01] [ 1.32887281e-02 -3.33584087e-04 9.99911645e-01 2.67015826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.934391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.53, Y:11.43, Z:2.67 [[ 9.99391076e-01 -3.22977856e-02 -1.32034391e-02 3.55533491e+02] [ 3.22997972e-02 9.99478224e-01 -6.09146058e-05 1.14272525e+01] [ 1.31985173e-02 -3.65590893e-04 9.99912829e-01 2.67080561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.964391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.57, Y:11.43, Z:2.67 [[ 9.99338145e-01 -3.37001478e-02 -1.36957266e-02 3.55565949e+02] [ 3.37024566e-02 9.99431909e-01 -6.22564026e-05 1.14282063e+01] [ 1.36900442e-02 -3.99364433e-04 9.99906207e-01 2.67081946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.994391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.60, Y:11.43, Z:2.67 [[ 9.99295808e-01 -3.47233673e-02 -1.42188683e-02 3.55597741e+02] [ 3.47259753e-02 9.99396869e-01 -6.35159813e-05 1.14291690e+01] [ 1.42124980e-02 -4.30292816e-04 9.99898905e-01 2.67014820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.024391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.63, Y:11.43, Z:2.67 [[ 9.99232693e-01 -3.57268236e-02 -1.60505031e-02 3.55629969e+02] [ 3.57302975e-02 9.99361467e-01 -7.03658175e-05 1.14347535e+01] [ 1.60427682e-02 -5.03177424e-04 9.99871180e-01 2.66868504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.054391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.66, Y:11.43, Z:2.67 [[ 9.99190329e-01 -3.64440612e-02 -1.70445725e-02 3.55660907e+02] [ 3.64481037e-02 9.99335544e-01 -7.35160884e-05 1.14346718e+01] [ 1.70359264e-02 -5.47785782e-04 9.99854728e-01 2.66696704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.084391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.69, Y:11.43, Z:2.67 [[ 9.99076493e-01 -3.94696954e-02 -1.69795113e-02 3.55692694e+02] [ 3.94741606e-02 9.99220589e-01 -7.22234043e-05 1.14325397e+01] [ 1.69691279e-02 -5.98095249e-04 9.99855835e-01 2.66809787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.114391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.72, Y:11.43, Z:2.67 [[ 9.99054328e-01 -4.01347025e-02 -1.67228934e-02 3.55723819e+02] [ 4.01391433e-02 9.99194097e-01 -7.01389667e-05 1.14319454e+01] [ 1.67122314e-02 -6.01169976e-04 9.99860160e-01 2.66931913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.144391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.76, Y:11.43, Z:2.67 [[ 9.99022823e-01 -4.08637050e-02 -1.68391710e-02 3.55756049e+02] [ 4.08683312e-02 9.99164538e-01 -6.94432638e-05 1.14320574e+01] [ 1.68279402e-02 -6.18813411e-04 9.99858209e-01 2.67019835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17439141799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.79, Y:11.43, Z:2.67 [[ 9.99024444e-01 -4.09397312e-02 -1.65559276e-02 3.55789117e+02] [ 4.09442406e-02 9.99161431e-01 -6.66341366e-05 1.14314612e+01] [ 1.65447723e-02 -6.11300752e-04 9.99862939e-01 2.67020241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.204391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.82, Y:11.43, Z:2.67 [[ 9.99030151e-01 -4.06337458e-02 -1.69604075e-02 3.55821887e+02] [ 4.06384686e-02 9.99173914e-01 -6.62391077e-05 1.14316772e+01] [ 1.69490883e-02 -6.23070121e-04 9.99856160e-01 2.67024854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.234391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.85, Y:11.43, Z:2.67 [[ 9.99044458e-01 -3.99421722e-02 -1.77424043e-02 3.55853595e+02] [ 3.99472625e-02 9.99201787e-01 -6.75594146e-05 1.14313213e+01] [ 1.77309406e-02 -6.41265625e-04 9.99842589e-01 2.66942476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.264391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.89, Y:11.43, Z:2.67 [[ 9.99074444e-01 -3.90001803e-02 -1.81450064e-02 3.55885503e+02] [ 3.90053748e-02 9.99238999e-01 -6.76751374e-05 1.14307923e+01] [ 1.81338374e-02 -6.40140276e-04 9.99835364e-01 2.66908960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.294391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.92, Y:11.43, Z:2.67 [[ 9.99097943e-01 -3.84086302e-02 -1.81128938e-02 3.55917405e+02] [ 3.84137348e-02 9.99261918e-01 -6.61476272e-05 1.14318349e+01] [ 1.81020657e-02 -6.29695940e-04 9.99835946e-01 2.66973642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.324391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.95, Y:11.43, Z:2.67 [[ 9.99177607e-01 -3.58746275e-02 -1.88976514e-02 3.55948618e+02] [ 3.58797556e-02 9.99356112e-01 -6.77294707e-05 1.14324222e+01] [ 1.88879132e-02 -6.10369343e-04 9.99821421e-01 2.66865089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.354391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.98, Y:11.43, Z:2.67 [[ 9.99238501e-01 -3.36793140e-02 -1.97008336e-02 3.55980420e+02] [ 3.36844890e-02 9.99432514e-01 -6.91931605e-05 1.14349438e+01] [ 1.96919840e-02 -5.94472041e-04 9.99805917e-01 2.66835946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.384391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.01, Y:11.44, Z:2.67 [[ 9.99307707e-01 -3.11800535e-02 -2.02955684e-02 3.56011942e+02] [ 3.11850586e-02 9.99513625e-01 -6.99113755e-05 1.14358244e+01] [ 2.02878770e-02 -5.63055513e-04 9.99794021e-01 2.66739693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.414391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.04, Y:11.44, Z:2.67 [[ 9.99440187e-01 -2.63020673e-02 -2.06764120e-02 3.56043793e+02] [ 2.63062439e-02 9.99653928e-01 -7.00113976e-05 1.14392606e+01] [ 2.06710980e-02 -4.73946533e-04 9.99786218e-01 2.66685893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.444391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.08, Y:11.44, Z:2.67 [[ 9.99505006e-01 -2.36492188e-02 -2.07474768e-02 3.56075571e+02] [ 2.36528834e-02 9.99720229e-01 -6.87863486e-05 1.14410104e+01] [ 2.07432990e-02 -4.21985349e-04 9.99784746e-01 2.66728634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.474391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.11, Y:11.44, Z:2.67 [[ 9.99552924e-01 -2.16081103e-02 -2.06649879e-02 3.56107325e+02] [ 2.16113327e-02 9.99766446e-01 -6.74001375e-05 1.14423295e+01] [ 2.06616179e-02 -3.79227924e-04 9.99786454e-01 2.66790806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.504391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.14, Y:11.44, Z:2.67 [[ 9.99639579e-01 -1.80160013e-02 -1.99031808e-02 3.56138620e+02] [ 1.80182940e-02 9.99837655e-01 -6.41450836e-05 1.14445708e+01] [ 1.99011053e-02 -2.94499400e-04 9.99801910e-01 2.66920979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.534391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.17, Y:11.44, Z:2.67 [[ 9.99640286e-01 -1.79766841e-02 -1.99031833e-02 3.56169478e+02] [ 1.79789846e-02 9.99838363e-01 -6.33623851e-05 1.14446308e+01] [ 1.99011053e-02 -2.94499434e-04 9.99801910e-01 2.66945078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.564391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.20, Y:11.44, Z:2.67 [[ 9.99668780e-01 -1.64419173e-02 -1.97988218e-02 3.56200053e+02] [ 1.64439034e-02 9.99864788e-01 -6.24907766e-05 1.14448613e+01] [ 1.97971723e-02 -2.63099836e-04 9.99803982e-01 2.66923819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.594391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.23, Y:11.45, Z:2.67 [[ 9.99718242e-01 -1.25689889e-02 -2.01359426e-02 3.56230342e+02] [ 1.25702610e-02 9.99920989e-01 -6.33998627e-05 1.14475722e+01] [ 2.01351485e-02 -1.89732055e-04 9.99797249e-01 2.66924177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.624391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.26, Y:11.45, Z:2.67 [[ 9.99724785e-01 -1.09641263e-02 -2.07398515e-02 3.56259762e+02] [ 1.09651198e-02 9.99939879e-01 -6.58221272e-05 1.14488238e+01] [ 2.07393263e-02 -1.61610944e-04 9.99784904e-01 2.66936232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.654391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.29, Y:11.45, Z:2.67 [[ 9.99726192e-01 -9.90459339e-03 -2.12000080e-02 3.56287086e+02] [ 9.90535808e-03 9.99950938e-01 -6.89405065e-05 1.14491159e+01] [ 2.11996507e-02 -1.41072040e-04 9.99775252e-01 2.66840696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.684391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.31, Y:11.45, Z:2.67 [[ 9.99728790e-01 -9.74755216e-03 -2.11502274e-02 3.56314766e+02] [ 9.74817390e-03 9.99952483e-01 -7.37051633e-05 1.14497686e+01] [ 2.11499408e-02 -1.32490921e-04 9.99776306e-01 2.66867434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.714391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.34, Y:11.45, Z:2.67 [[ 9.99721956e-01 -9.29286547e-03 -2.16714928e-02 3.56342942e+02] [ 9.29326097e-03 9.99956813e-01 -8.24638571e-05 1.14506728e+01] [ 2.16713232e-02 -1.18957910e-04 9.99765142e-01 2.67012255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.744391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.37, Y:11.45, Z:2.67 [[ 9.99721049e-01 -8.97366394e-03 -2.18471330e-02 3.56370977e+02] [ 8.97383613e-03 9.99959730e-01 -9.01583619e-05 1.14510828e+01] [ 2.18470622e-02 -1.05919379e-04 9.99761319e-01 2.67036943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.774391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.40, Y:11.45, Z:2.67 [[ 9.99739495e-01 -8.16746356e-03 -2.13127967e-02 3.56398973e+02] [ 8.16735020e-03 9.99966642e-01 -9.23648016e-05 1.14515484e+01] [ 2.13128401e-02 -8.17283340e-05 9.99772852e-01 2.67032882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.804391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.43, Y:11.45, Z:2.67 [[ 9.99752033e-01 -7.27925304e-03 -2.10448524e-02 3.56426776e+02] [ 7.27889500e-03 9.99973504e-01 -9.36141579e-05 1.14526191e+01] [ 2.10449762e-02 -5.95923262e-05 9.99778528e-01 2.67054488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.834391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.45, Y:11.45, Z:2.67 [[ 9.99750585e-01 -7.48027595e-03 -2.10431245e-02 3.56454933e+02] [ 7.47985869e-03 9.99972021e-01 -9.85383873e-05 1.14530565e+01] [ 2.10432729e-02 -5.88857876e-05 9.99778564e-01 2.67185381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.864391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.48, Y:11.45, Z:2.67 [[ 9.99730714e-01 -9.08228315e-03 -2.13544300e-02 3.56482278e+02] [ 9.08213723e-03 9.99958751e-01 -1.03817891e-04 1.14514186e+01] [ 2.13544921e-02 -9.01539296e-05 9.99771963e-01 2.67150258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.894391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.51, Y:11.45, Z:2.67 [[ 9.99712819e-01 -1.01677687e-02 -2.17001466e-02 3.56510517e+02] [ 1.01677760e-02 9.99948301e-01 -1.09999737e-04 1.14503249e+01] [ 2.17001432e-02 -1.10674083e-04 9.99764518e-01 2.67089820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92439141799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.54, Y:11.45, Z:2.67 [[ 9.99698332e-01 -1.10692460e-02 -2.19252707e-02 3.56538331e+02] [ 1.10693268e-02 9.99938726e-01 -1.17678970e-04 1.14493342e+01] [ 2.19252299e-02 -1.25054518e-04 9.99759605e-01 2.67101596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.954391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.57, Y:11.45, Z:2.67 [[ 9.99679112e-01 -1.20453878e-02 -2.22841183e-02 3.56565810e+02] [ 1.20456272e-02 9.99927441e-01 -1.23491553e-04 1.14477986e+01] [ 2.22839889e-02 -1.44974257e-04 9.99751671e-01 2.67009748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.984391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.59, Y:11.45, Z:2.67 [[ 9.99638421e-01 -1.38626814e-02 -2.30402397e-02 3.56594206e+02] [ 1.38633075e-02 9.99903891e-01 -1.32560518e-04 1.14457529e+01] [ 2.30398630e-02 -1.86901341e-04 9.99734530e-01 2.67003979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.014391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.62, Y:11.44, Z:2.67 [[ 9.99624920e-01 -1.47848103e-02 -2.30527575e-02 3.56622655e+02] [ 1.47855397e-02 9.99890678e-01 -1.38813943e-04 1.14447597e+01] [ 2.30522897e-02 -2.02085584e-04 9.99734240e-01 2.67049970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.044391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.65, Y:11.44, Z:2.67 [[ 9.99625644e-01 -1.50710406e-02 -2.28349515e-02 3.56651746e+02] [ 1.50716894e-02 9.99886405e-01 -1.43698262e-04 1.14438746e+01] [ 2.28345232e-02 -2.00516829e-04 9.99739238e-01 2.67169809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.074391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.68, Y:11.44, Z:2.67 [[ 9.99629993e-01 -1.51401285e-02 -2.25976380e-02 3.56681284e+02] [ 1.51407204e-02 9.99885362e-01 -1.44913498e-04 1.14435856e+01] [ 2.25972415e-02 -1.97284640e-04 9.99744630e-01 2.67250202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.104391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.71, Y:11.44, Z:2.67 [[ 9.99659353e-01 -1.39451988e-02 -2.20614810e-02 3.56711162e+02] [ 1.39454529e-02 9.99902747e-01 -1.42337593e-04 1.14430170e+01] [ 2.20613204e-02 -1.65368239e-04 9.99756606e-01 2.67333927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.134391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.74, Y:11.44, Z:2.67 [[ 9.99661792e-01 -1.31867063e-02 -2.24145610e-02 3.56740001e+02] [ 1.31867518e-02 9.99913040e-01 -1.45782186e-04 1.14434723e+01] [ 2.24145342e-02 -1.49842371e-04 9.99748752e-01 2.67328768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.164391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.77, Y:11.44, Z:2.67 [[ 9.99687771e-01 -1.21085146e-02 -2.18573845e-02 3.56768205e+02] [ 1.21082078e-02 9.99926682e-01 -1.46383373e-04 1.14440419e+01] [ 2.18575544e-02 -1.18316085e-04 9.99761088e-01 2.67396408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.194391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.80, Y:11.44, Z:2.67 [[ 9.99697462e-01 -1.15293159e-02 -2.17269248e-02 3.56797028e+02] [ 1.15287498e-02 9.99933530e-01 -1.51318139e-04 1.14445517e+01] [ 2.17272252e-02 -9.92119194e-05 9.99763931e-01 2.67476998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.224391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.83, Y:11.45, Z:2.68 [[ 9.99722179e-01 -1.00128596e-02 -2.13379410e-02 3.56825990e+02] [ 1.00118463e-02 9.99949868e-01 -1.54318887e-04 1.14452622e+01] [ 2.13384164e-02 -5.93561717e-05 9.99772308e-01 2.67679426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.254391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.85, Y:11.45, Z:2.68 [[ 9.99730421e-01 -8.76696016e-03 -2.14994130e-02 3.56853045e+02] [ 8.76553512e-03 9.99961569e-01 -1.60521435e-04 1.14457265e+01] [ 2.14999940e-02 -2.79756974e-05 9.99768848e-01 2.67691666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.284391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.88, Y:11.45, Z:2.68 [[ 9.99755340e-01 -5.65819326e-03 -2.13833051e-02 3.56880857e+02] [ 5.65594772e-03 9.99983991e-01 -1.65491273e-04 1.14473218e+01] [ 2.13838992e-02 4.45079283e-05 9.99771337e-01 2.67759712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.314391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.91, Y:11.45, Z:2.68 [[ 9.99790559e-01 -3.33498063e-03 -2.01919965e-02 3.56908882e+02] [ 3.33243474e-03 9.99994435e-01 -1.59730631e-04 1.14488031e+01] [ 2.01924169e-02 9.24086663e-05 9.99796108e-01 2.67835676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.344391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.94, Y:11.45, Z:2.68 [[ 9.99795454e-01 -2.13799030e-03 -2.01116479e-02 3.56936695e+02] [ 2.13513245e-03 9.99997707e-01 -1.63570968e-04 1.14500647e+01] [ 2.01119515e-02 1.20596479e-04 9.99797727e-01 2.67893517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.374391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.97, Y:11.45, Z:2.68 [[ 9.99790885e-01 -5.37062148e-04 -2.04425557e-02 3.56965188e+02] [ 5.33656155e-04 9.99999843e-01 -1.72067731e-04 1.14504370e+01] [ 2.04426449e-02 1.61122454e-04 9.99791014e-01 2.67905401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.404391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.99, Y:11.45, Z:2.68 [[ 9.99776319e-01 9.62482416e-05 -2.11495348e-02 3.56992701e+02] [-1.00108406e-04 9.99999979e-01 -1.81459020e-04 1.14511814e+01] [ 2.11495168e-02 1.83535678e-04 9.99776307e-01 2.67793593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.434391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.02, Y:11.45, Z:2.68 [[ 9.99749316e-01 1.43878353e-03 -2.23435734e-02 3.57021813e+02] [-1.44353066e-03 9.99998939e-01 -1.96333350e-04 1.14517859e+01] [ 2.23432672e-02 2.28537765e-04 9.99750332e-01 2.67781109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.464391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.05, Y:11.45, Z:2.68 [[ 9.99738604e-01 2.78198333e-03 -2.26932774e-02 3.57050481e+02] [-2.78736412e-03 9.99996094e-01 -2.05481234e-04 1.14517376e+01] [ 2.26926171e-02 2.68681949e-04 9.99742453e-01 2.67798401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.494391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.08, Y:11.45, Z:2.68 [[ 9.99736066e-01 2.95848634e-03 -2.27825778e-02 3.57078216e+02] [-2.96403535e-03 9.99995585e-01 -2.09798876e-04 1.14516527e+01] [ 2.27818565e-02 2.77271869e-04 9.99740421e-01 2.67839565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.524391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.11, Y:11.45, Z:2.68 [[ 9.99752966e-01 1.06020516e-03 -2.22009805e-02 3.57106902e+02] [-1.06504670e-03 9.99999412e-01 -2.06254975e-04 1.14482128e+01] [ 2.22007488e-02 2.29849104e-04 9.99753507e-01 2.68042565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.554391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.14, Y:11.45, Z:2.68 [[ 9.99760139e-01 -4.88644678e-04 -2.18958041e-02 3.57135546e+02] [ 4.84270525e-04 9.99999862e-01 -2.05073219e-04 1.14459012e+01] [ 2.18959013e-02 1.94420538e-04 9.99760237e-01 2.68153116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.584391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.16, Y:11.44, Z:2.68 [[ 9.99764309e-01 -3.37164678e-03 -2.14466369e-02 3.57164041e+02] [ 3.36807894e-03 9.99994308e-01 -2.02477907e-04 1.14405813e+01] [ 2.14471975e-02 1.30196219e-04 9.99769974e-01 2.68296302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.614391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.19, Y:11.44, Z:2.68 [[ 9.99762219e-01 -4.77503882e-03 -2.12768601e-02 3.57191928e+02] [ 4.77174523e-03 9.99988594e-01 -2.05564247e-04 1.14381394e+01] [ 2.12775990e-02 1.03987612e-04 9.99773601e-01 2.68375436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.644391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.22, Y:11.44, Z:2.69 [[ 9.99760731e-01 -6.27309227e-03 -2.09553941e-02 3.57219310e+02] [ 6.27009173e-03 9.99980321e-01 -2.08887882e-04 1.14358636e+01] [ 2.09562921e-02 7.74456583e-05 9.99780390e-01 2.68513227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67439141799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.25, Y:11.43, Z:2.68 [[ 9.99739707e-01 -8.13167846e-03 -2.13165158e-02 3.57246158e+02] [ 8.12890461e-03 9.99966936e-01 -2.16774762e-04 1.14340253e+01] [ 2.13175737e-02 4.34384133e-05 9.99772754e-01 2.68488437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.704391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.27, Y:11.43, Z:2.69 [[ 9.99711917e-01 -1.01070795e-02 -2.17699474e-02 3.57274396e+02] [ 1.01045391e-02 9.99948922e-01 -2.26696704e-04 1.14304466e+01] [ 2.17711267e-02 6.65611167e-06 9.99762981e-01 2.68591116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.734391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.30, Y:11.43, Z:2.68 [[ 9.99691633e-01 -1.10886274e-02 -2.22189201e-02 3.57302212e+02] [ 1.10861396e-02 9.99938519e-01 -2.35144271e-04 1.14285144e+01] [ 2.22201615e-02 -1.12502892e-05 9.99753102e-01 2.68488210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.764391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.33, Y:11.42, Z:2.69 [[ 9.99660012e-01 -1.23325639e-02 -2.29731968e-02 3.57330501e+02] [ 1.23301222e-02 9.99923950e-01 -2.47932791e-04 1.14246145e+01] [ 2.29745073e-02 -3.54138279e-05 9.99736051e-01 2.68526870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.794391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.36, Y:11.42, Z:2.69 [[ 9.99640078e-01 -1.29312359e-02 -2.35052770e-02 3.57359297e+02] [ 1.29286972e-02 9.99916387e-01 -2.59979573e-04 1.14230243e+01] [ 2.35066735e-02 -4.40066066e-05 9.99723679e-01 2.68526504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.824391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.39, Y:11.42, Z:2.69 [[ 9.99626304e-01 -1.30167451e-02 -2.40378142e-02 3.57387177e+02] [ 1.30139432e-02 9.99915278e-01 -2.73003051e-04 1.14222334e+01] [ 2.40393312e-02 -3.99257164e-05 9.99711013e-01 2.68549702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.854391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.42, Y:11.42, Z:2.69 [[ 9.99607037e-01 -1.28863503e-02 -2.48940298e-02 3.57415632e+02] [ 1.28831273e-02 9.99916967e-01 -2.89852035e-04 1.14207982e+01] [ 2.48956979e-02 -3.09748213e-05 9.99690054e-01 2.68606008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.884391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.44, Y:11.42, Z:2.69 [[ 9.99601064e-01 -1.31855410e-02 -2.49770801e-02 3.57443935e+02] [ 1.31822033e-02 9.99913066e-01 -2.98283242e-04 1.14197582e+01] [ 2.49788418e-02 -3.10887033e-05 9.99687980e-01 2.68648766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.914391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.47, Y:11.42, Z:2.69 [[ 9.99605979e-01 -1.27440462e-02 -2.50095248e-02 3.57470804e+02] [ 1.27404428e-02 9.99918791e-01 -3.03422298e-04 1.14185213e+01] [ 2.50113607e-02 -1.53296777e-05 9.99687167e-01 2.68653927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.944391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.50, Y:11.42, Z:2.69 [[ 9.99633272e-01 -1.15834327e-02 -2.44774536e-02 3.57498686e+02] [ 1.15794828e-02 9.99932910e-01 -3.03105988e-04 1.14164033e+01] [ 2.44793224e-02 1.95585766e-05 9.99700336e-01 2.68801420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.974391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.53, Y:11.42, Z:2.69 [[ 9.99642119e-01 -1.11734176e-02 -2.43061423e-02 3.57526750e+02] [ 1.11692217e-02 9.99937575e-01 -3.08384732e-04 1.14162167e+01] [ 2.43080707e-02 3.67936756e-05 9.99704515e-01 2.68868167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.004391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.56, Y:11.42, Z:2.69 [[ 9.99666971e-01 -8.49432503e-03 -2.43678596e-02 3.57555467e+02] [ 8.48914553e-03 9.99963917e-01 -3.15994961e-04 1.14159218e+01] [ 2.43696645e-02 1.09027419e-04 9.99703010e-01 2.68969238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.034391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.58, Y:11.42, Z:2.69 [[ 9.99675719e-01 -7.53934875e-03 -2.43231421e-02 3.57583091e+02] [ 7.53373167e-03 9.99971569e-01 -3.22564263e-04 1.14160811e+01] [ 2.43248825e-02 1.39215636e-04 9.99704097e-01 2.68981497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.064391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.61, Y:11.42, Z:2.69 [[ 9.99691663e-01 -5.88028355e-03 -2.41247103e-02 3.57611353e+02] [ 5.87418023e-03 9.99982694e-01 -3.23850290e-04 1.14165890e+01] [ 2.41261971e-02 1.82037539e-04 9.99708904e-01 2.69038897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.094391418 meters Centerline goodness [0,1] 0.9998897099371347 Centerline is valid? [True, True] Translation: X:357.64, Y:11.42, Z:2.69 [[ 9.99697448e-01 -4.70553308e-03 -2.41427011e-02 3.57640129e+02] [ 4.69895420e-03 9.99988906e-01 -3.29223742e-04 1.14165252e+01] [ 2.41439824e-02 2.15678689e-04 9.99708468e-01 2.69106856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.124391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.67, Y:11.42, Z:2.69 [[ 9.99682321e-01 -2.10888820e-03 -2.51159276e-02 3.57667891e+02] [ 2.10085249e-03 9.99997733e-01 -3.46327232e-04 1.14161076e+01] [ 2.51166010e-02 2.93452352e-04 9.99684485e-01 2.69050168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.154391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.70, Y:11.42, Z:2.69 [[ 9.99679264e-01 -4.50137242e-04 -2.53212697e-02 3.57696477e+02] [ 4.41300601e-04 9.99999840e-01 -3.54567881e-04 1.14166289e+01] [ 2.53214252e-02 3.43279866e-04 9.99679302e-01 2.69101166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.184391418 meters Centerline goodness [0,1] 0.9999780461031833 Centerline is valid? [True, True] Translation: X:357.72, Y:11.42, Z:2.69 [[ 9.99684579e-01 3.23194253e-03 -2.49057652e-02 3.57724330e+02] [-3.24174508e-03 9.99994683e-01 -3.53220099e-04 1.14194279e+01] [ 2.49044912e-02 4.33846828e-04 9.99689741e-01 2.69206364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.214391418 meters Centerline goodness [0,1] 0.9999342595433229 Centerline is valid? [True, True] Translation: X:357.75, Y:11.42, Z:2.69 [[ 9.99684890e-01 4.97244934e-03 -2.46047659e-02 3.57753270e+02] [-4.98268189e-03 9.99987523e-01 -3.54585811e-04 1.14198470e+01] [ 2.46026958e-02 4.77071800e-04 9.99697194e-01 2.69394135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.244391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.78, Y:11.42, Z:2.70 [[ 9.99670017e-01 7.36378849e-03 -2.46095792e-02 3.57781562e+02] [-7.37486175e-03 9.99972741e-01 -3.59226823e-04 1.14209442e+01] [ 2.46062631e-02 5.40600529e-04 9.99697074e-01 2.69553913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.274391418 meters Centerline goodness [0,1] 0.999956153812426 Centerline is valid? [True, True] Translation: X:357.81, Y:11.42, Z:2.70 [[ 9.99663264e-01 1.04530626e-02 -2.37506124e-02 3.57809062e+02] [-1.04643102e-02 9.99945187e-01 -3.49334195e-04 1.14227245e+01] [ 2.37456589e-02 5.97750338e-04 9.99717853e-01 2.69625447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.304391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.84, Y:11.42, Z:2.70 [[ 9.99658742e-01 1.15500527e-02 -2.34306405e-02 3.57837528e+02] [-1.15614158e-02 9.99933104e-01 -3.49556476e-04 1.14236545e+01] [ 2.34250357e-02 6.20328564e-04 9.99725404e-01 2.69656688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.334391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.87, Y:11.43, Z:2.70 [[ 9.99627142e-01 1.41424108e-02 -2.33574196e-02 3.57865972e+02] [-1.41545559e-02 9.99899756e-01 -3.54713326e-04 1.14251495e+01] [ 2.33500617e-02 6.85194971e-04 9.99727115e-01 2.69744062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.364391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.89, Y:11.43, Z:2.70 [[ 9.99614713e-01 1.49828443e-02 -2.33653622e-02 3.57894432e+02] [-1.49953035e-02 9.99887500e-01 -3.58105116e-04 1.14264380e+01] [ 2.33573682e-02 7.08337839e-04 9.99726929e-01 2.69766790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.394391418 meters Centerline goodness [0,1] 0.9999781749929069 Centerline is valid? [True, True] Translation: X:357.92, Y:11.43, Z:2.70 [[ 9.99613141e-01 1.52154522e-02 -2.32821455e-02 3.57923002e+02] [-1.52279266e-02 9.99883984e-01 -3.58583180e-04 1.14270107e+01] [ 2.32739884e-02 7.12983261e-04 9.99728870e-01 2.69784966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42439141799997 meters Centerline goodness [0,1] 0.9999781749929069 Centerline is valid? [True, True] Translation: X:357.95, Y:11.43, Z:2.70 [[ 9.99614850e-01 1.51027931e-02 -2.32821095e-02 3.57950460e+02] [-1.51152912e-02 9.99885692e-01 -3.60913822e-04 1.14275533e+01] [ 2.32739973e-02 7.12690681e-04 9.99728870e-01 2.69806451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.454391418 meters Centerline goodness [0,1] 0.9999781702285577 Centerline is valid? [True, True] Translation: X:357.98, Y:11.43, Z:2.70 [[ 9.99606643e-01 1.47630076e-02 -2.38455928e-02 3.57978751e+02] [-1.47760860e-02 9.99890758e-01 -3.72347063e-04 1.14271262e+01] [ 2.38374909e-02 7.24545127e-04 9.99715584e-01 2.69794101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.484391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.01, Y:11.42, Z:2.70 [[ 9.99633590e-01 1.37174393e-02 -2.33349078e-02 3.58007229e+02] [-1.37297255e-02 9.99905676e-01 -3.66378459e-04 1.14247111e+01] [ 2.33276809e-02 6.86626093e-04 9.99727637e-01 2.69832112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.514391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.04, Y:11.42, Z:2.70 [[ 9.99644712e-01 1.30130605e-02 -2.32617634e-02 3.58036466e+02] [-1.30251786e-02 9.99915100e-01 -3.69500074e-04 1.14244004e+01] [ 2.32549802e-02 6.72357419e-04 9.99729340e-01 2.69871802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.544391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.06, Y:11.42, Z:2.70 [[ 9.99680617e-01 1.22637893e-02 -2.20966651e-02 3.58064765e+02] [-1.22746029e-02 9.99924602e-01 -3.53809067e-04 1.14227962e+01] [ 2.20906600e-02 6.24923856e-04 9.99755776e-01 2.70012258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.574391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.09, Y:11.42, Z:2.70 [[ 9.99701422e-01 1.15159763e-02 -2.15510783e-02 3.58094010e+02] [-1.15261222e-02 9.99933512e-01 -3.46622648e-04 1.14219906e+01] [ 2.15456537e-02 5.94919515e-04 9.99767688e-01 2.70064781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.604391418 meters Centerline goodness [0,1] 0.9998912026459517 Centerline is valid? [True, True] Translation: X:358.12, Y:11.42, Z:2.70 [[ 9.99709730e-01 1.03282441e-02 -2.17665411e-02 3.58122444e+02] [-1.03383468e-02 9.99946496e-01 -3.51659425e-04 1.14213632e+01] [ 2.17617445e-02 5.76587399e-04 9.99763019e-01 2.70058728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.634391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.15, Y:11.42, Z:2.70 [[ 9.99720634e-01 8.20830592e-03 -2.21647904e-02 3.58151200e+02] [-8.21829659e-03 9.99966165e-01 -3.59691720e-04 1.14187333e+01] [ 2.21610879e-02 5.41748056e-04 9.99754266e-01 2.70065048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.664391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.18, Y:11.41, Z:2.70 [[ 9.99731907e-01 6.69912185e-03 -2.21638361e-02 3.58179611e+02] [-6.70877796e-03 9.99977431e-01 -3.61341986e-04 1.14142073e+01] [ 2.21609152e-02 5.09937368e-04 9.99754287e-01 2.70253561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.694391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.21, Y:11.41, Z:2.70 [[ 9.99735373e-01 5.19031201e-03 -2.24108356e-02 3.58208810e+02] [-5.19984451e-03 9.99986413e-01 -3.67099294e-04 1.14125010e+01] [ 2.24086258e-02 4.83535010e-04 9.99748778e-01 2.70210087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.724391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.24, Y:11.41, Z:2.70 [[ 9.99751235e-01 3.14185473e-03 -2.20815938e-02 3.58237642e+02] [-3.15064682e-03 9.99994971e-01 -3.63385076e-04 1.14096970e+01] [ 2.20803411e-02 4.32865982e-04 9.99756106e-01 2.70177370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.754391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.27, Y:11.41, Z:2.70 [[ 9.99766856e-01 2.20935198e-03 -2.14791130e-02 3.58266542e+02] [-2.21749029e-03 9.99997478e-01 -3.55083702e-04 1.14090910e+01] [ 2.14782743e-02 4.02630641e-04 9.99769234e-01 2.70237499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.784391418 meters Centerline goodness [0,1] 0.9999783713636855 Centerline is valid? [True, True] Translation: X:358.29, Y:11.41, Z:2.70 [[ 9.99803727e-01 1.24458518e-03 -1.97726878e-02 3.58294584e+02] [-1.25132583e-03 9.99999163e-01 -3.28538614e-04 1.14082655e+01] [ 1.97722623e-02 3.53216205e-04 9.99804447e-01 2.70388580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.814391418 meters Centerline goodness [0,1] 0.9998488120950324 Centerline is valid? [True, True] Translation: X:358.32, Y:11.41, Z:2.70 [[ 9.99826412e-01 6.43916606e-04 -1.86207326e-02 3.58322458e+02] [-6.49821938e-04 9.99999740e-01 -3.11088575e-04 1.14080997e+01] [ 1.86205275e-02 3.23134734e-04 9.99826571e-01 2.70447133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.844391418 meters Centerline goodness [0,1] 0.999956738984664 Centerline is valid? [True, True] Translation: X:358.35, Y:11.41, Z:2.70 [[ 9.99835072e-01 -4.81300740e-04 -1.81547995e-02 3.58349792e+02] [ 4.75836555e-04 9.99999840e-01 -3.05295965e-04 1.14100241e+01] [ 1.81549436e-02 2.96606896e-04 9.99835141e-01 2.70361358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.874391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.38, Y:11.41, Z:2.71 [[ 9.99851662e-01 -1.75760570e-03 -1.71337483e-02 3.58378361e+02] [ 1.75289897e-03 9.99998422e-01 -2.89719469e-04 1.14054725e+01] [ 1.71342305e-02 2.59642763e-04 9.99853165e-01 2.70554776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.904391418 meters Centerline goodness [0,1] 0.9999352820623449 Centerline is valid? [True, True] Translation: X:358.41, Y:11.40, Z:2.71 [[ 9.99848298e-01 -2.44174449e-03 -1.72458107e-02 3.58406935e+02] [ 2.43705614e-03 9.99996987e-01 -2.92865335e-04 1.14049469e+01] [ 1.72464738e-02 2.50791899e-04 9.99851237e-01 2.70520245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.934391418 meters Centerline goodness [0,1] 0.9999353197361045 Centerline is valid? [True, True] Translation: X:358.43, Y:11.41, Z:2.70 [[ 9.99853145e-01 -2.59754910e-03 -1.69393525e-02 3.58434109e+02] [ 2.59300817e-03 9.99996596e-01 -2.90027786e-04 1.14073233e+01] [ 1.69400482e-02 2.46061315e-04 9.99856477e-01 2.70354590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.964391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.46, Y:11.41, Z:2.70 [[ 9.99861951e-01 -1.69064650e-03 -1.65294090e-02 3.58461971e+02] [ 1.68616204e-03 9.99998538e-01 -2.85234519e-04 1.14080491e+01] [ 1.65298671e-02 2.57323880e-04 9.99863339e-01 2.70361599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.994391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.49, Y:11.41, Z:2.71 [[ 9.99869193e-01 -1.23161907e-03 -1.61270038e-02 3.58490570e+02] [ 1.22724751e-03 9.99999207e-01 -2.80964985e-04 1.14068721e+01] [ 1.61273371e-02 2.61136407e-04 9.99869912e-01 2.70541864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.024391418 meters Centerline goodness [0,1] 0.9999568267674042 Centerline is valid? [True, True] Translation: X:358.52, Y:11.40, Z:2.71 [[ 9.99889973e-01 -9.79937233e-05 -1.48334814e-02 3.58519021e+02] [ 9.41145459e-05 9.99999961e-01 -2.62212804e-04 1.14040308e+01] [ 1.48335066e-02 2.60787907e-04 9.99889943e-01 2.70766798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.054391418 meters Centerline goodness [0,1] 0.9999353253136722 Centerline is valid? [True, True] Translation: X:358.55, Y:11.40, Z:2.71 [[ 9.99902518e-01 2.14067609e-05 -1.39626235e-02 3.58545949e+02] [-2.48969520e-05 9.99999968e-01 -2.49792939e-04 1.14048932e+01] [ 1.39626177e-02 2.50116215e-04 9.99902487e-01 2.70714186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.084391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.57, Y:11.40, Z:2.71 [[ 9.99911081e-01 -7.25802298e-05 -1.33350819e-02 3.58573705e+02] [ 6.93818422e-05 9.99999969e-01 -2.40310091e-04 1.14037488e+01] [ 1.33350989e-02 2.39363510e-04 9.99911055e-01 2.70764934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.114391418 meters Centerline goodness [0,1] 0.9999354338842975 Centerline is valid? [True, True] Translation: X:358.60, Y:11.41, Z:2.71 [[ 9.99919156e-01 -1.94135745e-04 -1.27139432e-02 3.58601022e+02] [ 1.91217421e-04 9.99999955e-01 -2.30752518e-04 1.14051061e+01] [ 1.27139874e-02 2.28302735e-04 9.99919148e-01 2.70778312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.144391418 meters Centerline goodness [0,1] 0.999956934605198 Centerline is valid? [True, True] Translation: X:358.63, Y:11.41, Z:2.71 [[ 9.99937125e-01 -1.18194523e-03 -1.11511669e-02 3.58629405e+02] [ 1.17974766e-03 9.99999283e-01 -2.03646570e-04 1.14051308e+01] [ 1.11513996e-02 1.90478202e-04 9.99937803e-01 2.70874013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17439141799997 meters Centerline goodness [0,1] 0.999978470084182 Centerline is valid? [True, True] Translation: X:358.66, Y:11.41, Z:2.71 [[ 9.99946843e-01 -2.01777193e-03 -1.01113726e-02 3.58656754e+02] [ 2.01599972e-03 9.99997951e-01 -1.85458883e-04 1.14053966e+01] [ 1.01117261e-02 1.65064500e-04 9.99948862e-01 2.70948346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.204391418 meters Centerline goodness [0,1] 0.9999353643297281 Centerline is valid? [True, True] Translation: X:358.69, Y:11.41, Z:2.71 [[ 9.99948070e-01 -3.01175998e-03 -9.73582562e-03 3.58685816e+02] [ 3.01015524e-03 9.99995453e-01 -1.79477316e-04 1.14054481e+01] [ 9.73632190e-03 1.50161649e-04 9.99952590e-01 2.70992014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.234391418 meters Centerline goodness [0,1] 0.9999785315586088 Centerline is valid? [True, True] Translation: X:358.72, Y:11.41, Z:2.71 [[ 9.99942209e-01 -4.37443902e-03 -9.82050218e-03 3.58715100e+02] [ 4.37286458e-03 9.99990422e-01 -1.81788444e-04 1.14061756e+01] [ 9.82120335e-03 1.38834212e-04 9.99951761e-01 2.71001142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.264391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.74, Y:11.41, Z:2.71 [[ 9.99938827e-01 -4.76811162e-03 -9.98037736e-03 3.58743392e+02] [ 4.76649871e-03 9.99988623e-01 -1.85387585e-04 1.14076616e+01] [ 9.98114776e-03 1.37804789e-04 9.99950178e-01 2.70953369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.294391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.77, Y:11.41, Z:2.71 [[ 9.99933268e-01 -5.35862676e-03 -1.02345186e-02 3.58772394e+02] [ 5.35694862e-03 9.99985633e-01 -1.91375368e-04 1.14094496e+01] [ 1.02353970e-02 1.36536807e-04 9.99947608e-01 2.70873664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.324391418 meters Centerline goodness [0,1] 0.9999784329372183 Centerline is valid? [True, True] Translation: X:358.80, Y:11.41, Z:2.71 [[ 9.99933474e-01 -5.35339701e-03 -1.02171054e-02 3.58801457e+02] [ 5.35170066e-03 9.99985661e-01 -1.93363365e-04 1.14111029e+01] [ 1.02179940e-02 1.38671612e-04 9.99947785e-01 2.70852050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.354391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.83, Y:11.41, Z:2.71 [[ 9.99929299e-01 -5.47978404e-03 -1.05531848e-02 3.58831279e+02] [ 5.47797430e-03 9.99984976e-01 -2.00386265e-04 1.14130851e+01] [ 1.05541244e-02 1.42562022e-04 9.99944294e-01 2.70863233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.384391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.86, Y:11.42, Z:2.71 [[ 9.99932082e-01 -5.88579791e-03 -1.00592325e-02 3.58859698e+02] [ 5.88416998e-03 9.99982670e-01 -1.91423323e-04 1.14162651e+01] [ 1.00601849e-02 1.32220088e-04 9.99949386e-01 2.70970321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.414391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.89, Y:11.42, Z:2.71 [[ 9.99931023e-01 -6.38900066e-03 -9.85548906e-03 3.58889702e+02] [ 6.38745735e-03 9.99979582e-01 -1.88063123e-04 1.14181031e+01] [ 9.85648937e-03 1.25098635e-04 9.99951416e-01 2.71020184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.444391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.92, Y:11.42, Z:2.71 [[ 9.99930361e-01 -7.12866777e-03 -9.40507065e-03 3.58919630e+02] [ 7.12729180e-03 9.99974584e-01 -1.79810486e-04 1.14195390e+01] [ 9.40611342e-03 1.12765282e-04 9.99955755e-01 2.71107125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.474391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.95, Y:11.42, Z:2.71 [[ 9.99920693e-01 -8.78490995e-03 -9.02401921e-03 3.58950563e+02] [ 8.78370811e-03 9.99961408e-01 -1.72807234e-04 1.14193647e+01] [ 9.02518905e-03 9.35291780e-05 9.99959268e-01 2.71195506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.504391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.98, Y:11.42, Z:2.71 [[ 9.99918333e-01 -9.00452122e-03 -9.06893147e-03 3.58981034e+02] [ 9.00331666e-03 9.99959454e-01 -1.73641778e-04 1.14228040e+01] [ 9.07012732e-03 9.19771354e-05 9.99958861e-01 2.71194971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.534391418 meters Centerline goodness [0,1] 0.9999129961935834 Centerline is valid? [True, True] Translation: X:359.01, Y:11.42, Z:2.71 [[ 9.99912998e-01 -9.45456629e-03 -9.19827302e-03 3.59012266e+02] [ 9.45334817e-03 9.99955301e-01 -1.75899727e-04 1.14248192e+01] [ 9.19952492e-03 8.89299455e-05 9.99957680e-01 2.71279253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.564391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.04, Y:11.43, Z:2.71 [[ 9.99917961e-01 -9.31663385e-03 -8.79041599e-03 3.59042291e+02] [ 9.31551936e-03 9.99956596e-01 -1.67720772e-04 1.14298222e+01] [ 8.79159704e-03 8.58197225e-05 9.99961349e-01 2.71307829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.594391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.07, Y:11.43, Z:2.71 [[ 9.99913138e-01 -9.78788410e-03 -8.82690634e-03 3.59073226e+02] [ 9.78678394e-03 9.99952094e-01 -1.67824008e-04 1.14306660e+01] [ 8.82812612e-03 8.14224050e-05 9.99961028e-01 2.71370201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.624391418 meters Centerline goodness [0,1] 0.9998036777697795 Centerline is valid? [True, True] Translation: X:359.10, Y:11.43, Z:2.71 [[ 9.99910405e-01 -1.01553284e-02 -8.72074046e-03 3.59104952e+02] [ 1.01542715e-02 9.99948430e-01 -1.65464031e-04 1.14327739e+01] [ 8.72197107e-03 7.68964401e-05 9.99961960e-01 2.71438610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.654391418 meters Centerline goodness [0,1] 0.9997591943957969 Centerline is valid? [True, True] Translation: X:359.14, Y:11.44, Z:2.71 [[ 9.99910258e-01 -9.98491384e-03 -8.93182069e-03 3.59135788e+02] [ 9.98380166e-03 9.99950146e-01 -1.69099190e-04 1.14375621e+01] [ 8.93306384e-03 7.99104882e-05 9.99960096e-01 2.71404556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.684391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.17, Y:11.44, Z:2.71 [[ 9.99906986e-01 -1.02720141e-02 -8.97245594e-03 3.59167336e+02] [ 1.02709067e-02 9.99947238e-01 -1.69500496e-04 1.14400473e+01] [ 8.97372365e-03 7.73294724e-05 9.99959732e-01 2.71388128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.714391418 meters Centerline goodness [0,1] 0.9998026878302239 Centerline is valid? [True, True] Translation: X:359.20, Y:11.44, Z:2.71 [[ 9.99897548e-01 -1.08143805e-02 -9.37773388e-03 3.59198027e+02] [ 1.08131986e-02 9.99941520e-01 -1.76728852e-04 1.14428149e+01] [ 9.37909669e-03 7.53074470e-05 9.99956012e-01 2.71393953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.744391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.23, Y:11.45, Z:2.71 [[ 9.99889155e-01 -1.11792839e-02 -9.83371635e-03 3.59228929e+02] [ 1.11780080e-02 9.99937507e-01 -1.84703197e-04 1.14457251e+01] [ 9.83516666e-03 7.47613637e-05 9.99951631e-01 2.71408653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.774391418 meters Centerline goodness [0,1] 0.9999779278682736 Centerline is valid? [True, True] Translation: X:359.26, Y:11.45, Z:2.71 [[ 9.99869176e-01 -1.29848556e-02 -9.64491514e-03 3.59260314e+02] [ 1.29837173e-02 9.99915692e-01 -1.80628234e-04 1.14491700e+01] [ 9.64644742e-03 5.53777519e-05 9.99953470e-01 2.71479429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.804391418 meters Centerline goodness [0,1] 0.9999112826313572 Centerline is valid? [True, True] Translation: X:359.29, Y:11.45, Z:2.72 [[ 9.99858039e-01 -1.38634951e-02 -9.57627222e-03 3.59292863e+02] [ 1.38624176e-02 9.99903896e-01 -1.78887170e-04 1.14504653e+01] [ 9.57783191e-03 4.61114905e-05 9.99954130e-01 2.71515225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.834391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.33, Y:11.45, Z:2.72 [[ 9.99836064e-01 -1.58132187e-02 -8.81974198e-03 3.59325337e+02] [ 1.58123866e-02 9.99874963e-01 -1.64079514e-04 1.14529699e+01] [ 8.82123381e-03 2.45914458e-05 9.99961092e-01 2.71584508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.864391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.36, Y:11.45, Z:2.72 [[ 9.99820215e-01 -1.68922435e-02 -8.61333846e-03 3.59357387e+02] [ 1.68914958e-02 9.99857316e-01 -1.59546500e-04 1.14547432e+01] [ 8.61480457e-03 1.40256451e-05 9.99962892e-01 2.71638458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.894391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.39, Y:11.46, Z:2.72 [[ 9.99772876e-01 -1.90873120e-02 -9.47998601e-03 3.59388840e+02] [ 1.90865127e-02 9.99817821e-01 -1.74792111e-04 1.14584190e+01] [ 9.48159527e-03 -6.18746155e-06 9.99955049e-01 2.71656158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92439141799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.42, Y:11.46, Z:2.72 [[ 9.99762142e-01 -1.94601989e-02 -9.84684466e-03 3.59419747e+02] [ 1.94593606e-02 9.99810632e-01 -1.80938916e-04 1.14609607e+01] [ 9.84850109e-03 -1.07174233e-05 9.99951502e-01 2.71628329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.954391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.45, Y:11.46, Z:2.72 [[ 9.99750819e-01 -1.96175072e-02 -1.06514472e-02 3.59451507e+02] [ 1.96165431e-02 9.99807558e-01 -1.94994942e-04 1.14634074e+01] [ 1.06532228e-02 -1.39982201e-05 9.99943253e-01 2.71550063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.984391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.48, Y:11.47, Z:2.71 [[ 9.99725375e-01 -2.02919861e-02 -1.17221701e-02 3.59483290e+02] [ 2.02908764e-02 9.99794096e-01 -2.13599673e-04 1.14682018e+01] [ 1.17240909e-02 -2.43120919e-05 9.99931270e-01 2.71437297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.014391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.52, Y:11.47, Z:2.71 [[ 9.99732869e-01 -2.00323988e-02 -1.15279477e-02 3.59515505e+02] [ 2.00313190e-02 9.99799331e-01 -2.09134004e-04 1.14713692e+01] [ 1.15298238e-02 -2.18418592e-05 9.99933529e-01 2.71471585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.044391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.55, Y:11.48, Z:2.71 [[ 9.99743676e-01 -1.92523456e-02 -1.19134271e-02 3.59546904e+02] [ 1.92511477e-02 9.99814656e-01 -2.15227625e-04 1.14753857e+01] [ 1.19153627e-02 -1.41746884e-05 9.99929009e-01 2.71498212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.074391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.58, Y:11.48, Z:2.72 [[ 9.99776370e-01 -1.72700465e-02 -1.22047292e-02 3.59579120e+02] [ 1.72686518e-02 9.99850862e-01 -2.19655769e-04 1.14837697e+01] [ 1.22067025e-02 8.84742798e-06 9.99925495e-01 2.71550466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.104391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.61, Y:11.49, Z:2.72 [[ 9.99794588e-01 -1.61607969e-02 -1.22315080e-02 3.59611637e+02] [ 1.61593251e-02 9.99869406e-01 -2.19155599e-04 1.14882853e+01] [ 1.22334523e-02 2.14576685e-05 9.99925168e-01 2.71545723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.134391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.64, Y:11.50, Z:2.72 [[ 9.99828699e-01 -1.39211342e-02 -1.21972946e-02 3.59642189e+02] [ 1.39195137e-02 9.99903095e-01 -2.17745183e-04 1.14966916e+01] [ 1.21991439e-02 4.79274743e-05 9.99925587e-01 2.71506059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.164391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.67, Y:11.50, Z:2.72 [[ 9.99848453e-01 -1.24825206e-02 -1.21349853e-02 3.59674208e+02] [ 1.24808187e-02 9.99922088e-01 -2.15974081e-04 1.15013266e+01] [ 1.21367357e-02 6.44868001e-05 9.99926345e-01 2.71512783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.194391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.71, Y:11.51, Z:2.71 [[ 9.99864792e-01 -1.08499166e-02 -1.23562817e-02 3.59705293e+02] [ 1.08480387e-02 9.99941134e-01 -2.18995866e-04 1.15068474e+01] [ 1.23579304e-02 8.49248334e-05 9.99923634e-01 2.71493371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.224391418 meters Centerline goodness [0,1] 0.9999768121318926 Centerline is valid? [True, True] Translation: X:359.74, Y:11.51, Z:2.72 [[ 9.99879628e-01 -9.46873856e-03 -1.22911261e-02 3.59736889e+02] [ 9.46678393e-03 9.99955165e-01 -2.17200868e-04 1.15121492e+01] [ 1.22926317e-02 1.00817288e-04 9.99924438e-01 2.71521946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.254391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.77, Y:11.52, Z:2.72 [[ 9.99904568e-01 -6.58700929e-03 -1.21436003e-02 3.59767120e+02] [ 6.58489241e-03 9.99978296e-01 -2.14296375e-04 1.15211950e+01] [ 1.21447483e-02 1.34311622e-04 9.99926241e-01 2.71582932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.284391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.80, Y:11.53, Z:2.72 [[ 9.99914328e-01 -5.36871860e-03 -1.19379229e-02 3.59796348e+02] [ 5.36658406e-03 9.99985578e-01 -2.10830375e-04 1.15262631e+01] [ 1.19388826e-02 1.46746446e-04 9.99928718e-01 2.71588034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.314391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.83, Y:11.53, Z:2.72 [[ 9.99916596e-01 -4.05906494e-03 -1.22606883e-02 3.59825323e+02] [ 4.05670692e-03 9.99991748e-01 -2.17187596e-04 1.15345258e+01] [ 1.22614687e-02 1.67431463e-04 9.99924811e-01 2.71540150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.344391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.85, Y:11.54, Z:2.72 [[ 9.99915441e-01 -4.33439429e-03 -1.22606559e-02 3.59853501e+02] [ 4.33203466e-03 9.99990593e-01 -2.19007323e-04 1.15351275e+01] [ 1.22614898e-02 1.65875218e-04 9.99924811e-01 2.71562204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.374391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.88, Y:11.54, Z:2.72 [[ 9.99915732e-01 -4.47262648e-03 -1.21870773e-02 3.59881691e+02] [ 4.47026434e-03 9.99989984e-01 -2.21057087e-04 1.15384813e+01] [ 1.21879439e-02 1.66559002e-04 9.99925710e-01 2.71558542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.404391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.91, Y:11.54, Z:2.72 [[ 9.99917950e-01 -4.46171582e-03 -1.20077628e-02 3.59910162e+02] [ 4.45938186e-03 9.99990032e-01 -2.21138336e-04 1.15421810e+01] [ 1.20086297e-02 1.67572992e-04 9.99927880e-01 2.71587681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.434391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.94, Y:11.55, Z:2.72 [[ 9.99926810e-01 -4.50295708e-03 -1.12293680e-02 3.59938402e+02] [ 4.50089321e-03 9.99989849e-01 -2.09057976e-04 1.15493178e+01] [ 1.12301954e-02 1.58500489e-04 9.99936927e-01 2.71550334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.464391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.97, Y:11.55, Z:2.72 [[ 9.99927437e-01 -4.90851888e-03 -1.10011984e-02 3.59966793e+02] [ 4.90654773e-03 9.99987942e-01 -2.06158631e-04 1.15519508e+01] [ 1.10020777e-02 1.52165767e-04 9.99939464e-01 2.71560845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.494391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.00, Y:11.56, Z:2.72 [[ 9.99923935e-01 -5.74522887e-03 -1.09140289e-02 3.59995606e+02] [ 5.74331296e-03 9.99983486e-01 -2.06880136e-04 1.15551919e+01] [ 1.09150373e-02 1.44181716e-04 9.99940419e-01 2.71569495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.524391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.02, Y:11.55, Z:2.72 [[ 9.99891085e-01 -1.19928814e-02 -8.60170672e-03 3.60024771e+02] [ 1.19919190e-02 9.99928081e-01 -1.63445857e-04 1.15533061e+01] [ 8.60304828e-03 6.02770850e-05 9.99962991e-01 2.71667351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.554391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.06, Y:11.55, Z:2.72 [[ 9.99841637e-01 -1.60067408e-02 -7.77723564e-03 3.60055811e+02] [ 1.60060733e-02 9.99871884e-01 -1.48058442e-04 1.15516940e+01] [ 7.77860918e-03 2.35519914e-05 9.99969746e-01 2.71737544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.584391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.09, Y:11.55, Z:2.72 [[ 9.99769212e-01 -2.01675527e-02 -7.40219359e-03 3.60089096e+02] [ 2.01670649e-02 9.99796614e-01 -1.40535339e-04 1.15485055e+01] [ 7.40352234e-03 -8.77761314e-06 9.99972594e-01 2.71778771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.614391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.12, Y:11.54, Z:2.72 [[ 9.99571790e-01 -2.82129532e-02 -7.76309681e-03 3.60120056e+02] [ 2.82126669e-02 9.99601933e-01 -1.46401683e-04 1.15417133e+01] [ 7.76413700e-03 -7.26786721e-05 9.99969856e-01 2.71689889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.644391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.15, Y:11.54, Z:2.72 [[ 9.99485157e-01 -3.08626473e-02 -8.77024304e-03 3.60152193e+02] [ 3.08623893e-02 9.99523629e-01 -1.64791561e-04 1.15411653e+01] [ 8.77115106e-03 -1.05963936e-04 9.99961527e-01 2.71523038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.67439141799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.18, Y:11.54, Z:2.71 [[ 9.99419076e-01 -3.25099185e-02 -1.02281356e-02 3.60183390e+02] [ 3.25096650e-02 9.99471403e-01 -1.91091773e-04 1.15370613e+01] [ 1.02289415e-02 -1.41532500e-04 9.99947673e-01 2.71236801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.704391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.22, Y:11.54, Z:2.71 [[ 9.99444492e-01 -3.19369598e-02 -9.52564629e-03 3.60216081e+02] [ 3.19367259e-02 9.99489877e-01 -1.76699803e-04 1.15380862e+01] [ 9.52643029e-03 -1.27616310e-04 9.99954614e-01 2.71326326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.734391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.25, Y:11.54, Z:2.71 [[ 9.99492215e-01 -3.05556467e-02 -9.03685015e-03 3.60247251e+02] [ 3.05553881e-02 9.99533061e-01 -1.66713325e-04 1.15396928e+01] [ 9.03772453e-03 -1.09495793e-04 9.99959153e-01 2.71427127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.764391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.28, Y:11.54, Z:2.72 [[ 9.99549124e-01 -2.89652818e-02 -7.90955705e-03 3.60279906e+02] [ 2.89650424e-02 9.99580415e-01 -1.44848030e-04 1.15418765e+01] [ 7.91043388e-03 -8.43179332e-05 9.99968708e-01 2.71529609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.794391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.31, Y:11.55, Z:2.72 [[ 9.99664746e-01 -2.52392611e-02 -5.77719581e-03 3.60312172e+02] [ 2.52390734e-02 9.99681438e-01 -1.05399563e-04 1.15454024e+01] [ 5.77801563e-03 -4.04468416e-05 9.99983306e-01 2.71691267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.824391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.34, Y:11.55, Z:2.72 [[ 9.99699336e-01 -2.39262885e-02 -5.36386432e-03 3.60344085e+02] [ 2.39261098e-02 9.99713725e-01 -9.74875193e-05 1.15466841e+01] [ 5.36466129e-03 -3.08781986e-05 9.99985610e-01 2.71734869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.854391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.38, Y:11.55, Z:2.72 [[ 9.99729523e-01 -2.27559801e-02 -4.80066873e-03 3.60376538e+02] [ 2.27558233e-02 9.99741049e-01 -8.72882966e-05 1.15471682e+01] [ 4.80141192e-03 -2.19784820e-05 9.99988473e-01 2.71731458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.884391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.41, Y:11.55, Z:2.72 [[ 9.99746767e-01 -2.22235491e-02 -3.53788370e-03 3.60409789e+02] [ 2.22234628e-02 9.99753026e-01 -6.37094157e-05 1.15473633e+01] [ 3.53842579e-03 -1.49307444e-05 9.99993740e-01 2.71819283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.914391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.44, Y:11.55, Z:2.72 [[ 9.99741138e-01 -2.25515954e-02 -3.01358980e-03 3.60442482e+02] [ 2.25515349e-02 9.99745680e-01 -5.40519831e-05 1.15473194e+01] [ 3.01404234e-03 -1.39230844e-05 9.99995458e-01 2.71896732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.944391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.48, Y:11.55, Z:2.72 [[ 9.99726993e-01 -2.31512646e-02 -3.15564937e-03 3.60475322e+02] [ 2.31512025e-02 9.99731973e-01 -5.61998227e-05 1.15464007e+01] [ 3.15610467e-03 -1.68725978e-05 9.99995019e-01 2.71866113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.974391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.51, Y:11.55, Z:2.72 [[ 9.99731089e-01 -2.29496415e-02 -3.32622679e-03 3.60508218e+02] [ 2.29495728e-02 9.99736622e-01 -5.88229126e-05 1.15460684e+01] [ 3.32670070e-03 -1.75283896e-05 9.99994466e-01 2.71776057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.004391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.54, Y:11.55, Z:2.72 [[ 9.99723496e-01 -2.33435774e-02 -2.83006051e-03 3.60541739e+02] [ 2.33435297e-02 9.99727501e-01 -4.98754537e-05 1.15462819e+01] [ 2.83045359e-03 -1.62019386e-05 9.99995994e-01 2.71767738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.034391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.57, Y:11.55, Z:2.72 [[ 9.99715313e-01 -2.37475697e-02 -2.31207253e-03 3.60573367e+02] [ 2.37475400e-02 9.99717987e-01 -4.02967538e-05 1.15454368e+01] [ 2.31237744e-03 -1.46207530e-05 9.99997326e-01 2.71814340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.064391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.60, Y:11.54, Z:2.72 [[ 9.99690115e-01 -2.47986136e-02 -2.16880348e-03 3.60604411e+02] [ 2.47985902e-02 9.99692467e-01 -3.76926789e-05 1.15444485e+01] [ 2.16907123e-03 -1.61022703e-05 9.99997647e-01 2.71834704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.094391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.64, Y:11.54, Z:2.72 [[ 9.99685780e-01 -2.49401021e-02 -2.51629175e-03 3.60636218e+02] [ 2.49400711e-02 9.99688947e-01 -4.37117302e-05 1.15441990e+01] [ 2.51659922e-03 -1.90585000e-05 9.99996833e-01 2.71855732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.124391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.67, Y:11.54, Z:2.72 [[ 9.99656288e-01 -2.60082541e-02 -3.29807323e-03 3.60667760e+02] [ 2.60082091e-02 9.99661728e-01 -5.65439934e-05 1.15432448e+01] [ 3.29842819e-03 -2.92524196e-05 9.99994560e-01 2.71830420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.154391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.70, Y:11.54, Z:2.72 [[ 9.99645754e-01 -2.63942488e-02 -3.42201062e-03 3.60700752e+02] [ 2.63942024e-02 9.99651611e-01 -5.87206183e-05 1.15433119e+01] [ 3.42236832e-03 -3.16214243e-05 9.99994143e-01 2.71756771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.184391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.73, Y:11.54, Z:2.72 [[ 9.99646023e-01 -2.64079726e-02 -3.23222592e-03 3.60732526e+02] [ 2.64079327e-02 9.99651248e-01 -5.50360153e-05 1.15427563e+01] [ 3.23255206e-03 -3.03398706e-05 9.99994775e-01 2.71765242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.214391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.77, Y:11.54, Z:2.72 [[ 9.99628398e-01 -2.69914702e-02 -3.81135840e-03 3.60765561e+02] [ 2.69914206e-02 9.99635663e-01 -6.44566451e-05 1.15424588e+01] [ 3.81170956e-03 -3.84412846e-05 9.99992735e-01 2.71744431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.244391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.80, Y:11.54, Z:2.72 [[ 9.99606582e-01 -2.77207426e-02 -4.27094269e-03 3.60797765e+02] [ 2.77206902e-02 9.99615705e-01 -7.14766660e-05 1.15420436e+01] [ 4.27128278e-03 -4.69449334e-05 9.99990877e-01 2.71808890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.274391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.83, Y:11.54, Z:2.72 [[ 9.99605659e-01 -2.77207658e-02 -4.48179045e-03 3.60831268e+02] [ 2.77207092e-02 9.99615705e-01 -7.47587953e-05 1.15425047e+01] [ 4.48214049e-03 -4.95090950e-05 9.99989954e-01 2.71823030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.304391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.86, Y:11.54, Z:2.72 [[ 9.99607868e-01 -2.74989748e-02 -5.28354778e-03 3.60864558e+02] [ 2.74988971e-02 9.99621830e-01 -8.73569443e-05 1.15428297e+01] [ 5.28395193e-03 -5.79690480e-05 9.99986038e-01 2.71841709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.334391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.90, Y:11.54, Z:2.72 [[ 9.99596152e-01 -2.76007694e-02 -6.76240159e-03 3.60896529e+02] [ 2.76006517e-02 9.99619023e-01 -1.10752826e-04 1.15423872e+01] [ 6.76288214e-03 -7.59385925e-05 9.99977129e-01 2.71824763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.364391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.93, Y:11.54, Z:2.72 [[ 9.99594055e-01 -2.73963635e-02 -7.82079705e-03 3.60929225e+02] [ 2.73962066e-02 9.99624645e-01 -1.27221659e-04 1.15431538e+01] [ 7.82134689e-03 -8.70901580e-05 9.99969409e-01 2.71815862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.394391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.96, Y:11.54, Z:2.72 [[ 9.99601307e-01 -2.63152566e-02 -1.02340242e-02 3.60960614e+02] [ 2.63149469e-02 9.99653688e-01 -1.64941217e-04 1.15438086e+01] [ 1.02348205e-02 -1.04432347e-04 9.99947617e-01 2.71707536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42439141799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.99, Y:11.54, Z:2.72 [[ 9.99606886e-01 -2.56463917e-02 -1.13285403e-02 3.60993311e+02] [ 2.56459883e-02 9.99671071e-01 -1.80896801e-04 1.15447049e+01] [ 1.13294534e-02 -1.09705925e-04 9.99935814e-01 2.71700959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.454391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.03, Y:11.55, Z:2.72 [[ 9.99634288e-01 -2.42845450e-02 -1.18975646e-02 3.61025702e+02] [ 2.42840185e-02 9.99705082e-01 -1.88737752e-04 1.15472042e+01] [ 1.18986392e-02 -1.00251952e-04 9.99929204e-01 2.71763608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.484391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.06, Y:11.55, Z:2.72 [[ 9.99697901e-01 -2.07574635e-02 -1.31618602e-02 3.61056801e+02] [ 2.07565266e-02 9.99784539e-01 -2.07795623e-04 1.15507029e+01] [ 1.31633376e-02 -6.54616528e-05 9.99913357e-01 2.71736302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.514391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.09, Y:11.55, Z:2.72 [[ 9.99741001e-01 -1.81467243e-02 -1.37341974e-02 3.61089256e+02] [ 1.81454708e-02 9.99835334e-01 -2.15885891e-04 1.15538353e+01] [ 1.37358534e-02 -3.33835005e-05 9.99905658e-01 2.71834802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.544391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.12, Y:11.56, Z:2.72 [[ 9.99775395e-01 -1.57952340e-02 -1.41304518e-02 3.61121564e+02] [ 1.57936882e-02 9.99875248e-01 -2.20984528e-04 1.15562967e+01] [ 1.41321795e-02 -2.23705757e-06 9.99900136e-01 2.71850457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.574391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.15, Y:11.56, Z:2.72 [[ 9.99801084e-01 -1.37200585e-02 -1.44759075e-02 3.61153208e+02] [ 1.37182335e-02 9.99905875e-01 -2.25365640e-04 1.15585243e+01] [ 1.44776370e-02 2.67369330e-05 9.99895193e-01 2.71793385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.604391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.18, Y:11.56, Z:2.72 [[ 9.99823448e-01 -9.95540365e-03 -1.59362013e-02 3.61184728e+02] [ 9.95272684e-03 9.99950440e-01 -2.47273164e-04 1.15612419e+01] [ 1.59378732e-02 8.86208491e-05 9.99872980e-01 2.71828985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.634391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.21, Y:11.56, Z:2.72 [[ 9.99828115e-01 -8.27174197e-03 -1.65927616e-02 3.61213740e+02] [ 8.26862215e-03 9.99965781e-01 -2.56619397e-04 1.15633159e+01] [ 1.65943165e-02 1.19376012e-04 9.99862298e-01 2.71717036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.664391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.24, Y:11.56, Z:2.72 [[ 9.99824542e-01 -7.22432642e-03 -1.72827669e-02 3.61242635e+02] [ 7.22074790e-03 9.99973894e-01 -2.69450974e-04 1.15640957e+01] [ 1.72842623e-02 1.44609194e-04 9.99850606e-01 2.71778201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.694391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.27, Y:11.57, Z:2.72 [[ 9.99818988e-01 -4.98629060e-03 -1.83610355e-02 3.61271578e+02] [ 4.98177795e-03 9.99987548e-01 -2.91504220e-04 1.15662207e+01] [ 1.83622604e-02 1.99980852e-04 9.99831379e-01 2.71707980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.724391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.30, Y:11.57, Z:2.72 [[ 9.99808166e-01 -4.05124516e-03 -1.91629233e-02 3.61300143e+02] [ 4.04605407e-03 9.99991767e-01 -3.09655346e-04 1.15673850e+01] [ 1.91640200e-02 2.32061720e-04 9.99816326e-01 2.71687203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.754391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.33, Y:11.57, Z:2.72 [[ 9.99797118e-01 -2.98716490e-03 -1.99198202e-02 3.61328641e+02] [ 2.98123232e-03 9.99995502e-01 -3.27512360e-04 1.15685697e+01] [ 1.99207090e-02 2.68060302e-04 9.99801527e-01 2.71683394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.784391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.36, Y:11.57, Z:2.72 [[ 9.99797885e-01 -8.88326417e-04 -2.00848196e-02 3.61356766e+02] [ 8.81803502e-04 9.99999556e-01 -3.33622449e-04 1.15725899e+01] [ 2.00851070e-02 3.15844155e-04 9.99798224e-01 2.71554513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.814391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.39, Y:11.57, Z:2.72 [[ 9.99798910e-01 1.38127186e-04 -2.00529243e-02 3.61385900e+02] [-1.44918933e-04 9.99999933e-01 -3.37238306e-04 1.15718340e+01] [ 2.00528764e-02 3.40076539e-04 9.99798863e-01 2.71774480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.844391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.41, Y:11.58, Z:2.72 [[ 9.99794750e-01 4.46648855e-03 -1.97613066e-02 3.61414131e+02] [-4.47399471e-03 9.99989935e-01 -3.35646834e-04 1.15751161e+01] [ 1.97596085e-02 4.23989923e-04 9.99804670e-01 2.71860199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.874391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.44, Y:11.58, Z:2.72 [[ 9.99787772e-01 6.79977277e-03 -1.94467130e-02 3.61441995e+02] [-6.80752003e-03 9.99976773e-01 -3.32212893e-04 1.15779724e+01] [ 1.94440023e-02 4.64526277e-04 9.99810840e-01 2.71876335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.904391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.47, Y:11.58, Z:2.72 [[ 9.99762704e-01 8.67824426e-03 -1.99805964e-02 3.61469355e+02] [-8.68684902e-03 9.99962209e-01 -3.43901808e-04 1.15809841e+01] [ 1.99768569e-02 5.17388626e-04 9.99800309e-01 2.71911594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.934391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.50, Y:11.59, Z:2.72 [[ 9.99742941e-01 1.01059530e-02 -2.02958383e-02 3.61496621e+02] [-1.01151784e-02 9.99948778e-01 -3.51934588e-04 1.15862572e+01] [ 2.02912421e-02 5.57140145e-04 9.99793956e-01 2.71773911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.964391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.53, Y:11.58, Z:2.72 [[ 9.99716585e-01 1.09561605e-02 -2.11355636e-02 3.61525379e+02] [-1.09663967e-02 9.99939799e-01 -3.68464386e-04 1.15840565e+01] [ 2.11302542e-02 6.00140931e-04 9.99776551e-01 2.71867478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.994391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.55, Y:11.58, Z:2.72 [[ 9.99705338e-01 1.10478131e-02 -2.16143956e-02 3.61554544e+02] [-1.10585765e-02 9.99938780e-01 -3.78509609e-04 1.15831786e+01] [ 2.16088906e-02 6.17422525e-04 9.99766310e-01 2.71892906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.024391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.58, Y:11.58, Z:2.72 [[ 9.99699326e-01 1.05472739e-02 -2.21362405e-02 3.61583348e+02] [-1.05584798e-02 9.99944182e-01 -3.89403045e-04 1.15831047e+01] [ 2.21308978e-02 6.23011009e-04 9.99754888e-01 2.71895063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.054391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.61, Y:11.59, Z:2.72 [[ 9.99695345e-01 1.05747623e-02 -2.23022842e-02 3.61610951e+02] [-1.05861891e-02 9.99943887e-01 -3.94356394e-04 1.15853980e+01] [ 2.22968625e-02 6.30332450e-04 9.99751195e-01 2.71788333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.084391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.64, Y:11.58, Z:2.72 [[ 9.99706062e-01 9.06598062e-03 -2.24855196e-02 3.61638796e+02] [-9.07726270e-03 9.99958721e-01 -3.99730943e-04 1.15839298e+01] [ 2.24809675e-02 6.03720415e-04 9.99747089e-01 2.71721674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.114391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.67, Y:11.58, Z:2.72 [[ 9.99725690e-01 7.69620715e-03 -2.21204432e-02 3.61667854e+02] [-7.70682997e-03 9.99970224e-01 -3.95015424e-04 1.15823111e+01] [ 2.21167444e-02 5.65385561e-04 9.99755235e-01 2.71699027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.144391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.70, Y:11.58, Z:2.72 [[ 9.99735787e-01 5.19966218e-03 -2.23901746e-02 3.61695509e+02] [-5.20996311e-03 9.99986347e-01 -4.01755747e-04 1.15798497e+01] [ 2.23877800e-02 5.18301582e-04 9.99749228e-01 2.71695763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.17439141799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.72, Y:11.58, Z:2.72 [[ 9.99733610e-01 5.47229552e-03 -2.24223578e-02 3.61724008e+02] [-5.48273496e-03 9.99984888e-01 -4.04132212e-04 1.15796830e+01] [ 2.24198075e-02 5.26960400e-04 9.99748506e-01 2.71787601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.204391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.75, Y:11.58, Z:2.72 [[ 9.99690705e-01 9.16193285e-03 -2.31203876e-02 3.61753081e+02] [-9.17405202e-03 9.99957830e-01 -4.18160712e-04 1.15830345e+01] [ 2.31155815e-02 6.30139016e-04 9.99732601e-01 2.71775720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.234391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.78, Y:11.58, Z:2.72 [[ 9.99691718e-01 9.05086018e-03 -2.31203489e-02 3.61780525e+02] [-9.06299900e-03 9.99958842e-01 -4.20295636e-04 1.15836520e+01] [ 2.31155932e-02 6.29705766e-04 9.99732601e-01 2.71797193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.264391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.81, Y:11.59, Z:2.72 [[ 9.99679872e-01 1.03425754e-02 -2.30907874e-02 3.61808659e+02] [-1.03550799e-02 9.99946296e-01 -4.22028725e-04 1.15864068e+01] [ 2.30851825e-02 6.61000569e-04 9.99733283e-01 2.71742075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.294391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.84, Y:11.59, Z:2.72 [[ 9.99662539e-01 1.12710782e-02 -2.34045206e-02 3.61837023e+02] [-1.12842922e-02 9.99936237e-01 -4.32593852e-04 1.15862887e+01] [ 2.33981524e-02 6.96551316e-04 9.99725983e-01 2.71889649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.324391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.87, Y:11.59, Z:2.72 [[ 9.99625046e-01 1.30331092e-02 -2.40812182e-02 3.61865410e+02] [-1.30477669e-02 9.99914772e-01 -4.51644894e-04 1.15858916e+01] [ 2.40732795e-02 7.65681669e-04 9.99709903e-01 2.71953662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.354391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.89, Y:11.59, Z:2.72 [[ 9.99605919e-01 1.37458167e-02 -2.44756746e-02 3.61894112e+02] [-1.37613382e-02 9.99905200e-01 -4.65832151e-04 1.15856428e+01] [ 2.44669511e-02 8.02466611e-04 9.99700317e-01 2.71984254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.384391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.92, Y:11.59, Z:2.72 [[ 9.99576145e-01 1.56510517e-02 -2.45474129e-02 3.61922824e+02] [-1.56674053e-02 9.99877146e-01 -4.74007678e-04 1.15871235e+01] [ 2.45369785e-02 8.58401036e-04 9.99698554e-01 2.71996437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.414391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.95, Y:11.59, Z:2.72 [[ 9.99557265e-01 1.71397181e-02 -2.43208414e-02 3.61950832e+02] [-1.71563025e-02 9.99852708e-01 -4.73388961e-04 1.15892754e+01] [ 2.43091454e-02 8.90435088e-04 9.99704093e-01 2.71987972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.444391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.98, Y:11.59, Z:2.72 [[ 9.99540474e-01 1.83600692e-02 -2.41194528e-02 3.61979091e+02] [-1.83767913e-02 9.99831021e-01 -4.71813316e-04 1.15905642e+01] [ 2.41067146e-02 9.14834654e-04 9.99708972e-01 2.72014350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.474391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.01, Y:11.59, Z:2.72 [[ 9.99559708e-01 1.75174602e-02 -2.39484443e-02 3.62007189e+02] [-1.75337779e-02 9.99846160e-01 -4.71537696e-04 1.15906043e+01] [ 2.39364999e-02 8.91236786e-04 9.99713084e-01 2.72013732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.504391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.04, Y:11.59, Z:2.72 [[ 9.99587554e-01 1.63154508e-02 -2.36332122e-02 3.62036438e+02] [-1.63311258e-02 9.99866528e-01 -4.70392742e-04 1.15893451e+01] [ 2.36223831e-02 8.56155690e-04 9.99720586e-01 2.72023423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.534391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.07, Y:11.58, Z:2.72 [[ 9.99647076e-01 1.39216601e-02 -2.26254375e-02 3.62065476e+02] [-1.39354821e-02 9.99902794e-01 -4.53346590e-04 1.15844816e+01] [ 2.26169268e-02 7.68482973e-04 9.99743909e-01 2.72047373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.564391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.09, Y:11.58, Z:2.72 [[ 9.99656552e-01 1.29298315e-02 -2.27946806e-02 3.62093101e+02] [-1.29436501e-02 9.99916122e-01 -4.58776027e-04 1.15836156e+01] [ 2.27868368e-02 7.53664832e-04 9.99740062e-01 2.71984153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.594391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.12, Y:11.58, Z:2.72 [[ 9.99668967e-01 1.21990051e-02 -2.26526204e-02 3.62121630e+02] [-1.22125072e-02 9.99925320e-01 -4.57798689e-04 1.15815977e+01] [ 2.26453440e-02 7.34292432e-04 9.99743292e-01 2.72024392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.624391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.15, Y:11.58, Z:2.72 [[ 9.99674893e-01 1.07894372e-02 -2.31018549e-02 3.62149423e+02] [-1.08031521e-02 9.99941534e-01 -4.68946661e-04 1.15808555e+01] [ 2.30954446e-02 7.18367055e-04 9.99733007e-01 2.71920457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.654391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.18, Y:11.58, Z:2.72 [[ 9.99689110e-01 1.00152051e-02 -2.28337102e-02 3.62177479e+02] [-1.00284497e-02 9.99949605e-01 -4.65611694e-04 1.15804134e+01] [ 2.28278963e-02 6.94453655e-04 9.99739168e-01 2.71910258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.684391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.21, Y:11.58, Z:2.72 [[ 9.99698153e-01 9.56051737e-03 -2.26318218e-02 3.62206128e+02] [-9.57345297e-03 9.99954066e-01 -4.63286807e-04 1.15784918e+01] [ 2.26263530e-02 6.79811647e-04 9.99743760e-01 2.71965225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.714391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.23, Y:11.58, Z:2.72 [[ 9.99712593e-01 9.40788738e-03 -2.20504469e-02 3.62233512e+02] [-9.42018504e-03 9.99955526e-01 -4.53897571e-04 1.15754618e+01] [ 2.20451960e-02 6.61486407e-04 9.99756756e-01 2.71896434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.744391418 meters Centerline goodness [0,1] 0.9999537433216921 Centerline is valid? [True, True] Translation: X:362.26, Y:11.58, Z:2.72 [[ 9.99712701e-01 1.03355931e-02 -2.16261494e-02 3.62261449e+02] [-1.03476884e-02 9.99946361e-01 -4.47458431e-04 1.15760594e+01] [ 2.16203646e-02 6.71110532e-04 9.99766027e-01 2.71851674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.774391418 meters Centerline goodness [0,1] 0.9999538138235227 Centerline is valid? [True, True] Translation: X:362.29, Y:11.58, Z:2.72 [[ 9.99712759e-01 1.07905206e-02 -2.14000885e-02 3.62290594e+02] [-1.08025561e-02 9.99941551e-01 -4.46880492e-04 1.15755899e+01] [ 2.13940157e-02 6.77927786e-04 9.99770892e-01 2.71922026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.804391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.32, Y:11.57, Z:2.72 [[ 9.99717418e-01 1.10936330e-02 -2.10241727e-02 3.62319488e+02] [-1.11053782e-02 9.99938236e-01 -4.41979245e-04 1.15689090e+01] [ 2.10179710e-02 6.75335740e-04 9.99778870e-01 2.72168881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.834391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.35, Y:11.57, Z:2.72 [[ 9.99724379e-01 1.09008944e-02 -2.07926823e-02 3.62348154e+02] [-1.09123741e-02 9.99940362e-01 -4.38714173e-04 1.15680384e+01] [ 2.07866599e-02 6.65490782e-04 9.99783713e-01 2.72210836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.864391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.38, Y:11.57, Z:2.72 [[ 9.99733805e-01 1.08346505e-02 -2.03698315e-02 3.62376713e+02] [-1.08456857e-02 9.99941091e-01 -4.31346055e-04 1.15669840e+01] [ 2.03639581e-02 6.52156024e-04 9.99792420e-01 2.72228255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.894391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.41, Y:11.56, Z:2.72 [[ 9.99737785e-01 1.03423044e-02 -2.04303255e-02 3.62405763e+02] [-1.03533345e-02 9.99946309e-01 -4.34191079e-04 1.15630275e+01] [ 2.04247380e-02 6.45599222e-04 9.99791185e-01 2.72142037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92439141799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.43, Y:11.56, Z:2.72 [[ 9.99745945e-01 1.01452215e-02 -2.01275858e-02 3.62434732e+02] [-1.01559179e-02 9.99948335e-01 -4.29282047e-04 1.15617800e+01] [ 2.01221908e-02 6.33587095e-04 9.99797327e-01 2.72169229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.954391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.46, Y:11.56, Z:2.72 [[ 9.99761285e-01 1.02683203e-02 -1.92855970e-02 3.62461580e+02] [-1.02782035e-02 9.99947092e-01 -4.13410858e-04 1.15617268e+01] [ 1.92803317e-02 6.11533461e-04 9.99813930e-01 2.72184671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.984391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.49, Y:11.56, Z:2.72 [[ 9.99774102e-01 1.02722255e-02 -1.86071718e-02 3.62490861e+02] [-1.02814604e-02 9.99947064e-01 -4.00707972e-04 1.15570869e+01] [ 1.86020707e-02 5.91926353e-04 9.99826791e-01 2.72382743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.014391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.52, Y:11.56, Z:2.72 [[ 9.99783011e-01 1.00502508e-02 -1.82461671e-02 3.62517666e+02] [-1.00591448e-02 9.99949327e-01 -3.95730211e-04 1.15573544e+01] [ 1.82412653e-02 5.79185178e-04 9.99833447e-01 2.72368724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.044391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.55, Y:11.56, Z:2.72 [[ 9.99782906e-01 1.07278496e-02 -1.78620588e-02 3.62546360e+02] [-1.07365238e-02 9.99942286e-01 -3.89792945e-04 1.15561056e+01] [ 1.78568463e-02 5.81484743e-04 9.99840385e-01 2.72382573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.074391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.57, Y:11.56, Z:2.72 [[ 9.99748374e-01 1.40553973e-02 -1.74824195e-02 3.62574749e+02] [-1.40642349e-02 9.99901021e-01 -3.82663413e-04 1.15582785e+01] [ 1.74753106e-02 6.28443979e-04 9.99847098e-01 2.72355490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.104391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.60, Y:11.56, Z:2.72 [[ 9.99725514e-01 1.55940709e-02 -1.74848956e-02 3.62603588e+02] [-1.56031993e-02 9.99878188e-01 -3.85764420e-04 1.15601140e+01] [ 1.74767501e-02 6.58478843e-04 9.99847053e-01 2.72379412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.134391418 meters Centerline goodness [0,1] 0.9999772453182242 Centerline is valid? [True, True] Translation: X:362.63, Y:11.56, Z:2.72 [[ 9.99692363e-01 1.77786252e-02 -1.72945190e-02 3.62632566e+02] [-1.77879304e-02 9.99841708e-01 -3.84352663e-04 1.15631321e+01] [ 1.72849482e-02 6.91868123e-04 9.99850365e-01 2.72419976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.164391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.66, Y:11.57, Z:2.73 [[ 9.99657503e-01 2.01121310e-02 -1.67445227e-02 3.62662305e+02] [-2.01211957e-02 9.99797479e-01 -3.73040497e-04 1.15659101e+01] [ 1.67336289e-02 7.09832549e-04 9.99859731e-01 2.72566912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.194391418 meters Centerline goodness [0,1] 0.9999316768771778 Centerline is valid? [True, True] Translation: X:362.69, Y:11.57, Z:2.73 [[ 9.99671691e-01 1.94942308e-02 -1.66278723e-02 3.62689781e+02] [-1.95031031e-02 9.99809727e-01 -3.71567855e-04 1.15675595e+01] [ 1.66174651e-02 6.95740973e-04 9.99861678e-01 2.72576864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.224391418 meters Centerline goodness [0,1] 0.9999772209567198 Centerline is valid? [True, True] Translation: X:362.72, Y:11.57, Z:2.73 [[ 9.99707330e-01 1.76571705e-02 -1.65371626e-02 3.62718893e+02] [-1.76657423e-02 9.99843879e-01 -3.72386375e-04 1.15668037e+01] [ 1.65280055e-02 6.64418642e-04 9.99863182e-01 2.72582588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.254391418 meters Centerline goodness [0,1] 0.9999772463537282 Centerline is valid? [True, True] Translation: X:362.75, Y:11.56, Z:2.73 [[ 9.99744295e-01 1.51381038e-02 -1.67983048e-02 3.62746367e+02] [-1.51466452e-02 9.99885210e-01 -3.81345430e-04 1.15648900e+01] [ 1.67906037e-02 6.35685881e-04 9.99858826e-01 2.72514413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.284391418 meters Centerline goodness [0,1] 0.9999772959473266 Centerline is valid? [True, True] Translation: X:362.78, Y:11.56, Z:2.72 [[ 9.99827707e-01 7.22724192e-03 -1.70974891e-02 3.62775557e+02] [-7.23495601e-03 9.99973752e-01 -3.89370475e-04 1.15570337e+01] [ 1.70942263e-02 5.13002971e-04 9.99853751e-01 2.72382328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.314391418 meters Centerline goodness [0,1] 0.9999773057371096 Centerline is valid? [True, True] Translation: X:362.81, Y:11.55, Z:2.72 [[ 9.99848833e-01 2.51999952e-03 -1.72034887e-02 3.62805652e+02] [-2.52711933e-03 9.99996730e-01 -3.92131672e-04 1.15525335e+01] [ 1.72024443e-02 4.35547663e-04 9.99851932e-01 2.72364273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.344391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.83, Y:11.54, Z:2.72 [[ 9.99829601e-01 -8.27803702e-03 -1.64997688e-02 3.62834753e+02] [ 8.27295005e-03 9.99965708e-01 -3.76538486e-04 1.15402395e+01] [ 1.65023200e-02 2.39972562e-04 9.99863799e-01 2.72324467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.374391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.86, Y:11.53, Z:2.72 [[ 9.99771057e-01 -1.40006357e-02 -1.61807345e-02 3.62863934e+02] [ 1.39964788e-02 9.99901976e-01 -3.70129237e-04 1.15336879e+01] [ 1.61843305e-02 1.43571192e-04 9.99869015e-01 2.72372933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.404391418 meters Centerline goodness [0,1] 0.9999554287751827 Centerline is valid? [True, True] Translation: X:362.89, Y:11.53, Z:2.72 [[ 9.99684771e-01 -1.96434076e-02 -1.56363258e-02 3.62894254e+02] [ 1.96402073e-02 9.99807048e-01 -3.58214044e-04 1.15267242e+01] [ 1.56403453e-02 5.10004429e-05 9.99877681e-01 2.72452261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.434391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.93, Y:11.51, Z:2.73 [[ 9.99459019e-01 -2.96444225e-02 -1.42434906e-02 3.62926391e+02] [ 2.96428068e-02 9.99560503e-01 -3.24585053e-04 1.15138105e+01] [ 1.42468528e-02 -9.78075831e-05 9.99898504e-01 2.72695925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.464391418 meters Centerline goodness [0,1] 0.9999779351735398 Centerline is valid? [True, True] Translation: X:362.96, Y:11.51, Z:2.73 [[ 9.99322995e-01 -3.39831948e-02 -1.40958889e-02 3.62957711e+02] [ 3.39820781e-02 9.99422392e-01 -3.18794140e-04 1.15085180e+01] [ 1.40985807e-02 -1.60429285e-04 9.99900597e-01 2.72758170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.494391418 meters Centerline goodness [0,1] 0.9997355896351137 Centerline is valid? [True, True] Translation: X:362.99, Y:11.50, Z:2.73 [[ 9.99065687e-01 -4.07971448e-02 -1.42599319e-02 3.62989938e+02] [ 4.07967091e-02 9.99167416e-01 -3.21563956e-04 1.14992173e+01] [ 1.42611782e-02 -2.60494778e-04 9.99898270e-01 2.72804888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.524391418 meters Centerline goodness [0,1] 0.9998240366003871 Centerline is valid? [True, True] Translation: X:363.02, Y:11.50, Z:2.73 [[ 9.98969023e-01 -4.31617625e-02 -1.40696187e-02 3.63022015e+02] [ 4.31615879e-02 9.99068054e-01 -3.16201196e-04 1.14970173e+01] [ 1.40701544e-02 -2.91391884e-04 9.99900968e-01 2.72859080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.554391418 meters Centerline goodness [0,1] 0.9998681434599156 Centerline is valid? [True, True] Translation: X:363.05, Y:11.49, Z:2.73 [[ 9.98907518e-01 -4.44729673e-02 -1.43501103e-02 3.63054558e+02] [ 4.44729371e-02 9.99010538e-01 -3.21376878e-04 1.14945290e+01] [ 1.43502040e-02 -3.17165775e-04 9.99896980e-01 2.72869555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.584391418 meters Centerline goodness [0,1] 0.9998026315789473 Centerline is valid? [True, True] Translation: X:363.09, Y:11.49, Z:2.73 [[ 9.98884030e-01 -4.49392159e-02 -1.45314268e-02 3.63086836e+02] [ 4.49392507e-02 9.98989669e-01 -3.24306084e-04 1.14928595e+01] [ 1.45313193e-02 -3.29087262e-04 9.99894361e-01 2.72881203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.614391418 meters Centerline goodness [0,1] 0.9996731171548117 Centerline is valid? [True, True] Translation: X:363.12, Y:11.49, Z:2.73 [[ 9.98903024e-01 -4.45309117e-02 -1.44826578e-02 3.63119438e+02] [ 4.45309195e-02 9.99007955e-01 -3.22098802e-04 1.14914449e+01] [ 1.44826337e-02 -3.23180604e-04 9.99895069e-01 2.72912930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.644391418 meters Centerline goodness [0,1] 0.99991265231253 Centerline is valid? [True, True] Translation: X:363.15, Y:11.49, Z:2.73 [[ 9.98943291e-01 -4.36667635e-02 -1.43357904e-02 3.63151357e+02] [ 4.36666982e-02 9.99046104e-01 -3.17717814e-04 1.14920346e+01] [ 1.43359892e-02 -3.08614552e-04 9.99897187e-01 2.72987077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.67439141799997 meters Centerline goodness [0,1] 0.9998253732646468 Centerline is valid? [True, True] Translation: X:363.18, Y:11.49, Z:2.73 [[ 9.98981453e-01 -4.27304522e-02 -1.44970930e-02 3.63182968e+02] [ 4.27303109e-02 9.99086592e-01 -3.19637228e-04 1.14919293e+01] [ 1.44975095e-02 -3.00153628e-04 9.99894861e-01 2.73035815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.704391418 meters Centerline goodness [0,1] 0.9998693465148183 Centerline is valid? [True, True] Translation: X:363.22, Y:11.49, Z:2.73 [[ 9.99031097e-01 -4.15619618e-02 -1.44731209e-02 3.63215224e+02] [ 4.15617233e-02 9.99135888e-01 -3.17386860e-04 1.14925595e+01] [ 1.44738057e-02 -2.84448504e-04 9.99895209e-01 2.73082235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.734391418 meters Centerline goodness [0,1] 0.9997819973403675 Centerline is valid? [True, True] Translation: X:363.25, Y:11.49, Z:2.73 [[ 9.99160779e-01 -3.86129780e-02 -1.36665809e-02 3.63246291e+02] [ 3.86125019e-02 9.99254215e-01 -2.98792395e-04 1.14888502e+01] [ 1.36679259e-02 -2.29159241e-04 9.99906563e-01 2.73055104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.764391418 meters Centerline goodness [0,1] 0.9996082954322895 Centerline is valid? [True, True] Translation: X:363.28, Y:11.49, Z:2.73 [[ 9.99260518e-01 -3.62988407e-02 -1.26811755e-02 3.63278210e+02] [ 3.62982546e-02 9.99340963e-01 -2.76456092e-04 1.14945507e+01] [ 1.26828532e-02 -1.84052879e-04 9.99919552e-01 2.73313903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.794391418 meters Centerline goodness [0,1] 0.999717845205539 Centerline is valid? [True, True] Translation: X:363.31, Y:11.50, Z:2.73 [[ 9.99431702e-01 -3.15127889e-02 -1.19673721e-02 3.63309299e+02] [ 3.15119382e-02 9.99503342e-01 -2.59691132e-04 1.14962109e+01] [ 1.19696120e-02 -1.17571541e-04 9.99928355e-01 2.73393648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.824391418 meters Centerline goodness [0,1] 0.9997611810681719 Centerline is valid? [True, True] Translation: X:363.34, Y:11.50, Z:2.73 [[ 9.99498157e-01 -2.92668124e-02 -1.21197494e-02 3.63340117e+02] [ 2.92657960e-02 9.99571631e-01 -2.61249893e-04 1.14974172e+01] [ 1.21222036e-02 -9.35753265e-05 9.99926519e-01 2.73415515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.854391418 meters Centerline goodness [0,1] 0.9997830990803401 Centerline is valid? [True, True] Translation: X:363.37, Y:11.50, Z:2.73 [[ 9.99549761e-01 -2.72447424e-02 -1.25697582e-02 3.63372563e+02] [ 2.72435064e-02 9.99628790e-01 -2.69580577e-04 1.14985180e+01] [ 1.25724368e-02 -7.29850868e-05 9.99920961e-01 2.73441565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.884391418 meters Centerline goodness [0,1] 0.9996746345060952 Centerline is valid? [True, True] Translation: X:363.40, Y:11.50, Z:2.73 [[ 9.99632145e-01 -2.40763705e-02 -1.24861352e-02 3.63403611e+02] [ 2.40749186e-02 9.99710122e-01 -2.66600233e-04 1.14993810e+01] [ 1.24889345e-02 -3.41005264e-05 9.99922010e-01 2.73416486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.914391418 meters Centerline goodness [0,1] 0.9997175509494634 Centerline is valid? [True, True] Translation: X:363.44, Y:11.50, Z:2.73 [[ 9.99671539e-01 -2.25735075e-02 -1.21347309e-02 3.63435866e+02] [ 2.25720412e-02 9.99745186e-01 -2.57798670e-04 1.14996158e+01] [ 1.21374582e-02 -1.61916528e-05 9.99926338e-01 2.73451731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.944391418 meters Centerline goodness [0,1] 0.999783066143133 Centerline is valid? [True, True] Translation: X:363.47, Y:11.50, Z:2.73 [[ 9.99711121e-01 -2.08886469e-02 -1.18885772e-02 3.63468313e+02] [ 2.08871306e-02 9.99781808e-01 -2.51700585e-04 1.14995796e+01] [ 1.18912409e-02 3.30961060e-06 9.99929297e-01 2.73474627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.974391418 meters Centerline goodness [0,1] 0.9999782835302293 Centerline is valid? [True, True] Translation: X:363.50, Y:11.50, Z:2.74 [[ 9.99781148e-01 -1.74477095e-02 -1.15426864e-02 3.63499364e+02] [ 1.74460597e-02 9.99847776e-01 -2.43612492e-04 1.15000151e+01] [ 1.15451798e-02 4.21847806e-05 9.99933351e-01 2.73502767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.004391418 meters Centerline goodness [0,1] 0.999632169980743 Centerline is valid? [True, True] Translation: X:363.53, Y:11.50, Z:2.74 [[ 9.99809590e-01 -1.56650654e-02 -1.16356814e-02 3.63531383e+02] [ 1.56632767e-02 9.99877293e-01 -2.44850204e-04 1.15008194e+01] [ 1.16380892e-02 6.25506845e-05 9.99932273e-01 2.73529417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.034391418 meters Centerline goodness [0,1] 0.9997195314016958 Centerline is valid? [True, True] Translation: X:363.56, Y:11.50, Z:2.74 [[ 9.99827484e-01 -1.41224547e-02 -1.20648002e-02 3.63562751e+02] [ 1.41204297e-02 9.99900270e-01 -2.53019725e-04 1.15029376e+01] [ 1.20671703e-02 8.26159121e-05 9.99927186e-01 2.73524399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.064391418 meters Centerline goodness [0,1] 0.999632090375917 Centerline is valid? [True, True] Translation: X:363.59, Y:11.50, Z:2.74 [[ 9.99857078e-01 -1.15550787e-02 -1.23411385e-02 3.63594551e+02] [ 1.15527720e-02 9.99933231e-01 -2.58190080e-04 1.15032027e+01] [ 1.23432979e-02 1.15578821e-04 9.99923812e-01 2.73517330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.094391418 meters Centerline goodness [0,1] 0.99969723183391 Centerline is valid? [True, True] Translation: X:363.62, Y:11.50, Z:2.73 [[ 9.99872234e-01 -1.01922460e-02 -1.23139342e-02 3.63624961e+02] [ 1.01898508e-02 9.99948049e-01 -2.57243390e-04 1.15037783e+01] [ 1.23159163e-02 1.31733372e-04 9.99924148e-01 2.73480793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.124391418 meters Centerline goodness [0,1] 0.9996973496476285 Centerline is valid? [True, True] Translation: X:363.66, Y:11.50, Z:2.74 [[ 9.99884254e-01 -9.05449217e-03 -1.22268335e-02 3.63655729e+02] [ 9.05204739e-03 9.99958997e-01 -2.55278947e-04 1.15021439e+01] [ 1.22286436e-02 1.44571523e-04 9.99925217e-01 2.73568467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.154391418 meters Centerline goodness [0,1] 0.9996973496476285 Centerline is valid? [True, True] Translation: X:363.68, Y:11.50, Z:2.74 [[ 9.99883889e-01 -9.09471516e-03 -1.22268298e-02 3.63684872e+02] [ 9.09227122e-03 9.99958632e-01 -2.55456534e-04 1.15027898e+01] [ 1.22286473e-02 1.44257220e-04 9.99925217e-01 2.73591246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.184391418 meters Centerline goodness [0,1] 0.9996538145311351 Centerline is valid? [True, True] Translation: X:363.71, Y:11.50, Z:2.74 [[ 9.99907924e-01 -6.54648094e-03 -1.18863960e-02 3.63714151e+02] [ 6.54398659e-03 9.99978557e-01 -2.48730736e-04 1.15039250e+01] [ 1.18877694e-02 1.70923419e-04 9.99929323e-01 2.73622256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.214391418 meters Centerline goodness [0,1] 0.9998919573015256 Centerline is valid? [True, True] Translation: X:363.74, Y:11.50, Z:2.74 [[ 9.99917852e-01 -5.26677838e-03 -1.16855103e-02 3.63742436e+02] [ 5.26426559e-03 9.99986113e-01 -2.45783723e-04 1.15044906e+01] [ 1.16866425e-02 1.84247902e-04 9.99931692e-01 2.73735300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.244391418 meters Centerline goodness [0,1] 0.999675331702777 Centerline is valid? [True, True] Translation: X:363.77, Y:11.51, Z:2.74 [[ 9.99923259e-01 -4.27396293e-03 -1.16279811e-02 3.63771427e+02] [ 4.27136914e-03 9.99990847e-01 -2.47889942e-04 1.15057595e+01] [ 1.16289341e-02 1.98203519e-04 9.99932362e-01 2.73811143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.274391418 meters Centerline goodness [0,1] 0.9996971597914729 Centerline is valid? [True, True] Translation: X:363.80, Y:11.51, Z:2.74 [[ 9.99933939e-01 -2.37927099e-03 -1.12452647e-02 3.63799951e+02] [ 2.37668963e-03 9.99997146e-01 -2.42908844e-04 1.15069832e+01] [ 1.12458105e-02 2.16166293e-04 9.99936741e-01 2.73855493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.304391418 meters Centerline goodness [0,1] 0.9998272884283247 Centerline is valid? [True, True] Translation: X:363.83, Y:11.51, Z:2.74 [[ 9.99929224e-01 -1.72995772e-03 -1.17708785e-02 3.63828220e+02] [ 1.72704919e-03 9.99998476e-01 -2.57256251e-04 1.15072547e+01] [ 1.17713056e-02 2.36909157e-04 9.99930688e-01 2.73817198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.334391418 meters Centerline goodness [0,1] 0.9997193073368744 Centerline is valid? [True, True] Translation: X:363.86, Y:11.51, Z:2.74 [[ 9.99930584e-01 -1.76695856e-03 -1.16492190e-02 3.63855516e+02] [ 1.76409186e-03 9.99998411e-01 -2.56356434e-04 1.15072271e+01] [ 1.16496535e-02 2.35788346e-04 9.99932113e-01 2.73754345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.364391418 meters Centerline goodness [0,1] 0.9997623522803379 Centerline is valid? [True, True] Translation: X:363.88, Y:11.51, Z:2.74 [[ 9.99926328e-01 -2.33548128e-03 -1.19115167e-02 3.63883361e+02] [ 2.33249485e-03 9.99997245e-01 -2.64603882e-04 1.15067851e+01] [ 1.19121019e-02 2.36800837e-04 9.99929020e-01 2.73705096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.394391418 meters Centerline goodness [0,1] 0.9999136050454653 Centerline is valid? [True, True] Translation: X:363.91, Y:11.50, Z:2.74 [[ 9.99911262e-01 -4.23493550e-03 -1.26306373e-02 3.63912060e+02] [ 4.23169008e-03 9.99991006e-01 -2.83662993e-04 1.15047174e+01] [ 1.26317250e-02 2.30188879e-04 9.99920190e-01 2.73696078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42439141799997 meters Centerline goodness [0,1] 0.9998061598104674 Centerline is valid? [True, True] Translation: X:363.94, Y:11.50, Z:2.74 [[ 9.99905512e-01 -5.72679369e-03 -1.24968641e-02 3.63940742e+02] [ 5.72372051e-03 9.99983580e-01 -2.81668404e-04 1.15037161e+01] [ 1.24982719e-02 2.10113233e-04 9.99921871e-01 2.73743358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.454391418 meters Centerline goodness [0,1] 0.9998278236914601 Centerline is valid? [True, True] Translation: X:363.97, Y:11.50, Z:2.74 [[ 9.99880333e-01 -9.26838975e-03 -1.23861362e-02 3.63968475e+02] [ 9.26562889e-03 9.99957034e-01 -2.80266557e-04 1.15004779e+01] [ 1.23882016e-02 1.65467677e-04 9.99923250e-01 2.73721380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.484391418 meters Centerline goodness [0,1] 0.9995913802744204 Centerline is valid? [True, True] Translation: X:364.00, Y:11.50, Z:2.74 [[ 9.99854669e-01 -1.17017354e-02 -1.23980076e-02 3.63998286e+02] [ 1.16991442e-02 9.99931523e-01 -2.81509618e-04 1.14982638e+01] [ 1.24004527e-02 1.36422628e-04 9.99923102e-01 2.73683491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.514391418 meters Centerline goodness [0,1] 0.9998710675605983 Centerline is valid? [True, True] Translation: X:364.03, Y:11.50, Z:2.74 [[ 9.99827256e-01 -1.36422135e-02 -1.26233377e-02 3.64029034e+02] [ 1.36396778e-02 9.99906934e-01 -2.86944932e-04 1.14960800e+01] [ 1.26260775e-02 1.14717104e-04 9.99920281e-01 2.73684089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.544391418 meters Centerline goodness [0,1] 0.9995285444882565 Centerline is valid? [True, True] Translation: X:364.06, Y:11.49, Z:2.74 [[ 9.99759269e-01 -1.80560168e-02 -1.24653468e-02 3.64059361e+02] [ 1.80538884e-02 9.99836975e-01 -2.83261329e-04 1.14920416e+01] [ 1.24684292e-02 5.81451598e-05 9.99922264e-01 2.73700250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.574391418 meters Centerline goodness [0,1] 0.9997855273881525 Centerline is valid? [True, True] Translation: X:364.09, Y:11.49, Z:2.74 [[ 9.99733170e-01 -1.97859094e-02 -1.19208369e-02 3.64091900e+02] [ 1.97840915e-02 9.99804239e-01 -2.70413336e-04 1.14904814e+01] [ 1.19238537e-02 3.44982532e-05 9.99928908e-01 2.73827010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.604391418 meters Centerline goodness [0,1] 0.9998928234588014 Centerline is valid? [True, True] Translation: X:364.12, Y:11.49, Z:2.74 [[ 9.99712858e-01 -2.10053398e-02 -1.15315958e-02 3.64123933e+02] [ 2.10037302e-02 9.99779363e-01 -2.60684438e-04 1.14892421e+01] [ 1.15345272e-02 1.84030591e-05 9.99933475e-01 2.73899942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.634391418 meters Centerline goodness [0,1] 0.999508441974781 Centerline is valid? [True, True] Translation: X:364.15, Y:11.49, Z:2.74 [[ 9.99671007e-01 -2.30065690e-02 -1.13391540e-02 3.64154987e+02] [ 2.30051508e-02 9.99735314e-01 -2.55505806e-04 1.14868264e+01] [ 1.13420309e-02 -5.43719988e-06 9.99935677e-01 2.73892316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.664391418 meters Centerline goodness [0,1] 0.9999143872265742 Centerline is valid? [True, True] Translation: X:364.19, Y:11.49, Z:2.74 [[ 9.99664641e-01 -2.33646517e-02 -1.11668459e-02 3.64187005e+02] [ 2.33633069e-02 9.99727009e-01 -2.50886293e-04 1.14866074e+01] [ 1.11696593e-02 -1.00922902e-05 9.99937617e-01 2.73991705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.694391418 meters Centerline goodness [0,1] 0.9996155160628845 Centerline is valid? [True, True] Translation: X:364.22, Y:11.49, Z:2.74 [[ 9.99656956e-01 -2.36339831e-02 -1.12874016e-02 3.64218515e+02] [ 2.36326360e-02 9.99720678e-01 -2.52730955e-04 1.14865371e+01] [ 1.12902219e-02 -1.41067970e-05 9.99936263e-01 2.73965389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.724391418 meters Centerline goodness [0,1] 0.999424576957504 Centerline is valid? [True, True] Translation: X:364.25, Y:11.49, Z:2.74 [[ 9.99667750e-01 -2.36661727e-02 -1.02128190e-02 3.64250975e+02] [ 2.36650780e-02 9.99719917e-01 -2.28047246e-04 1.14863127e+01] [ 1.02153556e-02 -1.37156815e-05 9.99947822e-01 2.74069122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.754391418 meters Centerline goodness [0,1] 0.9995087779249071 Centerline is valid? [True, True] Translation: X:364.28, Y:11.49, Z:2.74 [[ 9.99691583e-01 -2.27288587e-02 -1.00068546e-02 3.64282743e+02] [ 2.27277685e-02 9.99741666e-01 -2.22660303e-04 1.14869787e+01] [ 1.00093303e-02 -4.84184402e-06 9.99949905e-01 2.74153226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.784391418 meters Centerline goodness [0,1] 0.9994242824853938 Centerline is valid? [True, True] Translation: X:364.31, Y:11.49, Z:2.74 [[ 9.99713495e-01 -2.19854098e-02 -9.46408349e-03 3.64314433e+02] [ 2.19844085e-02 9.99758292e-01 -2.09833224e-04 1.14877989e+01] [ 9.46640921e-03 1.71082835e-06 9.99955193e-01 2.74187831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.814391418 meters Centerline goodness [0,1] 0.9996370468423075 Centerline is valid? [True, True] Translation: X:364.35, Y:11.49, Z:2.74 [[ 9.99763165e-01 -1.97258604e-02 -9.19258668e-03 3.64346124e+02] [ 1.97248270e-02 9.99805426e-01 -2.03079352e-04 1.14891687e+01] [ 9.19480396e-03 2.17090744e-05 9.99957727e-01 2.74271190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.844391418 meters Centerline goodness [0,1] 0.9994656406968045 Centerline is valid? [True, True] Translation: X:364.38, Y:11.49, Z:2.74 [[ 9.99784352e-01 -1.85387691e-02 -9.35751031e-03 3.64378345e+02] [ 1.85376533e-02 9.99828142e-01 -2.05967059e-04 1.14904406e+01] [ 9.35972052e-03 3.24563614e-05 9.99956196e-01 2.74293672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.874391418 meters Centerline goodness [0,1] 0.9996579515573893 Centerline is valid? [True, True] Translation: X:364.41, Y:11.49, Z:2.74 [[ 9.99824016e-01 -1.58659635e-02 -1.00103722e-02 3.64410452e+02] [ 1.58645611e-02 9.99874126e-01 -2.19492933e-04 1.14917809e+01] [ 1.00125946e-02 6.06441438e-05 9.99949871e-01 2.74343746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.904391418 meters Centerline goodness [0,1] 0.9995723022967367 Centerline is valid? [True, True] Translation: X:364.44, Y:11.49, Z:2.74 [[ 9.99849843e-01 -1.39959433e-02 -1.02179099e-02 3.64441888e+02] [ 1.39943928e-02 9.99902049e-01 -2.23230227e-04 1.14925371e+01] [ 1.02200334e-02 8.02032627e-05 9.99947771e-01 2.74262048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.934391418 meters Centerline goodness [0,1] 0.9996793844180827 Centerline is valid? [True, True] Translation: X:364.47, Y:11.49, Z:2.74 [[ 9.99859459e-01 -1.31913972e-02 -1.03465060e-02 3.64473214e+02] [ 1.31897705e-02 9.99912986e-01 -2.25444162e-04 1.14904453e+01] [ 1.03485797e-02 8.89444372e-05 9.99946448e-01 2.74292464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.964391418 meters Centerline goodness [0,1] 0.9995515790822318 Centerline is valid? [True, True] Translation: X:364.50, Y:11.49, Z:2.74 [[ 9.99866319e-01 -1.32838684e-02 -9.53324816e-03 3.64504259e+02] [ 1.32824954e-02 9.99911762e-01 -2.07317990e-04 1.14903983e+01] [ 9.53516096e-03 8.06649500e-05 9.99954536e-01 2.74345623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.994391418 meters Centerline goodness [0,1] 0.9995942511798749 Centerline is valid? [True, True] Translation: X:364.54, Y:11.49, Z:2.74 [[ 9.99874869e-01 -1.30725312e-02 -8.90821247e-03 3.64536046e+02] [ 1.30713285e-02 9.99914548e-01 -1.93227652e-04 1.14895682e+01] [ 8.90997722e-03 7.67613019e-05 9.99960302e-01 2.74467167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.024391418 meters Centerline goodness [0,1] 0.9995942511798749 Centerline is valid? [True, True] Translation: X:364.57, Y:11.49, Z:2.74 [[ 9.99875934e-01 -1.29908062e-02 -8.90822130e-03 3.64567740e+02] [ 1.29896039e-02 9.99915613e-01 -1.92819871e-04 1.14901806e+01] [ 8.90997444e-03 7.70816826e-05 9.99960302e-01 2.74491927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.054391418 meters Centerline goodness [0,1] 0.9996159098668488 Centerline is valid? [True, True] Translation: X:364.60, Y:11.49, Z:2.75 [[ 9.99880466e-01 -1.30546648e-02 -8.28426770e-03 3.64599557e+02] [ 1.30536322e-02 9.99914782e-01 -1.78701099e-04 1.14893724e+01] [ 8.28589461e-03 7.05399546e-05 9.99965669e-01 2.74545962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.084391418 meters Centerline goodness [0,1] 0.99974462651628 Centerline is valid? [True, True] Translation: X:364.63, Y:11.49, Z:2.75 [[ 9.99884803e-01 -1.27945772e-02 -8.16579261e-03 3.64631287e+02] [ 1.27935680e-02 9.99918144e-01 -1.75812140e-04 1.14867726e+01] [ 8.16737363e-03 7.13222633e-05 9.99966644e-01 2.74525988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.114391418 meters Centerline goodness [0,1] 0.999595976779297 Centerline is valid? [True, True] Translation: X:364.66, Y:11.49, Z:2.75 [[ 9.99899837e-01 -1.14602046e-02 -8.30541698e-03 3.64663627e+02] [ 1.14591189e-02 9.99934326e-01 -1.78297345e-04 1.14865963e+01] [ 8.30691486e-03 8.31067257e-05 9.99965494e-01 2.74520571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.144391418 meters Centerline goodness [0,1] 0.9995122985581001 Centerline is valid? [True, True] Translation: X:364.69, Y:11.49, Z:2.75 [[ 9.99941144e-01 -7.28381122e-03 -8.04083456e-03 3.64693888e+02] [ 7.28266349e-03 9.99973466e-01 -1.72008847e-04 1.14889350e+01] [ 8.04187409e-03 1.13440030e-04 9.99967657e-01 2.74593495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.17439141799997 meters Centerline goodness [0,1] 0.9995331961212841 Centerline is valid? [True, True] Translation: X:364.72, Y:11.49, Z:2.75 [[ 9.99959616e-01 -5.04737987e-03 -7.43568937e-03 3.64724445e+02] [ 5.04633764e-03 9.99987255e-01 -1.58920972e-04 1.14901534e+01] [ 7.43639673e-03 1.21391556e-04 9.99972342e-01 2.74658000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.204391418 meters Centerline goodness [0,1] 0.9996608588748993 Centerline is valid? [True, True] Translation: X:364.75, Y:11.49, Z:2.75 [[ 9.99966490e-01 -2.96494564e-03 -7.63068773e-03 3.64753672e+02] [ 2.96378747e-03 9.99995595e-01 -1.63081626e-04 1.14918363e+01] [ 7.63113764e-03 1.40460424e-04 9.99970873e-01 2.74717249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.234391418 meters Centerline goodness [0,1] 0.9995118949088517 Centerline is valid? [True, True] Translation: X:364.78, Y:11.49, Z:2.75 [[ 9.99969500e-01 -8.97232901e-04 -7.75849351e-03 3.64782384e+02] [ 8.95971142e-04 9.99999585e-01 -1.66103679e-04 1.14913589e+01] [ 7.75863932e-03 1.59147226e-04 9.99969889e-01 2.74756642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.264391418 meters Centerline goodness [0,1] 0.9995543199134107 Centerline is valid? [True, True] Translation: X:364.81, Y:11.50, Z:2.75 [[ 9.99965182e-01 2.32502610e-03 -8.01426046e-03 3.64810394e+02] [-2.32649456e-03 9.99997279e-01 -1.73912859e-04 1.14952371e+01] [ 8.01383430e-03 1.92551937e-04 9.99967870e-01 2.74704735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.294391418 meters Centerline goodness [0,1] 0.9995129698253044 Centerline is valid? [True, True] Translation: X:364.84, Y:11.49, Z:2.75 [[ 9.99958879e-01 3.32925393e-03 -8.43542524e-03 3.64839723e+02] [-3.33092256e-03 9.99994436e-01 -1.83770862e-04 1.14922079e+01] [ 8.43476648e-03 2.11861053e-04 9.99964404e-01 2.74621538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.324391418 meters Centerline goodness [0,1] 0.9995767464499609 Centerline is valid? [True, True] Translation: X:364.87, Y:11.49, Z:2.75 [[ 9.99950130e-01 4.80134714e-03 -8.75701069e-03 3.64867485e+02] [-4.80320846e-03 9.99988446e-01 -1.91533617e-04 1.14909887e+01] [ 8.75598989e-03 2.33585813e-04 9.99961638e-01 2.74546141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.354391418 meters Centerline goodness [0,1] 0.9994915038772829 Centerline is valid? [True, True] Translation: X:364.90, Y:11.49, Z:2.75 [[ 9.99949807e-01 5.44595029e-03 -8.40979517e-03 3.64896741e+02] [-5.44769649e-03 9.99985144e-01 -1.84745369e-04 1.14908362e+01] [ 8.40866412e-03 2.30550107e-04 9.99964620e-01 2.74544425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.384391418 meters Centerline goodness [0,1] 0.9994506075013206 Centerline is valid? [True, True] Translation: X:364.93, Y:11.49, Z:2.75 [[ 9.99950549e-01 5.14840273e-03 -8.50846599e-03 3.64925898e+02] [-5.15018527e-03 9.99986720e-01 -1.87604285e-04 1.14887620e+01] [ 8.50738714e-03 2.31415184e-04 9.99963785e-01 2.74575581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.414391418 meters Centerline goodness [0,1] 0.9994089959262934 Centerline is valid? [True, True] Translation: X:364.95, Y:11.49, Z:2.75 [[ 9.99955367e-01 4.87054531e-03 -8.09584745e-03 3.64954923e+02] [-4.87215517e-03 9.99988115e-01 -1.79138677e-04 1.14880821e+01] [ 8.09487873e-03 2.18574906e-04 9.99967212e-01 2.74618807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.444391418 meters Centerline goodness [0,1] 0.999345936365938 Centerline is valid? [True, True] Translation: X:364.98, Y:11.49, Z:2.75 [[ 9.99960520e-01 4.37505648e-03 -7.73411301e-03 3.64983788e+02] [-4.37651557e-03 9.99990408e-01 -1.71741782e-04 1.14874581e+01] [ 7.73328745e-03 2.05583468e-04 9.99970077e-01 2.74649918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.474391418 meters Centerline goodness [0,1] 0.9993883147015398 Centerline is valid? [True, True] Translation: X:365.01, Y:11.49, Z:2.75 [[ 9.99972027e-01 2.96733688e-03 -6.86589155e-03 3.65011928e+02] [-2.96845684e-03 9.99995582e-01 -1.52933908e-04 1.14850456e+01] [ 6.86540741e-03 1.73310733e-04 9.99976418e-01 2.74671429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.504391418 meters Centerline goodness [0,1] 0.9993033271406857 Centerline is valid? [True, True] Translation: X:365.04, Y:11.48, Z:2.75 [[ 9.99974079e-01 2.32076483e-03 -6.81576940e-03 3.65040530e+02] [-2.32185843e-03 9.99997293e-01 -1.52543303e-04 1.14849103e+01] [ 6.81539693e-03 1.68364601e-04 9.99976761e-01 2.74645337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.534391418 meters Centerline goodness [0,1] 0.9994950663777324 Centerline is valid? [True, True] Translation: X:365.07, Y:11.48, Z:2.75 [[ 9.99973480e-01 1.88573746e-03 -7.03450005e-03 3.65068914e+02] [-1.88689463e-03 9.99998207e-01 -1.57866032e-04 1.14845013e+01] [ 7.03418975e-03 1.71135206e-04 9.99975245e-01 2.74651658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.564391418 meters Centerline goodness [0,1] 0.9991991570073762 Centerline is valid? [True, True] Translation: X:365.10, Y:11.48, Z:2.75 [[ 9.99974994e-01 1.19276754e-03 -6.97048716e-03 3.65098015e+02] [-1.19389081e-03 9.99999275e-01 -1.56988920e-04 1.14835306e+01] [ 6.97029486e-03 1.65306995e-04 9.99975694e-01 2.74635256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.594391418 meters Centerline goodness [0,1] 0.9996417809806772 Centerline is valid? [True, True] Translation: X:365.13, Y:11.48, Z:2.75 [[ 9.99973696e-01 -1.47755576e-03 -7.10100874e-03 3.65126086e+02] [ 1.47645318e-03 9.99998897e-01 -1.60510519e-04 1.14840738e+01] [ 7.10123807e-03 1.50021990e-04 9.99974775e-01 2.74677814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.624391418 meters Centerline goodness [0,1] 0.9993896150365179 Centerline is valid? [True, True] Translation: X:365.16, Y:11.48, Z:2.75 [[ 9.99967489e-01 -3.25164806e-03 -7.37886048e-03 3.65155393e+02] [ 3.25049987e-03 9.99994703e-01 -1.67591400e-04 1.14832000e+01] [ 7.37936634e-03 1.43600966e-04 9.99972762e-01 2.74619104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.654391418 meters Centerline goodness [0,1] 0.9992842707982486 Centerline is valid? [True, True] Translation: X:365.18, Y:11.48, Z:2.75 [[ 9.99954455e-01 -6.66835876e-03 -6.82801314e-03 3.65184013e+02] [ 6.66745273e-03 9.99977760e-01 -1.55447711e-04 1.14805765e+01] [ 6.82889787e-03 1.09915177e-04 9.99976677e-01 2.74594560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.684391418 meters Centerline goodness [0,1] 0.9993474783194409 Centerline is valid? [True, True] Translation: X:365.21, Y:11.48, Z:2.75 [[ 9.99942224e-01 -8.73114402e-03 -6.27022902e-03 3.65214879e+02] [ 8.73041790e-03 9.99961879e-01 -1.43166644e-04 1.14792226e+01] [ 6.27124000e-03 8.84166528e-05 9.99980332e-01 2.74660012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.714391418 meters Centerline goodness [0,1] 0.9992213640859445 Centerline is valid? [True, True] Translation: X:365.25, Y:11.48, Z:2.75 [[ 9.99925529e-01 -1.09884259e-02 -5.30951168e-03 3.65245815e+02] [ 1.09879366e-02 9.99939623e-01 -1.21326163e-04 1.14780876e+01] [ 5.31052429e-03 6.29765500e-05 9.99985897e-01 2.74753302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.744391418 meters Centerline goodness [0,1] 0.9991583908432924 Centerline is valid? [True, True] Translation: X:365.28, Y:11.47, Z:2.75 [[ 9.99849291e-01 -1.66826931e-02 -4.80444701e-03 3.65277809e+02] [ 1.66823583e-02 9.99860834e-01 -1.09755051e-04 1.14748890e+01] [ 4.80560940e-03 2.95890041e-05 9.99988453e-01 2.74859361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.774391418 meters Centerline goodness [0,1] 0.9994732961129253 Centerline is valid? [True, True] Translation: X:365.31, Y:11.47, Z:2.75 [[ 9.99787510e-01 -1.99970490e-02 -5.00537658e-03 3.65309675e+02] [ 1.99967293e-02 9.99800039e-01 -1.13928253e-04 1.14736483e+01] [ 5.00665393e-03 1.38128839e-05 9.99987467e-01 2.74900209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.804391418 meters Centerline goodness [0,1] 0.9992012275870767 Centerline is valid? [True, True] Translation: X:365.34, Y:11.47, Z:2.75 [[ 9.99705544e-01 -2.36863228e-02 -5.27093919e-03 3.65342401e+02] [ 2.36860220e-02 9.99719440e-01 -1.19506185e-04 1.14721394e+01] [ 5.27229104e-03 -5.37658579e-06 9.99986101e-01 2.74881893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.834391418 meters Centerline goodness [0,1] 0.9992434590732374 Centerline is valid? [True, True] Translation: X:365.37, Y:11.47, Z:2.75 [[ 9.99611878e-01 -2.72868228e-02 -5.61457579e-03 3.65373738e+02] [ 2.72865413e-02 9.99627645e-01 -1.26745900e-04 1.14700360e+01] [ 5.61594367e-03 -2.65056468e-05 9.99984230e-01 2.74797489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.864391418 meters Centerline goodness [0,1] 0.9991611441993121 Centerline is valid? [True, True] Translation: X:365.40, Y:11.46, Z:2.75 [[ 9.99362913e-01 -3.52340192e-02 -5.68608413e-03 3.65404886e+02] [ 3.52338611e-02 9.99379087e-01 -1.28003213e-04 1.14642160e+01] [ 5.68706363e-03 -7.24210342e-05 9.99983826e-01 2.74680824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.894391418 meters Centerline goodness [0,1] 0.9992646595373658 Centerline is valid? [True, True] Translation: X:365.44, Y:11.46, Z:2.75 [[ 9.99220062e-01 -3.90808866e-02 -5.65254130e-03 3.65437097e+02] [ 3.90807936e-02 9.99236046e-01 -1.26950056e-04 1.14619872e+01] [ 5.65318434e-03 -9.40547572e-05 9.99984016e-01 2.74685058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92439141799997 meters Centerline goodness [0,1] 0.9991386735572783 Centerline is valid? [True, True] Translation: X:365.47, Y:11.46, Z:2.75 [[ 9.99066174e-01 -4.28752346e-02 -5.33793865e-03 3.65468325e+02] [ 4.28752070e-02 9.99080428e-01 -1.19640871e-04 1.14596570e+01] [ 5.33815966e-03 -1.09336078e-04 9.99985746e-01 2.74743419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.954391418 meters Centerline goodness [0,1] 0.9989303691275168 Centerline is valid? [True, True] Translation: X:365.50, Y:11.45, Z:2.75 [[ 9.98699981e-01 -5.07330602e-02 -4.95012327e-03 3.65498477e+02] [ 5.07331381e-02 9.98712239e-01 -1.09918132e-04 1.14549466e+01] [ 4.94932518e-03 -1.41360051e-04 9.99987742e-01 2.74827953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.984391418 meters Centerline goodness [0,1] 0.9990575718863223 Centerline is valid? [True, True] Translation: X:365.53, Y:11.45, Z:2.75 [[ 9.98555866e-01 -5.34634984e-02 -5.27609532e-03 3.65530385e+02] [ 5.34636231e-02 9.98569791e-01 -1.17511042e-04 1.14536069e+01] [ 5.27483195e-03 -1.64737831e-04 9.99986074e-01 2.74829570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.014391418 meters Centerline goodness [0,1] 0.999223797935722 Centerline is valid? [True, True] Translation: X:365.56, Y:11.45, Z:2.75 [[ 9.98347699e-01 -5.71725746e-02 -5.75915274e-03 3.65562791e+02] [ 5.71727907e-02 9.98364290e-01 -1.27243547e-04 1.14528599e+01] [ 5.75700728e-03 -2.02233532e-04 9.99983408e-01 2.74681677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.044391418 meters Centerline goodness [0,1] 0.999223797935722 Centerline is valid? [True, True] Translation: X:365.60, Y:11.45, Z:2.75 [[ 9.98354666e-01 -5.70507960e-02 -5.75916116e-03 3.65595348e+02] [ 5.70510122e-02 9.98371257e-01 -1.26861672e-04 1.14534597e+01] [ 5.75701852e-03 -2.01913032e-04 9.99983408e-01 2.74707103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.074391418 meters Centerline goodness [0,1] 0.9987425601475396 Centerline is valid? [True, True] Translation: X:365.63, Y:11.45, Z:2.75 [[ 9.98290167e-01 -5.81720511e-02 -5.72328068e-03 3.65627810e+02] [ 5.81722875e-02 9.98306551e-01 -1.25294839e-04 1.14538773e+01] [ 5.72087725e-03 -2.07855724e-04 9.99983614e-01 2.74687825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.104391418 meters Centerline goodness [0,1] 0.9989107666527022 Centerline is valid? [True, True] Translation: X:365.66, Y:11.46, Z:2.75 [[ 9.98198027e-01 -5.97637163e-02 -5.38493378e-03 3.65659736e+02] [ 5.97639508e-02 9.98212531e-01 -1.17487917e-04 1.14552867e+01] [ 5.38232989e-03 -2.04548710e-04 9.99985494e-01 2.74764541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.134391418 meters Centerline goodness [0,1] 0.9988662369564761 Centerline is valid? [True, True] Translation: X:365.69, Y:11.45, Z:2.75 [[ 9.98122767e-01 -6.10783433e-02 -4.51419819e-03 3.65691303e+02] [ 6.10785231e-02 9.98132959e-01 -9.81498732e-05 1.14541153e+01] [ 4.51176482e-03 -1.77754935e-04 9.99989806e-01 2.75032983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.164391418 meters Centerline goodness [0,1] 0.9985679085146263 Centerline is valid? [True, True] Translation: X:365.72, Y:11.46, Z:2.75 [[ 9.98109974e-01 -6.12949142e-02 -4.40594252e-03 3.65723220e+02] [ 6.12950884e-02 9.98119684e-01 -9.56089737e-05 1.14591423e+01] [ 4.40351830e-03 -1.74634366e-04 9.99990289e-01 2.75066564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.194391418 meters Centerline goodness [0,1] 0.9991998315434828 Centerline is valid? [True, True] Translation: X:365.75, Y:11.46, Z:2.75 [[ 9.98162366e-01 -6.04656179e-02 -3.97492728e-03 3.65754908e+02] [ 6.04657513e-02 9.98170269e-01 -8.66996034e-05 1.14592069e+01] [ 3.97289658e-03 -1.53806683e-04 9.99992096e-01 2.75070886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.224391418 meters Centerline goodness [0,1] 0.9992003198720512 Centerline is valid? [True, True] Translation: X:365.79, Y:11.46, Z:2.75 [[ 9.98224812e-01 -5.93591497e-02 -4.87000083e-03 3.65785991e+02] [ 5.93593457e-02 9.98236674e-01 -1.04419898e-04 1.14606604e+01] [ 4.86761171e-03 -1.84845530e-04 9.99988136e-01 2.74924800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.254391418 meters Centerline goodness [0,1] 0.9992838939320542 Centerline is valid? [True, True] Translation: X:365.82, Y:11.46, Z:2.75 [[ 9.98264786e-01 -5.86417934e-02 -5.34385650e-03 3.65818689e+02] [ 5.86420298e-02 9.98279069e-01 -1.12571503e-04 1.14621426e+01] [ 5.34126148e-03 -2.00998424e-04 9.99985715e-01 2.74865154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.284391418 meters Centerline goodness [0,1] 0.9993893451252895 Centerline is valid? [True, True] Translation: X:365.85, Y:11.47, Z:2.75 [[ 9.98273066e-01 -5.84805644e-02 -5.55964833e-03 3.65851342e+02] [ 5.84808208e-02 9.98288525e-01 -1.16581172e-04 1.14657273e+01] [ 5.55695087e-03 -2.08752954e-04 9.99984538e-01 2.74887393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.314391418 meters Centerline goodness [0,1] 0.9996625255742339 Centerline is valid? [True, True] Translation: X:365.88, Y:11.47, Z:2.75 [[ 9.98283611e-01 -5.83227975e-02 -5.31814469e-03 3.65884370e+02] [ 5.83230331e-02 9.98297757e-01 -1.10895348e-04 1.14671935e+01] [ 5.31555965e-03 -1.99465320e-04 9.99985852e-01 2.74948380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.344391418 meters Centerline goodness [0,1] 0.9994300310316439 Centerline is valid? [True, True] Translation: X:365.92, Y:11.47, Z:2.75 [[ 9.98296206e-01 -5.81986051e-02 -4.19614222e-03 3.65915941e+02] [ 5.81987496e-02 9.98305012e-01 -8.77678446e-05 1.14690888e+01] [ 4.19413778e-03 -1.56591924e-04 9.99991192e-01 2.75057667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.374391418 meters Centerline goodness [0,1] 0.9996198601930265 Centerline is valid? [True, True] Translation: X:365.95, Y:11.47, Z:2.75 [[ 9.98279463e-01 -5.85082890e-02 -3.85924738e-03 3.65947428e+02] [ 5.85084205e-02 9.98286912e-01 -7.89088129e-05 1.14668115e+01] [ 3.85725297e-03 -1.47025421e-04 9.99992550e-01 2.75123306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.404391418 meters Centerline goodness [0,1] 0.999386788463165 Centerline is valid? [True, True] Translation: X:365.98, Y:11.47, Z:2.75 [[ 9.98177780e-01 -6.02268580e-02 -3.72082795e-03 3.65979978e+02] [ 6.02269926e-02 9.98184704e-01 -7.59508912e-05 1.14686602e+01] [ 3.71864783e-03 -1.48281786e-04 9.99993075e-01 2.75124871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.434391418 meters Centerline goodness [0,1] 0.9996205093607691 Centerline is valid? [True, True] Translation: X:366.01, Y:11.47, Z:2.75 [[ 9.98097660e-01 -6.15421878e-02 -3.69045464e-03 3.66012198e+02] [ 6.15423303e-02 9.98104471e-01 -7.50473651e-05 1.14700512e+01] [ 3.68807786e-03 -1.52214579e-04 9.99993187e-01 2.75108265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.464391418 meters Centerline goodness [0,1] 0.99949358541526 Centerline is valid? [True, True] Translation: X:366.04, Y:11.47, Z:2.75 [[ 9.98022151e-01 -6.27619742e-02 -3.56669353e-03 3.66043541e+02] [ 6.27621132e-02 9.98028513e-01 -7.30323147e-05 1.14693227e+01] [ 3.56424549e-03 -1.50965355e-04 9.99993637e-01 2.75100526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.494391418 meters Centerline goodness [0,1] 0.9992815029268189 Centerline is valid? [True, True] Translation: X:366.08, Y:11.47, Z:2.75 [[ 9.97795563e-01 -6.62590250e-02 -3.70894446e-03 3.66075096e+02] [ 6.62592068e-02 9.97802441e-01 -7.39637208e-05 1.14697351e+01] [ 3.70569460e-03 -1.71951045e-04 9.99993119e-01 2.75079373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.524391418 meters Centerline goodness [0,1] 0.9991973809272362 Centerline is valid? [True, True] Translation: X:366.11, Y:11.47, Z:2.75 [[ 9.97677097e-01 -6.80135459e-02 -3.81683354e-03 3.66105900e+02] [ 6.80137503e-02 9.97684381e-01 -7.63590126e-05 1.14671496e+01] [ 3.81318865e-03 -1.83415525e-04 9.99992713e-01 2.75112989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.554391418 meters Centerline goodness [0,1] 0.9991549593324178 Centerline is valid? [True, True] Translation: X:366.14, Y:11.47, Z:2.75 [[ 9.97522604e-01 -7.02347070e-02 -3.96754715e-03 3.66137937e+02] [ 7.02349488e-02 9.97530474e-01 -7.85178057e-05 1.14663620e+01] [ 3.96326386e-03 -2.00337185e-04 9.99992126e-01 2.75102948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.584391418 meters Centerline goodness [0,1] 0.9993658175668534 Centerline is valid? [True, True] Translation: X:366.17, Y:11.46, Z:2.75 [[ 9.97234701e-01 -7.42074832e-02 -4.02492141e-03 3.66168830e+02] [ 7.42077666e-02 9.97242799e-01 -7.90779553e-05 1.14644199e+01] [ 4.01969207e-03 -2.19821148e-04 9.99991897e-01 2.75052066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.614391418 meters Centerline goodness [0,1] 0.9991544234224712 Centerline is valid? [True, True] Translation: X:366.20, Y:11.46, Z:2.75 [[ 9.97112726e-01 -7.57990237e-02 -4.55186335e-03 3.66200122e+02] [ 7.57994027e-02 9.97123083e-01 -8.94500114e-05 1.14611148e+01] [ 4.54554824e-03 -2.55836778e-04 9.99989636e-01 2.75064054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.644391418 meters Centerline goodness [0,1] 0.9991333206502209 Centerline is valid? [True, True] Translation: X:366.23, Y:11.46, Z:2.75 [[ 9.96971844e-01 -7.75908784e-02 -5.17672581e-03 3.66231752e+02] [ 7.75913936e-02 9.96985238e-01 -1.01539062e-04 1.14614037e+01] [ 5.16899772e-03 -3.00437784e-04 9.99986596e-01 2.75079365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.67439141799997 meters Centerline goodness [0,1] 0.9993035476858789 Centerline is valid? [True, True] Translation: X:366.26, Y:11.46, Z:2.75 [[ 9.96936154e-01 -7.80477672e-02 -5.18174995e-03 3.66264113e+02] [ 7.80482941e-02 9.96949574e-01 -1.00764731e-04 1.14616908e+01] [ 5.17380787e-03 -3.03970741e-04 9.99986570e-01 2.75122529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.704391418 meters Centerline goodness [0,1] 0.9992810319306408 Centerline is valid? [True, True] Translation: X:366.30, Y:11.46, Z:2.75 [[ 9.96923395e-01 -7.82001551e-02 -5.33669950e-03 3.66296188e+02] [ 7.82007185e-02 9.96937629e-01 -1.03321278e-04 1.14634414e+01] [ 5.32843629e-03 -3.14330336e-04 9.99985754e-01 2.75124675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.734391418 meters Centerline goodness [0,1] 0.9991965154142175 Centerline is valid? [True, True] Translation: X:366.33, Y:11.46, Z:2.75 [[ 9.96941921e-01 -7.79551132e-02 -5.45953293e-03 3.66327984e+02] [ 7.79557003e-02 9.96956818e-01 -1.05518600e-04 1.14602749e+01] [ 5.45114429e-03 -3.20405797e-04 9.99985091e-01 2.75137460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.764391418 meters Centerline goodness [0,1] 0.9950742040505687 Centerline is valid? [True, True] Translation: X:366.36, Y:11.45, Z:2.75 [[ 9.96921925e-01 -7.82080570e-02 -5.49319261e-03 3.66359668e+02] [ 7.82086633e-02 9.96937006e-01 -1.04681107e-04 1.14513894e+01] [ 5.48455390e-03 -3.25256361e-04 9.99984907e-01 2.75130109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.794391418 meters Centerline goodness [0,1] 0.9990286546867412 Centerline is valid? [True, True] Translation: X:366.39, Y:11.46, Z:2.75 [[ 9.97027300e-01 -7.68074071e-02 -6.09801460e-03 3.66391387e+02] [ 7.68081304e-02 9.97045885e-01 -1.15829124e-04 1.14636337e+01] [ 6.08889690e-03 -3.52892302e-04 9.99981400e-01 2.74918451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.824391418 meters Centerline goodness [0,1] 0.9990522923993851 Centerline is valid? [True, True] Translation: X:366.42, Y:11.46, Z:2.75 [[ 9.96942738e-01 -7.79721982e-02 -5.05103397e-03 3.66422569e+02] [ 7.79727112e-02 9.96955489e-01 -9.55785865e-05 1.14627342e+01] [ 5.04310852e-03 -2.98556436e-04 9.99987239e-01 2.75116435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.854391418 meters Centerline goodness [0,1] 0.998796096819161 Centerline is valid? [True, True] Translation: X:366.45, Y:11.46, Z:2.75 [[ 9.97061806e-01 -7.64159074e-02 -5.32570503e-03 3.66453905e+02] [ 7.64164548e-02 9.97075983e-01 -1.00916599e-04 1.14601397e+01] [ 5.31784421e-03 -3.06351411e-04 9.99985813e-01 2.75049652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.884391418 meters Centerline goodness [0,1] 0.9992605581729449 Centerline is valid? [True, True] Translation: X:366.49, Y:11.47, Z:2.75 [[ 9.97079073e-01 -7.62209034e-02 -4.86776648e-03 3.66486475e+02] [ 7.62213657e-02 9.97090916e-01 -9.07517484e-05 1.14661235e+01] [ 4.86052292e-03 -2.80541140e-04 9.99988148e-01 2.75120033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.914391418 meters Centerline goodness [0,1] 0.9989638620456324 Centerline is valid? [True, True] Translation: X:366.52, Y:11.47, Z:2.75 [[ 9.97148481e-01 -7.53030406e-02 -4.93541334e-03 3.66518784e+02] [ 7.53035083e-02 9.97160656e-01 -9.12698683e-05 1.14681052e+01] [ 4.92827290e-03 -2.80644329e-04 9.99987817e-01 2.75071910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.944391418 meters Centerline goodness [0,1] 0.9991129883843717 Centerline is valid? [True, True] Translation: X:366.55, Y:11.47, Z:2.75 [[ 9.97191826e-01 -7.47191567e-02 -5.05066182e-03 3.66551350e+02] [ 7.47196411e-02 9.97204576e-01 -9.29675966e-05 1.14681366e+01] [ 5.04348954e-03 -2.84677111e-04 9.99987241e-01 2.75062290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.974391418 meters Centerline goodness [0,1] 0.9991126323128605 Centerline is valid? [True, True] Translation: X:366.58, Y:11.47, Z:2.75 [[ 9.97250093e-01 -7.39320390e-02 -5.12896990e-03 3.66583156e+02] [ 7.39325304e-02 9.97263241e-01 -9.39823451e-05 1.14696057e+01] [ 5.12188145e-03 -2.85473821e-04 9.99986842e-01 2.75051707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.004391418 meters Centerline goodness [0,1] 0.9988351653006332 Centerline is valid? [True, True] Translation: X:366.61, Y:11.47, Z:2.75 [[ 9.97342617e-01 -7.26921034e-02 -4.85403506e-03 3.66614979e+02] [ 7.26925307e-02 9.97354394e-01 -8.85763176e-05 1.14672229e+01] [ 4.84763200e-03 -2.64511156e-04 9.99988215e-01 2.75076418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.034391418 meters Centerline goodness [0,1] 0.9988582543978349 Centerline is valid? [True, True] Translation: X:366.65, Y:11.47, Z:2.75 [[ 9.97412127e-01 -7.17337859e-02 -4.82828687e-03 3.66647538e+02] [ 7.17341994e-02 9.97423780e-01 -8.77091935e-05 1.14681607e+01] [ 4.82213986e-03 -2.58871080e-04 9.99988340e-01 2.75067548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.064391418 meters Centerline goodness [0,1] 0.9987933443414201 Centerline is valid? [True, True] Translation: X:366.68, Y:11.47, Z:2.75 [[ 9.97455813e-01 -7.11322405e-02 -4.70161249e-03 3.66678745e+02] [ 7.11326279e-02 9.97466863e-01 -8.49864720e-05 1.14678113e+01] [ 4.69574794e-03 -2.49667801e-04 9.99988944e-01 2.75141931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.094391418 meters Centerline goodness [0,1] 0.9988571912300008 Centerline is valid? [True, True] Translation: X:366.71, Y:11.47, Z:2.75 [[ 9.97503803e-01 -7.04645988e-02 -4.57199549e-03 3.66710885e+02] [ 7.04649590e-02 9.97514252e-01 -8.24581596e-05 1.14712975e+01] [ 4.56644104e-03 -2.39913147e-04 9.99989545e-01 2.75108054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.124391418 meters Centerline goodness [0,1] 0.9988584716203361 Centerline is valid? [True, True] Translation: X:366.74, Y:11.47, Z:2.75 [[ 9.97489718e-01 -7.06818487e-02 -4.28229489e-03 3.66743503e+02] [ 7.06821680e-02 9.97498885e-01 -7.69271170e-05 1.14722876e+01] [ 4.27702173e-03 -2.25947879e-04 9.99990828e-01 2.75105698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.154391418 meters Centerline goodness [0,1] 0.9987739139625832 Centerline is valid? [True, True] Translation: X:366.77, Y:11.47, Z:2.75 [[ 9.97463995e-01 -7.10561314e-02 -4.07502038e-03 3.66774625e+02] [ 7.10564237e-02 9.97472295e-01 -7.31704360e-05 1.14664610e+01] [ 4.06991913e-03 -2.16571499e-04 9.99991694e-01 2.75159821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.184391418 meters Centerline goodness [0,1] 0.9989448805604795 Centerline is valid? [True, True] Translation: X:366.81, Y:11.47, Z:2.75 [[ 9.97402218e-01 -7.19414128e-02 -3.63983275e-03 3.66806718e+02] [ 7.19416547e-02 9.97408840e-01 -6.46134579e-05 1.14693950e+01] [ 3.63504974e-03 -1.97409984e-04 9.99993374e-01 2.75096534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.214391418 meters Centerline goodness [0,1] 0.9985853040540541 Centerline is valid? [True, True] Translation: X:366.84, Y:11.46, Z:2.75 [[ 9.97388239e-01 -7.21352763e-02 -3.63346169e-03 3.66838436e+02] [ 7.21355200e-02 9.97394838e-01 -6.41086028e-05 1.14614178e+01] [ 3.62862042e-03 -1.98160482e-04 9.99993397e-01 2.75118747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.244391418 meters Centerline goodness [0,1] 0.9987120476331236 Centerline is valid? [True, True] Translation: X:366.87, Y:11.47, Z:2.75 [[ 9.97402178e-01 -7.19342666e-02 -3.78906779e-03 3.66870176e+02] [ 7.19345309e-02 9.97409354e-01 -6.66821180e-05 1.14677847e+01] [ 3.78404838e-03 -2.06055924e-04 9.99992819e-01 2.75040408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.274391418 meters Centerline goodness [0,1] 0.9986714466469844 Centerline is valid? [True, True] Translation: X:366.90, Y:11.47, Z:2.75 [[ 9.97455825e-01 -7.11545394e-02 -4.34840470e-03 3.66901215e+02] [ 7.11548807e-02 9.97465276e-01 -7.63518540e-05 1.14660311e+01] [ 4.34281547e-03 -2.33252616e-04 9.99990543e-01 2.74953668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.304391418 meters Centerline goodness [0,1] 0.9986730137332547 Centerline is valid? [True, True] Translation: X:366.93, Y:11.46, Z:2.75 [[ 9.97487139e-01 -7.07060696e-02 -4.47875833e-03 3.66932578e+02] [ 7.07064323e-02 9.97497165e-01 -7.75160146e-05 1.14586489e+01] [ 4.47302959e-03 -2.39355795e-04 9.99989967e-01 2.75012140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.334391418 meters Centerline goodness [0,1] 0.9987371611382387 Centerline is valid? [True, True] Translation: X:366.96, Y:11.47, Z:2.75 [[ 9.97513759e-01 -7.03329526e-02 -4.42442039e-03 3.66964831e+02] [ 7.03333037e-02 9.97523544e-01 -7.63856487e-05 1.14670950e+01] [ 4.41883594e-03 -2.34988367e-04 9.99990209e-01 2.74972999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.364391418 meters Centerline goodness [0,1] 0.9988423246121787 Centerline is valid? [True, True] Translation: X:367.00, Y:11.46, Z:2.75 [[ 9.97594879e-01 -6.92064930e-02 -3.86236797e-03 3.66996596e+02] [ 6.92067530e-02 9.97602336e-01 -6.64413422e-05 1.14636037e+01] [ 3.85770548e-03 -2.01020403e-04 9.99992539e-01 2.75024762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.394391418 meters Centerline goodness [0,1] 0.9985291027526791 Centerline is valid? [True, True] Translation: X:367.03, Y:11.46, Z:2.75 [[ 9.97633678e-01 -6.86664476e-02 -3.45876647e-03 3.67028994e+02] [ 6.86666537e-02 9.97639658e-01 -5.92803942e-05 1.14648604e+01] [ 3.45467318e-03 -1.78361802e-04 9.99994017e-01 2.75077023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42439141799997 meters Centerline goodness [0,1] 0.9985695654003113 Centerline is valid? [True, True] Translation: X:367.06, Y:11.46, Z:2.75 [[ 9.97702886e-01 -6.76592108e-02 -3.34397359e-03 3.67059790e+02] [ 6.76593990e-02 9.97708476e-01 -5.69689705e-05 1.14630062e+01] [ 3.34016527e-03 -1.69413137e-04 9.99994407e-01 2.75090556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.454391418 meters Centerline goodness [0,1] 0.9984639016897081 Centerline is valid? [True, True] Translation: X:367.09, Y:11.47, Z:2.75 [[ 9.97746266e-01 -6.69879570e-02 -3.87334606e-03 3.67091968e+02] [ 6.69882052e-02 9.97753765e-01 -6.57685797e-05 1.14668934e+01] [ 3.86905132e-03 -1.93848146e-04 9.99992496e-01 2.74997879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.484391418 meters Centerline goodness [0,1] 0.9985502069632088 Centerline is valid? [True, True] Translation: X:367.12, Y:11.47, Z:2.75 [[ 9.97839601e-01 -6.55225532e-02 -4.78801556e-03 3.67123800e+02] [ 6.55229183e-02 9.97851061e-01 -8.07415120e-05 1.14650385e+01] [ 4.78301680e-03 -2.33157674e-04 9.99988534e-01 2.74891716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.514391418 meters Centerline goodness [0,1] 0.9986132414430694 Centerline is valid? [True, True] Translation: X:367.16, Y:11.47, Z:2.75 [[ 9.97836784e-01 -6.55707020e-02 -4.71542857e-03 3.67155532e+02] [ 6.55710585e-02 9.97847899e-01 -7.91342766e-05 1.14655623e+01] [ 4.71046939e-03 -2.30232551e-04 9.99988879e-01 2.74972648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.544391418 meters Centerline goodness [0,1] 0.9986817877469032 Centerline is valid? [True, True] Translation: X:367.19, Y:11.46, Z:2.75 [[ 9.97955464e-01 -6.37030790e-02 -5.17772143e-03 3.67186453e+02] [ 6.37034865e-02 9.97968866e-01 -8.63466607e-05 1.14647374e+01] [ 5.17270533e-03 -2.43668785e-04 9.99986592e-01 2.74923412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.574391418 meters Centerline goodness [0,1] 0.9988485533643178 Centerline is valid? [True, True] Translation: X:367.22, Y:11.47, Z:2.75 [[ 9.98026531e-01 -6.25277562e-02 -5.77263584e-03 3.67218883e+02] [ 6.25282452e-02 9.98043190e-01 -9.59000262e-05 1.14661460e+01] [ 5.76733630e-03 -2.65242019e-04 9.99983334e-01 2.74917127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.604391418 meters Centerline goodness [0,1] 0.9986380303823992 Centerline is valid? [True, True] Translation: X:367.25, Y:11.47, Z:2.75 [[ 9.98188872e-01 -5.98715638e-02 -5.86266064e-03 3.67250175e+02] [ 5.98720258e-02 9.98206056e-01 -9.68263536e-05 1.14670573e+01] [ 5.85794050e-03 -2.54358381e-04 9.99982810e-01 2.74882376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.634391418 meters Centerline goodness [0,1] 0.9984688955073618 Centerline is valid? [True, True] Translation: X:367.28, Y:11.47, Z:2.75 [[ 9.98290181e-01 -5.81669898e-02 -5.77202904e-03 3.67282403e+02] [ 5.81674101e-02 9.98306838e-01 -9.51837058e-05 1.14693296e+01] [ 5.76779261e-03 -2.40723021e-04 9.99983337e-01 2.74900320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.664391418 meters Centerline goodness [0,1] 0.9985971524288108 Centerline is valid? [True, True] Translation: X:367.31, Y:11.47, Z:2.75 [[ 9.98386506e-01 -5.65283666e-02 -5.37857821e-03 3.67314084e+02] [ 5.65287100e-02 9.98400970e-01 -8.82895310e-05 1.14690786e+01] [ 5.37496857e-03 -2.15897011e-04 9.99985531e-01 2.74951556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.694391418 meters Centerline goodness [0,1] 0.9986162941842426 Centerline is valid? [True, True] Translation: X:367.35, Y:11.47, Z:2.75 [[ 9.98569683e-01 -5.32579392e-02 -4.70960999e-03 3.67345087e+02] [ 5.32581681e-02 9.98580774e-01 -7.68714709e-05 1.14712149e+01] [ 4.70702000e-03 -1.74063680e-04 9.99988907e-01 2.75034454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.724391418 meters Centerline goodness [0,1] 0.9984711721711449 Centerline is valid? [True, True] Translation: X:367.38, Y:11.47, Z:2.75 [[ 9.98628348e-01 -5.21114252e-02 -5.08152419e-03 3.67376321e+02] [ 5.21116778e-02 9.98641260e-01 -8.27612385e-05 1.14693723e+01] [ 5.07893252e-03 -1.82159033e-04 9.99987086e-01 2.75048895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.754391418 meters Centerline goodness [0,1] 0.9987841945288753 Centerline is valid? [True, True] Translation: X:367.41, Y:11.47, Z:2.75 [[ 9.98692299e-01 -5.08628533e-02 -5.16360137e-03 3.67408404e+02] [ 5.08630989e-02 9.98705631e-01 -8.38299406e-05 1.14715267e+01] [ 5.16118159e-03 -1.78916451e-04 9.99986665e-01 2.75005964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.784391418 meters Centerline goodness [0,1] 0.9987441130298274 Centerline is valid? [True, True] Translation: X:367.44, Y:11.47, Z:2.75 [[ 9.98798185e-01 -4.86220694e-02 -6.17084309e-03 3.67439510e+02] [ 4.86223815e-02 9.98817228e-01 -9.95246603e-05 1.14701973e+01] [ 6.16838349e-03 -2.00636037e-04 9.99980955e-01 2.74874406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.814391418 meters Centerline goodness [0,1] 0.9984091099388763 Centerline is valid? [True, True] Translation: X:367.47, Y:11.47, Z:2.75 [[ 9.98868400e-01 -4.71159902e-02 -6.48092081e-03 3.67471039e+02] [ 4.71163055e-02 9.98889405e-01 -1.04109081e-04 1.14699799e+01] [ 6.47862833e-03 -2.01365774e-04 9.99978993e-01 2.74828643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.844391418 meters Centerline goodness [0,1] 0.9984519476172545 Centerline is valid? [True, True] Translation: X:367.50, Y:11.47, Z:2.75 [[ 9.98990777e-01 -4.43434198e-02 -7.14764244e-03 3.67502208e+02] [ 4.43437357e-02 9.99016326e-01 -1.14349842e-04 1.14705171e+01] [ 7.14568216e-03 -2.02718730e-04 9.99974449e-01 2.74782394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.874391418 meters Centerline goodness [0,1] 0.9987256356153509 Centerline is valid? [True, True] Translation: X:367.53, Y:11.47, Z:2.75 [[ 9.99053372e-01 -4.29317160e-02 -7.01618733e-03 3.67534582e+02] [ 4.29319883e-02 9.99077991e-01 -1.11864104e-04 1.14737459e+01] [ 7.01452086e-03 -1.89460662e-04 9.99975380e-01 2.74814660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.904391418 meters Centerline goodness [0,1] 0.9983689856345274 Centerline is valid? [True, True] Translation: X:367.57, Y:11.47, Z:2.75 [[ 9.99098556e-01 -4.19072149e-02 -6.77210244e-03 3.67566442e+02] [ 4.19074487e-02 9.99121491e-01 -1.07442240e-04 1.14742240e+01] [ 6.77065570e-03 -1.76456149e-04 9.99977063e-01 2.74855009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.934391418 meters Centerline goodness [0,1] 0.9985025581298614 Centerline is valid? [True, True] Translation: X:367.60, Y:11.47, Z:2.75 [[ 9.99128301e-01 -4.12496949e-02 -6.41106622e-03 3.67597871e+02] [ 4.12498942e-02 9.99148856e-01 -1.01197525e-04 1.14696895e+01] [ 6.40978384e-03 -1.63346492e-04 9.99979444e-01 2.74869103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.964391418 meters Centerline goodness [0,1] 0.9985025581298614 Centerline is valid? [True, True] Translation: X:367.63, Y:11.47, Z:2.75 [[ 9.99133002e-01 -4.11356676e-02 -6.41107114e-03 3.67630417e+02] [ 4.11358666e-02 9.99153557e-01 -1.00884674e-04 1.14700783e+01] [ 6.40979449e-03 -1.62927760e-04 9.99979444e-01 2.74894524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.994391418 meters Centerline goodness [0,1] 0.9987079295613213 Centerline is valid? [True, True] Translation: X:367.66, Y:11.47, Z:2.75 [[ 9.99131589e-01 -4.11691057e-02 -6.41660930e-03 3.67663052e+02] [ 4.11693103e-02 9.99152180e-01 -1.00251757e-04 1.14717545e+01] [ 6.41529644e-03 -1.64002681e-04 9.99979408e-01 2.74883164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.024391418 meters Centerline goodness [0,1] 0.9987288488788864 Centerline is valid? [True, True] Translation: X:367.70, Y:11.47, Z:2.75 [[ 9.99123053e-01 -4.14283049e-02 -6.06797863e-03 3.67695444e+02] [ 4.14284973e-02 9.99141467e-01 -9.40349979e-05 1.14700180e+01] [ 6.06666478e-03 -1.57434702e-04 9.99981585e-01 2.74873985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.054391418 meters Centerline goodness [0,1] 0.9986030025020851 Centerline is valid? [True, True] Translation: X:367.73, Y:11.47, Z:2.75 [[ 9.99115326e-01 -4.16506187e-02 -5.81304571e-03 3.67726567e+02] [ 4.16508019e-02 9.99132225e-01 -8.95914176e-05 1.14659960e+01] [ 5.81173283e-03 -1.52605857e-04 9.99983100e-01 2.74873096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.084391418 meters Centerline goodness [0,1] 0.9985617808904452 Centerline is valid? [True, True] Translation: X:367.76, Y:11.47, Z:2.75 [[ 9.99122796e-01 -4.15361440e-02 -5.32793146e-03 3.67759411e+02] [ 4.15362970e-02 9.99136992e-01 -8.19826038e-05 1.14651826e+01] [ 5.32673866e-03 -1.39391855e-04 9.99985803e-01 2.74867470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.114391418 meters Centerline goodness [0,1] 0.9988747421284044 Centerline is valid? [True, True] Translation: X:367.79, Y:11.46, Z:2.75 [[ 9.99134180e-01 -4.12417662e-02 -5.47780852e-03 3.67790678e+02] [ 4.12419282e-02 9.99149186e-01 -8.34430680e-05 1.14639467e+01] [ 5.47658927e-03 -1.42544564e-04 9.99984993e-01 2.74856144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.144391418 meters Centerline goodness [0,1] 0.9987487226543763 Centerline is valid? [True, True] Translation: X:367.82, Y:11.46, Z:2.75 [[ 9.99161846e-01 -4.04749936e-02 -6.11393898e-03 3.67822614e+02] [ 4.04751834e-02 9.99180540e-01 -9.27392817e-05 1.14618676e+01] [ 6.11268247e-03 -1.54801249e-04 9.99981305e-01 2.74798614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.17439141799997 meters Centerline goodness [0,1] 0.9986507524649715 Centerline is valid? [True, True] Translation: X:367.85, Y:11.46, Z:2.75 [[ 9.99204848e-01 -3.94435781e-02 -5.82031812e-03 3.67854946e+02] [ 3.94437352e-02 9.99221789e-01 -8.78474035e-05 1.14608474e+01] [ 5.81925371e-03 -1.41797535e-04 9.99983058e-01 2.74763008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.204391418 meters Centerline goodness [0,1] 0.9988534739738592 Centerline is valid? [True, True] Translation: X:367.89, Y:11.46, Z:2.75 [[ 9.99253959e-01 -3.82479600e-02 -5.34970690e-03 3.67886989e+02] [ 3.82480775e-02 9.99268271e-01 -8.03703977e-05 1.14607776e+01] [ 5.34886637e-03 -1.24305566e-04 9.99985687e-01 2.74805548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.234391418 meters Centerline goodness [0,1] 0.9987096237096237 Centerline is valid? [True, True] Translation: X:367.92, Y:11.46, Z:2.75 [[ 9.99376177e-01 -3.51052517e-02 -3.85724994e-03 3.67919664e+02] [ 3.51052893e-02 9.99383618e-01 -5.79697899e-05 1.14609709e+01] [ 3.85690744e-03 -7.74762481e-05 9.99992559e-01 2.74914574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.264391418 meters Centerline goodness [0,1] 0.9988962012662446 Centerline is valid? [True, True] Translation: X:367.95, Y:11.46, Z:2.75 [[ 9.99443999e-01 -3.31325778e-02 -3.73162809e-03 3.67952054e+02] [ 3.31326014e-02 9.99450963e-01 -5.55009767e-05 1.14615416e+01] [ 3.73141817e-03 -6.81684278e-05 9.99993036e-01 2.74975177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.294391418 meters Centerline goodness [0,1] 0.9987102679314361 Centerline is valid? [True, True] Translation: X:367.98, Y:11.46, Z:2.75 [[ 9.99520258e-01 -3.08001151e-02 -3.25690121e-03 3.67983863e+02] [ 3.08001213e-02 9.99525563e-01 -4.82645718e-05 1.14628299e+01] [ 3.25684257e-03 -5.20715351e-05 9.99994695e-01 2.74970292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.324391418 meters Centerline goodness [0,1] 0.9988562397321521 Centerline is valid? [True, True] Translation: X:368.01, Y:11.46, Z:2.75 [[ 9.99647401e-01 -2.63332216e-02 -3.41097058e-03 3.68014691e+02] [ 2.63332024e-02 9.99653220e-01 -5.05500063e-05 1.14643023e+01] [ 3.41111887e-03 -3.92895962e-05 9.99994181e-01 2.74915596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.354391418 meters Centerline goodness [0,1] 0.9989173884077281 Centerline is valid? [True, True] Translation: X:368.05, Y:11.47, Z:2.75 [[ 9.99716202e-01 -2.35755361e-02 -3.42182215e-03 3.68047035e+02] [ 2.35755035e-02 9.99722058e-01 -4.98876474e-05 1.14662022e+01] [ 3.42204721e-03 -3.07976906e-05 9.99994144e-01 2.74866401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.384391418 meters Centerline goodness [0,1] 0.9988553113553114 Centerline is valid? [True, True] Translation: X:368.08, Y:11.47, Z:2.75 [[ 9.99787975e-01 -2.02637735e-02 -3.65859621e-03 3.68078544e+02] [ 2.02637155e-02 9.99794668e-01 -5.29074273e-05 1.14673650e+01] [ 3.65891709e-03 -2.12405432e-05 9.99993306e-01 2.74840175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.414391418 meters Centerline goodness [0,1] 0.9990839249651267 Centerline is valid? [True, True] Translation: X:368.11, Y:11.47, Z:2.75 [[ 9.99897037e-01 -1.40129045e-02 -3.09090587e-03 3.68110702e+02] [ 1.40128333e-02 9.99901814e-01 -4.46731359e-05 1.14707874e+01] [ 3.09122839e-03 1.35618742e-06 9.99995222e-01 2.74793994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.444391418 meters Centerline goodness [0,1] 0.999210684834763 Centerline is valid? [True, True] Translation: X:368.14, Y:11.47, Z:2.75 [[ 9.99936859e-01 -1.08438543e-02 -2.94781905e-03 3.68141657e+02] [ 1.08437759e-02 9.99941204e-01 -4.26083878e-05 1.14730342e+01] [ 2.94810777e-03 1.06402083e-05 9.99995654e-01 2.74848423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.474391418 meters Centerline goodness [0,1] 0.9992302411217675 Centerline is valid? [True, True] Translation: X:368.17, Y:11.48, Z:2.75 [[ 9.99983439e-01 -4.61278389e-03 -3.44148787e-03 3.68173319e+02] [ 4.61264326e-03 9.99989361e-01 -4.87973003e-05 1.14777537e+01] [ 3.44167634e-03 3.29221364e-05 9.99994077e-01 2.74882390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.504391418 meters Centerline goodness [0,1] 0.9991056572379368 Centerline is valid? [True, True] Translation: X:368.20, Y:11.48, Z:2.75 [[ 9.99995101e-01 -1.30655812e-03 -2.84457085e-03 3.68204180e+02] [ 1.30644939e-03 9.99999146e-01 -4.00809085e-05 1.14795291e+01] [ 2.84462078e-03 3.63644243e-05 9.99995953e-01 2.74877424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.534391418 meters Centerline goodness [0,1] 0.9993121704149905 Centerline is valid? [True, True] Translation: X:368.23, Y:11.48, Z:2.75 [[ 9.99994333e-01 1.99469178e-03 -2.71197153e-03 3.68233936e+02] [-1.99480247e-03 9.99998010e-01 -3.81104399e-05 1.14831993e+01] [ 2.71189012e-03 4.35200715e-05 9.99996322e-01 2.74924634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.564391418 meters Centerline goodness [0,1] 0.9992697684122679 Centerline is valid? [True, True] Translation: X:368.26, Y:11.48, Z:2.75 [[ 9.99985655e-01 4.74848212e-03 -2.47836217e-03 3.68262957e+02] [-4.74857968e-03 9.99988725e-01 -3.34811900e-05 1.14839642e+01] [ 2.47817524e-03 4.52494099e-05 9.99996928e-01 2.74889576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.594391418 meters Centerline goodness [0,1] 0.9995412270092172 Centerline is valid? [True, True] Translation: X:368.29, Y:11.49, Z:2.75 [[ 9.99952841e-01 9.44286048e-03 -2.26899334e-03 3.68291127e+02] [-9.44295776e-03 9.99955414e-01 -3.21654820e-05 1.14914047e+01] [ 2.26858844e-03 5.35899733e-05 9.99997425e-01 2.74970579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.624391418 meters Centerline goodness [0,1] 0.9993755983848811 Centerline is valid? [True, True] Translation: X:368.32, Y:11.49, Z:2.75 [[ 9.99929624e-01 1.16941597e-02 -1.99829367e-03 3.68318918e+02] [-1.16942396e-02 9.99931620e-01 -2.83190665e-05 1.14949950e+01] [ 1.99782585e-03 5.16855985e-05 9.99998003e-01 2.74995794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.654391418 meters Centerline goodness [0,1] 0.9994392989159779 Centerline is valid? [True, True] Translation: X:368.35, Y:11.49, Z:2.75 [[ 9.99898871e-01 1.41218423e-02 -1.67945452e-03 3.68347774e+02] [-1.41219024e-02 9.99900281e-01 -2.39559178e-05 1.14947781e+01] [ 1.67894875e-03 4.76705881e-05 9.99998589e-01 2.74956955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.684391418 meters Centerline goodness [0,1] 0.9995224748261186 Centerline is valid? [True, True] Translation: X:368.38, Y:11.50, Z:2.75 [[ 9.99824187e-01 1.86623185e-02 -1.82014100e-03 3.68375775e+02] [-1.86623970e-02 9.99825842e-01 -2.61821502e-05 1.14987863e+01] [ 1.81933539e-03 6.01457411e-05 9.99998343e-01 2.74872732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.714391418 meters Centerline goodness [0,1] 0.9991670310905646 Centerline is valid? [True, True] Translation: X:368.40, Y:11.50, Z:2.75 [[ 9.99785716e-01 2.05277843e-02 -2.67056028e-03 3.68403276e+02] [-2.05279612e-02 9.99789278e-01 -3.88555227e-05 1.15010043e+01] [ 2.66919992e-03 9.36683545e-05 9.99996433e-01 2.74776947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.744391418 meters Centerline goodness [0,1] 0.9994993115533859 Centerline is valid? [True, True] Translation: X:368.43, Y:11.50, Z:2.75 [[ 9.99720317e-01 2.36163955e-02 -1.24650790e-03 3.68431536e+02] [-2.36164363e-02 9.99721093e-01 -1.79702339e-05 1.15046429e+01] [ 1.24573585e-03 4.74032824e-05 9.99999223e-01 2.74867254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.774391418 meters Centerline goodness [0,1] 0.9994996664442962 Centerline is valid? [True, True] Translation: X:368.46, Y:11.51, Z:2.75 [[ 9.99681855e-01 2.52075597e-02 -8.75961789e-04 3.68459790e+02] [-2.52075800e-02 9.99682238e-01 -1.21810256e-05 1.15071342e+01] [ 8.75376388e-04 3.42580272e-05 9.99999616e-01 2.74905296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.804391418 meters Centerline goodness [0,1] 0.9994975821139233 Centerline is valid? [True, True] Translation: X:368.49, Y:11.51, Z:2.75 [[ 9.99603798e-01 2.81466328e-02 1.17071345e-04 3.68489182e+02] [-2.81466332e-02 9.99603805e-01 2.09769811e-06 1.15096880e+01] [-1.16965919e-04 -5.39203122e-06 9.99999993e-01 2.74949252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.834391418 meters Centerline goodness [0,1] 0.9995838102174591 Centerline is valid? [True, True] Translation: X:368.52, Y:11.51, Z:2.75 [[ 9.99571069e-01 2.92861205e-02 3.63892803e-05 3.68516406e+02] [-2.92861206e-02 9.99571070e-01 1.43150693e-06 1.15130588e+01] [-3.63317486e-05 -2.49659377e-06 9.99999999e-01 2.74965870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.864391418 meters Centerline goodness [0,1] 0.9996874283690013 Centerline is valid? [True, True] Translation: X:368.55, Y:11.51, Z:2.75 [[ 9.99536772e-01 3.04261853e-02 6.99676948e-04 3.68545499e+02] [-3.04262007e-02 9.99537016e-01 1.13607288e-05 1.15136233e+01] [-6.99007345e-04 -3.26439774e-05 9.99999755e-01 2.74973289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.894391418 meters Centerline goodness [0,1] 0.9995617970494335 Centerline is valid? [True, True] Translation: X:368.57, Y:11.51, Z:2.75 [[ 9.99519531e-01 3.09750891e-02 1.11864839e-03 3.68574058e+02] [-3.09751285e-02 9.99520155e-01 1.79031748e-05 1.15110968e+01] [-1.11755706e-03 -5.25448503e-05 9.99999374e-01 2.74864300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92439141799997 meters Centerline goodness [0,1] 0.9996030834151538 Centerline is valid? [True, True] Translation: X:368.60, Y:11.52, Z:2.75 [[ 9.99517043e-01 3.10512041e-02 1.22582812e-03 3.68602068e+02] [-3.10512518e-02 9.99517793e-01 1.98476031e-05 1.15175022e+01] [-1.22462073e-03 -5.79015151e-05 9.99999248e-01 2.74974597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.954391418 meters Centerline goodness [0,1] 0.9995603475348058 Centerline is valid? [True, True] Translation: X:368.63, Y:11.51, Z:2.75 [[ 9.99521838e-01 3.08878037e-02 1.42779559e-03 3.68629780e+02] [-3.08878684e-02 9.99522856e-01 2.33223538e-05 1.15130172e+01] [-1.42639395e-03 -6.74127644e-05 9.99998980e-01 2.74911693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.984391418 meters Centerline goodness [0,1] 0.9998118807742151 Centerline is valid? [True, True] Translation: X:368.66, Y:11.51, Z:2.75 [[ 9.99566470e-01 2.94241473e-02 1.04465501e-03 3.68659051e+02] [-2.94241818e-02 9.99567015e-01 1.76588403e-05 1.15128440e+01] [-1.04368309e-03 -4.83893035e-05 9.99999454e-01 2.74832057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.014391418 meters Centerline goodness [0,1] 0.9997904047284694 Centerline is valid? [True, True] Translation: X:368.69, Y:11.51, Z:2.75 [[ 9.99591696e-01 2.85635630e-02 7.51558808e-04 3.68686689e+02] [-2.85635807e-02 9.99591978e-01 1.27547958e-05 1.15133844e+01] [-7.50887833e-04 -3.42167986e-05 9.99999717e-01 2.74795415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.044391418 meters Centerline goodness [0,1] 0.9997294090710406 Centerline is valid? [True, True] Translation: X:368.72, Y:11.51, Z:2.75 [[ 9.99624649e-01 2.73959883e-02 1.43279319e-04 3.68715173e+02] [-2.73959890e-02 9.99624659e-01 2.95035421e-06 1.15120258e+01] [-1.43144712e-04 -6.87452544e-06 9.99999990e-01 2.74703399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.074391418 meters Centerline goodness [0,1] 0.9997701005287688 Centerline is valid? [True, True] Translation: X:368.74, Y:11.51, Z:2.75 [[ 9.99679034e-01 2.53218840e-02 7.95077903e-04 3.68744548e+02] [-2.53219031e-02 9.99679349e-01 1.39307385e-05 1.15097539e+01] [-7.94470208e-04 -3.40591528e-05 9.99999684e-01 2.74615556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.104391418 meters Centerline goodness [0,1] 0.9995829597347624 Centerline is valid? [True, True] Translation: X:368.77, Y:11.51, Z:2.75 [[ 9.99702090e-01 2.43506595e-02 1.66643422e-03 3.68772457e+02] [-2.43507400e-02 9.99703476e-01 2.80131525e-05 1.15106414e+01] [-1.66525794e-03 -6.85837134e-05 9.99998611e-01 2.74660618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.134391418 meters Centerline goodness [0,1] 0.9998122966547093 Centerline is valid? [True, True] Translation: X:368.80, Y:11.51, Z:2.75 [[ 9.99719528e-01 2.35439180e-02 2.55914565e-03 3.68801570e+02] [-2.35441038e-02 9.99722798e-01 4.24728151e-05 1.15089276e+01] [-2.55743627e-03 -1.02713693e-04 9.99996724e-01 2.74670127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.164391418 meters Centerline goodness [0,1] 0.999539777838211 Centerline is valid? [True, True] Translation: X:368.83, Y:11.51, Z:2.75 [[ 9.99762413e-01 2.15795777e-02 3.07243704e-03 3.68830872e+02] [-2.15798358e-02 9.99767127e-01 5.08771126e-05 1.15099281e+01] [-3.07062365e-03 -1.17167712e-04 9.99995279e-01 2.74681400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.194391418 meters Centerline goodness [0,1] 0.9995619524405507 Centerline is valid? [True, True] Translation: X:368.86, Y:11.51, Z:2.75 [[ 9.99781321e-01 2.06651769e-02 3.20321545e-03 3.68859117e+02] [-2.06654541e-02 9.99786445e-01 5.34593533e-05 1.15110563e+01] [-3.20142664e-03 -1.19643565e-04 9.99994868e-01 2.74641091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.224391418 meters Centerline goodness [0,1] 0.999645567508965 Centerline is valid? [True, True] Translation: X:368.89, Y:11.51, Z:2.74 [[ 9.99823493e-01 1.86060585e-02 2.60725455e-03 3.68888155e+02] [-1.86062362e-02 9.99826888e-01 4.39096410e-05 1.15086383e+01] [-2.60598622e-03 -9.24130845e-05 9.99996600e-01 2.74401738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.254391418 meters Centerline goodness [0,1] 0.9996035389366497 Centerline is valid? [True, True] Translation: X:368.92, Y:11.51, Z:2.74 [[ 9.99841331e-01 1.76658293e-02 2.28728908e-03 3.68916107e+02] [-1.76659648e-02 9.99843944e-01 3.90314082e-05 1.15112337e+01] [-2.28624261e-03 -7.94323834e-05 9.99997383e-01 2.74418179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.284391418 meters Centerline goodness [0,1] 0.9993532909147804 Centerline is valid? [True, True] Translation: X:368.95, Y:11.51, Z:2.74 [[ 9.99843960e-01 1.75326628e-02 2.15908975e-03 3.68945153e+02] [-1.75327833e-02 9.99846288e-01 3.69007405e-05 1.15114821e+01] [-2.15811090e-03 -7.47498351e-05 9.99997668e-01 2.74355670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.314391418 meters Centerline goodness [0,1] 0.9996654189581983 Centerline is valid? [True, True] Translation: X:368.97, Y:11.51, Z:2.74 [[ 9.99860659e-01 1.64839020e-02 2.63510879e-03 3.68974402e+02] [-1.64840795e-02 9.99864127e-01 4.56435648e-05 1.15120581e+01] [-2.63399837e-03 -8.90745477e-05 9.99996527e-01 2.74425294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.344391418 meters Centerline goodness [0,1] 0.9995609358339083 Centerline is valid? [True, True] Translation: X:369.00, Y:11.52, Z:2.74 [[ 9.99848656e-01 1.71758033e-02 2.76704578e-03 3.69002773e+02] [-1.71760012e-02 9.99852480e-01 4.77404699e-05 1.15163244e+01] [-2.76581760e-03 -9.52600262e-05 9.99996171e-01 2.74487223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.374391418 meters Centerline goodness [0,1] 0.9995183246073298 Centerline is valid? [True, True] Translation: X:369.03, Y:11.52, Z:2.75 [[ 9.99833281e-01 1.80843367e-02 2.52316359e-03 3.69031671e+02] [-1.80845048e-02 9.99836461e-01 4.38107385e-05 1.15196160e+01] [-2.52195867e-03 -8.94335985e-05 9.99996816e-01 2.74525216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.404391418 meters Centerline goodness [0,1] 0.99989492266308 Centerline is valid? [True, True] Translation: X:369.06, Y:11.52, Z:2.75 [[ 9.99810667e-01 1.92573642e-02 2.79007180e-03 3.69060314e+02] [-1.92575748e-02 9.99814555e-01 4.86129196e-05 1.15232568e+01] [-2.78861824e-03 -1.02333732e-04 9.99996107e-01 2.74596714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.434391418 meters Centerline goodness [0,1] 0.9997475172529877 Centerline is valid? [True, True] Translation: X:369.09, Y:11.52, Z:2.74 [[ 9.99750857e-01 2.20481289e-02 3.47917394e-03 3.69088971e+02] [-2.20484728e-02 9.99756901e-01 6.05054316e-05 1.15244096e+01] [-3.47699413e-03 -1.37200829e-04 9.99993946e-01 2.74438226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.464391418 meters Centerline goodness [0,1] 0.9996627887371439 Centerline is valid? [True, True] Translation: X:369.12, Y:11.53, Z:2.74 [[ 9.99716998e-01 2.34848852e-02 3.79252863e-03 3.69118036e+02] [-2.34853056e-02 9.99724180e-01 6.63288521e-05 1.15263328e+01] [-3.78992485e-03 -1.55378775e-04 9.99992806e-01 2.74419840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.494391418 meters Centerline goodness [0,1] 0.9996642182581322 Centerline is valid? [True, True] Translation: X:369.15, Y:11.54, Z:2.74 [[ 9.99641286e-01 2.65258431e-02 3.69859736e-03 3.69146458e+02] [-2.65262639e-02 9.99648115e-01 6.47614823e-05 1.15351006e+01] [-3.69557803e-03 -1.62848221e-04 9.99993158e-01 2.74437667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.524391418 meters Centerline goodness [0,1] 0.9998320033599328 Centerline is valid? [True, True] Translation: X:369.17, Y:11.54, Z:2.75 [[ 9.99610886e-01 2.75830711e-02 4.15345577e-03 3.69174112e+02] [-2.75836136e-02 9.99619497e-01 7.33656122e-05 1.15413009e+01] [-4.14985172e-03 -1.87904384e-04 9.99991372e-01 2.74536692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.554391418 meters Centerline goodness [0,1] 0.9997689658069394 Centerline is valid? [True, True] Translation: X:369.20, Y:11.54, Z:2.74 [[ 9.99555576e-01 2.95600326e-02 3.85413091e-03 3.69203190e+02] [-2.95605153e-02 9.99562990e-01 6.83032305e-05 1.15438899e+01] [-3.85042758e-03 -1.82202971e-04 9.99992570e-01 2.74373907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.584391418 meters Centerline goodness [0,1] 0.9997688735738449 Centerline is valid? [True, True] Translation: X:369.23, Y:11.55, Z:2.74 [[ 9.99535816e-01 3.02353572e-02 3.73840278e-03 3.69232288e+02] [-3.02358172e-02 9.99542791e-01 6.65839230e-05 1.15459756e+01] [-3.73468036e-03 -1.79586679e-04 9.99993010e-01 2.74332336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.614391418 meters Centerline goodness [0,1] 0.9996223961064843 Centerline is valid? [True, True] Translation: X:369.26, Y:11.55, Z:2.74 [[ 9.99530336e-01 3.04120176e-02 3.77046897e-03 3.69260548e+02] [-3.04124888e-02 9.99537431e-01 6.76738675e-05 1.15491137e+01] [-3.76666677e-03 -1.82311429e-04 9.99992889e-01 2.74294351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.644391418 meters Centerline goodness [0,1] 0.9998531109012695 Centerline is valid? [True, True] Translation: X:369.29, Y:11.55, Z:2.74 [[ 9.99535368e-01 3.02600749e-02 3.65720830e-03 3.69289169e+02] [-3.02605178e-02 9.99542044e-01 6.57988184e-05 1.15515167e+01] [-3.65354238e-03 -1.76437263e-04 9.99993310e-01 2.74295397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.67439141799997 meters Centerline goodness [0,1] 0.9997898453261601 Centerline is valid? [True, True] Translation: X:369.32, Y:11.56, Z:2.74 [[ 9.99575196e-01 2.88679297e-02 4.00870123e-03 3.69318274e+02] [-2.88684516e-02 9.99583217e-01 7.23798898e-05 1.15550853e+01] [-4.00494101e-03 -1.88074140e-04 9.99991963e-01 2.74333291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.704391418 meters Centerline goodness [0,1] 0.9997686548330108 Centerline is valid? [True, True] Translation: X:369.35, Y:11.56, Z:2.74 [[ 9.99602807e-01 2.78468281e-02 4.33385802e-03 3.69347543e+02] [-2.78474288e-02 9.99612182e-01 7.83124237e-05 1.15554855e+01] [-4.32999652e-03 -1.98968121e-04 9.99990606e-01 2.74324918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.734391418 meters Centerline goodness [0,1] 0.9998104983892363 Centerline is valid? [True, True] Translation: X:369.38, Y:11.56, Z:2.74 [[ 9.99636479e-01 2.66477181e-02 4.09989910e-03 3.69376577e+02] [-2.66482478e-02 9.99644870e-01 7.46167790e-05 1.15551086e+01] [-4.09645474e-03 -1.83844781e-04 9.99991593e-01 2.74277993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.764391418 meters Centerline goodness [0,1] 0.9997044043748152 Centerline is valid? [True, True] Translation: X:369.40, Y:11.56, Z:2.74 [[ 9.99722738e-01 2.32444482e-02 3.76056663e-03 3.69404912e+02] [-2.32448697e-02 9.99729799e-01 6.83909644e-05 1.15580217e+01] [-3.75796081e-03 -1.55785883e-04 9.99992927e-01 2.74256125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.794391418 meters Centerline goodness [0,1] 0.9996424440004207 Centerline is valid? [True, True] Translation: X:369.43, Y:11.56, Z:2.74 [[ 9.99764373e-01 2.14732912e-02 3.17745363e-03 3.69434058e+02] [-2.14735850e-02 9.99769414e-01 5.83831298e-05 1.15562794e+01] [-3.17546728e-03 -1.26600694e-04 9.99994950e-01 2.74145923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.824391418 meters Centerline goodness [0,1] 0.9996209648550191 Centerline is valid? [True, True] Translation: X:369.46, Y:11.56, Z:2.74 [[ 9.99800732e-01 1.96915440e-02 3.27711374e-03 3.69462252e+02] [-1.96918478e-02 9.99806095e-01 6.04547572e-05 1.15591109e+01] [-3.27528784e-03 -1.24975135e-04 9.99994628e-01 2.74243606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.854391418 meters Centerline goodness [0,1] 0.9996209648550191 Centerline is valid? [True, True] Translation: X:369.49, Y:11.56, Z:2.74 [[ 9.99802296e-01 1.96119575e-02 3.27710920e-03 3.69490570e+02] [-1.96122616e-02 9.99807659e-01 6.07014143e-05 1.15597026e+01] [-3.27528841e-03 -1.24960937e-04 9.99994628e-01 2.74265761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.884391418 meters Centerline goodness [0,1] 0.9995133614032118 Centerline is valid? [True, True] Translation: X:369.52, Y:11.56, Z:2.74 [[ 9.99859953e-01 1.62205323e-02 4.11926263e-03 3.69519406e+02] [-1.62209849e-02 9.99868428e-01 7.64784089e-05 1.15598706e+01] [-4.11748013e-03 -1.43286195e-04 9.99991513e-01 2.74244401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.914391418 meters Centerline goodness [0,1] 0.9996405235668521 Centerline is valid? [True, True] Translation: X:369.55, Y:11.56, Z:2.74 [[ 9.99884666e-01 1.46038578e-02 4.16927479e-03 3.69547544e+02] [-1.46043097e-02 9.99893348e-01 7.79659052e-05 1.15614395e+01] [-4.16769153e-03 -1.38846293e-04 9.99991305e-01 2.74306042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.944391418 meters Centerline goodness [0,1] 0.9995105862325779 Centerline is valid? [True, True] Translation: X:369.58, Y:11.56, Z:2.74 [[ 9.99932071e-01 1.08716381e-02 4.20247798e-03 3.69577087e+02] [-1.08720630e-02 9.99940894e-01 7.82790049e-05 1.15606776e+01] [-4.20137857e-03 -1.23963293e-04 9.99991166e-01 2.74308117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.974391418 meters Centerline goodness [0,1] 0.9997451309389801 Centerline is valid? [True, True] Translation: X:369.61, Y:11.56, Z:2.74 [[ 9.99950855e-01 8.97524275e-03 4.21107009e-03 3.69605883e+02] [-8.97565534e-03 9.99959715e-01 7.90876211e-05 1.15610965e+01] [-4.21019061e-03 -1.16880848e-04 9.99991130e-01 2.74319669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.004391418 meters Centerline goodness [0,1] 0.9998726303946335 Centerline is valid? [True, True] Translation: X:369.63, Y:11.56, Z:2.74 [[ 9.99967492e-01 7.08914494e-03 3.84167162e-03 3.69634610e+02] [-7.08947378e-03 9.99974867e-01 7.19875256e-05 1.15643746e+01] [-3.84106474e-03 -9.92206157e-05 9.99992618e-01 2.74404955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.034391418 meters Centerline goodness [0,1] 0.9994906080865966 Centerline is valid? [True, True] Translation: X:369.66, Y:11.56, Z:2.74 [[ 9.99988552e-01 3.85756468e-03 2.83094021e-03 3.69664749e+02] [-3.85773127e-03 9.99992558e-01 5.33869049e-05 1.15621573e+01] [-2.83071320e-03 -6.43073003e-05 9.99995991e-01 2.74159249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.064391418 meters Centerline goodness [0,1] 0.9997658528278592 Centerline is valid? [True, True] Translation: X:369.70, Y:11.56, Z:2.74 [[ 9.99993536e-01 2.41295532e-03 2.66566197e-03 3.69695326e+02] [-2.41309690e-03 9.99997087e-01 4.98969143e-05 1.15628488e+01] [-2.66553381e-03 -5.63290924e-05 9.99996446e-01 2.74136302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.094391418 meters Centerline goodness [0,1] 0.9995526298971049 Centerline is valid? [True, True] Translation: X:369.73, Y:11.56, Z:2.74 [[ 9.99995308e-01 1.01662888e-03 2.88978979e-03 3.69725244e+02] [-1.01678944e-03 9.99999482e-01 5.40922274e-05 1.15649772e+01] [-2.88973330e-03 -5.70302814e-05 9.99995823e-01 2.74149845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.124391418 meters Centerline goodness [0,1] 0.9997450713800136 Centerline is valid? [True, True] Translation: X:369.76, Y:11.57, Z:2.74 [[ 9.99994299e-01 -6.01603018e-04 3.32253313e-03 3.69755664e+02] [ 6.01400430e-04 9.99999817e-01 6.19726325e-05 1.15678033e+01] [-3.32256981e-03 -5.99741064e-05 9.99994478e-01 2.74157594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.154391418 meters Centerline goodness [0,1] 0.9998512758408227 Centerline is valid? [True, True] Translation: X:369.79, Y:11.57, Z:2.74 [[ 9.99991876e-01 -1.40681495e-03 3.77745321e-03 3.69786905e+02] [ 1.40655988e-03 9.99999008e-01 7.01816537e-05 1.15695573e+01] [-3.77754820e-03 -6.48678694e-05 9.99992863e-01 2.74181625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.184391418 meters Centerline goodness [0,1] 0.9995110232370261 Centerline is valid? [True, True] Translation: X:369.82, Y:11.57, Z:2.74 [[ 9.99991057e-01 -1.51918472e-03 3.94693515e-03 3.69818799e+02] [ 1.51890947e-03 9.99998844e-01 7.27350390e-05 1.15716622e+01] [-3.94704109e-03 -6.67393514e-05 9.99992208e-01 2.74230976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.214391418 meters Centerline goodness [0,1] 0.9998502289357696 Centerline is valid? [True, True] Translation: X:369.85, Y:11.57, Z:2.74 [[ 9.99984579e-01 -3.12514111e-03 4.59067090e-03 3.69851281e+02] [ 3.12479831e-03 9.99995114e-01 8.18429332e-05 1.15740391e+01] [-4.59090424e-03 -6.74967504e-05 9.99989459e-01 2.74263067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.244391418 meters Centerline goodness [0,1] 0.9996799112287141 Centerline is valid? [True, True] Translation: X:369.88, Y:11.58, Z:2.74 [[ 9.99979315e-01 -4.45454161e-03 4.63958532e-03 3.69882388e+02] [ 4.45419899e-03 9.99990076e-01 8.41764938e-05 1.15757834e+01] [-4.63991425e-03 -6.35091164e-05 9.99989234e-01 2.74350462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.274391418 meters Centerline goodness [0,1] 0.9993571198971392 Centerline is valid? [True, True] Translation: X:369.91, Y:11.58, Z:2.74 [[ 9.99956901e-01 -7.97058291e-03 4.76097941e-03 3.69914454e+02] [ 7.97027682e-03 9.99968233e-01 8.32613843e-05 1.15756021e+01] [-4.76149181e-03 -4.53114719e-05 9.99988663e-01 2.74226988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.304391418 meters Centerline goodness [0,1] 0.9995513779107028 Centerline is valid? [True, True] Translation: X:369.95, Y:11.58, Z:2.74 [[ 9.99942435e-01 -9.63293211e-03 4.72583276e-03 3.69945157e+02] [ 9.63264223e-03 9.99953601e-01 8.40990114e-05 1.15767943e+01] [-4.72642361e-03 -3.85719141e-05 9.99988830e-01 2.74352486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.334391418 meters Centerline goodness [0,1] 0.9996147754997218 Centerline is valid? [True, True] Translation: X:369.98, Y:11.58, Z:2.74 [[ 9.99920928e-01 -1.16589951e-02 4.71222721e-03 3.69977495e+02] [ 1.16587319e-02 9.99932031e-01 8.33154667e-05 1.15764844e+01] [-4.71287830e-03 -2.83702852e-05 9.99988894e-01 2.74235914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.364391418 meters Centerline goodness [0,1] 0.9995078318924934 Centerline is valid? [True, True] Translation: X:370.01, Y:11.58, Z:2.74 [[ 9.99876487e-01 -1.52445180e-02 3.82308271e-03 3.70008434e+02] [ 1.52443717e-02 9.99883796e-01 6.74059505e-05 1.15771073e+01] [-3.82366602e-03 -9.11713134e-06 9.99992690e-01 2.74120450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.394391418 meters Centerline goodness [0,1] 0.9995503308280337 Centerline is valid? [True, True] Translation: X:370.04, Y:11.58, Z:2.74 [[ 9.99858333e-01 -1.64511008e-02 3.56033115e-03 3.70040755e+02] [ 1.64509833e-02 9.99864671e-01 6.22994827e-05 1.15782665e+01] [-3.56087423e-03 -3.71970872e-06 9.99993660e-01 2.74058306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42439141799997 meters Centerline goodness [0,1] 0.9997432550974561 Centerline is valid? [True, True] Translation: X:370.07, Y:11.58, Z:2.74 [[ 9.99845697e-01 -1.72395505e-02 3.37343006e-03 3.70073923e+02] [ 1.72394520e-02 9.99851388e-01 5.82678799e-05 1.15798032e+01] [-3.37393324e-03 -1.02803314e-07 9.99994308e-01 2.74065667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.454391418 meters Centerline goodness [0,1] 0.9996577832912692 Centerline is valid? [True, True] Translation: X:370.11, Y:11.58, Z:2.74 [[ 9.99820719e-01 -1.86164542e-02 3.45805074e-03 3.70106312e+02] [ 1.86163595e-02 9.99826699e-01 5.95690790e-05 1.15828920e+01] [-3.45856042e-03 4.81791639e-06 9.99994019e-01 2.74113166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.484391418 meters Centerline goodness [0,1] 0.9996148744062647 Centerline is valid? [True, True] Translation: X:370.14, Y:11.58, Z:2.74 [[ 9.99805556e-01 -1.93529477e-02 3.78321503e-03 3.70139773e+02] [ 1.93528418e-02 9.99812714e-01 6.46095991e-05 1.15845179e+01] [-3.78375688e-03 8.61892570e-06 9.99992842e-01 2.74117434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.514391418 meters Centerline goodness [0,1] 0.9998286057074299 Centerline is valid? [True, True] Translation: X:370.17, Y:11.59, Z:2.74 [[ 9.99794301e-01 -1.98166167e-02 4.31937050e-03 3.70172077e+02] [ 1.98164825e-02 9.99803632e-01 7.38766777e-05 1.15876298e+01] [-4.31998629e-03 1.17332486e-05 9.99990669e-01 2.74169900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.544391418 meters Centerline goodness [0,1] 0.999957138571 Centerline is valid? [True, True] Translation: X:370.21, Y:11.59, Z:2.74 [[ 9.99800364e-01 -1.94576503e-02 4.54218795e-03 3.70205258e+02] [ 1.94575020e-02 9.99810682e-01 7.68425946e-05 1.15896817e+01] [-4.54282321e-03 1.15523771e-05 9.99989681e-01 2.74172893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.574391418 meters Centerline goodness [0,1] 0.9996777104550728 Centerline is valid? [True, True] Translation: X:370.24, Y:11.59, Z:2.74 [[ 9.99800621e-01 -1.94318732e-02 4.59565603e-03 3.70237219e+02] [ 1.94317224e-02 9.99811183e-01 7.74589581e-05 1.15916581e+01] [-4.59629346e-03 1.18579978e-05 9.99989437e-01 2.74161659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.604391418 meters Centerline goodness [0,1] 0.9998277829203711 Centerline is valid? [True, True] Translation: X:370.27, Y:11.60, Z:2.74 [[ 9.99818246e-01 -1.84559918e-02 4.78032700e-03 3.70269138e+02] [ 1.84558196e-02 9.99829674e-01 8.01363818e-05 1.15959732e+01] [-4.78099178e-03 8.10303626e-06 9.99988571e-01 2.74138864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.634391418 meters Centerline goodness [0,1] 0.9998273666947196 Centerline is valid? [True, True] Translation: X:370.30, Y:11.60, Z:2.74 [[ 9.99834608e-01 -1.74772140e-02 5.03036387e-03 3.70302529e+02] [ 1.74770145e-02 9.99847262e-01 8.36188594e-05 1.15988380e+01] [-5.03105697e-03 4.31071281e-06 9.99987344e-01 2.74116125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.664391418 meters Centerline goodness [0,1] 0.9998487140695915 Centerline is valid? [True, True] Translation: X:370.33, Y:11.60, Z:2.74 [[ 9.99856359e-01 -1.60709045e-02 5.38393786e-03 3.70334302e+02] [ 1.60706572e-02 9.99870855e-01 8.91920526e-05 1.16017507e+01] [-5.38467595e-03 -2.65582118e-06 9.99985503e-01 2.74165452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.694391418 meters Centerline goodness [0,1] 0.9998699440759526 Centerline is valid? [True, True] Translation: X:370.37, Y:11.61, Z:2.74 [[ 9.99894236e-01 -1.32646210e-02 5.96380209e-03 3.70366777e+02] [ 1.32642691e-02 9.99912021e-01 9.85622577e-05 1.16073499e+01] [-5.96458480e-03 -1.94463575e-05 9.99982212e-01 2.74032994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.724391418 meters Centerline goodness [0,1] 0.9999348802882633 Centerline is valid? [True, True] Translation: X:370.40, Y:11.61, Z:2.74 [[ 9.99909865e-01 -1.20762540e-02 5.86734174e-03 3.70400100e+02] [ 1.20758988e-02 9.99927079e-01 9.59604134e-05 1.16103142e+01] [-5.86807273e-03 -2.50983388e-05 9.99982782e-01 2.74045523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.754391418 meters Centerline goodness [0,1] 0.9998041178775083 Centerline is valid? [True, True] Translation: X:370.43, Y:11.62, Z:2.74 [[ 9.99927090e-01 -1.02048453e-02 6.45574261e-03 3.70431523e+02] [ 1.02043828e-02 9.99947928e-01 1.04577368e-04 1.16160584e+01] [-6.45647365e-03 -3.86928750e-05 9.99979156e-01 2.74090879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.784391418 meters Centerline goodness [0,1] 0.9998689527137709 Centerline is valid? [True, True] Translation: X:370.46, Y:11.62, Z:2.74 [[ 9.99931589e-01 -9.57456326e-03 6.71894088e-03 3.70463538e+02] [ 9.57404787e-03 9.99954162e-01 1.08867876e-04 1.16186329e+01] [-6.71967526e-03 -4.45329668e-05 9.99977422e-01 2.74130125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.814391418 meters Centerline goodness [0,1] 0.9997813395141364 Centerline is valid? [True, True] Translation: X:370.49, Y:11.62, Z:2.74 [[ 9.99934287e-01 -9.01504328e-03 7.08170642e-03 3.70494868e+02] [ 9.01445827e-03 9.99959362e-01 1.14524409e-04 1.16208607e+01] [-7.08245108e-03 -5.06791358e-05 9.99974918e-01 2.74153918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.844391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.53, Y:11.62, Z:2.74 [[ 9.99936464e-01 -8.59088789e-03 7.29820359e-03 3.70527242e+02] [ 8.59026051e-03 9.99963096e-01 1.17307246e-04 1.16223088e+01] [-7.29894203e-03 -5.46063226e-05 9.99973361e-01 2.74045110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.874391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.56, Y:11.62, Z:2.74 [[ 9.99939538e-01 -8.50411496e-03 6.97136848e-03 3.70559671e+02] [ 8.50354442e-03 9.99963838e-01 1.11477452e-04 1.16248128e+01] [-6.97206439e-03 -5.21893707e-05 9.99975694e-01 2.73928933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.904391418 meters Centerline goodness [0,1] 0.9996284802657459 Centerline is valid? [True, True] Translation: X:370.59, Y:11.63, Z:2.74 [[ 9.99937433e-01 -8.84346947e-03 6.85006306e-03 3.70591158e+02] [ 8.84292832e-03 9.99960895e-01 1.09283116e-04 1.16267747e+01] [-6.85076163e-03 -4.87016622e-05 9.99976532e-01 2.73989201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.934391418 meters Centerline goodness [0,1] 0.9999121303984887 Centerline is valid? [True, True] Translation: X:370.62, Y:11.63, Z:2.74 [[ 9.99928028e-01 -9.56819945e-03 7.23804504e-03 3.70624193e+02] [ 9.56762345e-03 9.99954223e-01 1.14201614e-04 1.16273967e+01] [-7.23880641e-03 -4.49425056e-05 9.99973798e-01 2.73927141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.964391418 meters Centerline goodness [0,1] 0.9997802777289506 Centerline is valid? [True, True] Translation: X:370.66, Y:11.63, Z:2.74 [[ 9.99900481e-01 -1.19933760e-02 7.42876013e-03 3.70656768e+02] [ 1.19928380e-02 9.99928076e-01 1.16969976e-04 1.16283646e+01] [-7.42962869e-03 -2.78664188e-05 9.99972400e-01 2.73899922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.994391418 meters Centerline goodness [0,1] 0.999890276284316 Centerline is valid? [True, True] Translation: X:370.69, Y:11.63, Z:2.74 [[ 9.99885154e-01 -1.33401736e-02 7.19151782e-03 3.70689047e+02] [ 1.33397084e-02 9.99911016e-01 1.12654453e-04 1.16285824e+01] [-7.19238072e-03 -1.67087646e-05 9.99974134e-01 2.73878229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.024391418 meters Centerline goodness [0,1] 0.9997142354699727 Centerline is valid? [True, True] Translation: X:370.72, Y:11.63, Z:2.74 [[ 9.99842930e-01 -1.62128015e-02 7.15957160e-03 3.70720640e+02] [ 1.62124201e-02 9.99868564e-01 1.11309910e-04 1.16282585e+01] [-7.16043522e-03 4.78155532e-06 9.99974364e-01 2.73894266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.054391418 meters Centerline goodness [0,1] 0.9997575543849595 Centerline is valid? [True, True] Translation: X:370.75, Y:11.63, Z:2.74 [[ 9.99815091e-01 -1.79366645e-02 6.93245322e-03 3.70753264e+02] [ 1.79363549e-02 9.99839125e-01 1.06826065e-04 1.16279037e+01] [-6.93325406e-03 1.75366295e-05 9.99975965e-01 2.73887183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.084391418 meters Centerline goodness [0,1] 0.9997358922440356 Centerline is valid? [True, True] Translation: X:370.79, Y:11.63, Z:2.74 [[ 9.99786897e-01 -1.95339998e-02 6.67705086e-03 3.70786674e+02] [ 1.95337544e-02 9.99809193e-01 1.01978098e-04 1.16283108e+01] [-6.67776887e-03 2.84715053e-05 9.99977703e-01 2.73699435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.114391418 meters Centerline goodness [0,1] 0.9996043869096024 Centerline is valid? [True, True] Translation: X:370.82, Y:11.63, Z:2.74 [[ 9.99756711e-01 -2.11536719e-02 6.24835080e-03 3.70818717e+02] [ 2.11534919e-02 9.99776235e-01 9.49003811e-05 1.16280963e+01] [-6.24896013e-03 3.72971453e-05 9.99980474e-01 2.73762941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.144391418 meters Centerline goodness [0,1] 0.9995603429325126 Centerline is valid? [True, True] Translation: X:370.85, Y:11.63, Z:2.74 [[ 9.99702369e-01 -2.37320540e-02 5.65359617e-03 3.70851138e+02] [ 2.37319498e-02 9.99718354e-01 8.55288451e-05 1.16292787e+01] [-5.65403363e-03 4.86674715e-05 9.99984015e-01 2.73657024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.17439141799997 meters Centerline goodness [0,1] 0.9996258802816902 Centerline is valid? [True, True] Translation: X:370.88, Y:11.63, Z:2.74 [[ 9.99676648e-01 -2.48795384e-02 5.25437378e-03 3.70883392e+02] [ 2.48794668e-02 9.99690455e-01 7.90048339e-05 1.16304787e+01] [-5.25471292e-03 5.17467303e-05 9.99986193e-01 2.73568461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.204391418 meters Centerline goodness [0,1] 0.999604525980446 Centerline is valid? [True, True] Translation: X:370.91, Y:11.63, Z:2.74 [[ 9.99630702e-01 -2.67604587e-02 4.72621480e-03 3.70914787e+02] [ 2.67604282e-02 9.99641873e-01 6.97000573e-05 1.16317854e+01] [-4.72638742e-03 5.68012149e-05 9.99988829e-01 2.73511410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.234391418 meters Centerline goodness [0,1] 0.9995816544465729 Centerline is valid? [True, True] Translation: X:370.95, Y:11.63, Z:2.73 [[ 9.99608795e-01 -2.76260855e-02 4.36524422e-03 3.70946643e+02] [ 2.76260671e-02 9.99618325e-01 6.45269257e-05 1.16327525e+01] [-4.36536074e-03 5.60928473e-05 9.99990470e-01 2.73488269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.264391418 meters Centerline goodness [0,1] 0.9996462055545728 Centerline is valid? [True, True] Translation: X:370.98, Y:11.64, Z:2.74 [[ 9.99577511e-01 -2.87785706e-02 4.07352786e-03 3.70977849e+02] [ 2.87785741e-02 9.99585809e-01 5.77778455e-05 1.16351081e+01] [-4.07350341e-03 5.94768884e-05 9.99991701e-01 2.73566324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.294391418 meters Centerline goodness [0,1] 0.9995580501171167 Centerline is valid? [True, True] Translation: X:371.01, Y:11.64, Z:2.74 [[ 9.99559870e-01 -2.93781662e-02 4.12185492e-03 3.71010301e+02] [ 2.93781705e-02 9.99568367e-01 5.95353245e-05 1.16374752e+01] [-4.12182482e-03 6.15834351e-05 9.99991503e-01 2.73580299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.324391418 meters Centerline goodness [0,1] 0.9997120007089213 Centerline is valid? [True, True] Translation: X:371.04, Y:11.64, Z:2.74 [[ 9.99546146e-01 -2.98591381e-02 3.99163246e-03 3.71042165e+02] [ 2.98591473e-02 9.99554115e-01 5.73106972e-05 1.16398542e+01] [-3.99156389e-03 6.19020548e-05 9.99992032e-01 2.73572702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.354391418 meters Centerline goodness [0,1] 0.9996890132835755 Centerline is valid? [True, True] Translation: X:371.07, Y:11.64, Z:2.73 [[ 9.99496461e-01 -3.15570049e-02 3.31353944e-03 3.71073960e+02] [ 3.15570218e-02 9.99501952e-01 4.71946820e-05 1.16431328e+01] [-3.31337846e-03 5.73945185e-05 9.99994509e-01 2.73489112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.384391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.11, Y:11.64, Z:2.73 [[ 9.99477117e-01 -3.22189513e-02 2.72597543e-03 3.71106291e+02] [ 3.22189661e-02 9.99480834e-01 3.85014826e-05 1.16442676e+01] [-2.72580067e-03 4.93467591e-05 9.99996284e-01 2.73479245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.414391418 meters Centerline goodness [0,1] 0.9996218693002358 Centerline is valid? [True, True] Translation: X:371.14, Y:11.64, Z:2.73 [[ 9.99436352e-01 -3.35067502e-02 2.06808725e-03 3.71137853e+02] [ 3.35067617e-02 9.99438490e-01 2.90956198e-05 1.16448232e+01] [-2.06790090e-03 4.02156868e-05 9.99997861e-01 2.73429221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.444391418 meters Centerline goodness [0,1] 0.999821587867975 Centerline is valid? [True, True] Translation: X:371.17, Y:11.65, Z:2.73 [[ 9.99358382e-01 -3.57782842e-02 1.65467389e-03 3.71169510e+02] [ 3.57782950e-02 9.99359752e-01 2.30883984e-05 1.16469750e+01] [-1.65444056e-03 3.61278262e-05 9.99998631e-01 2.73449798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.474391418 meters Centerline goodness [0,1] 0.9999553770638108 Centerline is valid? [True, True] Translation: X:371.20, Y:11.65, Z:2.73 [[ 9.99316337e-01 -3.69335986e-02 1.66376777e-03 3.71201355e+02] [ 3.69336116e-02 9.99317721e-01 2.29346113e-05 1.16481112e+01] [-1.66347968e-03 3.85300210e-05 9.99998616e-01 2.73493016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.504391418 meters Centerline goodness [0,1] 0.9998880931065354 Centerline is valid? [True, True] Translation: X:371.23, Y:11.65, Z:2.73 [[ 9.99207704e-01 -3.97822257e-02 1.15741446e-03 3.71233513e+02] [ 3.97822342e-02 9.99208373e-01 1.56615072e-05 1.16509154e+01] [-1.15712127e-03 3.03954346e-05 9.99999330e-01 2.73479041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.534391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.27, Y:11.65, Z:2.74 [[ 9.99154574e-01 -4.10991358e-02 9.99071883e-04 3.71265168e+02] [ 4.10991445e-02 9.99155073e-01 1.17840612e-05 1.16501936e+01] [-9.98712055e-04 2.92869010e-05 9.99999501e-01 2.73535182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.564391418 meters Centerline goodness [0,1] 0.9998882206970557 Centerline is valid? [True, True] Translation: X:371.30, Y:11.65, Z:2.73 [[ 9.99091230e-01 -4.26187627e-02 5.95373815e-04 3.71297759e+02] [ 4.26187658e-02 9.99091408e-01 7.56750403e-06 1.16505020e+01] [-5.95155381e-04 1.78134702e-05 9.99999823e-01 2.73496097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.594391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.33, Y:11.65, Z:2.73 [[ 9.99033199e-01 -4.39620768e-02 -4.93259909e-05 3.71329786e+02] [ 4.39620768e-02 9.99033201e-01 -1.30100779e-06 1.16523569e+01] [ 4.93354976e-05 -8.68723031e-07 9.99999999e-01 2.73421636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.624391418 meters Centerline goodness [0,1] 0.9999776096010031 Centerline is valid? [True, True] Translation: X:371.36, Y:11.65, Z:2.73 [[ 9.98891444e-01 -4.70699399e-02 -5.52013589e-04 3.71361241e+02] [ 4.70699424e-02 9.98891596e-01 -8.51828433e-06 1.16520039e+01] [ 5.51802690e-04 -1.74744065e-05 9.99999848e-01 2.73405656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.654391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.39, Y:11.65, Z:2.73 [[ 9.98802239e-01 -4.89173089e-02 -1.08837333e-03 3.71392691e+02] [ 4.89173200e-02 9.98802831e-01 -1.64227258e-05 1.16514184e+01] [ 1.08787372e-03 -3.68372514e-05 9.99999408e-01 2.73414593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.684391418 meters Centerline goodness [0,1] 0.9998653440459626 Centerline is valid? [True, True] Translation: X:371.42, Y:11.65, Z:2.73 [[ 9.98734370e-01 -5.02784837e-02 -1.31609670e-03 3.71424533e+02] [ 5.02785036e-02 9.98735236e-01 -1.79705219e-05 1.16519103e+01] [ 1.31533568e-03 -4.82235947e-05 9.99999134e-01 2.73403832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.714391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.46, Y:11.65, Z:2.73 [[ 9.98635080e-01 -5.21782343e-02 -2.32575084e-03 3.71456809e+02] [ 5.21783031e-02 9.98637784e-01 -3.11189589e-05 1.16544116e+01] [ 2.32420640e-03 -9.02772484e-05 9.99997295e-01 2.73339683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.744391418 meters Centerline goodness [0,1] 0.999910118418983 Centerline is valid? [True, True] Translation: X:371.49, Y:11.66, Z:2.73 [[ 9.98672606e-01 -5.14300257e-02 -2.82450782e-03 3.71488829e+02] [ 5.14301252e-02 9.98676595e-01 -3.74294000e-05 1.16550067e+01] [ 2.82269485e-03 -1.07885074e-04 9.99996010e-01 2.73228575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.774391418 meters Centerline goodness [0,1] 0.999910118418983 Centerline is valid? [True, True] Translation: X:371.52, Y:11.66, Z:2.73 [[ 9.98678771e-01 -5.13101836e-02 -2.82450817e-03 3.71521407e+02] [ 5.13102827e-02 9.98682759e-01 -3.74053038e-05 1.16553138e+01] [ 2.82270689e-03 -1.07570430e-04 9.99996010e-01 2.73254007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.804391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.55, Y:11.66, Z:2.73 [[ 9.98724002e-01 -5.03668605e-02 -3.68067581e-03 3.71552586e+02] [ 5.03670230e-02 9.98730775e-01 -4.85799637e-05 1.16556398e+01] [ 3.67845102e-03 -1.36866707e-04 9.99993225e-01 2.73156964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.834391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.59, Y:11.66, Z:2.73 [[ 9.98746170e-01 -4.99385130e-02 -3.49755273e-03 3.71585025e+02] [ 4.99386626e-02 9.98752286e-01 -4.46091521e-05 1.16579771e+01] [ 3.49541649e-03 -1.30109886e-04 9.99993883e-01 2.73132750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.864391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.62, Y:11.66, Z:2.73 [[ 9.98760099e-01 -4.96344914e-02 -3.83161160e-03 3.71617248e+02] [ 4.96346700e-02 9.98767439e-01 -4.85006812e-05 1.16582922e+01] [ 3.82929621e-03 -1.41740232e-04 9.99992658e-01 2.73130962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.894391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.65, Y:11.66, Z:2.73 [[ 9.98765557e-01 -4.95427787e-02 -3.58826714e-03 3.71650796e+02] [ 4.95429351e-02 9.98771994e-01 -4.53412076e-05 1.16584920e+01] [ 3.58610705e-03 -1.32488050e-04 9.99993561e-01 2.73176705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92439141799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.68, Y:11.66, Z:2.73 [[ 9.98752165e-01 -4.98211915e-02 -3.45863593e-03 3.71682485e+02] [ 4.98213393e-02 9.98758145e-01 -4.34604696e-05 1.16567565e+01] [ 3.45650606e-03 -1.28907636e-04 9.99994018e-01 2.73208087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.954391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.72, Y:11.66, Z:2.73 [[ 9.98753240e-01 -4.97880480e-02 -3.62158770e-03 3.71716032e+02] [ 4.97882126e-02 9.98759797e-01 -4.47528656e-05 1.16561591e+01] [ 3.61932435e-03 -1.35615309e-04 9.99993441e-01 2.73220108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.984391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.75, Y:11.65, Z:2.73 [[ 9.98732937e-01 -5.01974669e-02 -3.56871836e-03 3.71747897e+02] [ 5.01976314e-02 9.98739303e-01 -4.35259833e-05 1.16547476e+01] [ 3.56640418e-03 -1.35670376e-04 9.99993631e-01 2.73128712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.014391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.78, Y:11.66, Z:2.73 [[ 9.98735690e-01 -5.01193803e-02 -3.88194645e-03 3.71780629e+02] [ 5.01195751e-02 9.98743223e-01 -4.71489016e-05 1.16550072e+01] [ 3.87943079e-03 -1.47472216e-04 9.99992464e-01 2.73120620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.044391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.81, Y:11.66, Z:2.73 [[ 9.98760572e-01 -4.96280685e-02 -3.79140952e-03 3.71813357e+02] [ 4.96282527e-02 9.98767758e-01 -4.55386069e-05 1.16553131e+01] [ 3.78899758e-03 -1.42678865e-04 9.99992812e-01 2.73121928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.074391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.85, Y:11.66, Z:2.73 [[ 9.98802688e-01 -4.87502146e-02 -4.07506201e-03 3.71845900e+02] [ 4.87504223e-02 9.98810990e-01 -4.84020140e-05 1.16552708e+01] [ 4.07257633e-03 -1.50316932e-04 9.99991696e-01 2.73154092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.104391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.88, Y:11.66, Z:2.73 [[ 9.98864759e-01 -4.74273804e-02 -4.45392647e-03 3.71877689e+02] [ 4.74276172e-02 9.98874676e-01 -5.24859287e-05 1.16551645e+01] [ 4.45140363e-03 -1.58812775e-04 9.99990080e-01 2.73142185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.134391418 meters Centerline goodness [0,1] 0.999887972754974 Centerline is valid? [True, True] Translation: X:371.91, Y:11.66, Z:2.73 [[ 9.98938592e-01 -4.58732755e-02 -4.16306129e-03 3.71910439e+02] [ 4.58734699e-02 9.98947257e-01 -4.88472921e-05 1.16568221e+01] [ 4.16091944e-03 -1.42178621e-04 9.99991333e-01 2.73114250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.164391418 meters Centerline goodness [0,1] 0.9999104584527221 Centerline is valid? [True, True] Translation: X:371.94, Y:11.66, Z:2.73 [[ 9.99076619e-01 -4.27334285e-02 -4.44562900e-03 3.71942155e+02] [ 4.27336218e-02 9.99086500e-01 -5.15236874e-05 1.16570723e+01] [ 4.44376971e-03 -1.38501717e-04 9.99990117e-01 2.73075288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.194391418 meters Centerline goodness [0,1] 0.9999102515201149 Centerline is valid? [True, True] Translation: X:371.97, Y:11.66, Z:2.73 [[ 9.99127166e-01 -4.15298398e-02 -4.49207871e-03 3.71973094e+02] [ 4.15300234e-02 9.99137255e-01 -5.24417081e-05 1.16567106e+01] [ 4.49038109e-03 -1.34160199e-04 9.99989909e-01 2.73153191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.224391418 meters Centerline goodness [0,1] 0.9999552302285497 Centerline is valid? [True, True] Translation: X:372.01, Y:11.66, Z:2.73 [[ 9.99173436e-01 -4.04196625e-02 -4.32374818e-03 3.72005224e+02] [ 4.04198294e-02 9.99182784e-01 -4.88217548e-05 1.16576310e+01] [ 4.32218810e-03 -1.25983763e-04 9.99990651e-01 2.73200951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.254391418 meters Centerline goodness [0,1] 0.9998433864327904 Centerline is valid? [True, True] Translation: X:372.04, Y:11.66, Z:2.73 [[ 9.99287895e-01 -3.74816226e-02 -4.33952733e-03 3.72037683e+02] [ 3.74817645e-02 9.99297311e-01 -4.86522158e-05 1.16583840e+01] [ 4.33830155e-03 -1.14035571e-04 9.99990583e-01 2.73119633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.284391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.07, Y:11.66, Z:2.73 [[ 9.99358246e-01 -3.54948295e-02 -4.81795164e-03 3.72069082e+02] [ 3.54949838e-02 9.99369853e-01 -5.34961325e-05 1.16581055e+01] [ 4.81681445e-03 -1.17551314e-04 9.99988392e-01 2.73068633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.314391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.10, Y:11.66, Z:2.73 [[ 9.99481667e-01 -3.19021927e-02 -4.31821815e-03 3.72100902e+02] [ 3.19022838e-02 9.99490991e-01 -4.78093105e-05 1.16581537e+01] [ 4.31754537e-03 -8.99764917e-05 9.99990675e-01 2.73038974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.344391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.13, Y:11.66, Z:2.73 [[ 9.99519149e-01 -3.07414436e-02 -4.05400393e-03 3.72132445e+02] [ 3.07415158e-02 9.99527367e-01 -4.45177350e-05 1.16573199e+01] [ 4.05345642e-03 -8.01298972e-05 9.99991782e-01 2.73137577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.374391418 meters Centerline goodness [0,1] 0.999910809846593 Centerline is valid? [True, True] Translation: X:372.16, Y:11.66, Z:2.73 [[ 9.99558507e-01 -2.94826795e-02 -3.68283782e-03 3.72164762e+02] [ 2.94827309e-02 9.99565289e-01 -4.03429637e-05 1.16576732e+01] [ 3.68242627e-03 -6.82549640e-05 9.99993218e-01 2.73204561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.404391418 meters Centerline goodness [0,1] 0.99991087741188 Centerline is valid? [True, True] Translation: X:372.20, Y:11.66, Z:2.73 [[ 9.99631495e-01 -2.69440728e-02 -3.30026250e-03 3.72196556e+02] [ 2.69441009e-02 9.99636941e-01 -3.59536265e-05 1.16576678e+01] [ 3.30003305e-03 -5.29822285e-05 9.99994553e-01 2.73212027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.434391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.23, Y:11.66, Z:2.73 [[ 9.99671459e-01 -2.53755256e-02 -3.61338817e-03 3.72228496e+02] [ 2.53755502e-02 9.99677988e-01 -3.90268545e-05 1.16580149e+01] [ 3.61321495e-03 -5.26776804e-05 9.99993471e-01 2.73149943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.464391418 meters Centerline goodness [0,1] 0.9998886315039202 Centerline is valid? [True, True] Translation: X:372.26, Y:11.66, Z:2.73 [[ 9.99706447e-01 -2.39262399e-02 -3.81502328e-03 3.72259968e+02] [ 2.39262585e-02 9.99713725e-01 -4.07771114e-05 1.16571448e+01] [ 3.81490678e-03 -5.05140920e-05 9.99992722e-01 2.73080744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.494391418 meters Centerline goodness [0,1] 0.9998661072926894 Centerline is valid? [True, True] Translation: X:372.29, Y:11.66, Z:2.73 [[ 9.99766293e-01 -2.11174622e-02 -4.62722883e-03 3.72291915e+02] [ 2.11174609e-02 9.99777000e-01 -4.91377328e-05 1.16556421e+01] [ 4.62723463e-03 -4.85890749e-05 9.99989293e-01 2.72912300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.524391418 meters Centerline goodness [0,1] 0.9999554793758209 Centerline is valid? [True, True] Translation: X:372.32, Y:11.66, Z:2.73 [[ 9.99797484e-01 -1.96098649e-02 -4.52158528e-03 3.72324040e+02] [ 1.96098499e-02 9.99807707e-01 -4.76715729e-05 1.16555632e+01] [ 4.52165064e-03 -4.10056898e-05 9.99989776e-01 2.72933075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.554391418 meters Centerline goodness [0,1] 0.9997772927709233 Centerline is valid? [True, True] Translation: X:372.35, Y:11.66, Z:2.73 [[ 9.99860970e-01 -1.59196383e-02 -4.96041079e-03 3.72354799e+02] [ 1.59195772e-02 9.99873274e-01 -5.17937737e-05 1.16567764e+01] [ 4.96060672e-03 -2.71810700e-05 9.99987696e-01 2.72918481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.584391418 meters Centerline goodness [0,1] 0.9998662982440503 Centerline is valid? [True, True] Translation: X:372.39, Y:11.66, Z:2.73 [[ 9.99888376e-01 -1.40412575e-02 -5.10662731e-03 3.72387367e+02] [ 1.40411696e-02 9.99901417e-01 -5.30641742e-05 1.16576017e+01] [ 5.10686897e-03 -1.86447690e-05 9.99986960e-01 2.72923001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.614391418 meters Centerline goodness [0,1] 0.9999553919928628 Centerline is valid? [True, True] Translation: X:372.42, Y:11.66, Z:2.73 [[ 9.99912912e-01 -1.21384859e-02 -5.17932350e-03 3.72419398e+02] [ 1.21383721e-02 9.99926326e-01 -5.34027060e-05 1.16579926e+01] [ 5.17959014e-03 -9.47050046e-06 9.99986586e-01 2.72905551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.644391418 meters Centerline goodness [0,1] 0.9999108476162881 Centerline is valid? [True, True] Translation: X:372.45, Y:11.66, Z:2.73 [[ 9.99927590e-01 -1.08267365e-02 -5.25330843e-03 3.72450442e+02] [ 1.08266038e-02 9.99941389e-01 -5.36970104e-05 1.16578320e+01] [ 5.25358189e-03 -3.18236675e-06 9.99986200e-01 2.72876986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.67439141799997 meters Centerline goodness [0,1] 0.999822012592609 Centerline is valid? [True, True] Translation: X:372.48, Y:11.66, Z:2.73 [[ 9.99949942e-01 -8.43088556e-03 -5.38821279e-03 3.72482498e+02] [ 8.43071268e-03 9.99964459e-01 -5.47974222e-05 1.16575424e+01] [ 5.38848328e-03 9.36820530e-06 9.99985482e-01 2.72842836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.704391418 meters Centerline goodness [0,1] 0.9999554635134834 Centerline is valid? [True, True] Translation: X:372.51, Y:11.66, Z:2.73 [[ 9.99957852e-01 -7.17620640e-03 -5.72685674e-03 3.72513743e+02] [ 7.17599350e-03 9.99974251e-01 -5.77230404e-05 1.16576720e+01] [ 5.72712351e-03 1.66247207e-05 9.99983600e-01 2.72826362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.734391418 meters Centerline goodness [0,1] 0.9997547708221866 Centerline is valid? [True, True] Translation: X:372.54, Y:11.66, Z:2.73 [[ 9.99960208e-01 -6.13706457e-03 -6.47453161e-03 3.72543806e+02] [ 6.13677378e-03 9.99981168e-01 -6.47792173e-05 1.16573744e+01] [ 6.47480723e-03 2.50439038e-05 9.99979038e-01 2.72780688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.764391418 meters Centerline goodness [0,1] 0.9997329594766006 Centerline is valid? [True, True] Translation: X:372.57, Y:11.66, Z:2.73 [[ 9.99960634e-01 -5.75224840e-03 -6.75584357e-03 3.72574625e+02] [ 5.75192404e-03 9.99983455e-01 -6.74407995e-05 1.16566787e+01] [ 6.75611973e-03 2.85790456e-05 9.99977177e-01 2.72728189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.794391418 meters Centerline goodness [0,1] 0.9997999733297773 Centerline is valid? [True, True] Translation: X:372.60, Y:11.65, Z:2.73 [[ 9.99958677e-01 -6.62167321e-03 -6.22880389e-03 3.72604058e+02] [ 6.62141475e-03 9.99978076e-01 -6.21155574e-05 1.16536121e+01] [ 6.22907864e-03 2.08694966e-05 9.99980599e-01 2.72700369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.824391418 meters Centerline goodness [0,1] 0.9996886813431176 Centerline is valid? [True, True] Translation: X:372.63, Y:11.65, Z:2.73 [[ 9.99958813e-01 -6.82389930e-03 -5.98385894e-03 3.72633633e+02] [ 6.82366279e-03 9.99976717e-01 -5.99394572e-05 1.16525029e+01] [ 5.98412864e-03 1.91051529e-05 9.99982095e-01 2.72725821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.854391418 meters Centerline goodness [0,1] 0.9996448627172442 Centerline is valid? [True, True] Translation: X:372.66, Y:11.65, Z:2.73 [[ 9.99960441e-01 -7.09139589e-03 -5.36927219e-03 3.72664408e+02] [ 7.09120858e-03 9.99974856e-01 -5.39237611e-05 1.16511242e+01] [ 5.36951958e-03 1.58469989e-05 9.99985584e-01 2.72721702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.884391418 meters Centerline goodness [0,1] 0.9997341368309111 Centerline is valid? [True, True] Translation: X:372.69, Y:11.65, Z:2.73 [[ 9.99961796e-01 -7.03610039e-03 -5.18649542e-03 3.72694708e+02] [ 7.03592460e-03 9.99975246e-01 -5.21404856e-05 1.16505531e+01] [ 5.18673390e-03 1.56467029e-05 9.99986549e-01 2.72787283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.914391418 meters Centerline goodness [0,1] 0.999689633767846 Centerline is valid? [True, True] Translation: X:372.73, Y:11.65, Z:2.73 [[ 9.99966442e-01 -6.65520664e-03 -4.77735378e-03 3.72726495e+02] [ 6.65505324e-03 9.99977854e-01 -4.80049947e-05 1.16496500e+01] [ 4.77756746e-03 1.62098399e-05 9.99988587e-01 2.72716084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.944391418 meters Centerline goodness [0,1] 0.9999556865264884 Centerline is valid? [True, True] Translation: X:372.76, Y:11.65, Z:2.73 [[ 9.99970835e-01 -5.87958789e-03 -4.87433201e-03 3.72758316e+02] [ 5.87941997e-03 9.99982715e-01 -4.87783926e-05 1.16498264e+01] [ 4.87453455e-03 2.01187250e-05 9.99988119e-01 2.72733934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.974391418 meters Centerline goodness [0,1] 0.9996906008972574 Centerline is valid? [True, True] Translation: X:372.79, Y:11.65, Z:2.73 [[ 9.99971905e-01 -5.66020069e-03 -4.91434241e-03 3.72788838e+02] [ 5.66002890e-03 9.99983981e-01 -4.88655001e-05 1.16501618e+01] [ 4.91454028e-03 2.10488072e-05 9.99987923e-01 2.72732673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.004391418 meters Centerline goodness [0,1] 0.9998011093677488 Centerline is valid? [True, True] Translation: X:372.82, Y:11.65, Z:2.73 [[ 9.99979069e-01 -4.71077666e-03 -4.43503923e-03 3.72819561e+02] [ 4.71062640e-03 9.99988904e-01 -4.43256562e-05 1.16507008e+01] [ 4.43519882e-03 2.34329156e-05 9.99990164e-01 2.72736028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.034391418 meters Centerline goodness [0,1] 0.9995583916624345 Centerline is valid? [True, True] Translation: X:372.85, Y:11.65, Z:2.73 [[ 9.99980521e-01 -4.34219007e-03 -4.48363217e-03 3.72849773e+02] [ 4.34203516e-03 9.99990572e-01 -4.42827230e-05 1.16509878e+01] [ 4.48378218e-03 2.48137719e-05 9.99989947e-01 2.72720432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.064391418 meters Centerline goodness [0,1] 0.9997567663187688 Centerline is valid? [True, True] Translation: X:372.88, Y:11.65, Z:2.73 [[ 9.99979737e-01 -4.65691147e-03 -4.34037994e-03 3.72880575e+02] [ 4.65676927e-03 9.99989156e-01 -4.28678882e-05 1.16509187e+01] [ 4.34053250e-03 2.26548717e-05 9.99990580e-01 2.72746516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.094391418 meters Centerline goodness [0,1] 0.9997563082921642 Centerline is valid? [True, True] Translation: X:372.91, Y:11.65, Z:2.73 [[ 9.99979634e-01 -5.19911596e-03 -3.70142866e-03 3.72910250e+02] [ 5.19901655e-03 9.99986484e-01 -3.64780354e-05 1.16508367e+01] [ 3.70156829e-03 1.72335036e-05 9.99993149e-01 2.72731271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.124391418 meters Centerline goodness [0,1] 0.9997575276638893 Centerline is valid? [True, True] Translation: X:372.94, Y:11.65, Z:2.73 [[ 9.99977127e-01 -5.72096244e-03 -3.60780734e-03 3.72940851e+02] [ 5.72087087e-03 9.99983635e-01 -3.57021288e-05 1.16508332e+01] [ 3.60795255e-03 1.50615123e-05 9.99993491e-01 2.72779426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.154391418 meters Centerline goodness [0,1] 0.9996693704813966 Centerline is valid? [True, True] Translation: X:372.97, Y:11.65, Z:2.73 [[ 9.99970048e-01 -6.84894176e-03 -3.60473994e-03 3.72971199e+02] [ 6.84885738e-03 9.99976546e-01 -3.57516422e-05 1.16511335e+01] [ 3.60490026e-03 1.10622216e-05 9.99993502e-01 2.72804055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.184391418 meters Centerline goodness [0,1] 0.9998675672096411 Centerline is valid? [True, True] Translation: X:373.00, Y:11.65, Z:2.73 [[ 9.99967853e-01 -6.91344756e-03 -4.06156278e-03 3.73002698e+02] [ 6.91334107e-03 9.99976102e-01 -4.02575421e-05 1.16516338e+01] [ 4.06174403e-03 1.21772792e-05 9.99991751e-01 2.72791776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.214391418 meters Centerline goodness [0,1] 0.999691466854725 Centerline is valid? [True, True] Translation: X:373.03, Y:11.65, Z:2.73 [[ 9.99960871e-01 -7.33532125e-03 -4.94473049e-03 3.73034045e+02] [ 7.33516980e-03 9.99973096e-01 -4.87648801e-05 1.16520647e+01] [ 4.94495517e-03 1.24925342e-05 9.99987774e-01 2.72642915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.244391418 meters Centerline goodness [0,1] 0.9996688449311197 Centerline is valid? [True, True] Translation: X:373.06, Y:11.65, Z:2.73 [[ 9.99956553e-01 -7.63422799e-03 -5.34890332e-03 3.73064524e+02] [ 7.63405658e-03 9.99970859e-01 -5.24632987e-05 1.16526714e+01] [ 5.34914796e-03 1.16271888e-05 9.99985693e-01 2.72631099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.274391418 meters Centerline goodness [0,1] 0.9997352454495312 Centerline is valid? [True, True] Translation: X:373.10, Y:11.65, Z:2.73 [[ 9.99955826e-01 -7.61388293e-03 -5.51136679e-03 3.73095477e+02] [ 7.61370102e-03 9.99971014e-01 -5.39868242e-05 1.16537552e+01] [ 5.51161809e-03 1.20225405e-05 9.99984811e-01 2.72641061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.304391418 meters Centerline goodness [0,1] 0.9997792250800309 Centerline is valid? [True, True] Translation: X:373.13, Y:11.66, Z:2.73 [[ 9.99947845e-01 -8.17245312e-03 -6.12521067e-03 3.73125431e+02] [ 8.17224076e-03 9.99966605e-01 -5.96970886e-05 1.16559900e+01] [ 6.12549399e-03 9.63727882e-06 9.99981239e-01 2.72680131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.334391418 meters Centerline goodness [0,1] 0.9998675701326506 Centerline is valid? [True, True] Translation: X:373.16, Y:11.66, Z:2.73 [[ 9.99948977e-01 -8.29678689e-03 -5.76255813e-03 3.73157000e+02] [ 8.29660135e-03 9.99965581e-01 -5.61018132e-05 1.16569287e+01] [ 5.76282526e-03 8.28930313e-06 9.99983395e-01 2.72711052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.364391418 meters Centerline goodness [0,1] 0.9996463306808134 Centerline is valid? [True, True] Translation: X:373.19, Y:11.66, Z:2.73 [[ 9.99942565e-01 -8.83657599e-03 -6.06479639e-03 3.73188401e+02] [ 8.83638192e-03 9.99960957e-01 -5.87947817e-05 1.16577881e+01] [ 6.06507915e-03 5.20054755e-06 9.99981607e-01 2.72719100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.394391418 meters Centerline goodness [0,1] 0.9998232044198895 Centerline is valid? [True, True] Translation: X:373.22, Y:11.66, Z:2.73 [[ 9.99941598e-01 -9.10048693e-03 -5.82938856e-03 3.73220224e+02] [ 9.10031343e-03 9.99958590e-01 -5.62891546e-05 1.16595646e+01] [ 5.82965942e-03 3.23660427e-06 9.99983007e-01 2.72766569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42439141799997 meters Centerline goodness [0,1] 0.999800818855815 Centerline is valid? [True, True] Translation: X:373.25, Y:11.66, Z:2.73 [[ 9.99937891e-01 -9.57211294e-03 -5.70861561e-03 3.73251233e+02] [ 9.57195550e-03 9.99954186e-01 -5.49001819e-05 1.16605512e+01] [ 5.70887959e-03 2.54157480e-07 9.99983704e-01 2.72803949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.454391418 meters Centerline goodness [0,1] 0.9998446757050613 Centerline is valid? [True, True] Translation: X:373.28, Y:11.66, Z:2.73 [[ 9.99934746e-01 -9.73719000e-03 -5.97416138e-03 3.73282328e+02] [ 9.73702109e-03 9.99952592e-01 -5.73592624e-05 1.16629687e+01] [ 5.97443668e-03 -8.15015921e-07 9.99982153e-01 2.72866930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.484391418 meters Centerline goodness [0,1] 0.9997777580229353 Centerline is valid? [True, True] Translation: X:373.31, Y:11.66, Z:2.73 [[ 9.99936197e-01 -9.28792166e-03 -6.42933195e-03 3.73314104e+02] [ 9.28772317e-03 9.99956866e-01 -6.07302135e-05 1.16646874e+01] [ 6.42961869e-03 1.01248342e-06 9.99979330e-01 2.72879018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.514391418 meters Centerline goodness [0,1] 0.9998666874041816 Centerline is valid? [True, True] Translation: X:373.35, Y:11.67, Z:2.73 [[ 9.99936769e-01 -8.79881604e-03 -7.00279009e-03 3.73345500e+02] [ 8.79857068e-03 9.99961290e-01 -6.58453752e-05 1.16665949e+01] [ 7.00309837e-03 4.22666818e-06 9.99975478e-01 2.72887055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.544391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.38, Y:11.67, Z:2.73 [[ 9.99946271e-01 -7.09496784e-03 -7.55750860e-03 3.73375367e+02] [ 7.09463589e-03 9.99974830e-01 -7.07326356e-05 1.16710898e+01] [ 7.55782023e-03 1.71110635e-05 9.99971439e-01 2.72888931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.574391418 meters Centerline goodness [0,1] 0.9999776999754699 Centerline is valid? [True, True] Translation: X:373.41, Y:11.67, Z:2.73 [[ 9.99957564e-01 -5.96548391e-03 -7.02021087e-03 3.73406160e+02] [ 5.96517064e-03 9.99982206e-01 -6.55615955e-05 1.16737972e+01] [ 7.02047706e-03 2.36820575e-05 9.99975356e-01 2.72945297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.604391418 meters Centerline goodness [0,1] 0.9998433478796016 Centerline is valid? [True, True] Translation: X:373.44, Y:11.68, Z:2.73 [[ 9.99961961e-01 -4.99275169e-03 -7.15186038e-03 3.73435478e+02] [ 4.99240187e-03 9.99987536e-01 -6.67657026e-05 1.16763837e+01] [ 7.15210458e-03 3.10582017e-05 9.99974423e-01 2.72990884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.634391418 meters Centerline goodness [0,1] 0.9998881731973519 Centerline is valid? [True, True] Translation: X:373.46, Y:11.68, Z:2.73 [[ 9.99968660e-01 -4.05316789e-03 -6.80086167e-03 3.73464103e+02] [ 4.05282829e-03 9.99991785e-01 -6.37160095e-05 1.16792253e+01] [ 6.80106406e-03 3.61512881e-05 9.99976872e-01 2.73041758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.664391418 meters Centerline goodness [0,1] 0.9998881731973519 Centerline is valid? [True, True] Translation: X:373.49, Y:11.68, Z:2.73 [[ 9.99968506e-01 -4.09082754e-03 -6.80085783e-03 3.73493251e+02] [ 4.09048604e-03 9.99991632e-01 -6.41233785e-05 1.16795405e+01] [ 6.80106324e-03 3.63025450e-05 9.99976872e-01 2.73064554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.694391418 meters Centerline goodness [0,1] 0.9998206398672735 Centerline is valid? [True, True] Translation: X:373.52, Y:11.68, Z:2.73 [[ 9.99973213e-01 -2.98811502e-03 -6.68162336e-03 3.73522783e+02] [ 2.98775913e-03 9.99995535e-01 -6.32452594e-05 1.16835675e+01] [ 6.68178251e-03 4.32804841e-05 9.99977676e-01 2.73119943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.724391418 meters Centerline goodness [0,1] 0.9998877942595543 Centerline is valid? [True, True] Translation: X:373.55, Y:11.69, Z:2.73 [[ 9.99974613e-01 -3.06588682e-03 -6.43219873e-03 3.73551224e+02] [ 3.06555914e-03 9.99995299e-01 -6.08023228e-05 1.16853725e+01] [ 6.43235491e-03 4.10824936e-05 9.99979311e-01 2.73143679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.754391418 meters Centerline goodness [0,1] 0.9998876884027045 Centerline is valid? [True, True] Translation: X:373.58, Y:11.69, Z:2.73 [[ 9.99977126e-01 -2.62695005e-03 -6.23276565e-03 3.73580329e+02] [ 2.62662185e-03 9.99996549e-01 -6.08430511e-05 1.16889229e+01] [ 6.23290396e-03 4.44705410e-05 9.99980574e-01 2.73185045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.784391418 meters Centerline goodness [0,1] 0.9998871815699812 Centerline is valid? [True, True] Translation: X:373.61, Y:11.69, Z:2.73 [[ 9.99972100e-01 -3.22670821e-03 -6.73695673e-03 3.73609400e+02] [ 3.22633707e-03 9.99994793e-01 -6.59570394e-05 1.16904140e+01] [ 6.73713448e-03 4.42195060e-05 9.99977304e-01 2.73189100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.814391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.64, Y:11.69, Z:2.73 [[ 9.99969016e-01 -3.81466007e-03 -6.88590268e-03 3.73637687e+02] [ 3.81427338e-03 9.99992723e-01 -6.92884579e-05 1.16913238e+01] [ 6.88611688e-03 4.30215958e-05 9.99976289e-01 2.73170005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.844391418 meters Centerline goodness [0,1] 0.999886987772077 Centerline is valid? [True, True] Translation: X:373.67, Y:11.69, Z:2.73 [[ 9.99959203e-01 -4.69246182e-03 -7.71835377e-03 3.73666767e+02] [ 4.69198312e-03 9.99988989e-01 -8.01265686e-05 1.16940185e+01] [ 7.71864478e-03 4.39089140e-05 9.99970210e-01 2.73103414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.874391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.70, Y:11.69, Z:2.73 [[ 9.99954101e-01 -5.49754276e-03 -7.84688929e-03 3.73696165e+02] [ 5.49706904e-03 9.99984888e-01 -8.19370710e-05 1.16946401e+01] [ 7.84722116e-03 3.87984180e-05 9.99969209e-01 2.73101433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.904391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.72, Y:11.70, Z:2.73 [[ 9.99947435e-01 -6.45234860e-03 -7.96830915e-03 3.73724951e+02] [ 6.45188786e-03 9.99979183e-01 -8.35268363e-05 1.16952692e+01] [ 7.96868222e-03 3.21118086e-05 9.99968249e-01 2.73107051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.934391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.75, Y:11.70, Z:2.73 [[ 9.99939205e-01 -7.51143654e-03 -8.07250877e-03 3.73754409e+02] [ 7.51099435e-03 9.99971788e-01 -8.50937374e-05 1.16955325e+01] [ 8.07292021e-03 2.44559963e-05 9.99967413e-01 2.73129327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.964391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.78, Y:11.70, Z:2.73 [[ 9.99928501e-01 -9.12445988e-03 -7.72894400e-03 3.73784793e+02] [ 9.12410047e-03 9.99958371e-01 -8.17618351e-05 1.16962112e+01] [ 7.72936829e-03 1.12363276e-05 9.99970128e-01 2.73204661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.994391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.82, Y:11.70, Z:2.73 [[ 9.99922522e-01 -9.66005907e-03 -7.85062174e-03 3.73816104e+02] [ 9.65970478e-03 9.99953341e-01 -8.30475704e-05 1.16970203e+01] [ 7.85105768e-03 7.20644772e-06 9.99969180e-01 2.73269259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.024391418 meters Centerline goodness [0,1] 0.999977285633163 Centerline is valid? [True, True] Translation: X:373.85, Y:11.70, Z:2.73 [[ 9.99914294e-01 -1.09275906e-02 -7.21055284e-03 3.73847818e+02] [ 1.09273266e-02 9.99940292e-01 -7.60192292e-05 1.16983185e+01] [ 7.21095302e-03 -2.77935171e-06 9.99974001e-01 2.73325455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.054391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.88, Y:11.70, Z:2.73 [[ 9.99908047e-01 -1.14386218e-02 -7.28397670e-03 3.73879130e+02] [ 1.14383679e-02 9.99934577e-01 -7.65152618e-05 1.16989830e+01] [ 7.28437539e-03 -6.80857967e-06 9.99973469e-01 2.73340824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.084391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.91, Y:11.70, Z:2.73 [[ 9.99898388e-01 -1.22766755e-02 -7.24553348e-03 3.73911139e+02] [ 1.22764492e-02 9.99924639e-01 -7.57010867e-05 1.16993229e+01] [ 7.24591681e-03 -1.32560294e-05 9.99973748e-01 2.73319677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.114391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.94, Y:11.70, Z:2.73 [[ 9.99869208e-01 -1.38862854e-02 -8.29081533e-03 3.73941940e+02] [ 1.38860505e-02 9.99903580e-01 -8.58911422e-05 1.16992543e+01] [ 8.29120864e-03 -2.92467721e-05 9.99965627e-01 2.73233554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.144391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.97, Y:11.70, Z:2.73 [[ 9.99848638e-01 -1.50191840e-02 -8.78205119e-03 3.73974129e+02] [ 1.50189691e-02 9.99887205e-01 -9.04209490e-05 1.16993227e+01] [ 8.78241867e-03 -4.14900928e-05 9.99961433e-01 2.73222089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.17439141799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.01, Y:11.70, Z:2.73 [[ 9.99817650e-01 -1.66532076e-02 -9.34543192e-03 3.74005906e+02] [ 1.66530427e-02 9.99861324e-01 -9.54605312e-05 1.16997887e+01] [ 9.34572565e-03 -6.01867531e-05 9.99956326e-01 2.73189385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.204391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.04, Y:11.70, Z:2.73 [[ 9.99799852e-01 -1.76824612e-02 -9.35879868e-03 3.74037642e+02] [ 1.76823486e-02 9.99843651e-01 -9.47862181e-05 1.16999914e+01] [ 9.35901149e-03 -7.07182936e-05 9.99956201e-01 2.73199493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.234391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.07, Y:11.70, Z:2.73 [[ 9.99769123e-01 -1.94763321e-02 -9.07593718e-03 3.74070195e+02] [ 1.94763100e-02 9.99810315e-01 -9.08289727e-05 1.16985814e+01] [ 9.07598462e-03 -8.59577635e-05 9.99958809e-01 2.73266020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.264391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.10, Y:11.70, Z:2.73 [[ 9.99741483e-01 -2.11208681e-02 -8.41879694e-03 3.74101526e+02] [ 2.11209125e-02 9.99776925e-01 -8.36400703e-05 1.16963648e+01] [ 8.41868547e-03 -9.41942260e-05 9.99964558e-01 2.73257076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.294391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.13, Y:11.70, Z:2.73 [[ 9.99694648e-01 -2.32960751e-02 -8.24039804e-03 3.74133303e+02] [ 2.32961955e-02 9.99728603e-01 -8.13804885e-05 1.16956250e+01] [ 8.24005747e-03 -1.10614285e-04 9.99966044e-01 2.73278829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.324391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.17, Y:11.69, Z:2.73 [[ 9.99692449e-01 -2.32734898e-02 -8.56453430e-03 3.74165550e+02] [ 2.32736253e-02 9.99729129e-01 -8.38586675e-05 1.16942156e+01] [ 8.56416610e-03 -1.15494886e-04 9.99963320e-01 2.73201971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.354391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.20, Y:11.70, Z:2.73 [[ 9.99697541e-01 -2.29654250e-02 -8.79865829e-03 3.74197677e+02] [ 2.29655638e-02 9.99736253e-01 -8.52732926e-05 1.16950608e+01] [ 8.79829601e-03 -1.16818647e-04 9.99961287e-01 2.73231366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.384391418 meters Centerline goodness [0,1] 0.9999773237488379 Centerline is valid? [True, True] Translation: X:374.23, Y:11.69, Z:2.73 [[ 9.99703942e-01 -2.27760312e-02 -8.56039578e-03 3.74228701e+02] [ 2.27761613e-02 9.99740586e-01 -8.23051126e-05 1.16944659e+01] [ 8.56004967e-03 -1.12692209e-04 9.99963356e-01 2.73263908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.414391418 meters Centerline goodness [0,1] 0.9999772794401655 Centerline is valid? [True, True] Translation: X:374.26, Y:11.70, Z:2.73 [[ 9.99714936e-01 -2.24648598e-02 -8.08554123e-03 3.74260484e+02] [ 2.24649694e-02 9.99747628e-01 -7.72743746e-05 1.16950450e+01] [ 8.08523662e-03 -1.04389090e-04 9.99967308e-01 2.73332320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.444391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.29, Y:11.70, Z:2.73 [[ 9.99713624e-01 -2.26107460e-02 -7.83739837e-03 3.74292891e+02] [ 2.26108582e-02 9.99744339e-01 -7.43098304e-05 1.16951220e+01] [ 7.83707486e-03 -1.02921753e-04 9.99969284e-01 2.73399754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.474391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.32, Y:11.69, Z:2.73 [[ 9.99709087e-01 -2.30059596e-02 -7.24340562e-03 3.74323738e+02] [ 2.30060697e-02 9.99735323e-01 -6.81389152e-05 1.16940195e+01] [ 7.24305606e-03 -9.85232018e-05 9.99973764e-01 2.73410090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.504391418 meters Centerline goodness [0,1] 0.9999093566588865 Centerline is valid? [True, True] Translation: X:374.36, Y:11.69, Z:2.73 [[ 9.99683280e-01 -2.41955595e-02 -6.92208201e-03 3.74355851e+02] [ 2.41956911e-02 9.99707239e-01 -6.47439211e-05 1.16926562e+01] [ 6.92162201e-03 -1.02761142e-04 9.99976040e-01 2.73416443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.534391418 meters Centerline goodness [0,1] 0.999819298879653 Centerline is valid? [True, True] Translation: X:374.39, Y:11.69, Z:2.73 [[ 9.99611854e-01 -2.70405964e-02 -6.70429375e-03 3.74388175e+02] [ 2.70407871e-02 9.99634329e-01 -6.22108417e-05 1.16892883e+01] [ 6.70352440e-03 -1.19102685e-04 9.99977524e-01 2.73330109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.564391418 meters Centerline goodness [0,1] 0.9999547930652563 Centerline is valid? [True, True] Translation: X:374.42, Y:11.69, Z:2.73 [[ 9.99583187e-01 -2.79090282e-02 -7.38501436e-03 3.74420348e+02] [ 2.79092881e-02 9.99610458e-01 -6.78837738e-05 1.16879102e+01] [ 7.38403216e-03 -1.38255014e-04 9.99972728e-01 2.73283120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.594391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.45, Y:11.69, Z:2.73 [[ 9.99544398e-01 -2.92210480e-02 -7.55821276e-03 3.74452870e+02] [ 2.92213623e-02 9.99572962e-01 -6.88656741e-05 1.16854407e+01] [ 7.55699744e-03 -1.52026975e-04 9.99971434e-01 2.73211459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.624391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.49, Y:11.68, Z:2.73 [[ 9.99529510e-01 -2.97456259e-02 -7.48034281e-03 3.74485350e+02] [ 2.97459528e-02 9.99557489e-01 -6.75706602e-05 1.16841904e+01] [ 7.47904261e-03 -1.54971055e-04 9.99972020e-01 2.73236423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.654391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.52, Y:11.68, Z:2.73 [[ 9.99517437e-01 -3.01473303e-02 -7.48544120e-03 3.74517138e+02] [ 3.01476733e-02 9.99545453e-01 -6.70283180e-05 1.16832479e+01] [ 7.48405944e-03 -1.58672663e-04 9.99971981e-01 2.73258979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.684391418 meters Centerline goodness [0,1] 0.9998874507597074 Centerline is valid? [True, True] Translation: X:374.55, Y:11.68, Z:2.73 [[ 9.99516106e-01 -3.02847005e-02 -7.09870499e-03 3.74549718e+02] [ 3.02850160e-02 9.99541302e-01 -6.30671311e-05 1.16826044e+01] [ 7.09735880e-03 -1.51947781e-04 9.99974802e-01 2.73275732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.714391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.58, Y:11.68, Z:2.73 [[ 9.99544674e-01 -2.96090850e-02 -5.80915940e-03 3.74582274e+02] [ 2.96092884e-02 9.99561548e-01 -5.10150982e-05 1.16830325e+01] [ 5.80812287e-03 -1.21013206e-04 9.99983125e-01 2.73438613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.744391418 meters Centerline goodness [0,1] 0.9999550915010665 Centerline is valid? [True, True] Translation: X:374.61, Y:11.68, Z:2.74 [[ 9.99579601e-01 -2.85258277e-02 -5.18627972e-03 3.74613945e+02] [ 2.85259770e-02 9.99593050e-01 -4.51962512e-05 1.16831751e+01] [ 5.18545842e-03 -1.02766445e-04 9.99986550e-01 2.73526617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.774391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.65, Y:11.69, Z:2.74 [[ 9.99619268e-01 -2.71680906e-02 -4.81811468e-03 3.74646346e+02] [ 2.71682053e-02 9.99630875e-01 -4.16555008e-05 1.16851058e+01] [ 4.81746790e-03 -8.92598875e-05 9.99988392e-01 2.73575547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.804391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.68, Y:11.69, Z:2.74 [[ 9.99700831e-01 -2.41486046e-02 -3.88500975e-03 3.74677103e+02] [ 2.41486575e-02 9.99708378e-01 -3.33155638e-05 1.16864742e+01] [ 3.88468132e-03 -6.05121730e-05 9.99992453e-01 2.73589111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.834391418 meters Centerline goodness [0,1] 0.9999549610413008 Centerline is valid? [True, True] Translation: X:374.71, Y:11.69, Z:2.74 [[ 9.99741482e-01 -2.24117466e-02 -3.83172387e-03 3.74708488e+02] [ 2.24117861e-02 9.99748824e-01 -3.26318802e-05 1.16869343e+01] [ 3.83149277e-03 -5.32523316e-05 9.99992658e-01 2.73598702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.864391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.74, Y:11.69, Z:2.73 [[ 9.99821532e-01 -1.83554336e-02 -4.47006091e-03 3.74740710e+02] [ 1.83554481e-02 9.99831524e-01 -3.77896579e-05 1.16893197e+01] [ 4.47000146e-03 -4.42670574e-05 9.99990009e-01 2.73462730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.894391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.77, Y:11.69, Z:2.73 [[ 9.99862372e-01 -1.58192153e-02 -4.99890959e-03 3.74772597e+02] [ 1.58192040e-02 9.99874868e-01 -4.17997838e-05 1.16912946e+01] [ 4.99894531e-03 -3.72847395e-05 9.99987504e-01 2.73392329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92439141799997 meters Centerline goodness [0,1] 0.9999322263639444 Centerline is valid? [True, True] Translation: X:374.80, Y:11.69, Z:2.73 [[ 9.99904600e-01 -1.26679112e-02 -5.50588837e-03 3.74804183e+02] [ 1.26678528e-02 9.99919758e-01 -4.54902231e-05 1.16933607e+01] [ 5.50602284e-03 -2.42619000e-05 9.99984841e-01 2.73351153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.954391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.84, Y:11.70, Z:2.73 [[ 9.99971833e-01 -5.12638082e-03 -5.48207336e-03 3.74835998e+02] [ 5.12621106e-03 9.99986860e-01 -4.50170231e-05 1.16994663e+01] [ 5.48223210e-03 1.69134900e-05 9.99984972e-01 2.73336135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.984391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.87, Y:11.70, Z:2.73 [[ 9.99985052e-01 -1.01688339e-03 -5.37227835e-03 3.74865180e+02] [ 1.01666458e-03 9.99999482e-01 -4.34611340e-05 1.17029563e+01] [ 5.37231977e-03 3.79986793e-05 9.99985568e-01 2.73393003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.014391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.89, Y:11.71, Z:2.73 [[ 9.99983925e-01 3.08343098e-03 -4.75835235e-03 3.74893796e+02] [-3.08364569e-03 9.99995245e-01 -3.77877753e-05 1.17063565e+01] [ 4.75821321e-03 5.24602405e-05 9.99988678e-01 2.73436258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.044391418 meters Centerline goodness [0,1] 0.999954573330002 Centerline is valid? [True, True] Translation: X:374.92, Y:11.71, Z:2.73 [[ 9.99933607e-01 1.06944446e-02 -4.29069095e-03 3.74922805e+02] [-1.06946967e-02 9.99942809e-01 -3.58091434e-05 1.17124538e+01] [ 4.29006260e-03 8.16944041e-05 9.99990794e-01 2.73434261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.074391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.95, Y:11.71, Z:2.73 [[ 9.99890106e-01 1.42582216e-02 -4.05944439e-03 3.74951497e+02] [-1.42584772e-02 9.99898342e-01 -3.40175605e-05 1.17145440e+01] [ 4.05854669e-03 9.18953174e-05 9.99991760e-01 2.73462911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.104391418 meters Centerline goodness [0,1] 0.9999772773750824 Centerline is valid? [True, True] Translation: X:374.98, Y:11.72, Z:2.73 [[ 9.99848732e-01 1.69741613e-02 -3.79342074e-03 3.74979010e+02] [-1.69744047e-02 9.99855924e-01 -3.19708896e-05 1.17170096e+01] [ 3.79233152e-03 9.63571123e-05 9.99992804e-01 2.73459028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.134391418 meters Centerline goodness [0,1] 0.9999092126466783 Centerline is valid? [True, True] Translation: X:375.01, Y:11.72, Z:2.73 [[ 9.99767708e-01 2.13310166e-02 -3.08498774e-03 3.75008217e+02] [-2.13311994e-02 9.99772464e-01 -2.63443867e-05 1.17192566e+01] [ 3.08372384e-03 9.21447558e-05 9.99995241e-01 2.73414674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.164391418 meters Centerline goodness [0,1] 0.9999546413262876 Centerline is valid? [True, True] Translation: X:375.04, Y:11.72, Z:2.73 [[ 9.99737765e-01 2.27137170e-02 -2.91347600e-03 3.75036872e+02] [-2.27138860e-02 9.99742006e-01 -2.49295299e-05 1.17197478e+01] [ 2.91215810e-03 9.10993544e-05 9.99995756e-01 2.73395099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.194391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.07, Y:11.72, Z:2.73 [[ 9.99716931e-01 2.35363505e-02 -3.47831628e-03 3.75065695e+02] [-2.35365977e-02 9.99722975e-01 -3.01412544e-05 1.17182901e+01] [ 3.47664329e-03 1.12000453e-04 9.99993950e-01 2.73342332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.224391418 meters Centerline goodness [0,1] 0.9998869468876478 Centerline is valid? [True, True] Translation: X:375.09, Y:11.72, Z:2.73 [[ 9.99720451e-01 2.33485210e-02 -3.72389200e-03 3.75094075e+02] [-2.33488043e-02 9.99727379e-01 -3.26038490e-05 1.17177406e+01] [ 3.72211554e-03 1.19543160e-04 9.99993066e-01 2.73283605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.254391418 meters Centerline goodness [0,1] 0.9998873620184726 Centerline is valid? [True, True] Translation: X:375.12, Y:11.72, Z:2.73 [[ 9.99733620e-01 2.26894174e-02 -4.22828644e-03 3.75123200e+02] [-2.26897784e-02 9.99742553e-01 -3.74322194e-05 1.17168403e+01] [ 4.22634856e-03 1.33361131e-04 9.99991060e-01 2.73219197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.284391418 meters Centerline goodness [0,1] 0.9997968855788761 Centerline is valid? [True, True] Translation: X:375.15, Y:11.72, Z:2.73 [[ 9.99751014e-01 2.18752905e-02 -4.40255327e-03 3.75151607e+02] [-2.18756757e-02 9.99760698e-01 -3.93431279e-05 1.17159564e+01] [ 4.40063909e-03 1.35642160e-04 9.99990308e-01 2.73179744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.314391418 meters Centerline goodness [0,1] 0.9998419757545658 Centerline is valid? [True, True] Translation: X:375.18, Y:11.71, Z:2.73 [[ 9.99805147e-01 1.91565836e-02 -4.76371105e-03 3.75181046e+02] [-1.91570060e-02 9.99816487e-01 -4.30393392e-05 1.17107648e+01] [ 4.76201236e-03 1.34289394e-04 9.99988653e-01 2.73175276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.344391418 meters Centerline goodness [0,1] 0.9999325296869378 Centerline is valid? [True, True] Translation: X:375.21, Y:11.71, Z:2.73 [[ 9.99840469e-01 1.73654793e-02 -4.18058758e-03 3.75208692e+02] [-1.73657892e-02 9.99849203e-01 -3.78216364e-05 1.17100627e+01] [ 4.17930037e-03 1.10414805e-04 9.99991261e-01 2.73270767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.374391418 meters Centerline goodness [0,1] 0.9999552202046437 Centerline is valid? [True, True] Translation: X:375.24, Y:11.71, Z:2.73 [[ 9.99911456e-01 1.29033974e-02 -3.25296874e-03 3.75236981e+02] [-1.29035622e-02 9.99916745e-01 -2.96795571e-05 1.17073450e+01] [ 3.25231495e-03 7.16518137e-05 9.99994709e-01 2.73400345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.404391418 meters Centerline goodness [0,1] 0.999887779149366 Centerline is valid? [True, True] Translation: X:375.27, Y:11.70, Z:2.73 [[ 9.99942492e-01 1.02995883e-02 -2.98835923e-03 3.75266127e+02] [-1.02997163e-02 9.99946956e-01 -2.74313413e-05 1.17020973e+01] [ 2.98791818e-03 5.82090159e-05 9.99995534e-01 2.73356872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.434391418 meters Centerline goodness [0,1] 0.9997990892043932 Centerline is valid? [True, True] Translation: X:375.29, Y:11.70, Z:2.73 [[ 9.99965013e-01 7.81131006e-03 -2.99263457e-03 3.75293561e+02] [-7.81142767e-03 9.99969490e-01 -2.76142941e-05 1.17004326e+01] [ 2.99232756e-03 5.09900764e-05 9.99995522e-01 2.73373794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.464391418 meters Centerline goodness [0,1] 0.9998221431747444 Centerline is valid? [True, True] Translation: X:375.32, Y:11.69, Z:2.73 [[ 9.99990532e-01 2.81248739e-03 -3.32038280e-03 3.75322217e+02] [-2.81260634e-03 9.99996044e-01 -3.11549812e-05 1.16948658e+01] [ 3.32028205e-03 4.04936160e-05 9.99994487e-01 2.73306898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.494391418 meters Centerline goodness [0,1] 0.9997550602329155 Centerline is valid? [True, True] Translation: X:375.35, Y:11.69, Z:2.73 [[ 9.99994130e-01 9.40128336e-05 -3.42511575e-03 3.75351346e+02] [-9.41244385e-05 9.99999995e-01 -3.24230771e-05 1.16926848e+01] [ 3.42511269e-03 3.27452738e-05 9.99994134e-01 2.73276593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.524391418 meters Centerline goodness [0,1] 0.9997335405795492 Centerline is valid? [True, True] Translation: X:375.38, Y:11.69, Z:2.73 [[ 9.99990849e-01 -2.25527352e-03 -3.63541711e-03 3.75380179e+02] [ 2.25516216e-03 9.99997457e-01 -3.47331459e-05 1.16907537e+01] [ 3.63548620e-03 2.65343730e-05 9.99993391e-01 2.73299844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.554391418 meters Centerline goodness [0,1] 0.9997550329592019 Centerline is valid? [True, True] Translation: X:375.41, Y:11.69, Z:2.73 [[ 9.99983416e-01 -4.36596325e-03 -3.75585560e-03 3.75409416e+02] [ 4.36585749e-03 9.99990469e-01 -3.63559953e-05 1.16892727e+01] [ 3.75597853e-03 1.99578621e-05 9.99992946e-01 2.73330864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.584391418 meters Centerline goodness [0,1] 0.9997550329592019 Centerline is valid? [True, True] Translation: X:375.44, Y:11.69, Z:2.73 [[ 9.99983416e-01 -4.36596562e-03 -3.75585264e-03 3.75439414e+02] [ 4.36585872e-03 9.99990469e-01 -3.66589938e-05 1.16895657e+01] [ 3.75597690e-03 2.02608638e-05 9.99992946e-01 2.73354319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.614391418 meters Centerline goodness [0,1] 0.999733066399733 Centerline is valid? [True, True] Translation: X:375.47, Y:11.69, Z:2.73 [[ 9.99964295e-01 -7.70523183e-03 -3.46946691e-03 3.75469867e+02] [ 7.70516071e-03 9.99970314e-01 -3.38637263e-05 1.16872207e+01] [ 3.46962484e-03 7.12971708e-06 9.99993981e-01 2.73417657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.644391418 meters Centerline goodness [0,1] 0.9997326560620238 Centerline is valid? [True, True] Translation: X:375.50, Y:11.69, Z:2.73 [[ 9.99949915e-01 -9.35073747e-03 -3.56808478e-03 3.75502294e+02] [ 9.35067155e-03 9.99956281e-01 -3.51577937e-05 1.16865228e+01] [ 3.56825754e-03 1.79204400e-06 9.99993634e-01 2.73446542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.67439141799997 meters Centerline goodness [0,1] 0.9996435334744347 Centerline is valid? [True, True] Translation: X:375.53, Y:11.68, Z:2.73 [[ 9.99910504e-01 -1.25837205e-02 -4.54250542e-03 3.75533618e+02] [ 1.25836487e-02 9.99920822e-01 -4.43784787e-05 1.16846841e+01] [ 4.54270420e-03 -1.27867854e-05 9.99989682e-01 2.73416485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.704391418 meters Centerline goodness [0,1] 0.9997543820475606 Centerline is valid? [True, True] Translation: X:375.57, Y:11.68, Z:2.73 [[ 9.99882585e-01 -1.44031628e-02 -5.23113450e-03 3.75565619e+02] [ 1.44030972e-02 9.99896269e-01 -5.02155061e-05 1.16837781e+01] [ 5.23131513e-03 -2.51349287e-05 9.99986316e-01 2.73391982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.734391418 meters Centerline goodness [0,1] 0.999821432557309 Centerline is valid? [True, True] Translation: X:375.60, Y:11.68, Z:2.73 [[ 9.99851365e-01 -1.62219678e-02 -5.83908837e-03 3.75598108e+02] [ 1.62219201e-02 9.99868414e-01 -5.55330260e-05 1.16832518e+01] [ 5.83922088e-03 -3.91964531e-05 9.99982951e-01 2.73356996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.764391418 meters Centerline goodness [0,1] 0.9997774067890929 Centerline is valid? [True, True] Translation: X:375.63, Y:11.68, Z:2.73 [[ 9.99773307e-01 -2.01057293e-02 -7.00667404e-03 3.75629031e+02] [ 2.01057608e-02 9.99797857e-01 -6.59563179e-05 1.16814875e+01] [ 7.00658378e-03 -7.49331458e-05 9.99975451e-01 2.73188008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.794391418 meters Centerline goodness [0,1] 0.9997324116400936 Centerline is valid? [True, True] Translation: X:375.66, Y:11.68, Z:2.73 [[ 9.99732334e-01 -2.18980291e-02 -7.46567954e-03 3.75660616e+02] [ 2.18981183e-02 9.99760205e-01 -6.98154285e-05 1.16805931e+01] [ 7.46541813e-03 -9.36875922e-05 9.99972129e-01 2.73135061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.824391418 meters Centerline goodness [0,1] 0.9997548746518106 Centerline is valid? [True, True] Translation: X:375.69, Y:11.68, Z:2.73 [[ 9.99673875e-01 -2.42258122e-02 -8.07798121e-03 3.75693165e+02] [ 2.42259966e-02 9.99706505e-01 -7.50364784e-05 1.16823673e+01] [ 8.07742818e-03 -1.20685139e-04 9.99967370e-01 2.73087917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.854391418 meters Centerline goodness [0,1] 0.9997772679689066 Centerline is valid? [True, True] Translation: X:375.73, Y:11.68, Z:2.73 [[ 9.99665893e-01 -2.45813525e-02 -7.99127023e-03 3.75725264e+02] [ 2.45815493e-02 9.99697825e-01 -7.36010613e-05 1.16836293e+01] [ 7.99066469e-03 -1.22861333e-04 9.99968067e-01 2.73144480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.884391418 meters Centerline goodness [0,1] 0.9997771438759138 Centerline is valid? [True, True] Translation: X:375.76, Y:11.69, Z:2.73 [[ 9.99653833e-01 -2.50475877e-02 -8.05191247e-03 3.75756974e+02] [ 2.50478078e-02 9.99686252e-01 -7.35159170e-05 1.16859207e+01] [ 8.05122759e-03 -1.28192288e-04 9.99967580e-01 2.73220285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.914391418 meters Centerline goodness [0,1] 0.99984376743667 Centerline is valid? [True, True] Translation: X:375.79, Y:11.69, Z:2.73 [[ 9.99648422e-01 -2.54676296e-02 -7.37782260e-03 3.75789389e+02] [ 2.54678299e-02 9.99675640e-01 -6.68186396e-05 1.16900878e+01] [ 7.37713124e-03 -1.21101983e-04 9.99972781e-01 2.73368602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.944391418 meters Centerline goodness [0,1] 0.9997765462996068 Centerline is valid? [True, True] Translation: X:375.82, Y:11.69, Z:2.73 [[ 9.99639545e-01 -2.60341043e-02 -6.55779596e-03 3.75821076e+02] [ 2.60342772e-02 9.99661049e-01 -5.90057612e-05 1.16903604e+01] [ 6.55710935e-03 -1.11742986e-04 9.99978496e-01 2.73434517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.974391418 meters Centerline goodness [0,1] 0.9999102877520354 Centerline is valid? [True, True] Translation: X:375.85, Y:11.69, Z:2.73 [[ 9.99596410e-01 -2.77906302e-02 -5.89043086e-03 3.75853342e+02] [ 2.77908053e-02 9.99613760e-01 -5.21378664e-05 1.16912092e+01] [ 5.88960468e-03 -1.11582993e-04 9.99982650e-01 2.73496207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.004391418 meters Centerline goodness [0,1] 0.9997758701840106 Centerline is valid? [True, True] Translation: X:375.89, Y:11.69, Z:2.73 [[ 9.99610277e-01 -2.70941320e-02 -6.72317829e-03 3.75885640e+02] [ 2.70943485e-02 9.99632879e-01 -5.88994086e-05 1.16927848e+01] [ 6.72230590e-03 -1.23283681e-04 9.99977397e-01 2.73381384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.034391418 meters Centerline goodness [0,1] 0.9998432777342439 Centerline is valid? [True, True] Translation: X:375.92, Y:11.69, Z:2.73 [[ 9.99615354e-01 -2.67705549e-02 -7.24439949e-03 3.75917374e+02] [ 2.67708022e-02 9.99641596e-01 -6.28437262e-05 1.16927044e+01] [ 7.24348542e-03 -1.31118832e-04 9.99973757e-01 2.73295799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.064391418 meters Centerline goodness [0,1] 0.9997753566213636 Centerline is valid? [True, True] Translation: X:375.95, Y:11.69, Z:2.73 [[ 9.99625881e-01 -2.65182900e-02 -6.69906201e-03 3.75950744e+02] [ 2.65184988e-02 9.99648321e-01 -5.76760685e-05 1.16935063e+01] [ 6.69823556e-03 -1.19994577e-04 9.99977559e-01 2.73316869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.094391418 meters Centerline goodness [0,1] 0.9997984232216449 Centerline is valid? [True, True] Translation: X:375.98, Y:11.69, Z:2.73 [[ 9.99637639e-01 -2.61754405e-02 -6.27995347e-03 3.75982308e+02] [ 2.61756222e-02 9.99657358e-01 -5.32662808e-05 1.16926804e+01] [ 6.27919596e-03 -1.11134710e-04 9.99980279e-01 2.73367624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.124391418 meters Centerline goodness [0,1] 0.9997984503068035 Centerline is valid? [True, True] Translation: X:376.02, Y:11.69, Z:2.73 [[ 9.99635687e-01 -2.62809401e-02 -6.14866006e-03 3.76015107e+02] [ 2.62811179e-02 9.99654590e-01 -5.18948472e-05 1.16925345e+01] [ 6.14790010e-03 -1.09717719e-04 9.99981095e-01 2.73410217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.154391418 meters Centerline goodness [0,1] 0.9997992863514719 Centerline is valid? [True, True] Translation: X:376.05, Y:11.69, Z:2.73 [[ 9.99631591e-01 -2.65164765e-02 -5.79297263e-03 3.76046350e+02] [ 2.65166428e-02 9.99648371e-01 -4.81142262e-05 1.16907830e+01] [ 5.79221147e-03 -1.05513685e-04 9.99983219e-01 2.73494167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.184391418 meters Centerline goodness [0,1] 0.9998440806325871 Centerline is valid? [True, True] Translation: X:376.08, Y:11.69, Z:2.73 [[ 9.99572470e-01 -2.86594380e-02 -5.78909442e-03 3.76078109e+02] [ 2.86596412e-02 9.99589227e-01 -4.78742848e-05 1.16875305e+01] [ 5.78808847e-03 -1.18059552e-04 9.99983242e-01 2.73490346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.214391418 meters Centerline goodness [0,1] 0.9998436138602802 Centerline is valid? [True, True] Translation: X:376.11, Y:11.69, Z:2.73 [[ 9.99516398e-01 -3.05189283e-02 -5.96371598e-03 3.76110618e+02] [ 3.05191824e-02 9.99534180e-01 -4.84144590e-05 1.16859452e+01] [ 5.96241552e-03 -1.33616690e-04 9.99982216e-01 2.73444700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.244391418 meters Centerline goodness [0,1] 0.9999108337048596 Centerline is valid? [True, True] Translation: X:376.14, Y:11.68, Z:2.73 [[ 9.99435274e-01 -3.28953283e-02 -6.85781898e-03 3.76141617e+02] [ 3.28957242e-02 9.99458788e-01 -5.50879341e-05 1.16817443e+01] [ 6.85591958e-03 -1.70536097e-04 9.99976483e-01 2.73298998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.274391418 meters Centerline goodness [0,1] 0.9997769052293414 Centerline is valid? [True, True] Translation: X:376.17, Y:11.68, Z:2.73 [[ 9.99397624e-01 -3.39224787e-02 -7.32497402e-03 3.76172575e+02] [ 3.39229660e-02 9.99424449e-01 -5.77421782e-05 1.16798812e+01] [ 7.32271689e-03 -1.90777449e-04 9.99973170e-01 2.73263111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.304391418 meters Centerline goodness [0,1] 0.9998217627662419 Centerline is valid? [True, True] Translation: X:376.20, Y:11.68, Z:2.73 [[ 9.99367497e-01 -3.47463552e-02 -7.56939829e-03 3.76204356e+02] [ 3.47469082e-02 9.99396142e-01 -5.84824685e-05 1.16783818e+01] [ 7.56685951e-03 -2.04567709e-04 9.99971350e-01 2.73239285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.334391418 meters Centerline goodness [0,1] 0.9996658275224453 Centerline is valid? [True, True] Translation: X:376.24, Y:11.68, Z:2.73 [[ 9.99330675e-01 -3.56562931e-02 -8.17498898e-03 3.76236153e+02] [ 3.56569741e-02 9.99364086e-01 -6.24749827e-05 1.16774606e+01] [ 8.17201802e-03 -2.29062204e-04 9.99966582e-01 2.73252077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.364391418 meters Centerline goodness [0,1] 0.999733007008566 Centerline is valid? [True, True] Translation: X:376.27, Y:11.68, Z:2.73 [[ 9.99295530e-01 -3.68820956e-02 -6.93934743e-03 3.76268159e+02] [ 3.68826189e-02 9.99319603e-01 -5.25790312e-05 1.16753807e+01] [ 6.93656515e-03 -2.03399316e-04 9.99975921e-01 2.73338210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.394391418 meters Centerline goodness [0,1] 0.9996669331201705 Centerline is valid? [True, True] Translation: X:376.30, Y:11.67, Z:2.73 [[ 9.99280280e-01 -3.74036863e-02 -6.31548511e-03 3.76300300e+02] [ 3.74041330e-02 9.99300219e-01 -4.74086798e-05 1.16746842e+01] [ 6.31283892e-03 -1.88850686e-04 9.99980056e-01 2.73438234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42439141799997 meters Centerline goodness [0,1] 0.9997567448031844 Centerline is valid? [True, True] Translation: X:376.33, Y:11.67, Z:2.73 [[ 9.99260782e-01 -3.79553613e-02 -6.10581302e-03 3.76331986e+02] [ 3.79557921e-02 9.99279418e-01 -4.53361082e-05 1.16726626e+01] [ 6.10313403e-03 -1.86448375e-04 9.99981358e-01 2.73473484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.454391418 meters Centerline goodness [0,1] 0.9997554468652734 Centerline is valid? [True, True] Translation: X:376.36, Y:11.67, Z:2.73 [[ 9.99247296e-01 -3.82933499e-02 -6.20163178e-03 3.76363922e+02] [ 3.82938030e-02 9.99266522e-01 -4.57015660e-05 1.16717418e+01] [ 6.19883308e-03 -1.91816899e-04 9.99980769e-01 2.73490109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.484391418 meters Centerline goodness [0,1] 0.9997782606767485 Centerline is valid? [True, True] Translation: X:376.40, Y:11.67, Z:2.73 [[ 9.99217289e-01 -3.90762167e-02 -6.15292102e-03 3.76396411e+02] [ 3.90766806e-02 9.99236214e-01 -4.48534899e-05 1.16702156e+01] [ 6.14997421e-03 -1.95617347e-04 9.99981070e-01 2.73493531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.514391418 meters Centerline goodness [0,1] 0.9998228638487258 Centerline is valid? [True, True] Translation: X:376.43, Y:11.67, Z:2.73 [[ 9.99145527e-01 -4.07954312e-02 -6.62943613e-03 3.76427750e+02] [ 4.07960115e-02 9.99167495e-01 -4.77270231e-05 1.16659404e+01] [ 6.62586413e-03 -2.22768311e-04 9.99978024e-01 2.73395444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.544391418 meters Centerline goodness [0,1] 0.9998452320413894 Centerline is valid? [True, True] Translation: X:376.46, Y:11.66, Z:2.73 [[ 9.99093899e-01 -4.19121112e-02 -7.39977676e-03 3.76459931e+02] [ 4.19128684e-02 9.99121268e-01 -5.27884790e-05 1.16635658e+01] [ 7.39548682e-03 -2.57405222e-04 9.99972620e-01 2.73316572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.574391418 meters Centerline goodness [0,1] 0.9998230793047017 Centerline is valid? [True, True] Translation: X:376.49, Y:11.66, Z:2.73 [[ 9.99034042e-01 -4.32712007e-02 -7.65420280e-03 3.76491335e+02] [ 4.32720555e-02 9.99063324e-01 -5.39776092e-05 1.16604939e+01] [ 7.64936897e-03 -2.77287619e-04 9.99970705e-01 2.73261593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.604391418 meters Centerline goodness [0,1] 0.9997356187622551 Centerline is valid? [True, True] Translation: X:376.52, Y:11.66, Z:2.73 [[ 9.98966402e-01 -4.47171706e-02 -8.15486769e-03 3.76523726e+02] [ 4.47181932e-02 9.98999640e-01 -5.69937414e-05 1.16563399e+01] [ 8.14925848e-03 -3.07736116e-04 9.99966747e-01 2.73186124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.634391418 meters Centerline goodness [0,1] 0.9997356012867404 Centerline is valid? [True, True] Translation: X:376.56, Y:11.65, Z:2.73 [[ 9.98932115e-01 -4.55474976e-02 -7.74949875e-03 3.76556362e+02] [ 4.55484504e-02 9.98962129e-01 -5.35872264e-05 1.16540468e+01] [ 7.74389653e-03 -2.99447658e-04 9.99969971e-01 2.73253026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.664391418 meters Centerline goodness [0,1] 0.9998024019145059 Centerline is valid? [True, True] Translation: X:376.59, Y:11.65, Z:2.73 [[ 9.98902866e-01 -4.62582268e-02 -7.29660246e-03 3.76588295e+02] [ 4.62590943e-02 9.98929474e-01 -4.99276478e-05 1.16541288e+01] [ 7.29110082e-03 -2.87661351e-04 9.99973378e-01 2.73367074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.694391418 meters Centerline goodness [0,1] 0.9997147997016366 Centerline is valid? [True, True] Translation: X:376.62, Y:11.65, Z:2.74 [[ 9.98845365e-01 -4.75818995e-02 -6.62571721e-03 3.76620265e+02] [ 4.75826469e-02 9.98867303e-01 -4.48683659e-05 1.16513911e+01] [ 6.62034720e-03 -2.70452603e-04 9.99978049e-01 2.73502938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.724391418 meters Centerline goodness [0,1] 0.9997815162770374 Centerline is valid? [True, True] Translation: X:376.65, Y:11.65, Z:2.74 [[ 9.98839009e-01 -4.77707852e-02 -6.21174763e-03 3.76651947e+02] [ 4.77714488e-02 9.98858292e-01 -4.15837030e-05 1.16519965e+01] [ 6.20664211e-03 -2.55208759e-04 9.99980706e-01 2.73531835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.754391418 meters Centerline goodness [0,1] 0.9998906912684186 Centerline is valid? [True, True] Translation: X:376.68, Y:11.65, Z:2.74 [[ 9.98844007e-01 -4.77116899e-02 -5.85183551e-03 3.76683746e+02] [ 4.77122793e-02 9.98861120e-01 -3.89228059e-05 1.16494456e+01] [ 5.84702805e-03 -2.40326599e-04 9.99982877e-01 2.73569763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.784391418 meters Centerline goodness [0,1] 0.9996937346867344 Centerline is valid? [True, True] Translation: X:376.72, Y:11.65, Z:2.74 [[ 9.98851033e-01 -4.75803117e-02 -5.72076282e-03 3.76716357e+02] [ 4.75808758e-02 9.98867388e-01 -3.75265053e-05 1.16468987e+01] [ 5.71606894e-03 -2.34715517e-04 9.99983636e-01 2.73552749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.814391418 meters Centerline goodness [0,1] 0.9997816975200838 Centerline is valid? [True, True] Translation: X:376.75, Y:11.65, Z:2.74 [[ 9.98846710e-01 -4.76664829e-02 -5.75812429e-03 3.76748505e+02] [ 4.76670603e-02 9.98863279e-01 -3.69898308e-05 1.16453450e+01] [ 5.75334209e-03 -2.37525687e-04 9.99983421e-01 2.73561668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.844391418 meters Centerline goodness [0,1] 0.9998472016065659 Centerline is valid? [True, True] Translation: X:376.78, Y:11.64, Z:2.74 [[ 9.98864862e-01 -4.72985791e-02 -5.64191055e-03 3.76780281e+02] [ 4.72991301e-02 9.98880769e-01 -3.58067288e-05 1.16430037e+01] [ 5.63728956e-03 -2.31091378e-04 9.99984084e-01 2.73588025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.874391418 meters Centerline goodness [0,1] 0.9996725462801257 Centerline is valid? [True, True] Translation: X:376.81, Y:11.64, Z:2.74 [[ 9.98885928e-01 -4.68870913e-02 -5.33891897e-03 3.76812641e+02] [ 4.68875808e-02 9.98900172e-01 -3.34956226e-05 1.16420105e+01] [ 5.33461759e-03 -2.16870689e-04 9.99985747e-01 2.73591301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.904391418 meters Centerline goodness [0,1] 0.9995197030891824 Centerline is valid? [True, True] Translation: X:376.84, Y:11.64, Z:2.74 [[ 9.98896455e-01 -4.66373899e-02 -5.55215160e-03 3.76844678e+02] [ 4.66379180e-02 9.98911860e-01 -3.43752733e-05 1.16414678e+01] [ 5.54771325e-03 -2.24603453e-04 9.99984586e-01 2.73575795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.934391418 meters Centerline goodness [0,1] 0.9995863270193773 Centerline is valid? [True, True] Translation: X:376.88, Y:11.64, Z:2.74 [[ 9.98905694e-01 -4.64213208e-02 -5.69880712e-03 3.76876836e+02] [ 4.64218764e-02 9.98921923e-01 -3.48233351e-05 1.16407283e+01] [ 5.69427992e-03 -2.29764092e-04 9.99983761e-01 2.73553625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.964391418 meters Centerline goodness [0,1] 0.9996731527683961 Centerline is valid? [True, True] Translation: X:376.91, Y:11.64, Z:2.74 [[ 9.98922941e-01 -4.60397654e-02 -5.77050197e-03 3.76908833e+02] [ 4.60403314e-02 9.98939581e-01 -3.47924644e-05 1.16393720e+01] [ 5.76598466e-03 -2.30920832e-04 9.99983350e-01 2.73545130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.994391418 meters Centerline goodness [0,1] 0.9993894860781022 Centerline is valid? [True, True] Translation: X:376.94, Y:11.64, Z:2.74 [[ 9.98926922e-01 -4.59324611e-02 -5.93406230e-03 3.76942123e+02] [ 4.59330601e-02 9.98944519e-01 -3.53663985e-05 1.16390396e+01] [ 5.92942348e-03 -2.37241193e-04 9.99982393e-01 2.73542710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.024391418 meters Centerline goodness [0,1] 0.9993679851803422 Centerline is valid? [True, True] Translation: X:376.97, Y:11.64, Z:2.74 [[ 9.98937948e-01 -4.56461155e-02 -6.27766556e-03 3.76973028e+02] [ 4.56467860e-02 9.98957642e-01 -3.65119940e-05 1.16350408e+01] [ 6.27278861e-03 -2.50082040e-04 9.99980295e-01 2.73512570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.054391418 meters Centerline goodness [0,1] 0.999607877309167 Centerline is valid? [True, True] Translation: X:377.01, Y:11.64, Z:2.73 [[ 9.98943388e-01 -4.54581640e-02 -6.75748994e-03 3.77005724e+02] [ 4.54589391e-02 9.98966207e-01 -3.89286508e-05 1.16359010e+01] [ 6.75227372e-03 -2.68300805e-04 9.99977167e-01 2.73397871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.084391418 meters Centerline goodness [0,1] 0.9995659816410234 Centerline is valid? [True, True] Translation: X:377.04, Y:11.63, Z:2.73 [[ 9.98938754e-01 -4.54915526e-02 -7.20311652e-03 3.77037356e+02] [ 4.54924409e-02 9.98964682e-01 -4.05646123e-05 1.16338010e+01] [ 7.19750435e-03 -2.87165789e-04 9.99974056e-01 2.73369204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.114391418 meters Centerline goodness [0,1] 0.9996309001693516 Centerline is valid? [True, True] Translation: X:377.07, Y:11.63, Z:2.73 [[ 9.98950044e-01 -4.51876051e-02 -7.54257528e-03 3.77069993e+02] [ 4.51885763e-02 9.98978474e-01 -4.16914361e-05 1.16333554e+01] [ 7.53675428e-03 -2.99190577e-04 9.99971554e-01 2.73306859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.144391418 meters Centerline goodness [0,1] 0.9993696474372908 Centerline is valid? [True, True] Translation: X:377.10, Y:11.63, Z:2.73 [[ 9.98963761e-01 -4.49290988e-02 -7.26497816e-03 3.77102190e+02] [ 4.49299970e-02 9.98990137e-01 -3.96087682e-05 1.16341665e+01] [ 7.25942111e-03 -2.86847723e-04 9.99973609e-01 2.73334621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.17439141799997 meters Centerline goodness [0,1] 0.999652128538505 Centerline is valid? [True, True] Translation: X:377.13, Y:11.63, Z:2.73 [[ 9.98970422e-01 -4.48585545e-02 -6.76797914e-03 3.77134873e+02] [ 4.48593355e-02 9.98993313e-01 -3.64400252e-05 1.16328873e+01] [ 6.76280055e-03 -2.67204540e-04 9.99977096e-01 2.73363487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.204391418 meters Centerline goodness [0,1] 0.9995442312700755 Centerline is valid? [True, True] Translation: X:377.17, Y:11.63, Z:2.73 [[ 9.98968064e-01 -4.49776552e-02 -6.31016296e-03 3.77166667e+02] [ 4.49783413e-02 9.98987962e-01 -3.32196676e-05 1.16312342e+01] [ 6.30527097e-03 -2.50635276e-04 9.99980090e-01 2.73373470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.234391418 meters Centerline goodness [0,1] 0.9994363754606547 Centerline is valid? [True, True] Translation: X:377.20, Y:11.63, Z:2.73 [[ 9.98972206e-01 -4.48770582e-02 -6.37039924e-03 3.77199806e+02] [ 4.48777583e-02 9.98992485e-01 -3.30842499e-05 1.16312095e+01] [ 6.36546570e-03 -2.52838991e-04 9.99979708e-01 2.73362570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.264391418 meters Centerline goodness [0,1] 0.9997398204761285 Centerline is valid? [True, True] Translation: X:377.23, Y:11.63, Z:2.73 [[ 9.98983752e-01 -4.46224520e-02 -6.34826762e-03 3.77230730e+02] [ 4.46231474e-02 9.99003891e-01 -3.21213810e-05 1.16296485e+01] [ 6.34337738e-03 -2.51190944e-04 9.99979849e-01 2.73338923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.294391418 meters Centerline goodness [0,1] 0.9997396737244012 Centerline is valid? [True, True] Translation: X:377.26, Y:11.63, Z:2.73 [[ 9.98983634e-01 -4.45318518e-02 -6.97232447e-03 3.77263667e+02] [ 4.45326913e-02 9.99007927e-01 -3.48688476e-05 1.16290123e+01] [ 6.96696019e-03 -2.75662966e-04 9.99975692e-01 2.73275944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.324391418 meters Centerline goodness [0,1] 0.9996101195633339 Centerline is valid? [True, True] Translation: X:377.30, Y:11.63, Z:2.73 [[ 9.99001932e-01 -4.41651684e-02 -6.67672867e-03 3.77296198e+02] [ 4.41659354e-02 9.99024208e-01 -3.25983961e-05 1.16283609e+01] [ 6.67165329e-03 -2.62318107e-04 9.99977710e-01 2.73277164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.354391418 meters Centerline goodness [0,1] 0.9998265206548845 Centerline is valid? [True, True] Translation: X:377.33, Y:11.63, Z:2.73 [[ 9.99033114e-01 -4.34772202e-02 -6.52447405e-03 3.77328906e+02] [ 4.34779410e-02 9.99054387e-01 -3.13862220e-05 1.16279997e+01] [ 6.51966901e-03 -2.52314822e-04 9.99978715e-01 2.73323344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.384391418 meters Centerline goodness [0,1] 0.9997396850188728 Centerline is valid? [True, True] Translation: X:377.36, Y:11.63, Z:2.73 [[ 9.99125545e-01 -4.13340963e-02 -6.29590375e-03 3.77361145e+02] [ 4.13347288e-02 9.99145354e-01 -2.96796776e-05 1.16305910e+01] [ 6.29174977e-03 -2.30585750e-04 9.99980180e-01 2.73368950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.414391418 meters Centerline goodness [0,1] 0.9997837229924087 Centerline is valid? [True, True] Translation: X:377.39, Y:11.63, Z:2.73 [[ 9.99179350e-01 -3.99680348e-02 -6.57137325e-03 3.77393864e+02] [ 3.99686977e-02 9.99200932e-01 -3.04633968e-05 1.16330807e+01] [ 6.56733984e-03 -2.32210834e-04 9.99978408e-01 2.73401780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.444391418 meters Centerline goodness [0,1] 0.999673898865168 Centerline is valid? [True, True] Translation: X:377.43, Y:11.64, Z:2.73 [[ 9.99294724e-01 -3.68932217e-02 -6.99607871e-03 3.77425713e+02] [ 3.68939031e-02 9.99319188e-01 -3.16714567e-05 1.16371655e+01] [ 6.99248415e-03 -2.26463531e-04 9.99975527e-01 2.73455819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.474391418 meters Centerline goodness [0,1] 0.999673898865168 Centerline is valid? [True, True] Translation: X:377.46, Y:11.64, Z:2.73 [[ 9.99299182e-01 -3.67722659e-02 -6.99608109e-03 3.77458278e+02] [ 3.67729481e-02 9.99323646e-01 -3.11369995e-05 1.16371936e+01] [ 6.99249424e-03 -2.26151349e-04 9.99975527e-01 2.73481244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.504391418 meters Centerline goodness [0,1] 0.9998045050720072 Centerline is valid? [True, True] Translation: X:377.49, Y:11.64, Z:2.74 [[ 9.99363063e-01 -3.49918268e-02 -7.00295393e-03 3.77489871e+02] [ 3.49924729e-02 9.99387575e-01 -3.02854436e-05 1.16378533e+01] [ 6.99972489e-03 -2.14784522e-04 9.99975479e-01 2.73543495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.534391418 meters Centerline goodness [0,1] 0.9999347073802425 Centerline is valid? [True, True] Translation: X:377.52, Y:11.64, Z:2.74 [[ 9.99420829e-01 -3.32851596e-02 -7.07845864e-03 3.77522493e+02] [ 3.32857809e-02 9.99445874e-01 -3.00566358e-05 1.16408771e+01] [ 7.07553673e-03 -2.05572795e-04 9.99974947e-01 2.73588332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.564391418 meters Centerline goodness [0,1] 0.9996956190890314 Centerline is valid? [True, True] Translation: X:377.55, Y:11.64, Z:2.74 [[ 9.99482445e-01 -3.14102477e-02 -6.94532436e-03 3.77554485e+02] [ 3.14108054e-02 9.99506558e-01 -2.87913785e-05 1.16427854e+01] [ 6.94280159e-03 -1.89381754e-04 9.99975881e-01 2.73638198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.594391418 meters Centerline goodness [0,1] 0.9996296780377293 Centerline is valid? [True, True] Translation: X:377.59, Y:11.65, Z:2.74 [[ 9.99607975e-01 -2.70193157e-02 -7.33845521e-03 3.77586349e+02] [ 2.70198247e-02 9.99634897e-01 -2.97871282e-05 1.16470781e+01] [ 7.33658075e-03 -1.68508323e-04 9.99973073e-01 2.73657085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.624391418 meters Centerline goodness [0,1] 0.9997387783534328 Centerline is valid? [True, True] Translation: X:377.62, Y:11.65, Z:2.74 [[ 9.99658975e-01 -2.49795431e-02 -7.61286696e-03 3.77618236e+02] [ 2.49800354e-02 9.99687950e-01 -3.04315726e-05 1.16492231e+01] [ 7.61125153e-03 -1.59748491e-04 9.99971021e-01 2.73687285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.654391418 meters Centerline goodness [0,1] 0.9998690585308367 Centerline is valid? [True, True] Translation: X:377.65, Y:11.65, Z:2.74 [[ 9.99758933e-01 -2.03924316e-02 -8.13786267e-03 3.77649664e+02] [ 2.03928480e-02 9.99792044e-01 -3.18153026e-05 1.16536645e+01] [ 8.13681914e-03 -1.34146564e-04 9.99966887e-01 2.73645235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.684391418 meters Centerline goodness [0,1] 0.9998038232665606 Centerline is valid? [True, True] Translation: X:377.68, Y:11.66, Z:2.74 [[ 9.99799846e-01 -1.80009941e-02 -8.73108840e-03 3.77681224e+02] [ 1.80013941e-02 9.99837961e-01 -3.27740532e-05 1.16550512e+01] [ 8.73026359e-03 -1.24404270e-04 9.99961883e-01 2.73625853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.714391418 meters Centerline goodness [0,1] 0.9996500590525349 Centerline is valid? [True, True] Translation: X:377.71, Y:11.66, Z:2.74 [[ 9.99836100e-01 -1.56770320e-02 -9.05560413e-03 3.77713060e+02] [ 1.56773719e-02 9.99877102e-01 -3.34480252e-05 1.16592979e+01] [ 9.05501558e-03 -1.08525531e-04 9.99958997e-01 2.73637212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.744391418 meters Centerline goodness [0,1] 0.9997811768310029 Centerline is valid? [True, True] Translation: X:377.74, Y:11.66, Z:2.74 [[ 9.99897406e-01 -1.09035515e-02 -9.28924153e-03 3.77744934e+02] [ 1.09037085e-02 9.99940552e-01 -3.37506200e-05 1.16643633e+01] [ 9.28905731e-03 -6.75400243e-05 9.99956853e-01 2.73647833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.774391418 meters Centerline goodness [0,1] 0.9998022673345637 Centerline is valid? [True, True] Translation: X:377.77, Y:11.67, Z:2.74 [[ 9.99928048e-01 -7.83553072e-03 -9.08312788e-03 3.77774816e+02] [ 7.83555807e-03 9.99969301e-01 -3.25759147e-05 1.16672268e+01] [ 9.08310428e-03 -3.85978052e-05 9.99958747e-01 2.73669443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.804391418 meters Centerline goodness [0,1] 0.9998900422237861 Centerline is valid? [True, True] Translation: X:377.80, Y:11.67, Z:2.74 [[ 9.99945609e-01 -4.70441021e-03 -9.30845703e-03 3.77804765e+02] [ 4.70430128e-03 9.99988934e-01 -3.35973706e-05 1.16705021e+01] [ 9.30851208e-03 -1.01942431e-05 9.99956675e-01 2.73696697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.834391418 meters Centerline goodness [0,1] 0.9997142982726034 Centerline is valid? [True, True] Translation: X:377.83, Y:11.67, Z:2.74 [[ 9.99956792e-01 -2.09597798e-03 -9.05656600e-03 3.77833533e+02] [ 2.09576224e-03 9.99997803e-01 -3.33119063e-05 1.16738049e+01] [ 9.05661593e-03 1.43300578e-05 9.99958988e-01 2.73718769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.864391418 meters Centerline goodness [0,1] 0.9996482047448385 Centerline is valid? [True, True] Translation: X:377.86, Y:11.68, Z:2.74 [[ 9.99964114e-01 2.81008114e-03 -7.99217826e-03 3.77862290e+02] [-2.81042096e-03 9.99996050e-01 -3.12889377e-05 1.16792717e+01] [ 7.99205877e-03 5.37492002e-05 9.99968062e-01 2.73813151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.894391418 meters Centerline goodness [0,1] 0.9996486219391677 Centerline is valid? [True, True] Translation: X:377.89, Y:11.68, Z:2.74 [[ 9.99955579e-01 5.08349583e-03 -7.93712166e-03 3.77891447e+02] [-5.08392019e-03 9.99987076e-01 -3.32895734e-05 1.16819218e+01] [ 7.93684985e-03 7.36397877e-05 9.99968500e-01 2.73852806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92439141799997 meters Centerline goodness [0,1] 0.9999122383606126 Centerline is valid? [True, True] Translation: X:377.92, Y:11.69, Z:2.74 [[ 9.99933017e-01 8.99424446e-03 -7.28457999e-03 3.77920304e+02] [-8.99471926e-03 9.99959546e-01 -3.24195305e-05 1.16852123e+01] [ 7.28399371e-03 9.79401109e-05 9.99973467e-01 2.73880734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.954391418 meters Centerline goodness [0,1] 0.9997369920659274 Centerline is valid? [True, True] Translation: X:377.95, Y:11.69, Z:2.74 [[ 9.99915404e-01 1.06954508e-02 -7.40215871e-03 3.77947967e+02] [-1.06960038e-02 9.99942795e-01 -3.51334988e-05 1.16869693e+01] [ 7.40135950e-03 1.14304044e-04 9.99972603e-01 2.73837753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.984391418 meters Centerline goodness [0,1] 0.9998026532178489 Centerline is valid? [True, True] Translation: X:377.98, Y:11.69, Z:2.74 [[ 9.99881742e-01 1.34400318e-02 -7.47441127e-03 3.77976939e+02] [-1.34406802e-02 9.99909669e-01 -3.65186559e-05 1.16887252e+01] [ 7.47324529e-03 1.36975509e-04 9.99972066e-01 2.73821208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.014391418 meters Centerline goodness [0,1] 0.9998246421604086 Centerline is valid? [True, True] Translation: X:378.01, Y:11.69, Z:2.74 [[ 9.99873487e-01 1.40757678e-02 -7.40822493e-03 3.78005047e+02] [-1.40764265e-02 9.99900922e-01 -3.67694519e-05 1.16901496e+01] [ 7.40697338e-03 1.41046134e-04 9.99972558e-01 2.73864150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.044391418 meters Centerline goodness [0,1] 0.9996933791804463 Centerline is valid? [True, True] Translation: X:378.03, Y:11.69, Z:2.74 [[ 9.99867462e-01 1.45898529e-02 -7.22459494e-03 3.78034297e+02] [-1.45904978e-02 9.99893552e-01 -3.65603567e-05 1.16910139e+01] [ 7.22329249e-03 1.41965948e-04 9.99973902e-01 2.73885838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.074391418 meters Centerline goodness [0,1] 0.9998901364505285 Centerline is valid? [True, True] Translation: X:378.06, Y:11.69, Z:2.74 [[ 9.99854515e-01 1.54846483e-02 -7.15361087e-03 3.78061640e+02] [-1.54853073e-02 9.99880095e-01 -3.67383228e-05 1.16922071e+01] [ 7.15218424e-03 1.47508841e-04 9.99974412e-01 2.73897458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.104391418 meters Centerline goodness [0,1] 0.9998244420549057 Centerline is valid? [True, True] Translation: X:378.09, Y:11.69, Z:2.74 [[ 9.99851168e-01 1.57083484e-02 -7.13370825e-03 3.78090155e+02] [-1.57090144e-02 9.99876605e-01 -3.73339031e-05 1.16927405e+01] [ 7.13224153e-03 1.49391872e-04 9.99974554e-01 2.73904113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.134391418 meters Centerline goodness [0,1] 0.9996270539455498 Centerline is valid? [True, True] Translation: X:378.12, Y:11.69, Z:2.74 [[ 9.99852939e-01 1.54324000e-02 -7.47937661e-03 3.78117190e+02] [-1.54331288e-02 9.99880901e-01 -3.97261403e-05 1.16935729e+01] [ 7.47787275e-03 1.55150480e-04 9.99972028e-01 2.73874888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.164391418 meters Centerline goodness [0,1] 0.9997586237163171 Centerline is valid? [True, True] Translation: X:378.15, Y:11.69, Z:2.74 [[ 9.99857584e-01 1.51522973e-02 -7.43099067e-03 3.78145081e+02] [-1.51530162e-02 9.99885186e-01 -4.04553846e-05 1.16921291e+01] [ 7.42952449e-03 1.53051545e-04 9.99972389e-01 2.73830178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.194391418 meters Centerline goodness [0,1] 0.9999560275267683 Centerline is valid? [True, True] Translation: X:378.17, Y:11.69, Z:2.74 [[ 9.99869562e-01 1.40634744e-02 -7.94213819e-03 3.78173128e+02] [-1.40642693e-02 9.99901092e-01 -4.42364972e-05 1.16922148e+01] [ 7.94073054e-03 1.55931098e-04 9.99968460e-01 2.73717385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.224391418 meters Centerline goodness [0,1] 0.999758236444757 Centerline is valid? [True, True] Translation: X:378.20, Y:11.69, Z:2.74 [[ 9.99884005e-01 1.32751841e-02 -7.46629682e-03 3.78201993e+02] [-1.32758698e-02 9.99911871e-01 -4.22762045e-05 1.16927019e+01] [ 7.46507760e-03 1.41392885e-04 9.99972126e-01 2.73753467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.254391418 meters Centerline goodness [0,1] 0.9999560033437459 Centerline is valid? [True, True] Translation: X:378.23, Y:11.69, Z:2.74 [[ 9.99911658e-01 1.15641183e-02 -6.55345248e-03 3.78229934e+02] [-1.15646125e-02 9.99933127e-01 -3.75152384e-05 1.16935578e+01] [ 6.55258040e-03 1.13300063e-04 9.99978525e-01 2.73879125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.284391418 meters Centerline goodness [0,1] 0.999933900321685 Centerline is valid? [True, True] Translation: X:378.26, Y:11.69, Z:2.74 [[ 9.99931595e-01 1.02651104e-02 -5.60644500e-03 3.78258672e+02] [-1.02654543e-02 9.99947308e-01 -3.25658920e-05 1.16932374e+01] [ 5.60581530e-03 9.01163692e-05 9.99984283e-01 2.73967586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.314391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.29, Y:11.69, Z:2.74 [[ 9.99946436e-01 9.02747327e-03 -5.06258546e-03 3.78287931e+02] [-9.02773942e-03 9.99959249e-01 -2.97221199e-05 1.16915123e+01] [ 5.06211083e-03 7.54242302e-05 9.99987185e-01 2.74003899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.344391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.32, Y:11.69, Z:2.74 [[ 9.99977200e-01 5.49642439e-03 -3.92294499e-03 3.78315896e+02] [-5.49655733e-03 9.99984894e-01 -2.31067008e-05 1.16896217e+01] [ 3.92275873e-03 4.46688660e-05 9.99992305e-01 2.73984722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.374391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.35, Y:11.69, Z:2.74 [[ 9.99985760e-01 3.30772791e-03 -4.18785062e-03 3.78345103e+02] [-3.30786263e-03 9.99994529e-01 -2.52432461e-05 1.16889072e+01] [ 4.18774421e-03 3.90957212e-05 9.99991231e-01 2.73999383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.404391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.37, Y:11.69, Z:2.74 [[ 9.99990761e-01 9.66930478e-04 -4.18844400e-03 3.78373911e+02] [-9.67046020e-04 9.99999532e-01 -2.55607025e-05 1.16875856e+01] [ 4.18841733e-03 2.96108844e-05 9.99991228e-01 2.73949622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.434391418 meters Centerline goodness [0,1] 0.9999337879891412 Centerline is valid? [True, True] Translation: X:378.40, Y:11.69, Z:2.74 [[ 9.99985256e-01 -3.13384601e-03 -4.43467401e-03 3.78402713e+02] [ 3.13375514e-03 9.99995089e-01 -2.74405786e-05 1.16859386e+01] [ 4.43473823e-03 1.35429915e-05 9.99990166e-01 2.73866985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.464391418 meters Centerline goodness [0,1] 0.9997135933024895 Centerline is valid? [True, True] Translation: X:378.43, Y:11.69, Z:2.74 [[ 9.99978362e-01 -4.73657807e-03 -4.56510563e-03 3.78432243e+02] [ 4.73649581e-03 9.99988782e-01 -2.88307184e-05 1.16857215e+01] [ 4.56519098e-03 7.20749080e-06 9.99989579e-01 2.73851860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.494391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.46, Y:11.69, Z:2.74 [[ 9.99974429e-01 -5.67363406e-03 -4.35321963e-03 3.78462322e+02] [ 5.67356749e-03 9.99983905e-01 -2.76412384e-05 1.16855302e+01] [ 4.35330639e-03 2.94224618e-06 9.99990524e-01 2.73867079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.524391418 meters Centerline goodness [0,1] 0.9999558693733451 Centerline is valid? [True, True] Translation: X:378.49, Y:11.69, Z:2.74 [[ 9.99973923e-01 -6.18790553e-03 -3.72329833e-03 3.78492906e+02] [ 6.18786010e-03 9.99980855e-01 -2.37229640e-05 1.16865733e+01] [ 3.72337384e-03 6.83096150e-07 9.99993068e-01 2.73824021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.554391418 meters Centerline goodness [0,1] 0.9998455087177224 Centerline is valid? [True, True] Translation: X:378.52, Y:11.69, Z:2.74 [[ 9.99978916e-01 -5.57843304e-03 -3.32396049e-03 3.78524427e+02] [ 5.57839334e-03 9.99984440e-01 -2.12170159e-05 1.16882508e+01] [ 3.32402712e-03 2.67420952e-06 9.99994475e-01 2.73857654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.584391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.56, Y:11.69, Z:2.74 [[ 9.99986212e-01 -4.34935691e-03 -2.94251703e-03 3.78555862e+02] [ 4.34932071e-03 9.99990541e-01 -1.87000623e-05 1.16906878e+01] [ 2.94257053e-03 5.90185420e-06 9.99995671e-01 2.73903267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.614391418 meters Centerline goodness [0,1] 0.9999778555294743 Centerline is valid? [True, True] Translation: X:378.59, Y:11.70, Z:2.74 [[ 9.99993946e-01 -1.17100100e-03 -3.27672573e-03 3.78586592e+02] [ 1.17093988e-03 9.99999314e-01 -2.05708291e-05 1.16969295e+01] [ 3.27674757e-03 1.67338557e-05 9.99994631e-01 2.73913014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.644391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.62, Y:11.70, Z:2.74 [[ 9.99993694e-01 9.36733184e-04 -3.42570660e-03 3.78615800e+02] [-9.36811230e-04 9.99999561e-01 -2.11778545e-05 1.17004930e+01] [ 3.42568526e-03 2.43869614e-05 9.99994132e-01 2.73904088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.67439141799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.64, Y:11.70, Z:2.74 [[ 9.99988098e-01 3.02775495e-03 -3.82574362e-03 3.78644470e+02] [-3.02786800e-03 9.99995416e-01 -2.37589023e-05 1.17046468e+01] [ 3.82565415e-03 3.53424663e-05 9.99992682e-01 2.73886302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.704391418 meters Centerline goodness [0,1] 0.9998216356015339 Centerline is valid? [True, True] Translation: X:378.67, Y:11.71, Z:2.74 [[ 9.99956431e-01 8.01594151e-03 -4.78334301e-03 3.78671653e+02] [-8.01617559e-03 9.99967870e-01 -2.97662590e-05 1.17131387e+01] [ 4.78295072e-03 6.81090796e-05 9.99988559e-01 2.73745235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.734391418 meters Centerline goodness [0,1] 0.9998884376812888 Centerline is valid? [True, True] Translation: X:378.70, Y:11.72, Z:2.74 [[ 9.99936920e-01 1.00574331e-02 -5.00033685e-03 3.78700292e+02] [-1.00577201e-02 9.99949419e-01 -3.22549910e-05 1.17164726e+01] [ 4.99975953e-03 8.25449447e-05 9.99987498e-01 2.73691132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.764391418 meters Centerline goodness [0,1] 0.9998432180612793 Centerline is valid? [True, True] Translation: X:378.73, Y:11.72, Z:2.74 [[ 9.99940766e-01 1.01339248e-02 -3.97091008e-03 3.78729435e+02] [-1.01341071e-02 9.99948648e-01 -2.57939345e-05 1.17168137e+01] [ 3.97044478e-03 6.60340347e-05 9.99992116e-01 2.73790884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.794391418 meters Centerline goodness [0,1] 0.9997536559693637 Centerline is valid? [True, True] Translation: X:378.76, Y:11.72, Z:2.74 [[ 9.99936499e-01 1.06876878e-02 -3.57379495e-03 3.78756956e+02] [-1.06878395e-02 9.99942883e-01 -2.33465094e-05 1.17185111e+01] [ 3.57334130e-03 6.15411736e-05 9.99993614e-01 2.73839531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.824391418 meters Centerline goodness [0,1] 0.9998656094610939 Centerline is valid? [True, True] Translation: X:378.79, Y:11.72, Z:2.74 [[ 9.99949865e-01 9.58646128e-03 -2.89276015e-03 3.78785413e+02] [-9.58655666e-03 9.99954048e-01 -1.91075177e-05 1.17167228e+01] [ 2.89244404e-03 4.68381687e-05 9.99995816e-01 2.73966670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.854391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.81, Y:11.72, Z:2.74 [[ 9.99946522e-01 9.70244227e-03 -3.57987783e-03 3.78813539e+02] [-9.70259029e-03 9.99952928e-01 -2.39829826e-05 1.17195364e+01] [ 3.57947663e-03 5.87157880e-05 9.99993592e-01 2.73955797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.884391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.84, Y:11.72, Z:2.74 [[ 9.99951911e-01 8.94473711e-03 -4.02078444e-03 3.78842767e+02] [-8.94491985e-03 9.99959993e-01 -2.74684410e-05 1.17159364e+01] [ 4.02037788e-03 6.34327146e-05 9.99991916e-01 2.73904615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.914391418 meters Centerline goodness [0,1] 0.9998881932021467 Centerline is valid? [True, True] Translation: X:378.87, Y:11.72, Z:2.74 [[ 9.99946110e-01 9.38929617e-03 -4.42925252e-03 3.78871925e+02] [-9.38952411e-03 9.99955917e-01 -3.06699993e-05 1.17164248e+01] [ 4.42876930e-03 7.22569199e-05 9.99990190e-01 2.73821607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.944391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.90, Y:11.72, Z:2.74 [[ 9.99932110e-01 1.05570184e-02 -4.93198377e-03 3.78900746e+02] [-1.05573175e-02 9.99944269e-01 -3.46099552e-05 1.17172240e+01] [ 4.93134353e-03 8.66761239e-05 9.99987837e-01 2.73727814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.974391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.93, Y:11.72, Z:2.74 [[ 9.99847301e-01 1.65560506e-02 -5.59211441e-03 3.78930704e+02] [-1.65565323e-02 9.99862930e-01 -3.98469473e-05 1.17204680e+01] [ 5.59068820e-03 1.32426886e-04 9.99984363e-01 2.73639594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.004391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.96, Y:11.72, Z:2.74 [[ 9.99781992e-01 2.02579456e-02 -5.05816248e-03 3.78960041e+02] [-2.02583878e-02 9.99794777e-01 -3.62087242e-05 1.17225449e+01] [ 5.05639091e-03 1.38671048e-04 9.99987207e-01 2.73678118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.034391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.99, Y:11.73, Z:2.74 [[ 9.99567003e-01 2.92493060e-02 -3.20711589e-03 3.78990471e+02] [-2.92495305e-02 9.99572141e-01 -2.31272569e-05 1.17282532e+01] [ 3.20506724e-03 1.16923877e-04 9.99994857e-01 2.73932909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.064391418 meters Centerline goodness [0,1] 0.9999550470881752 Centerline is valid? [True, True] Translation: X:379.02, Y:11.73, Z:2.74 [[ 9.99441868e-01 3.33479436e-02 -1.96642396e-03 3.79019757e+02] [-3.33480350e-02 9.99443800e-01 -1.37043048e-05 1.17314187e+01] [ 1.96487322e-03 7.92730308e-05 9.99998066e-01 2.73987405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.094391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.05, Y:11.73, Z:2.74 [[ 9.99302755e-01 3.72996235e-02 -1.65596607e-03 3.79048953e+02] [-3.72996941e-02 9.99304124e-01 -1.17421470e-05 1.17339362e+01] [ 1.65437575e-03 7.35009876e-05 9.99998629e-01 2.74079541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.124391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.08, Y:11.73, Z:2.74 [[ 9.99169163e-01 4.07299685e-02 -1.43321570e-03 3.79078812e+02] [-4.07300251e-02 9.99170188e-01 -1.03067786e-05 1.17345461e+01] [ 1.43160660e-03 6.86731266e-05 9.99998973e-01 2.74070681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.154391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.11, Y:11.74, Z:2.74 [[ 9.99055656e-01 4.34014905e-02 -2.02648443e-03 3.79107483e+02] [-4.34016090e-02 9.99057706e-01 -1.45255903e-05 1.17383077e+01] [ 2.02394445e-03 1.02464558e-04 9.99997947e-01 2.74021887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.184391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.14, Y:11.74, Z:2.74 [[ 9.98864414e-01 4.75456045e-02 -3.04940893e-03 3.79137271e+02] [-4.75458948e-02 9.98869054e-01 -2.27612885e-05 1.17391257e+01] [ 3.04487801e-03 1.67722317e-04 9.99995350e-01 2.73823163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.214391418 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.17, Y:11.74, Z:2.74 [[ 9.98816649e-01 4.85236510e-02 -3.27979324e-03 3.79165630e+02] [-4.85239913e-02 9.98822017e-01 -2.42031759e-05 1.17402894e+01] [ 3.27475527e-03 1.83323193e-04 9.99994621e-01 2.73815519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5396.12 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%| | 0/12608 [00:00